An adaptive suspension and load reduction system

Abstract

This disclosure provides an adaptive suspension load-reducing backpack system, including a back frame unit, a transmission unit, and an adaptive drive module. The adaptive drive module includes a drive unit, a variable stiffness unit, and a control unit located within the frame. The frame body is fixedly connected to the moving sub-frame of the back frame unit. The frame body has an external connection end fixedly connected to the gear of the transmission unit. The load transmitted by the transmission unit is connected through the external connection end, and the power provided by the drive unit is transmitted to the moving sub-frame. The drive unit includes a coaxial central shaft and a drive motor. The stiffness adjustment component in the variable stiffness unit changes the number of working turns of the coil spring according to the command of the control unit, and applies the load torque transmitted by the central shaft to the coil spring. The control unit controls the stiffness adjustment component and the drive motor according to the drive motor current and the central shaft rotation angle, so as to provide power to the moving sub-frame to maintain its target position while realizing adaptive adjustment to different loads. It has a wide adjustment range, is lightweight, and has low energy consumption.

Description

Technical Field

[0001] This disclosure relates to the field of carrying device technology, specifically to an adaptive suspension and load-reducing carrying system. Background Art

[0002] When people hike, conduct rescue operations, or participate in military activities, they often need to walk long distances carrying heavy loads (>10km, 30-70kg). These long walks are characterized by their duration, strong rhythm, and monotonous gait, easily leading to cumulative fatigue and posing a significant challenge to their mental and psychological well-being. During heavy-load walking, the body's center of gravity fluctuates vertically, and the backpack load generates additional inertial forces, increasing the burden on the torso and lower limbs. These inertial forces can reach 2-3 times the static load, easily causing decreased physical fitness, muscle fatigue, and even injury. By adding damping and stiffening units to the carrying system, a suspended carrying system can effectively reduce the muscle activity and energy consumption involved in carrying activities, preventing injury to the body.

[0003] The load reduction effect of a suspension carrying system is affected by the system's damping and stiffness. However, the damping and stiffness adjustment range of a traditional purely mechanical suspension carrying system is small, or even fixed. This limits the applicable scenarios of a traditional suspension carrying system to fixed load and step frequency conditions, while the load reduction effect deteriorates or even increases under other conditions.

[0004] To make suspension carrying systems suitable for different load scenarios, adjustable damping and stiffness-reducing carrying systems have emerged, which can automatically adjust the system stiffness and damping according to different load sizes. However, the adjustment modules used in existing adaptive load carrying systems are complex in structure and occupy a large space, increasing the weight of the carrying system itself. This extra weight increases the energy consumption of the user during carrying activities. Most of the adjustment modules used are active modules without elastic elements. Such active modules directly drive the load, generating a large current and consuming electrical energy. In addition, existing adaptive load carrying systems cannot be used in scenarios with varying stride frequencies, as they cannot identify the user's stride frequency. Although existing carrying systems can manually change stiffness and damping to achieve frequency changes, the actual operation is quite cumbersome.

[0005] On the other hand, when using backpacks for outdoor activities, it's often necessary to carry electronic devices, which require charging. A power-generating suspension backpack system can convert the kinetic energy of carrying a load into stored electrical energy. However, current power-generating backpack systems also increase the weight of the backpack due to their complex mechanical structure. Summary of the Invention

[0006] This disclosure aims to address at least one of the technical problems existing in the prior art.

[0007] Therefore, this disclosure provides an adaptive suspension load-reducing carrying system with good load-reducing effect, suitable for various loads or cadences, and adaptively adjusts the stiffness of the carrying system according to the cadence during load-bearing activities. It has a compact structure, light weight and low energy consumption.

[0008] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0009] This disclosure provides an adaptive suspension carrying system, including a back frame unit, a bag body, a transmission unit, and an adaptive drive module;

[0010] The back frame unit includes a moving frame, a stator frame, and a guide module. The guide module is connected between the moving frame and the stator frame and is used to restrict the moving frame to reciprocate only along the cross-sectional normal of the carrying system relative to the stator frame. The stator frame is provided with a shoulder strap on the side facing away from the moving frame.

[0011] The package body is fixedly connected to the side of the mover frame facing away from the stator frame;

[0012] The transmission unit is disposed between the mover frame and the stator frame, and includes a rack and gear that mesh with each other through teeth. The rack is disposed along the cross-sectional normal of the carrying system and is fixedly connected to the stator frame.

[0013] The adaptive drive module includes a frame and a drive unit, a variable stiffness unit and a control unit arranged in the frame;

[0014] The frame includes a frame body fixedly connected to the side of the mover frame facing away from the stator frame and an external end disposed on the frame body. The external end passes through a first hole on the mover frame and is fixedly connected to the gear. The load transmitted by the transmission unit is connected through the external end, and the power provided by the drive unit is transmitted to the mover frame and the package.

[0015] The drive unit includes a central shaft and a drive motor arranged coaxially, and the power output by the drive motor is transmitted to the external end through the central shaft;

[0016] The variable stiffness unit includes an elastic element and a stiffness adjustment assembly. The stiffness adjustment assembly is connected to the central shaft of the elastic element and the drive unit. The load torque is transmitted to the stiffness adjustment assembly through the central shaft and then applied to one end of the elastic element. The stiffness adjustment assembly changes the number of working revolutions and output torque of the elastic element by locking one end of the elastic element in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment assembly adjusts the initial angle of the elastic element by pre-tightening or unloading the other end of the elastic element. The initial angle of the elastic element corresponds to the initial position of the mover frame relative to the stator frame.

[0017] The control unit is used to control the stiffness adjustment component and the drive motor according to the current signal of the drive motor and the rotation angle signal of the central shaft, so as to achieve a balance between the load torque, the elastic element torque and the drive motor output torque, and to provide power to the moving frame and the package body to maintain the target position while realizing adaptive adjustment for different load sizes.

[0018] In some embodiments, the guiding module includes two L-shaped guide rails fixedly disposed on the left and right sides of the moving frame and several guide wheel groups mounted on the side of the stator frame facing the moving frame. The horizontal and vertical sections of each L-shaped guide rail serve as horizontal and vertical guide rails, respectively. The several guide wheel groups are evenly distributed on the left and right sides of the stator frame. Each guide wheel group consists of two horizontal guide wheels and one vertical guide wheel. The two horizontal guide wheels are arranged on the front and rear sides of the horizontal guide rail and are rotatably sleeved on a corresponding horizontal guide wheel shaft fixedly connected to the stator frame. The vertical guide wheel is located inside the vertical guide rail and is rotatably sleeved on the vertical guide wheel shaft fixedly connected to the stator frame. During the movement of the moving frame relative to the stator frame, the horizontal guide wheels and the horizontal guide rails experience rolling friction, and the vertical guide wheels and the vertical guide rails experience rolling friction, respectively constraining the movement of the moving frame in the coronal plane normal and sagittal plane normal directions of the bearing system.

[0019] A first limiting block and a second limiting block are respectively provided at the upper part of the moving frame and at the corresponding position of the stator frame. When the moving frame reaches the maximum downward displacement relative to the stator frame, the lower part of the first limiting block abuts against the upper part of the second limiting block.

[0020] In some embodiments, a locking mechanism is provided between the mover frame and the stator frame, and near the lower part of the stator frame. The locking mechanism includes a locking insert and a locking hook. The locking insert is rotatably sleeved on a locking insert shaft fixedly connected to the stator frame, and the locking hook is rotatably sleeved on a locking hook shaft fixedly connected to the stator frame. A first slot is provided on the locking hook to engage with one end of the locking insert. A second slot is provided on the lower part of the mover frame facing the stator frame to engage with one end of the locking hook away from the locking hook shaft. When one end of the locking hook is inserted into the second slot and one end of the locking insert is inserted into the first slot, the mover frame and the stator frame are in a locked state. When one end of the locking insert is disengaged from the first slot and one end of the locking hook is disengaged from the second slot, the mover frame and the stator frame are in an unlocked state.

[0021] In some embodiments, the transmission unit further includes an auxiliary gear, which is rotatably mounted on an auxiliary gear shaft fixed to the side of the mover frame facing the stator frame, and the auxiliary gear and the gear are arranged on the left and right sides of the rack respectively.

[0022] In some embodiments, the elastic element is a nonlinear elastic element, consisting of a first sub-coil spring and a second sub-coil spring connected in series through the stiffness adjustment component. The first sub-coil spring is positioned closer to the central axis than the second sub-coil spring. Each sub-coil spring is either a linear coil spring, or both are nonlinear coil springs, or one is a linear coil spring and the other is a nonlinear coil spring. The nonlinear coil spring is a planar spiral spring integrally formed by connecting multiple coil spring segments end to end in sequence, and the stiffness of adjacent coil spring segments is different.

[0023] The stiffness adjustment assembly includes a first stiffness adjustment mechanism and a second stiffness adjustment mechanism. The first stiffness adjustment mechanism includes a first sub-coil spring locking member and a first sub-coil spring drive frame fixedly connected to the central shaft. The second stiffness adjustment mechanism includes a second sub-coil spring locking member and a second sub-coil spring drive frame. Each sub-coil spring drive frame can rotate relative to the frame body and is fixedly connected to the outer ends of the first and second sub-coil springs, respectively. Each sub-coil spring locking member includes a ratchet and pawl mechanism and a matching stop switch and return spring. Each ratchet and pawl mechanism shares a ratchet shaft, which is coaxially arranged with the central shaft and rotatably connected to the frame body. A coil spring inner end adjustment member is provided at the end of the ratchet shaft away from the central shaft. By rotating the ratchet shaft through the coil spring inner end adjustment member, the inner end rotation angle of each sub-coil spring is adjusted, thereby achieving pre-tightening or unloading of the inner end of each sub-coil spring. The first ratchet and pawl mechanism is connected... Between the inner end of the first sub-coil spring and the lower end face of the second sub-coil spring drive frame, the second ratchet and pawl mechanism is connected between the inner end of the second sub-coil spring and the lower end face of the top cover of the frame body; each return spring is always kept in a compressed state to provide a force to the corresponding stop pawl towards its respective ratchet direction; during the stiffness adjustment of the elastic element, the first sub-coil spring locking member is locked to the second sub-coil spring drive frame according to the command of the control unit, realizing the series connection of the first sub-coil spring and the second sub-coil spring; the stop switch in the second sub-coil spring locking member increases or decreases the number of working turns of the first sub-coil spring and the second sub-coil spring simultaneously according to the command of the control unit, until the load torque, the torque of the nonlinear elastic element and the output torque of the drive motor reach a balance, and the control unit controls all stop switches to lock the inner ends of the first sub-coil spring and the second sub-coil spring simultaneously.

[0024] Further, suppose the first sub-coil spring has P coil spring segments, and the second sub-coil spring has Q coil spring segments, where P and Q are both positive integers greater than or equal to 1. When the number of segments of the sub-coil spring is 1, the sub-coil spring is a linear coil spring; when the number of segments of the sub-coil spring is greater than 1, the sub-coil spring is a nonlinear coil spring. The nonlinear elastic element is designed according to the following steps: the given working curve of the adaptive drive module is divided into S segments, where the working curve of the adaptive drive module is the angle of rotation of the central axis and the angle of rotation through an external connection. The functional relationship between the output torque and the nonlinear elastic element is determined by taking the total number of segments of the nonlinear elastic element as S, i.e., S = P + Q, and the first coil spring segment is located on the outer ring of the first sub-coil spring; the working curve of the i-th segment and its slope are respectively used as the working curve and stiffness of the i-th coil spring segment, i = 1, 2, ..., S, and the i-th coil spring segment is designed according to the industry standard JB / T7366-1994 to obtain the parameters of the i-th coil spring segment, including the elastic modulus E, the cross-sectional thickness h, the cross-sectional width b, and the unfolded length l.

[0025] Furthermore, the first ratchet and pawl mechanism includes a first ratchet rotatably mounted on the ratchet shaft, and a first positive stop pawl and a first negative stop pawl that engage with the first ratchet through their teeth. The inner end of the first sub-coil spring is fixedly connected to the first ratchet. The ends of the first positive stop pawl and the first negative stop pawl that are away from their respective teeth are rotatably connected to the lower end face of the second sub-coil spring drive frame. A first positive return spring and a first positive stop switch are provided between the end of the first positive stop pawl near its teeth and the lower end face of the second sub-coil spring drive frame. A first negative return spring and a first negative stop switch are provided between the end of the first negative stop pawl near its teeth and the lower end face of the second sub-coil spring drive frame.

[0026] The second ratchet and pawl mechanism includes a second ratchet fixedly sleeved on the ratchet shaft, and a second positive stop pawl and a second negative stop pawl that engage with the second ratchet through their teeth. The inner end of the second sub-coil spring is fixedly connected to the second ratchet. The ends of the second positive stop pawl and the second negative stop pawl that are away from their respective teeth are rotatably connected to the lower end face of the top cover of the frame body. A second positive return spring and a second positive stop switch are provided between the end of the second positive stop pawl near its teeth and the lower end face of the top cover of the frame body. A second negative return spring and a second negative stop switch are provided between the end of the second negative stop pawl near its teeth and the lower end face of the top cover of the frame body.

[0027] During the adjustment of the elastic element, the first ratchet and the second coil spring drive frame remain locked. At most one of the two stop pawls that cooperate with the second ratchet contacts the teeth of the second ratchet. When the load torque, the torque of the elastic element and the output torque of the drive motor are balanced, both stop pawls that cooperate with the same ratchet contact the teeth of the ratchet.

[0028] In some embodiments, the elastic element is a single nonlinear coil spring formed by sequentially connecting multiple coil spring segments end to end and integrally molded, with adjacent coil spring segments having different stiffnesses.

[0029] The stiffness adjustment assembly includes a stiffness adjustment mechanism, which comprises a coil spring inner end adjusting component, a coil spring locking component, and a coil spring drive frame fixedly connected to the central shaft. The coil spring inner end adjusting component is located at the center of the top cover of the frame body and is used to adjust the inner end rotation angle of the nonlinear coil spring to achieve pre-tensioning or unloading of the inner end of the nonlinear coil spring. The coil spring drive frame is rotatable relative to the frame body and is fixedly connected to the outer end of the nonlinear coil spring. The coil spring locking component includes a ratchet and pawl mechanism and a matching stop switch and a return spring. The ratchet mechanism is connected between the inner end of the nonlinear coil spring and the lower end face of the top cover of the frame body; each return spring is always kept taut to provide a force to the stop pawl in the direction of the ratchet; during the stiffness adjustment of the nonlinear coil spring, the stop switch, according to the instruction of the control unit, makes the ratchet move only in a set direction, increasing or decreasing the number of working turns of the nonlinear coil spring, until the load torque, the torque of the nonlinear coil spring and the output torque of the drive motor reach a balance, and the control unit controls the stop switch to lock the inner end of the nonlinear coil spring.

[0030] Furthermore, the ratchet and pawl mechanism includes a ratchet shaft coaxial with the central shaft, a ratchet fixedly sleeved on the ratchet shaft, and a positive stop pawl and a negative stop pawl that engage with the ratchet through their teeth. The top end of the ratchet shaft is rotatably connected to the frame body, and the inner end of the nonlinear coil spring is fixedly connected to the ratchet shaft. The ends of the positive stop pawl and the negative stop pawl away from their respective teeth are rotatably connected to the lower end face of the top cover of the frame body. A positive return spring and a positive stop switch are provided between the end of the positive stop pawl near its teeth and the lower end face of the top cover of the frame body. A negative return spring and a negative stop switch are provided between the end of the negative stop pawl near its teeth and the lower end face of the top cover of the frame body.

[0031] During the adjustment process of the nonlinear coil spring, at most one of the two stop pawls that cooperate with the ratchet will contact the teeth of the ratchet; when the load torque, the coil spring torque and the output torque of the drive motor are balanced, both stop pawls that cooperate with the ratchet will contact the teeth of the ratchet.

[0032] In some embodiments, the elastic element is a nonlinear elastic element, consisting of a first sub-coil spring and a second sub-coil spring connected in parallel through the stiffness adjustment assembly and having the same number of working coils. The first sub-coil spring is positioned closer to the central axis than the second sub-coil spring. Each sub-coil spring is either a linear coil spring, or both are nonlinear coil springs, or one is a linear coil spring and the other is a nonlinear coil spring. The nonlinear coil spring is a planar spiral spring integrally formed by connecting multiple coil spring segments end to end in sequence, and the stiffness of adjacent coil spring segments is different. The stiffness adjustment assembly includes a first stiffness adjustment mechanism and a second stiffness adjustment mechanism. A partition plate fixedly connected to the frame body is provided inside the frame body.

[0033] The first stiffness adjustment mechanism includes a first sub-coil spring locking member and a first sub-coil spring fixing bracket. The first stiffness adjustment mechanism and the first sub-coil spring are located on the side of the partition facing the central axis. The second stiffness adjustment mechanism includes a second sub-coil spring locking member and a second sub-coil spring fixing bracket. The second stiffness adjustment mechanism and the second sub-coil spring are located on the side of the partition facing away from the central axis. Each sub-coil spring locking member includes a ratchet and pawl mechanism and a matching stop switch and return spring. Each ratchet and pawl mechanism shares a ratchet shaft. The ratchet shaft is coaxial with the central axis and fixedly connected, and rotatably connected to the frame body. The first ratchet and pawl mechanism is connected to the first... Between the outer end of the first sub-coil spring and the lower end face of the partition, the second ratchet and pawl mechanism is connected between the outer end of the second sub-coil spring and the lower end face of the top cover of the frame body; each return spring is always kept in a compressed state to provide a force to the corresponding stop pawl towards its respective ratchet; during the adjustment of the elastic element, each stop switch, according to the instruction of the control unit, makes each ratchet move only in the same set direction, so that the number of working turns of the two sub-coil springs increases or decreases, until the load torque, the torque of the elastic element and the output torque of the drive motor reach a balance, and the control unit controls the corresponding stop switch to lock the outer ends of the two sub-coil springs.

[0034] Furthermore, the nonlinear elastic element is designed according to the following steps:

[0035] The given working curve of the adaptive drive module is divided into S segments. The working curve of the adaptive drive module is a functional relationship between the rotation angle of the central axis and the torque output through the external terminal.

[0036] Let P be the number of spring segments contained in the first sub-coil spring, and Q be the number of spring segments contained in the second sub-coil spring. P and Q are both positive integers greater than or equal to 1, and satisfy S≥P, S≥Q. When the number of spring segments in the sub-coil spring is 1, the sub-coil spring is a linear spring. When the number of spring segments in the sub-coil spring is greater than 1, the sub-coil spring is a nonlinear spring.

[0037] For the i-th segment of the working curve, i = 1, 2, ..., S, the torque at a certain angle φ on the working curve is taken as the sum of the torque of the first sub-coil spring and the torque of the second sub-coil spring at that angle φ, and the slope of the working curve at that angle φ is taken as the sum of the stiffness of the first sub-coil spring and the stiffness of the second sub-coil spring at that angle φ, thereby obtaining the working curves of the first sub-coil spring and the second sub-coil spring within the angle range corresponding to the i-th segment of the working curve;

[0038] Based on the working curves of the first and second sub-coil springs, each coil spring segment within the first and second sub-coil springs was designed according to industry standard JB / T7366-1994, resulting in parameters for each coil spring segment, including elastic modulus E, cross-sectional thickness h, cross-sectional width b, and unfolded length l.

[0039] Furthermore, the first ratchet and pawl mechanism includes a first ratchet rotatably mounted on the ratchet shaft, and a first positive stop pawl and a first negative stop pawl that engage with the first ratchet through their teeth. A first sub-coil spring fixing frame integrally formed with the first ratchet is provided on the outer periphery of the first ratchet. The inner end and outer end of the first sub-coil spring are fixedly connected to the ratchet shaft and the first sub-coil spring fixing frame, respectively. The ends of the first positive stop pawl and the first negative stop pawl away from their respective teeth are rotatably connected to the end face of the partition plate facing the first sub-coil spring fixing frame. A first positive return spring and a first positive stop switch are provided between the end of the first positive stop pawl near its teeth and the partition plate. A first negative return spring and a first negative stop switch are provided between the end of the first negative stop pawl near its teeth and the partition plate.

[0040] The second ratchet and pawl mechanism includes a second ratchet rotatably mounted on the ratchet shaft, and a second positive stop pawl and a second negative stop pawl that engage with the second ratchet through teeth. A second sub-coil spring fixing frame integrally formed with the second ratchet is provided on the outer periphery of the second ratchet. The inner end and outer end of the second sub-coil spring are fixedly connected to the second ratchet shaft and the second sub-coil spring fixing frame, respectively. The ends of the second positive stop pawl and the second negative stop pawl away from their respective teeth are rotatably connected to the end face of the top cover of the frame body facing the second sub-coil spring fixing frame. A second positive return spring and a second positive stop switch are provided between the end of the second positive stop pawl near its teeth and the top cover of the frame body. A second negative return spring and a second negative stop switch are provided between the end of the second negative stop pawl near its teeth and the top cover of the frame body.

[0041] During the adjustment of the elastic element, at most one of the two stop pawls cooperating with the same ratchet will contact the teeth of the ratchet; when the load torque, the torque of the elastic element and the output torque of the drive motor are balanced, both stop pawls cooperating with the same ratchet will contact the teeth of the ratchet.

[0042] Furthermore, after the torque is balanced, if the carrier is required to continue rotating by an angle α in the original direction of rotation due to the working angle, the two stop pawls that cooperate with each ratchet are first made to be in the opposite state to that before the torque is balanced, so that the outer end of each sub-coil spring rotates by an angle α, and the inner end of each sub-coil spring will follow the outer end of the sub-coil spring to rotate by an angle α. Then, the stop pawls are used to make each ratchet lock in both directions.

[0043] After torque balance, if the carrier needs to rotate in the opposite direction by an angle β due to working angle requirements, first, the two stop pawls cooperating with each ratchet are placed in the same state as before torque balance. Then, the drive motor is used to drive the carrier to rotate in the opposite direction of the original rotation to unload each sub-coil spring. This continues until the elastic torque of each sub-coil spring is zero. Then, the drive motor is used to drive the carrier to continue rotating in the opposite direction of the original rotation by an angle β, thereby pushing the outer end of each sub-coil spring to rotate in the opposite direction of the original rotation of the carrier by an angle β. At this time, the stop pawls are used to lock each ratchet in both directions. Then, the two stop pawls cooperating with each ratchet are placed in the same state as before torque balance, and the load torque is applied. The inner end of each sub-coil spring rotates in the original rotation direction of the carrier, and each sub-coil spring is compressed and deformed. The outer end of each sub-coil spring rotates in the opposite direction of the original rotation of the carrier by an angle β, so that the torque is balanced again. Finally, the stop pawls are used to lock each ratchet in both directions.

[0044] In some embodiments, the control unit includes a circuit board and a main controller, an angle sensor, and a current sensor disposed on the circuit board. The circuit board is fixedly connected to the frame body. The angle sensor is used to measure the rotation angle of the central shaft in real time. The current sensor is used to measure the current of the drive motor in real time. The main controller is used to control the drive motor and each stop switch according to the rotation angle signal of the central shaft and the current signal of the drive motor.

[0045] In some embodiments, the carrying system further includes a handle that engages with the gear and a power module connected to the drive motor, enabling the carrying system to have a manual power generation function;

[0046] When manual power generation is required, the moving frame, along with the adaptive drive module and the package on it, is detached from the upper part of the stator frame. The control unit controls each stop switch to disengage all stop pawls from the teeth of the corresponding ratchet. The handle rotates the gear to generate current in the drive motor, which is then stored in the power module.

[0047] In some embodiments, the control unit is further configured to perform four-loop control on the drive motor based on the acceleration of the moving subframe, so that the moving subframe and the package body are maintained at the target position while achieving adaptive adjustment of different step frequency magnitudes, wherein the step frequency magnitude is equivalent to the oscillation frequency of the acceleration of the moving subframe; the four-loop control is based on the FOC method with the addition of an acceleration loop, the acceleration loop is used to fit the deviation between the current position and the target position of the moving subframe through a PID control algorithm based on the deviation between the current acceleration and the target acceleration of the moving subframe, obtain the target rotation angle of the drive motor based on the deviation of the target position, use the target rotation angle as the input of the FOC method, and obtain the target current value of the drive motor to maintain or reach the target rotation angle after calculation by the FOC method.

[0048] Compared with the prior art, this disclosure has the following characteristics and beneficial effects:

[0049] (1) The adaptive suspension carrying system of this application can automatically adjust the system stiffness according to different loads or step frequencies, and is suitable for different load and step frequency scenarios; wherein, for different loads, the stiffness adjustment component adjusts the stiffness of the nonlinear elastic element by controlling the pawl engagement or friction wheel contact in the stiffness adjustment component according to the instructions issued by the control unit, so as to automatically adapt to various load sizes; for different step frequencies, the drive motor is controlled in a closed loop by the acceleration of the moving frame collected in real time, so as to automatically adapt to various step frequency sizes.

[0050] (2) The adaptive suspension carrying system of this application adopts a lightweight design, which is exquisite and lightweight; among them, the stiffness adjustment range of the adaptive drive module is large, the built-in nonlinear elastic element is small, the stiffness adjustment component is simple, the volume is small, and the weight is comparable to that of ordinary drive; the coaxial arrangement between the nonlinear elastic element, the stiffness adjustment component and the control unit makes the drive module compact in structure, low in power consumption and simple in control; the introduction of the nonlinear elastic element enables the drive module to simultaneously meet the rotation angle requirements of the carrier and the torque requirements of the elastic element under the tight space constraints;

[0051] (3) The adaptive suspension carrying system of this application has convenient stiffness adjustment. It only requires pre-tightening force to the non-linear elastic element until the moving frame does not detach from the stator frame. The coil spring will automatically adjust to the stiffness matching the load size during operation.

[0052] (4) The adaptive suspension carrying system of this application can be switched to manual power generation. The drive motor can be used to generate electricity by removing the drive frame and inserting the handle. Attached Figure Description

[0053] Figure 1 This is a front view of an adaptive suspension and load-reducing backpack system provided in an embodiment of this disclosure, with the package body omitted in the figure.

[0054] Figure 2 This is a rear view of an adaptive suspension and load-reducing backpack system provided in an embodiment of this disclosure, with the bag body partially cropped in the figure.

[0055] Figure 3 This is an exploded view of an adaptive suspension and load-reducing backpack system provided in an embodiment of this disclosure. The package body is omitted in the figure.

[0056] Figure 4a This is a schematic diagram illustrating the assembly relationship between the back frame unit and the transmission unit in an adaptive suspension and load-reducing backpack system provided in this embodiment of the disclosure.

[0057] Figure 4b This is a schematic diagram of the structure of a guide module in an adaptive suspension and load-reducing backpack system provided in an embodiment of this disclosure.

[0058] Figure 5 a, Figure 5 b、 Figure 5 c are schematic diagrams of the locking mechanism in the back frame unit of an adaptive suspension load-reducing backpack system provided in this disclosure, and its locked and unlocked states.

[0059] Figure 6 This is a schematic diagram illustrating the assembly relationship between the transmission unit and the adaptive drive module in an adaptive suspension and load-reducing backpack system provided in this embodiment of the disclosure.

[0060] Figure 7 This is a schematic diagram of the structure of a series drive module used in an adaptive suspension load reduction system provided in this embodiment of the disclosure.

[0061] Figure 8 for Figure 7 The diagram shows a longitudinal section of the series-type drive module.

[0062] Figure 9 for Figure 7 The exploded view of the drive unit in the series-type drive module shown.

[0063] Figure 10 for Figure 7 The explosion diagram of the series-type variable stiffness unit in the series-type drive module shown in the first view.

[0064] Figure 11for Figure 7 The explosion diagram of the series-type variable stiffness unit in the series-type drive module shown in the second view.

[0065] Figure 12 (a), (b), and (c) are schematic diagrams illustrating the working process of the stiffness adjustment component of the series-type variable stiffness unit in the series-type drive module.

[0066] Figure 13 This is a schematic diagram of the structure of a parallel drive module used in an adaptive suspension load reduction system provided in an embodiment of this disclosure.

[0067] Figure 14 for Figure 13 The diagram shows a longitudinal section of the parallel drive module.

[0068] Figure 15 for Figure 13 The explosion diagram of the parallel variable stiffness unit in the parallel drive module shown is viewed from the first perspective.

[0069] Figure 16 for Figure 13 The explosion diagram of the parallel variable stiffness unit in the parallel drive module shown is viewed from a second perspective.

[0070] Figure 17 (a), (b), and (c) are schematic diagrams illustrating the working process of the stiffness adjustment component of the series-type variable stiffness unit in the parallel drive module.

[0071] Figure 18 This is a longitudinal cross-sectional schematic diagram of a single coil spring drive module used in an adaptive suspension and load-reducing backpack system provided in an embodiment of this disclosure.

[0072] Figure 19 for Figure 18 The explosion diagram of the variable stiffness unit in the single coil spring drive module shown is viewed from the first perspective.

[0073] Figure 20 for Figure 18 The explosion diagram of the variable stiffness unit in the single coil spring drive module shown is viewed from a second perspective.

[0074] In the picture:

[0075] A is the back frame unit, A1 is the mover frame, A11 is the first hole position, A2 is the stator frame, A21 is the back belt, A22 is the side edge, A3 is the guide module, A31a is the horizontal guide rail, A31b is the vertical guide rail, A32 is the guide wheel assembly, A32a is the horizontal guide wheel, A32b is the vertical guide wheel, A33a is the horizontal guide wheel shaft, A33b is the vertical guide wheel shaft, A34 is the bolt, A41 is the first limit block, A42 is the second limit block, A5 is the locking mechanism, A51 is the locking insert, A52 is the locking insert shaft, A53 is the washer, A54 is the screw, A55 is the locking hook, A56 is the locking hook shaft;

[0076] B is the inclusion body;

[0077] C is the transmission unit, C1 is the rack, C2 is the gear, C3 is the auxiliary gear, and C4 is the auxiliary gear shaft;

[0078] D stands for Adaptive Drive Module;

[0079] E stands for handle;

[0080] F stands for power module;

[0081] 100 is the frame, 110 is the frame body, 111 is the upper shell, 1111 is the second boss, 1112 is the third boss, 111a is the partition, 112 is the lower shell, 1121 is the second journal, and 120 is the external end.

[0082] 200 is the drive unit, 210 is the central shaft, 220 is the drive motor, 221 is the rotor carrier, 2211 is the first journal, 222 is the magnet, 223 is the winding carrier, 224 is the coil, 230 is the reducer, 231 is the planetary carrier, 231a is the bolt hole, 2311 is the planetary carrier body, 2311a is the planetary shaft, 2312 is the planetary carrier top cover, 232 is the sun gear, 233 is the planetary gear, and 234 is the internal gear ring.

[0083] 300 is a series-type variable stiffness unit; 310 is a nonlinear elastic element; 311 is the first sub-coil spring; 312 is the second sub-coil spring; 320 is a stiffness adjustment assembly; 321 is the first sub-coil spring locking element; 3211 is the first ratchet; 3212 is the first positive stop pawl; 3213 is the first negative stop pawl; 3214 is the first positive return spring; 3215 is the first positive stop switch; 3216 is the first negative return spring; 3217 is the first negative stop switch; 322 is the first sub-coil spring drive frame; and 3221 is the third journal. 3222 is a set screw, 3223 is a first pivot pin, 323 is a second sub-coil spring locking element, 3231 is a second ratchet, 3232 is a second positive stop pawl, 3233 is a second negative stop pawl, 3234 is a second positive return spring, 3235 is a second positive stop switch, 3236 is a second negative return spring, 3237 is a second negative stop switch, 324 is a second sub-coil spring drive frame, 3241 is a first boss, 3242 is a second pivot pin, 325 is a ratchet shaft, 3251 is an upper bearing shell, and 3252 is a lower bearing shell;

[0084] 300' is a parallel variable stiffness unit, 310' is a nonlinear elastic element, 311' is the first sub-coil spring, 312' is the second sub-coil spring, 320' is a stiffness adjustment assembly, 321' is the first sub-coil spring locking element, 3211' is the first ratchet, 3212' is the first positive stop pawl, 3213' is the first negative stop pawl, 3214' is the first positive return spring, 3215' is the first positive stop switch, 3216' is the first negative return spring, 3217' is the first negative stop switch, 3218' is a set screw, and 3219' is the first bearing. 322' is the first sub-coil spring fixing bracket, 3221' is the first shaft pin, 323' is the second sub-coil spring locking element, 3231' is the second ratchet, 3232' is the second positive stop pawl, 3233' is the second negative stop pawl, 3234' is the second positive return spring, 3235' is the second positive stop switch, 3236' is the second negative return spring, 3237' is the second negative stop switch, 3238' is the second ratchet shaft, 3239' is the second bearing, 324' is the second sub-coil spring fixing bracket, 3241' is the second shaft pin, and 325' is the ratchet shaft;

[0085] 300* is a single coil spring drive module, 310* is a non-linear coil spring, 320* is a stiffness adjustment component, 321* is a coil spring locking component, 3210* is a ratchet, 3211* is a pin, 3212* is a first set screw, 3213* is a positive stop pawl, 3214* is a negative stop pawl, 3215* is a positive return spring, 3216* is a positive stop switch, 3217* is a negative return spring, 3218* is a negative stop switch, 322* is a coil spring drive frame, 3221* is a third journal, 3222* is a second set screw, 3223* is a second pin, and 323* is a coil spring adjustment motor.

[0086] 400 is the control unit, 410 is the circuit board, and 420 is the dust cover;

[0087] a is the first bearing, b is the second bearing, c is the third bearing, d is the fourth bearing, e is the fifth bearing, f is the sixth bearing, and g is the seventh bearing. Detailed Implementation

[0088] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0089] To better describe and illustrate the embodiments of this application, reference may be made to one or more accompanying drawings, but the additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the inventive creations of this application, the embodiments or preferred methods described herein.

[0090] It should be noted that when a component is said to be "connected" to another component, it can be directly connected to the other component or it can be connected to a component in between. When a component is said to be "set on" another component, it can be directly set on the other component or it may be set to a component in between.

[0091] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0092] See Figures 1-3 The present disclosure provides an adaptive suspension and load reduction carrying system, which includes a back frame unit A, a bag body B, a transmission unit C and an adaptive drive module D.

[0093] The back frame unit A includes a mover frame A1, a stator frame A2, and a guide module A3. The guide module A3 is connected between the mover frame A1 and the stator frame A2 and is used to restrict the mover frame A1 relative to the stator frame A2 to only move along the cross-sectional normal of the carrying system (i.e., Figure 1 The stator frame A2 is provided with a back strap A21 on the side of the stator frame A2 facing away from the mover frame A1. (The stator frame A2 is shown in the diagram in the up-down direction.)

[0094] Package B is fixedly connected to the side of the mover frame A1 facing away from the stator frame A2;

[0095] The transmission unit C is disposed between the mover frame A1 and the stator frame A2, and includes a rack C1 and a gear C2 that mesh with each other through the teeth. The rack C1 is disposed along the cross-sectional normal of the carrying system and is fixedly connected to the stator frame A2.

[0096] The adaptive drive module D includes a frame and drive units, variable stiffness units, and control units arranged within the frame; wherein...

[0097] The frame includes a frame body fixedly connected to the side of the mover frame A1 facing away from the stator frame A2 and an external end 120 provided on the frame body. The external end 120 passes through the first hole A11 on the mover frame A1 and is fixedly connected to the gear C2. The load of the package B transmitted by the transmission unit C is connected through the external end 120, and the power provided by the drive unit is transmitted to the mover frame A1 and the package B.

[0098] The drive unit includes a central shaft and a drive motor arranged coaxially, and the output of the drive motor drives the central shaft to rotate, and then connects to the external terminal 120 through a reducer;

[0099] The variable stiffness unit includes an elastic element and a stiffness adjustment assembly. The stiffness adjustment assembly is connected to the elastic element and the central shaft of the drive unit. The load torque is transmitted to the stiffness adjustment assembly through the reducer and the central shaft, and then the torque is applied to one end of the elastic element. The stiffness adjustment assembly changes the number of working revolutions and output torque of the elastic element by locking one end of the elastic element in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment assembly adjusts the initial angle of the elastic element by pre-tightening or unloading the other end of the elastic element. The initial angle of the elastic element corresponds to the initial position of the mover frame A1 relative to the stator frame A2.

[0100] The control unit controls the stiffness adjustment component and the drive motor according to the current signal of the drive motor and the rotation angle signal of the central shaft, so as to achieve a balance between the load torque, the torque of the elastic element and the output torque of the drive motor. While providing power to the moving frame A1 and the package B to maintain their target positions, it also realizes adaptive adjustment to different load sizes.

[0101] In some embodiments, see Figure 4a The back frame unit A serves as the skeleton of the carrying system in this embodiment, primarily used for the installation of other components within the carrying system. Both the mover frame A1 and stator frame A2 in the back frame unit A are made of lightweight materials such as nylon and high-strength resin, meeting mechanical strength requirements, and are designed with a hollow form to further reduce weight. The side of the stator frame A2 facing the back of the user (i.e., the side facing away from the mover frame A1) is designed as an arc to meet ergonomic needs. Three side ridges A22, equally spaced on the side of the stator frame A2 facing the mover frame A1, are formed to cooperate with the guide module A3. The axial direction of each side ridge A22 is parallel to the normal direction of the cross-section of the carrying system. Two side ridges are located on the left and right sides of the stator frame A2, and the other side ridge is located at the center of the stator frame A2.

[0102] In some embodiments, see Figure 4a , 4b The guide module A3 in the back frame unit A is used to restrict the direction of movement of the mover frame A1 relative to the stator frame A2, so that the mover frame A1 can only move in the vertical direction relative to the stator frame A2. Optionally, the guide module A3 includes two L-shaped guide rails arranged on the left and right sides of the mover frame A1 and integrally formed with the mover frame A1, and several guide wheel groups installed on the side of the stator frame A2 facing the mover frame A1. The horizontal section and vertical section of each L-shaped guide rail serve as the horizontal guide rail A31a and the vertical guide rail A31b, respectively. In this embodiment, there are a total of 6 guide wheel groups A32, arranged in 3 rows and 2 columns. Each column of guide wheel groups cooperates with a corresponding L-shaped guide rail. Each guide wheel group consists of 2 horizontal guide wheels A32a and 1 vertical guide wheel A32b. The 2 horizontal guide wheels A32a are arranged on the front and rear sides of the horizontal guide rail A31a (to restrict the horizontal guide rail A31a from moving forward or backward) and are rotatably sleeved on a corresponding horizontal guide wheel shaft A33a. Each horizontal guide wheel shaft A33a is fixed to the side edge A22 of the corresponding side of the stator frame A2 by bolts A34. The 1 vertical guide wheel A32b is located inside the vertical guide rail A31b and is rotatably sleeved on a vertical guide wheel shaft A33b. The vertical guide wheel shaft A33b is fixed to the stator frame A2 by bolts A34. During the movement of the moving frame A1 relative to the stator frame A2, the horizontal guide wheel A32a and the horizontal guide rail A31a experience rolling friction to constrain the movement of the moving frame A1 in the coronal plane normal (i.e., the front-to-back direction) of the bearing system, and the vertical guide wheel A32b and the vertical guide rail A31b experience rolling friction to constrain the movement of the moving frame A1 in the sagittal plane normal (i.e., the left-to-right direction) of the bearing system. Therefore, the moving frame A1 can only move in the up-down direction.

[0103] Furthermore, to ensure that the moving frame A1 does not detach from the stator frame A2 during the load-bearing process, a limiting component is provided on the side of the moving frame A1 facing the stator frame A2. Specifically, a first limiting block A41 is provided at the upper end of the side of the moving frame A1 facing the stator frame A2. Figure 3 (As shown in the diagram), a second limiting block A42 is provided at a corresponding position on the central side edge A22 of the stator frame A2. When the moving frame A1 moves to the lowest position relative to the stator frame A2, the top surface of the second limiting block A42 contacts the bottom surface of the first limiting block A41, so that the moving frame A1 will not detach from the stator frame A2.

[0104] Further, see Figure 3 , Figure 4a , Figure 5 In (a) to (c), a locking mechanism A5 is also provided between the moving frame A1 and the stator frame A2. The locking mechanism A5 has two states: locked and unlocked. When the locking mechanism A5 is in the locked state, the moving frame A1 cannot move relative to the stator frame A2. At this time, the carrying system is the same as an ordinary backpack and does not have the effect of reducing the burden. When the locking mechanism A5 is in the unlocked state, the moving frame A1 can move relative to the stator frame A2. Specifically, the locking mechanism A5 is located near the lower part of the stator frame A2 and includes two locking modules that are symmetrically arranged about the central side edge of the stator frame A2 and have the same structure. Each locking module includes a locking insert A51 and a locking hook A55. The locking insert A51 is a Z-shaped plate structure and is rotatably sleeved on the locking insert shaft A52, which is fixedly connected to the stator frame A2. The locking hook A55 is an L-shaped plate structure and is rotatably sleeved on the locking hook shaft A56, which is fixedly connected to the central side edge of the stator frame A2. The locking hook A55 has a first slot A53 that mates with the end of the locking insert A51. On the lower part of the rotor frame A1 facing the stator frame A2, there is a second slot A54 that mates with the end of the locking hook A55 away from the locking hook shaft A56. When it is necessary to lock the stator frame A2 and the mover frame A1, firstly, by rotating the locking hook A55, one end of the locking hook A55 is inserted into the second slot A54 of the mover frame A1. Then, by rotating the locking insert A51, one end of the locking insert A51 is inserted into the first slot A53 of the locking hook A55. This prevents the locking hook A55 from rotating relative to the locking hook shaft A56, and the mover frame A1, restricted by the locking hook A55, cannot move relative to the stator frame A2, thus locking the mover frame A1 and the stator frame A2. Conversely, when it is necessary to unlock the mover frame A2 and the stator frame A1, firstly, by rotating the locking insert A51, one end of the locking insert A51 is disengaged from the first slot A53 of the locking hook A55. Then, by rotating the locking hook A55, one end of the locking hook A55 is disengaged from the second slot A54 of the mover frame A1, thus unlocking the mover frame A1 and the stator frame A2.

[0105] In some embodiments, see Figure 4a , Figure 6 In the transmission unit C, rack C1 is fixedly connected to the central side edge A22 on the stator frame A2 and is located between the second limiting block A42 and the locking mechanism A5. Gear C2 is located to the left of rack C1 and is coaxially arranged with the external end of the adaptive drive module D. Gear C2 moves synchronously with the external end of the adaptive drive module D. Furthermore, in order to ensure the transmission efficiency between gear C2 and rack C1 (for example, when there is a gap between gear C2 and rack C1, resulting in a lack of close contact, the transmission efficiency will be reduced), an auxiliary gear C3 is also provided on the right side of rack C1. This auxiliary gear C3 is rotatably sleeved on the auxiliary gear shaft C4 fixed on the side of the mover frame A1 facing the stator frame A2.

[0106] In some embodiments, the bag body B is used to load heavy objects. It should be noted that, in order not to increase the size of the carrying system in the front-to-back direction, in this embodiment, all components except the connector of the adaptive drive module D are placed inside the bag body B.

[0107] The adaptive drive module D is the core component of the carrying system provided in this disclosure. It can adaptively adjust to different load sizes or step frequencies, ultimately achieving a load reduction effect. This disclosure provides three implementation methods for the adaptive drive module D: a series drive module I, a parallel drive module II, and a single coil spring drive module III. The elastic elements used in all three drive modules are nonlinear elastic elements, specifically nonlinear coil springs. Compared with existing drive modules that use linear springs as elastic elements, using nonlinear coil springs can achieve a larger rotation range of the central axis and a larger torque range of the coil spring under the same spatial constraints. Specifically, compared with existing linear coil springs with lower stiffness, nonlinear coil springs can withstand a larger load torque with the same coil spring outer diameter and number of rotations; compared with existing linear coil springs with higher stiffness, nonlinear coil springs can make the central axis rotate more times with the same coil spring outer diameter and load torque, thereby improving the drive module. In this embodiment, the rotation of the central shaft within the adaptive drive module is converted into linear motion of the moving frame A1 via the external end 120 and the transmission unit C. The torque of the coil spring is then converted into the load magnitude via the external end 120 and the transmission unit C. Therefore, for the carrying system, compared to a linear coil spring with lower stiffness, a nonlinear coil spring can withstand a greater load with the same coil spring outer diameter and linear reciprocating displacement of the moving frame; compared to a linear coil spring with higher stiffness, a nonlinear coil spring can cause a greater linear reciprocating displacement of the moving frame with the same coil spring outer diameter and load. The three structural forms of the adaptive drive module will be described in detail below with reference to the accompanying drawings.

[0108] 1. Series-type drive module I

[0109] See Figure 7 , Figure 8 (It should be noted that,) Figure 7 , Figure 8 The up and down directions shown correspond to respectively Figure 1 (Rear and front of the center), the series drive module I includes a frame 100, and a drive unit 200, a series variable stiffness unit 300, and a control unit 400 arranged within the frame 100; wherein,

[0110] The frame 100 includes a frame body 110 and an external end 120 disposed on the frame body 110. The frame body 110 is fixedly connected to the side of the mover frame A1 facing away from the stator frame A2 by bolts. The load transmitted by the transmission unit D is connected through the external end 120 (the load mainly includes the package B and its internal weight, as well as the sum of the weights of the mover frame A1 and the components installed on the mover frame A1), and the power provided by the drive unit 200 is transmitted to the mover frame A1 and the package B.

[0111] The drive unit 200 includes a central shaft 210 and a drive motor 220 arranged coaxially. The drive motor 220 drives the central shaft 210 to rotate and is then connected to the external terminal 120 through a reducer 230.

[0112] The series-type variable stiffness unit 300 includes a nonlinear elastic element 310 and a stiffness adjustment assembly 320. The nonlinear elastic element 310 consists of a first sub-coil spring 311 and a second sub-coil spring 312 connected in series through the stiffness adjustment assembly 320. The stiffness adjustment assembly 320 is also connected to the central shaft 210. The load torque is transmitted to the stiffness adjustment assembly 320 through the reducer 230 and the central shaft 210, and then the torque is applied to the outer end of the nonlinear elastic element 310. The stiffness adjustment assembly 320 changes the number of working turns and the output torque of the nonlinear elastic element 310 by locking the inner end of the nonlinear elastic element 310 in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment assembly 320 adjusts the initial angle of the inner end of the nonlinear elastic element 310 by pre-tightening or unloading the inner end of the nonlinear elastic element 310. The initial angle of the inner end of the nonlinear elastic element 310 corresponds to the initial position of the moving frame A1 relative to the stator frame A2.

[0113] The control unit 400 is used to control the stiffness adjustment component 320 and the drive motor 220 according to the current signal of the drive motor 220 and the fluctuation of the rotation angle of the central shaft 210, so as to achieve a balance among the load torque, the torque of the nonlinear elastic element 310 and the output torque of the drive motor 220 (hereinafter referred to as "drive torque"), so as to provide power to the moving frame A1 and the package B to maintain their target positions while achieving adaptive adjustment for different load sizes.

[0114] Furthermore, the frame body 110 serves as a base, providing support and positioning for other components within the series-type drive module of this embodiment. Optionally, the frame body 110 includes an upper housing 111 and a lower housing 112, which are bolted together and coaxially arranged with the central shaft 210. The drive motor 220 and the central shaft 210 are both located within the lower housing 112, and the upper end of the central shaft 210 protrudes from the upper end face of the lower housing 112. The external end 120 is rotatably disposed at the center of the lower end face of the lower housing 112 via a third bearing c. The series-type variable stiffness unit 300 and the control unit 400 are both located within the upper housing 111.

[0115] Further, see Figure 9 The drive motor 220 serves as the power source for the series-type drive module in this embodiment, providing power to maintain the target position of the actuator frame A1. The drive motor 220 has an input shaft and an output shaft, which are located on opposite sides of the drive motor body. In this embodiment, the drive motor 220 is a brushless DC motor. Unlike commercially available motors, its central axis of rotation is different. While the output shaft of commercially available motors is typically built into the motor housing, this embodiment uses a central shaft 210 to replace the output shaft of commercially available motors, facilitating connection with the series-type variable stiffness unit 300. Most of the central shaft 210 is located within the drive motor 220, with its top protruding from the top of the drive motor 220. The drive motor 220 in this embodiment includes a rotor frame 221 and magnets 222, a winding frame 223, and coils 224 located within the rotor frame 221. The magnets 222 are fixed to the inner wall of the rotor frame 221, and the coils 224 are wound around the winding frame 223. A first journal 2211 with a through hole is formed at the center of the upper end face of the rotor frame 221. The first journal 2211 protrudes partly from the upper end face of the rotor frame 221 and is located inside the rotor frame 221. The outer side wall of the first journal 2211 protruding from the upper end face of the rotor frame 221 is rotatably connected to the inner side wall of the second journal 1121 at the center of the upper end face of the lower housing 112 through the first bearing a. The outer side wall of the first journal 2211 located inside the rotor frame 221 is rotatably connected to the planetary carrier top cover 2312 through the second bearing b. At the same time, the outer end 120 is also rotatably connected to the lower end of the lower housing 112 through the third bearing c. When the coil 224 is energized, it generates a magnetic field. Under the action of the magnetic field, the magnet 222 rotates with the rotor frame 221. The rotation of the rotor frame 221 drives the central shaft 210, which is fixed to it in the same direction, to rotate synchronously. One end of the central shaft 210 is a gear (which is the sun gear 232 in the reducer 230). The reducer 230 then drives the external end 120 to rotate, realizing the output of power to the outside.

[0116] See Figure 10A reducer 230, located between the output end of the drive motor 220 and the external terminal 120, is used to reduce the speed of the output end of the drive motor 220 to amplify the output torque. The output end of the drive motor 220 is the central shaft 210, and one end of its gear 232 serves as the high-speed input end of the reducer 230. The low-speed output end of the reducer 230 is the external terminal 120. When the load torque changes little over time during use, the torque generated by the drive motor 220 is sufficient to overcome the change in load torque. In this case, it is not necessary to reduce the motor speed to amplify the output torque, and the reducer 230 can be omitted. The reducer 230 in this embodiment is a planetary gear reducer, including an internal gear ring 234, a planet carrier 231, a sun gear 232, and a plurality of planetary gears 233; the internal gear ring 234 is fixedly connected to the lower housing 112 and meshes with each planetary gear 233; the planet carrier 231 includes a fixedly connected planet carrier body 2311 and a planet carrier top cover 2312, the planet carrier body 2311 being the outer end 120, and the planet carrier body 2311 having circumferentially distributed outer edges of the sun gear 232. The planetary carrier 231 consists of several planetary shafts 2311a, with each planetary gear 233 mounted on a corresponding planetary shaft 2311a via a fourth bearing d. Each planetary gear 233 meshes with a sun gear 232 fixed to one end of a central shaft 210. The central shaft 210 serves as the axle for the sun gear 232 and is integrally formed with the sun gear 232. Several bolt holes 231a are provided on the planetary carrier body 2311 and the planetary carrier top cover 2312, which are fixedly connected by bolts to form the planetary carrier 231. Besides the planetary gear reducer, the reducer 230 includes, but is not limited to, RV reducers, cycloidal pinwheel reducers, or harmonic gear reducers, and other types of reducers, which will not be elaborated upon here.

[0117] Further, see Figure 11 , Figure 12 In this embodiment, the series-type variable stiffness unit 300 comprises two sub-coil springs connected in series. Each sub-coil spring is arranged in layers within the upper housing 111 of the frame body 110, with the first sub-coil spring 311 positioned closer to the central axis 210 than the second sub-coil spring 312. Each sub-coil spring is either a linear spring, or both are nonlinear springs, or one is a linear spring and the other a nonlinear spring. The nonlinear spring is a planar spiral spring formed by connecting multiple spring segments end-to-end, with adjacent spring segments having different stiffnesses. The first sub-coil spring 311 contains P spring segments, and the second sub-coil spring 312 contains Q spring segments, where P and Q are both positive integers greater than or equal to 1. When the number of segments in a sub-coil spring is 1, it is a linear spring; when the number of segments is greater than 1, it is a nonlinear spring. The nonlinear elastic element 310 is designed according to the following steps:

[0118] The given working curve of the series drive module is divided into S segments. The number of segments S is determined according to the control accuracy and stiffness adjustment accuracy requirements of the carrier posture. The higher the accuracy requirement, the larger the number of segments S, and S is a positive integer greater than or equal to 2. The working curve of the series drive module is a functional relationship between the rotation angle of the central axis 210 (independent variable) and the torque output through the external terminal 120 (dependent variable). The determined number of segments S is taken as the total number of segments of the nonlinear elastic element 310, that is, S = P + Q, and the first coil spring segment is located in the first sub-coil spring 311.

[0119] The working curve and its slope of the i-th segment (i = 1, 2, ..., S) are used as the working curve and stiffness of the i-th spring segment, respectively. Based on this, the i-th spring segment is designed according to industry standard JB / T7366-1994, yielding parameters for the i-th spring segment, including elastic modulus E, cross-sectional thickness h, cross-sectional width b, and unfolded length l. In this embodiment, the elastic modulus E, cross-sectional width b, and unfolded length l of each spring segment are assumed to be equal. By changing the cross-sectional thickness h of each spring segment, the nonlinear elastic element 310 meets the working curve requirements of the drive module. That is, in this embodiment, the nonlinear spring is a planar spiral spring with variable cross-sectional thickness. Similarly, the elastic modulus E, cross-sectional thickness h, and unfolded length l of each spring segment can also be made equal, using a planar spiral spring with variable cross-sectional width b.

[0120] It should be noted that the overall dimensions of each sub-coil spring in the free state obtained according to the above design steps should meet the set space requirements. If they do not meet the requirements, a redesign is required.

[0121] It is understandable that, since there is a proportional relationship between the displacement of the mover frame A1 and the rotation angle of the central shaft 210 (the power transmission ratio of the reducer), and the initial rotation angle of the inner ring of the coil spring can be adjusted by the adjustment handle in the stiffness adjustment assembly 320 (the adjustment handle is not shown in the figure), in most applications, when the load rotation angle range and working torque relationship need to meet the set function curve, even within a limited installation space, a nonlinear elastic element 310 that approximately conforms to the set function curve can still be designed according to the above steps.

[0122] The series-type drive module I includes two linear coil springs with different stiffnesses. The linear coil spring with higher stiffness is designated as the first sub-coil spring 311, and the linear coil spring with lower stiffness is designated as the second sub-coil spring 312 and positioned above the first sub-coil spring 311. The stiffness of the nonlinear elastic element 310 is obtained by connecting the first sub-coil spring 311 and the second sub-coil spring 312 in series. Different stiffnesses of the first sub-coil spring 311 and the second sub-coil spring 312 can be selected and combined according to actual needs. Furthermore, the series connection of the first sub-coil spring 311 and the second sub-coil spring 312 increases the rotatable angle of the nonlinear elastic element 310, enabling it to adapt to different application scenarios.

[0123] In the series-type variable stiffness unit 300 of this embodiment, each sub-coil spring is equipped with a stiffness adjustment mechanism. The two stiffness adjustment mechanisms together constitute the stiffness adjustment component 320 in the series-type variable stiffness unit 300 and are both coaxial with the central axis 210. Each stiffness adjustment mechanism is controlled by the control unit 400 to adjust the number of working turns of the coil spring. Specifically, each stiffness adjustment mechanism locks or unloads the corresponding sub-coil spring until the total elastic torque generated by the nonlinear elastic element 310 reaches the load torque and then maintains balance. The first stiffness adjustment mechanism includes a first sub-coil spring locking member 321 and a first sub-coil spring drive frame 322, and the second stiffness adjustment mechanism includes a second sub-coil spring locking member 323 and a second sub-coil spring drive frame 324. Under normal operating conditions, the first stiffness adjustment mechanism remains locked, ensuring that the first sub-coil spring 311 and the second sub-coil spring 312 are connected end-to-end in a series state. Specifically, the inner ring of the first sub-coil spring 311 is locked to the second sub-coil spring drive frame 324 through the first sub-coil spring locking member 321, thereby transmitting torque to the outer ring of the second sub-coil spring 312. A (six) square hole is provided at the top of the central shaft (i.e., ratchet shaft 325) of the second sub-coil spring locking member 323, which can be rotated using an adjusting handle (not shown in the figure) to adjust the inner end angle position of the nonlinear elastic element 310. The angle difference between the inner end angle position and the outer end angle position of the nonlinear elastic element is the number of turns of the nonlinear elastic element 310 compressed. Different numbers of compressed turns result in different elastic torques, which can be designed and manufactured using the above-mentioned design method for nonlinear elastic elements. The nonlinear elastic element 310 has the characteristic of adaptive load torque. In this embodiment, when the load is applied, according to the stiffness characteristics of each spring segment, each spring segment is compressed in order of increasing stiffness. That is, the spring segment with the smallest stiffness is compressed first. If the load torque is greater than the current spring torque, the spring segment with larger stiffness is compressed until equilibrium is reached.

[0124] In the stiffness adjustment assembly 320 of the series-type variable stiffness unit 300, the first sub-coil spring drive frame 322 is a circular plate with a third journal 3221 at the center of the lower end face, and both the circular plate and the third journal 3221 have a central hole that matches the central shaft 210. The second sub-coil spring drive frame 324 is a circular plate with a central hole and a first boss 3241 on the lower end face of the circular plate. The outer ends of the first sub-coil spring drive frame 322 and the second sub-coil spring drive frame 324 are both left with a gap between them and the inner sidewall of the upper shell 111. The first sub-coil spring locking member 321 and the second sub-coil spring locking member 323 each include a ratchet and pawl mechanism and a stop switch and a return spring. The first sub-coil spring locking member 321 and the second sub-coil spring locking member 323 share a ratchet shaft 325. The top end of the ratchet shaft 325 is rotatably connected to the frame body 110 through a fifth bearing e located at the center hole of the upper housing 111. The top end of the ratchet shaft 325 is also provided with an interface for inserting an adjustment handle (not shown in the figure). The ratchet shaft 325 can be manually rotated through the adjustment handle. The third journal 3221 at the center of the first sub-coil spring drive frame 322 is fixedly sleeved on the top of the central shaft 210 by a set screw 3222, so that it rotates synchronously with the central shaft 210. The first sub-coil spring 311 is placed on the upper end face of the first sub-coil spring drive frame 322, and the upper end face of the first sub-coil spring drive frame 322 is provided with a first pin 3223 for fixing the outer end of the first sub-coil spring 311. The load torque is transmitted through the first sub-coil spring drive frame 322 from the outer end of the first sub-coil spring 311. The spring is fed into the nonlinear elastic element 310; the second sub-coil spring drive frame 324 is disposed above the first sub-coil spring 311, and the center of the second sub-coil spring drive frame 324 is tightly fitted with the upper bearing 3251, and is rotatably sleeved on the ratchet shaft 325 through the upper bearing 3251; the second sub-coil spring 312 is placed on the upper end face of the second sub-coil spring drive frame 324, and the upper end face of the second sub-coil spring drive frame 324 is provided with a second pin 3242 fixedly connected to the outer end of the second sub-coil spring 312.The ratchet and pawl mechanism in the first sub-coil spring locking member 321 includes a first ratchet 3211 rotatably mounted on the ratchet shaft 325 via a lower bearing 3252, and a first positive stop pawl 3213 and a first negative stop pawl 3212 that mesh with the first ratchet 3211 through their teeth. The lower bearing 3252 is tightly fitted to the first ratchet 3211, and the lower end face of the lower bearing 3252 is fixedly connected to the upper end face of the first sub-coil spring drive frame 322. A ratchet 3211 is rotatably connected to a lower bearing 3252. The inner end of a first sub-coil spring 311 is fixedly connected to the first ratchet 3211, and there is relative rotation between the first ratchet 3211 and the first sub-coil spring drive frame 322. One end of both the first positive stop pawl 3213 and the first negative stop pawl 3212 is rotatably connected to the first boss 3241 of the second sub-coil spring drive frame 324. The first positive stop pawl 3213 is located near... A first positive return spring 3216 and a first positive stop switch 3217 are provided between one end of the tooth and the first boss 3241 of the second sub-coil spring drive frame 324. A first negative return spring 3214 and a first negative stop switch 3215 are provided between the end of the first negative stop pawl 3212 near the tooth and the first boss 3241 of the second sub-coil spring drive frame 324. When the first ratchet 3211 needs to be stationary, each return spring is always kept in a compressed state to provide a force to the corresponding stop pawl towards the first ratchet 3211. Under normal circumstances, the first positive stop pawl 3213 and the first negative stop pawl 3212 will be locked and engaged with the first ratchet 3211, thereby keeping the first ratchet 3211 locked with the second sub-coil spring drive frame 324, and transmitting the torque from the inner end of the first sub-coil spring 311 to the outer end of the second sub-coil spring 312, realizing the series connection between the two. Similarly, the ratchet and pawl mechanism in the second sub-coil spring locking member 323 includes a second ratchet 3231 fixedly sleeved on the ratchet shaft 325, and a second positive stop pawl 3233 and a second negative stop pawl 3232 that engage with the second ratchet 3231 through teeth. The inner end of the second sub-coil spring 312 is fixedly connected to the second ratchet 3231. A second boss 1111 is provided on the lower surface of the top end of the upper housing 111, along with the second positive stop pawl 3233 and the second negative stop pawl 323. One end of 2 can be rotatably connected to the second boss 1111 of the upper housing 111. A second positive return spring 3236 and a second positive stop switch 3237 are provided between the end of the second positive stop pawl 3233 near the teeth and the second boss 1111 of the upper housing 111. A second negative return spring 3234 and a second negative stop switch 3235 are provided between the end of the second negative stop pawl 3232 near the teeth and the second boss 1111 of the upper housing 111.It should be noted that each stop switch is an electromagnetic switch, or more specifically, an armature switch, controlled by the control unit 400. When the armature switch is open, it provides a force to the corresponding stop pawl, causing it to move away from the ratchet that is in contact with the corresponding stop pawl. This force is greater than the force provided by the return spring, thereby separating the corresponding stop pawl from the ratchet. When the armature switch is open, the force it provides to the corresponding stop pawl disappears, and the corresponding stop pawl contacts the ratchet under the action of the return spring.

[0125] Further, see Figure 12 Images (a), (b), and (c) are schematic diagrams illustrating the operation of the stiffness adjustment component 320 in this embodiment. At this point, only the top view shows the positional relationship between the second sub-coil spring 312 and its corresponding accessories. Stiffness adjustment is primarily achieved by controlling the second-layer stop pawl via the second-layer (i.e., upper-layer) stop switch. In this case, the outer end of the first sub-coil spring 311 is subjected to a clockwise load torque, wherein:

[0126] When the load torque is first applied, the stiffness adjustment component 320 operates as follows: Figure 12 In the mode shown in (a), the coil spring is compressed and deformed. The outer end of the first sub-coil spring 311 is fixed to the first pin 3223 on the first sub-coil spring drive frame 322 and is subjected to a clockwise torque generated by the load. The inner end of the first sub-coil spring 311 is fixed to the first ratchet 3211. At the same time, the first positive stop pawl 3213 and the first negative stop pawl 3212 are in contact with the teeth of the first ratchet 3211, so that the inner end of the first sub-coil spring 311 is locked to the second sub-coil spring drive frame 324, and the torque is transmitted from the inner end of the first sub-coil spring 311 to the outer end of the second sub-coil spring 312, which is subjected to a clockwise torque generated by the load. Figure 12 As shown in (a), at this time, the second positive stop pawl 3233 on the right side is in contact with the teeth of the second ratchet 3231, and the second negative stop pawl 3232 on the left side is separated from the teeth of the second ratchet 3231. Under the stopping action of the second positive stop pawl 3233 on the right side, although the second ratchet 3231 is subjected to a clockwise torque generated by the inner end of the second sub-coil spring 312, it can remain stationary, thereby ensuring that the counterclockwise elastic torque generated by the first sub-coil spring 311 and the second sub-coil spring 312 can balance the clockwise torque generated by the load. If the load reaches the desired working angle (position) at this time, the stiffness adjustment component 320 operates as follows. Figure 12 In the mode shown in (c), the second positive stop pawl 3233 and the second negative stop pawl 3232 are both engaged with the second ratchet 3231, ensuring that the second ratchet 3231 remains fixed.

[0127] When the load torque increases, the outer end of the first sub-spring 311 will continue to rotate clockwise, further compressing the spring, until torque balance is achieved again.

[0128] When the load torque decreases, the outer end of the first sub-spring 311 will rotate counterclockwise to relax the spring until torque balance is achieved again.

[0129] After torque balance, if the load needs to rotate counterclockwise by a certain angle due to working angle (position) requirements, that is, if the outer end of the first sub-coil spring 311 needs to rotate counterclockwise by a certain angle, then the stiffness adjustment component 320 will operate as follows: Figure 12 In the mode shown in (a), since the second negative stop pawl 3232 on the left disengages from the second ratchet 3231 and the second positive stop pawl 3233 on the right engages with the second ratchet 3231, the second ratchet 3231 can rotate counterclockwise under the drive of the adjusting handle (not shown in the figure), that is, the inner end of the second sub-coil spring 312 rotates counterclockwise by a certain angle, thereby realizing that the load rotates counterclockwise by a certain angle to reach the desired working angle (position).

[0130] Similarly, after torque balance, if the load is required to rotate clockwise by a certain angle due to working angle (position) requirements, that is, the outer end of the first sub-coil spring 311 is required to rotate clockwise by a certain angle, then the stiffness adjustment component 320 will operate as follows: Figure 12 In the mode shown in (b), because the second positive stop pawl 3233 on the right disengages from the second ratchet 3231 and the second negative stop pawl 3232 on the left engages with the second ratchet 3231, the second ratchet 3231 can rotate clockwise under the drive of the adjusting handle. This causes the inner end of the second sub-coil spring 312 to rotate clockwise by a certain angle, thereby achieving the desired working angle (position) by rotating the load clockwise by a certain angle. It should be noted that because the inner end of the second sub-coil spring 312 is subjected to a clockwise spring elastic force, after the second ratchet 3231 rotates clockwise by a certain angle, the right-side second positive stop switch 3237 needs to be released immediately so that the second positive stop pawl 3233 engages with the second ratchet 3231, and simultaneously the second negative stop pawl 3232 engages with the second ratchet 3231, thus returning to the starting position. Figure 6 The working state shown in (a) achieves clockwise stop.

[0131] Understandable Figure 12 The image shows a typical mounting method for the nonlinear elastic element 310 (mainly including the first sub-coil spring 311 and the second sub-coil spring 312). If, according to design requirements, both can bear the load torque in the counterclockwise direction, then it is necessary to... Figure 12Based on the installation method shown in (a), the first sub-coil spring 311 and the second sub-coil spring 312 can be simultaneously mirror-flipped and installed. In this case, the second negative stop pawl 3232 provides the stopping torque to the second ratchet 3231. Therefore, the above mechanism can achieve load torque balance in both clockwise and counterclockwise directions. In practical applications, the appropriate installation method should be selected according to the direction of the load torque to install the nonlinear elastic element 310.

[0132] It should be noted that the adjustment handle in this embodiment can be replaced by a coil spring adjustment motor, which can adjust the inner end rotation position of the first sub-coil spring 311 through electronic control; the ratchet and pawl mechanism in the coil spring locking member in this embodiment can be replaced by a friction cam mechanism or a similar intermittent motion mechanism.

[0133] Understandably, in this embodiment, the load torque is transmitted to the corresponding sub-coil spring through the outer end of each sub-coil spring, i.e., the inner end of the coil spring is fixed while the outer end is movable. Compared to the method of transmission from the inner end, this increases the durability of the coil spring. Since the radius of curvature of the coil spring at the outer ring is larger, the deformation of the coil spring at the outer ring is smaller than that at the inner ring during operation, which will extend the service life of the coil spring.

[0134] Furthermore, the control unit 400 is located within the upper housing 111 of the frame body 110, below the first sub-spring drive frame 322. It includes a circuit board 410, a main controller, an angle sensor, and a current sensor (not shown in the figure) mounted on the circuit board 410. Both the current sensor and the angle sensor are connected to the main controller. The current sensor can be an existing onboard current sensor used to detect the current signal of the drive motor 220. The angle sensor is used to acquire the rotation angle of the central shaft 210 in real time (reflecting the number of rotations and rotation speed of the central shaft). The circuit board is fixedly connected to the lower housing 112 by bolts. The main controller controls the drive motor 220 and each stop switch based on the current signal of the drive motor 220 and the rotation angle signal of the central shaft 210, thereby automatically adjusting the stiffness of the nonlinear elastic element 310 according to different load sizes and maintaining the moving sub-frame A1 at the target position. A wire hole is provided on the side wall of the upper housing 111, through which the cables on the circuit board are led out. Optionally, the control unit 400 also includes a dust cover 420 with a central through hole. The dust cover 420 is fixedly connected to the frame body 110. The central through hole of the dust cover 420 is rotatably connected to the third journal 3221 of the first sub-coil spring drive frame 322 through a sixth bearing f.

[0135] Furthermore, in order to achieve accurate tracking of the target position of the moving frame A1 at different step frequencies, the control unit 400 controls the stiffness adjustment component 320 and the drive motor 220 based on the current pose and target pose of the moving frame A1, and in combination with the current signal of the drive motor 220 and the rotation angle signal of the central shaft 210, so that the load torque, the nonlinear elastic element torque and the driving torque are balanced, while ensuring that the moving frame A1 can reach the target pose. The control unit 400 in this embodiment also includes an inertial measurement unit (IMU, not shown in the figure) mounted on a circuit board 410. This IMU is used to collect the attitude angle and displacement of the moving subframe A1 in real time and transmit them to the main controller in the control unit 400. The main controller controls the drive motor 220 by adding a pose loop to the moving subframe A1 based on the field-oriented control (FOC) method. The FOC method uses a three-loop control, consisting of a current loop, a velocity loop, and a position loop from the inside out. The added pose loop is used to obtain the desired rotation angle of the drive motor 220 based on the deviation between the current pose and the target pose of the moving subframe A1. This desired rotation angle is input to the position loop in the FOC. After calculation by the FOC method, the desired current value for the drive motor to maintain or reach the desired rotation angle is obtained, thereby achieving accurate tracking of the target pose of the moving subframe A1.

[0136] Optionally, the carrying system provided in this embodiment further includes a handle E that cooperates with the gear C2 and a power module F that is electrically connected to the drive motor 220, so that the carrying system of this embodiment has a manual power generation function. When manual power generation is required, the moving frame A1 is first unlocked from the stator frame A2 by locking mechanism A5. Then, the moving frame A1, together with the adaptive drive module D and the housing B, slides out from the upper end of the stator frame A1 to disengage from the stator frame A2. Next, the main controller is triggered by a button connected to the main controller in the control unit 400 to control each stop switch to disengage all the stop pawls (3212, 3213, 3232, 3233) from the teeth of the corresponding ratchet (3211, 3231). At this time, the inner ends of the first sub-coil spring 311 and the second sub-coil spring 312 are in a free state. Then, the handle E is connected to the gear C2. By rotating the handle E, the power is transmitted sequentially through gear C2, external end 120, reducer 230, and central shaft 210 to the rotor frame 221 in the drive motor 220. The magnet 222 on the rotor frame 221 moves relative to the coil 224, cutting the magnetic field lines to generate current, thus achieving the effect of manual power generation. The current generated by the drive motor 220 is led out through wires to the power module (which uses an existing power module) F, and then the power module F supplies power to the outside.

[0137] 2. Parallel drive module II

[0138] See Figure 13, Figure 14 (It should be noted that,) Figure 13 , Figure 14 The up and down directions shown correspond to respectively Figure 1 The parallel drive module II (located at the rear and front of the frame) includes a frame 100, and a drive unit 200, a parallel variable stiffness unit 300', and a control unit 400 arranged within the frame 100; wherein,

[0139] The frame 100 includes a frame body 110 and an external end 120 disposed on the frame body 110. The frame body 110 is fixedly connected to the side of the mover frame A1 facing away from the stator frame A2 by bolts. The load transmitted by the transmission unit D is connected through the external end 120 (the load mainly includes the package B and its internal weight, as well as the sum of the weights of the mover frame A1 and the components installed on the mover frame A1), and the power provided by the drive unit 200 is transmitted to the mover frame A1 and the package B.

[0140] The drive unit 200 includes a central shaft 210 and a drive motor 220 arranged coaxially. The drive motor 220 drives the central shaft 210 to rotate and is then connected to the external terminal 120 through a reducer 230.

[0141] The parallel variable stiffness unit 300' includes a nonlinear elastic element 310' and a stiffness adjustment assembly 320'. The nonlinear elastic element 310' consists of a first sub-coil spring 311' and a second sub-coil spring 312' connected in parallel through the stiffness adjustment assembly 320' and having the same number of working coils. The stiffness adjustment assembly 320' is also connected to the central shaft 210. The load torque is transmitted to the stiffness adjustment assembly 320' through the reducer 230 and the central shaft 210, and then the torque is applied to the inner end of each sub-coil spring. The stiffness adjustment assembly 320' changes the number of working coils and output torque of each sub-coil spring by locking the outer end of each sub-coil spring in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment assembly 320' adjusts the initial angle of the inner end of each sub-coil spring by pre-tightening or unloading the outer end of each sub-coil spring. This initial angle corresponds to the initial position of the moving frame A1 relative to the stator frame A2.

[0142] The control unit 400 is used to control the stiffness adjustment component 320' and the drive motor 220 according to the current signal of the drive motor 220 and the rotation angle signal of the central shaft 210, so as to achieve a balance among the load torque, the torque of the nonlinear elastic element 310' and the output torque of the drive motor 220 (hereinafter referred to as "drive torque"), so as to provide power to the mover frame A1 to maintain its target position while realizing adaptive adjustment for different load sizes.

[0143] The main difference between the parallel drive module II and the series drive module I is that the variable stiffness unit in the parallel drive module II is a parallel variable stiffness unit 300'. Its nonlinear elastic element 310' consists of two sub-coil springs connected in parallel. The structure of the stiffness adjustment component 320' has been adapted, and a partition has been added to the upper housing of the frame body. However, the parallel variable stiffness unit 300' and the control unit 400 are still located in the upper housing, and the drive unit is still located in the lower housing. The drive unit in the parallel drive module II is exactly the same as the drive unit in the series drive module I, and will not be described again here. The specific implementation and working process of the parallel variable stiffness unit 300' will be described in detail below.

[0144] See Figure 15 , Figure 16 In this embodiment, the parallel variable stiffness unit 300' consists of two sub-coil springs connected in parallel. The two sub-coil springs have the same number of working turns, meaning they have the same rotational angle range during rotation. Each sub-coil spring is arranged in layers within the upper housing 111 of the frame body 110, with the first sub-coil spring 311' positioned closer to the central axis 210 than the second sub-coil spring 312'. Each sub-coil spring is either a linear spring, or both are nonlinear springs, or one is a linear spring and the other a nonlinear spring. The nonlinear spring is a planar spiral spring formed by connecting multiple spring segments end-to-end and integrally molded, with adjacent spring segments having different stiffnesses. The nonlinear elastic element 310' is designed according to the following steps:

[0145] Step 1: Divide the given working curve of the parallel drive module into segments. The working curve of the parallel drive module is a function relationship between the rotation angle of the central axis 210 (independent variable) and the torque output through the external terminal 120 (dependent variable). The number of segments S is determined according to the position control accuracy and stiffness adjustment accuracy requirements of the mover frame A1. The higher the accuracy requirement, the larger the number of segments S, and S is a positive integer greater than or equal to 2.

[0146] Step 2: Let P be the number of spring segments contained in the first sub-coil spring 311' and Q be the number of spring segments contained in the second sub-coil spring 312'. P and Q are both positive integers greater than or equal to 1, and satisfy S≥P and S≥Q. When the number of spring segments in the sub-coil spring is 1, the sub-coil spring is a linear spring. When the number of spring segments in the sub-coil spring is greater than 1, the sub-coil spring is a nonlinear spring.

[0147] Step 3: For the i-th segment of the working curve, i = 1, 2, ..., S, the torque at a certain angle φ on the working curve is taken as the sum of the torque of the first sub-coil spring 311' and the torque of the second sub-coil spring 312' at that angle φ, and the slope of the working curve at that angle φ is taken as the sum of the stiffness of the first sub-coil spring 311' and the stiffness of the second sub-coil spring 312' at that angle φ, thereby obtaining the working curves of the first sub-coil spring 311' and the second sub-coil spring 312' within the angle range corresponding to the i-th segment of the working curve;

[0148] Step 4: Based on the working curves of the first sub-coil spring 311' and the second sub-coil spring 312', design the P coil spring segments of the first sub-coil spring 311' and the Q coil spring segments of the second sub-coil spring 312' according to the industry standard JB / T7366-1994, and obtain the parameters of each coil spring segment, including elastic modulus E, cross-sectional thickness h, cross-sectional width b and unfolded length l;

[0149] Step 5: The overall dimensions of each sub-coil spring in the free state obtained according to the above design steps should meet the set space requirements. If they do not meet the requirements, you need to return to step 2, adjust parameters P and Q, and redesign.

[0150] It is understandable that, since there is a proportional relationship (power transmission ratio of the reducer) between the rotation angle of the external end 120 connected to the load (i.e., the displacement of the mover frame A1) and the rotation angle of the central shaft 210, and the initial rotation angle of the inner ring of the coil spring can be adjusted (the specific adjustment process will be given below), in most applications, when the load rotation angle range and working torque relationship need to meet the set function curve, even within a limited installation space, a nonlinear coil spring that approximately conforms to the set function curve can still be designed according to the above steps.

[0151] In this embodiment, two linear coil springs with different stiffnesses are provided. The sub-coil spring with greater stiffness is designated as the first sub-coil spring 311', and the sub-coil spring with less stiffness is designated as the second sub-coil spring 312' and positioned above the first sub-coil spring 311'. The stiffness of the nonlinear coil spring 310' is obtained by connecting the first sub-coil spring 311' and the second sub-coil spring 312' in parallel. Different stiffnesses of the first sub-coil spring 311' and the second sub-coil spring 312' can be selected and combined according to actual needs.

[0152] In this embodiment, the parallel variable stiffness unit 300' is equipped with a stiffness adjustment mechanism for each sub-coil spring. The two stiffness adjustment mechanisms together constitute the stiffness adjustment component 320' in the parallel variable stiffness unit 300', and both are coaxial with the central axis 210. Each stiffness adjustment mechanism is controlled by the control unit 400 to adjust the stiffness of the coil spring. Specifically, the corresponding sub-coil spring is locked or unloaded by each stiffness adjustment mechanism until the total elastic torque generated by the nonlinear elastic element 310' reaches the load torque and then remains in balance. The first stiffness adjustment mechanism includes a first sub-coil spring locking member 321' and a first sub-coil spring fixing bracket 322'. The second stiffness adjustment mechanism includes a second sub-coil spring locking member 323' and a second sub-coil spring fixing bracket 324'. A partition 111a is also provided inside the upper shell 111 to divide the upper shell 111 into an upper space and a lower space. The first stiffness adjustment mechanism and the first sub-coil spring 311 are located in the lower space of the upper shell 111, and the second stiffness adjustment mechanism and the second sub-coil spring 312' are located in the upper space of the upper shell 111. The partition 111a is a circular plate with a central hole, and a first boss 1112 for installing the first sub-coil spring locking member 321' is provided on the lower end surface of the partition 111a. The outer end of the partition 111a is fixedly connected to the upper shell 111 by screws. A second boss 1111 for installing the second sub-coil spring locking member 323' is provided on the lower end surface of the top cover of the upper shell 111.

[0153] The first sub-coil spring locking member 321' and the second sub-coil spring locking member 323' each include a ratchet and pawl mechanism and a matching stop switch and a return spring. The ratchet and pawl mechanisms in the first sub-coil spring locking member 321' and the second sub-coil spring locking member 323' share a ratchet shaft 325'. The ratchet shaft 325' is a stepped shaft. The top end of the ratchet shaft 325' is rotatably connected to the frame body 110 through a fifth bearing e located in the center hole of the upper housing 111. The bottom end of the ratchet shaft 325' is fixedly connected to the top end of the central shaft 210 through a set screw 3218'. The angle difference between the inner and outer corner positions of the sub-coil spring is the number of turns the sub-coil spring is compressed. Different numbers of compression result in different elastic torques. The above-mentioned nonlinear coil spring design method can be used for design and manufacturing. Nonlinear coil springs have the characteristic of adaptive load torque. In this embodiment, when a load is applied, according to the stiffness characteristics of each coil spring segment, each coil spring segment is compressed in order of increasing stiffness. That is, the coil spring segment with the smallest stiffness is compressed first. If the load torque is greater than the current coil spring torque, the coil spring segment with larger stiffness is compressed until equilibrium is reached.

[0154] The first sub-coil spring locking member 321' includes a first ratchet 3211' rotatably mounted on the ratchet shaft 325' via a first bearing 3219', a first positive stop pawl 3212' and a first negative stop pawl 3213' engaging with the first ratchet 3211' via teeth, a first positive return spring 3214' and a first positive stop switch 3215' disposed between one end of the first positive stop pawl 3212' near the teeth and the first boss 1112 of the partition 111a, and a first negative return spring 3216' and a first negative stop switch disposed between one end of the first negative stop pawl 3213' near the teeth and the first boss 1112 of the partition 111a. The switch 3217', the first positive stop pawl 3212' and the first negative stop pawl 3213' are rotatably connected to the first boss 1112 of the partition 111a at the ends away from their respective teeth. A first sub-coil spring fixing bracket 322' integrally formed with the first ratchet 3211' is provided on the outer periphery of the first ratchet 3211'. A first pin 3221' for fixing the outer end of the first sub-coil spring 311 is provided on the lower end surface of the first sub-coil spring fixing bracket 322'. The inner end of the first sub-coil spring 311' is fixedly connected to the ratchet shaft 325'. An eighth bearing h is provided at the center hole of the partition 111a. The partition 111a is rotatably sleeved on the ratchet shaft 325' through the seventh bearing h. The second sub-coil spring locking member 323' includes a second ratchet 3231' rotatably mounted on the ratchet shaft 325' via a second bearing 3239', a second positive stop pawl 3232' and a second negative stop pawl 3233' that engage with the second ratchet 3231' via teeth, a second positive return spring 3234' and a second positive stop switch 3235' disposed between one end of the second positive stop pawl 3232' near the teeth and a second boss 1111 on the lower end face of the top cover of the upper housing 111, and a second positive return spring 3234' and a second positive stop switch 3235' disposed between one end of the second negative stop pawl 3233' near the teeth and a second boss 1111 on the lower end face of the top cover of the upper housing 111. The second negative return spring 3236 and the second negative stop switch 3237' between the bosses 1111, the second positive stop pawl 3232' and the second negative stop pawl 3233' are all rotatably connected to the second boss 1111 on the lower end face of the top cover of the upper housing 111. A second sub-coil spring fixing bracket 324' integrally formed with the second ratchet 3231' is provided on the outer periphery of the second ratchet 3231'. A second pin 3241' for fixing the outer end of the second sub-coil spring 312' is provided on the lower end face of the second sub-coil spring fixing bracket 324'. The inner end of the second sub-coil spring 312' is fixedly connected to the ratchet shaft 325'.Each return spring remains compressed, providing a force to each stop pawl to move towards the corresponding ratchet. Taking the first sub-coil spring locking member 321' as an example: during stiffness adjustment, the switching of the two stop switch states ensures that only one of the first positive stop pawl 3212' and the first negative stop pawl 3213' contacts the teeth of the first ratchet 3211'. Consequently, the first ratchet 3211' can only rotate in one direction, causing the first sub-coil spring 311' to be in a pre-tightened or unloaded state. (In this embodiment, it is specified that when the first ratchet 3211' and the second ratchet 3231' rotate counterclockwise, the sub-coil spring is in a pre-tightened compressed state, and the elastic torque increases.) When the first ratchet 3211' and the second ratchet 3231' rotate clockwise, the sub-coil spring is in an unloaded state (the elastic torque decreases). When the first ratchet 3211' rotates in the opposite direction, the teeth of the first ratchet 3211' will be resisted by the stop pawl currently in contact with the first ratchet 3211', thus the first ratchet 3211' is in a stopped state, so that the first ratchet 3211' can only rotate in one direction. When the torque reaches equilibrium, the first positive stop pawl 3212' and the first negative stop pawl 3213' both contact the teeth of the first ratchet 3211', so that the outer end of the first sub-coil spring 311' is locked, thereby maintaining the current elastic torque unchanged. It should be noted that each stop switch is an electromagnetic switch, or more specifically, an armature switch, controlled by the control unit 400. When the armature switch is open, it provides a force to the corresponding stop pawl, causing it to move away from the ratchet that is in contact with the corresponding stop pawl. This force is greater than the force provided by the return spring, thereby separating the corresponding stop pawl from the ratchet. When the armature switch is open, the force it provides to the corresponding stop pawl disappears, and the corresponding stop pawl contacts the ratchet under the action of the return spring.

[0155] The characteristic of the parallel coil springs in this embodiment is that the two sub-coil springs participate in stiffness adjustment synchronously. The total elastic torque of the parallel coil springs is determined by the elastic torque of the two sub-coil springs. When the load increases, the stiffness adjustment components of the two sub-coil springs will simultaneously adjust the elastic torque of the corresponding sub-coil springs, thereby increasing the total elastic torque of the nonlinear elastic element 310'. When the load decreases, the stiffness adjustment components of the two sub-coil springs will simultaneously adjust the total elastic torque of the corresponding sub-coil springs, thereby decreasing the total elastic torque of the nonlinear elastic element 310'.

[0156] Furthermore, combined Figure 17 Images (a), (b), and (c) are schematic diagrams illustrating the working process of the stiffness adjustment component 320' in this embodiment. The two sub-coil springs synchronously participate in stiffness adjustment. At this time, the inner ends of the first sub-coil spring 311' and the second sub-coil spring 312' are subjected to a counterclockwise load torque, wherein:

[0157] When the load torque is first applied, the stiffness adjustment component 320' operates as follows: Figure 17 In the mode shown in (a), the coil spring is compressed and deformed. The outer end of the first sub-coil spring 311' is fixed to the first pin 3221' on the first sub-coil spring fixing bracket 322' (which is integrally formed with the first ratchet 3211'). That is, the outer end of the first sub-coil spring 311' moves synchronously with the first ratchet 3211'. The inner end of the first sub-coil spring 311' is fixed to the ratchet shaft 325' and is subjected to the counterclockwise torque generated by the load. The first positive stop pawl 3212' on the right side separates from the teeth of the first ratchet 3211', and the first negative stop pawl 3213' on the left side contacts the teeth of the first ratchet 3211', so that the outer end of the first sub-coil spring 311'... The first sub-spring 311' remains locked due to the counterclockwise torque generated by the load. Simultaneously, the outer end of the second sub-spring 312' is fixed to the second pin 3241' on the second sub-spring fixing bracket 324' (which is integrally formed with the second ratchet 3231'). The inner end of the second sub-spring 312' is fixed to the ratchet shaft 325' and is subjected to the counterclockwise torque generated by the load. The second positive stop pawl 3232' on the right side separates from the teeth of the second ratchet 3231', and the second negative stop pawl 3233' on the left side contacts the teeth of the second ratchet 3231', thus keeping the outer end of the second sub-spring 312' locked due to the counterclockwise torque generated by the load. Therefore, the outer ends of both the first sub-spring 311' and the second sub-spring 312' remain locked, and the clockwise and counterclockwise elastic torque generated by both can balance the counterclockwise torque generated by the load. If the load reaches the desired working angle (position) at this time, the stiffness adjustment component 320' will operate as follows: Figure 17 In the mode shown in (c), the first positive stop pawl 3212' and the first negative stop pawl 3213' are both engaged with the first ratchet 3211', ensuring that the first ratchet 3211' is fixed. The second positive stop pawl 3232' and the second negative stop pawl 3233' are both engaged with the second ratchet 3231', ensuring that the second ratchet 3231' is fixed.

[0158] When the load torque increases, the inner ends of the first sub-spring 311' and the second sub-spring 312' will continue to rotate counterclockwise, further compressing the springs until torque balance is achieved again.

[0159] When the load torque decreases, the inner ends of the first sub-spring 311' and the second sub-spring 312' will rotate clockwise to relax the springs until torque balance is achieved again.

[0160] After torque balance, if the load needs to rotate counterclockwise by a certain angle due to working angle (position) requirements, that is, if the inner ends of the two sub-coil springs need to rotate counterclockwise by a certain angle, then the stiffness adjustment component 320 will adjust accordingly. Figure 17 In the mode shown in (b), the device operates for a short period of time. During this time, the first negative stop pawl 3213 and the second negative stop pawl 3233' on the left disengage from the first ratchet 3211' and the second ratchet 3231', respectively. Driven by the elastic torque of the coil spring, the two ratchet wheels rotate counterclockwise by a certain angle, thereby achieving a corresponding counterclockwise rotation of the outer end of the sub-coil spring. Since the torque is already balanced, the inner ends of each sub-coil spring will rotate by the same angle as the counterclockwise rotation of the outer end of the sub-coil spring, thus enabling the load to reach the desired working angle. Then, the first negative stop pawl 3213' and the second negative stop pawl 3233' are controlled to quickly lock the first ratchet 3211' and the second ratchet 3231' in both directions, preventing the outer end of the coil spring from rotating counterclockwise beyond the desired angle (position). If the rotation angle is less than the desired working angle, the stiffness adjustment component 320' continues to be adjusted as follows. Figure 17 The operation is repeated in the mode shown in (b) to achieve the desired working angle (position) by rotating the outer end of the coil spring counterclockwise by a certain angle, thereby achieving the balance between the load torque and the coil spring torque again.

[0161] Similarly, after torque balance, if the load needs to rotate clockwise by a certain angle due to working angle (position) requirements, that is, if the inner ends of the two sub-coil springs need to rotate clockwise by a certain angle, then the stiffness adjustment component 320' will operate as follows: Figure 17 In the mode shown in (a), the drive motor 220 drives the load to rotate clockwise to unload the coil spring. When the elastic torque of the coil spring is zero, the drive motor 220 continues to drive the coil spring to rotate clockwise by a certain angle, thereby pushing the outer end of the coil spring to rotate clockwise by the corresponding angle. At this time, the first negative stop pawl 3213' and the second negative stop pawl 3233' will not prevent the first ratchet 3211' and the second ratchet 3231' from rotating clockwise. When the outer end of the coil spring reaches the desired angle (position), the first positive stop pawl 3212' and the second positive stop pawl 3232' are controlled to lock the first ratchet 3211' and the second ratchet 3231', ensuring that the outer end of the coil spring is locked at the desired angle (position). Then, the stiffness adjustment component 320' continues to be adjusted as follows: Figure 17 Repeat the operation in the mode shown in (a) to apply the load torque. The inner end of the coil spring rotates counterclockwise, and the coil spring is compressed and deformed, so that the outer end of the coil spring rotates clockwise by a certain angle to reach the desired working angle (position). The load torque and the coil spring torque are balanced again. Finally, the stop pawl is used to lock each ratchet in both directions.

[0162] Understandable Figure 17The image shows a typical mounting method for the nonlinear elastic element 310' (mainly including the first sub-coil spring 311' and the second sub-coil spring 312'). If, according to design requirements, both can bear the clockwise load torque, then it is necessary to... Figure 17 Based on the installation method shown in (a), the first sub-coil spring 311' and the second sub-coil spring 312' can be installed by simultaneously mirror-flipping them left and right. At this time, the forward-moving pawl provides the stopping torque for each ratchet. Therefore, the above mechanism can achieve load torque balance in both clockwise and counterclockwise directions. In practical applications, the appropriate installation method should be selected according to the direction of the load torque to install the nonlinear elastic element 310'.

[0163] It should be noted that the ratchet and pawl mechanism in the coil spring locking component in this embodiment can be replaced by a friction cam mechanism or a similar intermittent motion mechanism.

[0164] The manual power generation process of the parallel drive module is the same as that of the series drive module. The closed-loop control process of the control unit 400 on the drive motor 220 in the parallel drive module is the same as that of the control unit 400 on the drive motor 220 in the series drive module. It can also achieve adaptive adjustment of different frequency magnitudes, which will not be elaborated here.

[0165] 3. Single coil spring drive module III

[0166] See Figure 18 (It should be noted that,) Figure 18 The up and down directions shown correspond to respectively Figure 1 (Rear and front of the center), single coil spring drive module III, including a frame 100, and a drive unit 200, a variable stiffness unit 300*, and a control unit 400 arranged within the frame 100; wherein,

[0167] The frame 100 includes a frame body 110 and an external end 120 disposed on the frame body 110. The frame body 110 is fixedly connected to the side of the mover frame A1 facing away from the stator frame A2 by bolts. The load transmitted by the transmission unit D is connected through the external end 120 (the load mainly includes the package B and its internal weight, as well as the sum of the weights of the mover frame A1 and the components installed on the mover frame A1), and the power provided by the drive unit 200 is transmitted to the mover frame A1 and the package B.

[0168] The drive unit 200 includes a central shaft 210 and a drive motor 220 arranged coaxially. The drive motor 220 drives the central shaft 210 to rotate and is then connected to the external terminal 120 through a reducer 230.

[0169] The variable stiffness unit 300* includes a nonlinear coil spring 310* and a stiffness adjustment component 320*. The nonlinear coil spring 310* is a planar spiral spring formed by connecting multiple coil spring segments end to end in sequence and integrally molded. The stiffness of adjacent coil spring segments is different. The stiffness adjustment component 320* is connected between the central shaft 210* and the nonlinear coil spring 310*. The load torque is transmitted to the stiffness adjustment component 320* through the reducer 230 and the central shaft 210, and then the torque is applied to one end of the nonlinear coil spring 310* (such as the outer end). The stiffness adjustment component 320* changes the number of working turns and output torque of the nonlinear coil spring 310* by locking one end of the nonlinear coil spring 310* in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment component 320* pre-tightens or unloads the other end of the nonlinear coil spring 310* (such as the inner end) to make the moving frame A1 reach the desired working position.

[0170] The control unit 400 is used to control the stiffness adjustment component 320* and the drive motor 220 according to the current signal of the drive motor 220 and the rotation angle signal of the central shaft 210, so that the load torque, the torque of the nonlinear coil spring 310* and the output torque of the drive motor 220 (hereinafter referred to as "drive torque") are balanced, so as to achieve adaptive adjustment for different load sizes while providing power to the carrier.

[0171] The main difference between the single-coil spring drive module III and the series drive module I is that the elastic element in the variable stiffness unit 300* of the single-coil spring drive module III contains only one single planar spiral spring, which is formed by sequentially connecting multiple coil spring segments (each coil spring segment is a corresponding rectangular steel strip) and integrally molded. The design process of this planar spiral spring is the same as the design process of the nonlinear coil spring in the series drive module I. The first coil spring segment is located at the outermost end of the nonlinear coil spring 310*. Correspondingly, the number of stiffness adjustment mechanisms in the stiffness adjustment component 320* is also reduced to one. The specific implementation of the drive unit and control unit in the single-coil spring drive module III is the same as that in the drive unit and control unit of the series drive module I, and will not be repeated here. The following will focus on describing the specific implementation of the variable stiffness unit 300*.

[0172] See Figure 19 , Figure 20The stiffness adjustment component 320* includes a coil spring locking element 321*, a coil spring drive frame 322*, and a coil spring adjusting motor 323. The coil spring adjusting motor 323* is located at the center of the top cover of the upper housing 111 of the frame body 110, and its output end is connected to the inner end of the nonlinear coil spring 310*. The coil spring adjusting motor 323 is controlled by the control unit 400 to adjust the rotational position of the inner end of the nonlinear coil spring 310*. The angle difference between the inner and outer rotational positions of the coil spring is the number of coils compressed in the nonlinear coil spring 310*. Different numbers of compressions result in different elastic torques, which can be designed and manufactured using the aforementioned nonlinear coil spring design method. The nonlinear coil spring 310* has the characteristic of adaptive load torque. In this embodiment, when a load is applied, according to the stiffness characteristics of each coil spring segment, each coil spring segment is compressed in order of increasing stiffness. That is, the coil spring segment with the smallest stiffness is compressed first. If the load torque is greater than the current coil spring torque, the coil spring segment with larger stiffness is compressed until equilibrium is reached.

[0173] In the stiffness adjustment assembly 320* of the variable stiffness unit 300*, the coil spring drive frame 322* is a circular plate with a third journal 3221* at the center of its lower end face. Both the circular plate and the third journal 3221* have a central hole that matches the central shaft 210. The third journal 3221* at the center of the coil spring drive frame 322* is fixedly sleeved on the top of the central shaft 210 by a second set screw 3222*, so as to rotate synchronously with the central shaft 210. The nonlinear coil spring 310* is placed on the upper end face of the coil spring drive frame 322*, and the upper end face of the coil spring drive frame 322* is provided with a second pin 3223* for fixing the outer end of the nonlinear coil spring 310*. The load torque is transmitted from the outer end of the nonlinear coil spring 310* into the nonlinear coil spring 310*. There is a gap between the outer edge of the coil spring drive frame 322* and the inner wall of the upper housing 111. The coil spring locking component 321* includes a ratchet and pawl mechanism and a matching stop switch and a return spring; the ratchet and pawl mechanism includes a ratchet 3210* coaxially arranged with the central shaft 210, and a positive stop pawl 3213* and a negative stop pawl 3214* that engage with the ratchet 3210* through teeth. The central hole of the ratchet 3210* is fixed to the output shaft of the coil spring adjusting motor 323* by a first set screw 3212*, thereby rotating synchronously with the output shaft of the coil spring adjusting motor 323*. The first protruding pin 3211* on the ratchet 3210* can be inserted into the inner end ring of the nonlinear coil spring 310* for fixed connection. There is relative rotation between the ratchet 3210* and the coil spring drive frame 322*, that is, it drives the inner end and the outer end of the nonlinear coil spring 310* to rotate relative to each other, thereby realizing the compression or release of the nonlinear coil spring 310*. One end of the positive stop pawl 3213* and the negative stop pawl 3214* can be rotatably connected to the boss 111 on the lower surface of the top of the upper housing 111. On the 1st, a positive return spring 3215* and a positive stop switch 3216* are provided between the end of the positive stop pawl 3213* near the teeth and the boss 1111. A negative return spring 3217* and a negative stop switch 3218* are provided between the end of the negative stop pawl 3214* near the teeth and the boss 1111. When the ratchet 3210* needs to be stationary, the two return springs are always kept in a compressed state to provide a thrust to the corresponding stop pawl towards the ratchet 3210*. It should be noted that each stop switch is an electromagnetic switch, or more specifically, an armature switch, controlled by the control unit 400. When the armature switch is open, it provides a force to the corresponding stop pawl, causing it to move away from the ratchet that is in contact with the corresponding stop pawl. This force is greater than the force provided by the return spring, thereby separating the corresponding stop pawl from the ratchet. When the armature switch is open, the force it provides to the corresponding stop pawl disappears, and the corresponding stop pawl contacts the ratchet under the action of the return spring.

[0174] In this embodiment, the coil spring adjusting motor 323* can be replaced by an adjusting handle, which can be manually rotated to adjust the inner end angle position of the nonlinear coil spring 310*; in this embodiment, the ratchet and pawl mechanism in the coil spring locking member can be replaced by a friction cam mechanism or a similar intermittent motion mechanism.

[0175] The adaptive stiffness adjustment process of the single coil spring drive module III in this embodiment is the same as that of the series drive module I, and will not be repeated here.

[0176] The backpack system provided in this disclosure has three modes: levitation mode (i.e., working mode), locking mode, and manual power generation mode, which are described below:

[0177] 1. Floating Mode:

[0178] In the floating mode, the locking mechanism A5 is in the unlocked state, that is, after the locking plug A51 is pulled out from the first slot A53 of the locking hook A55, the locking hook A55 is pulled out from the second slot A54 on the mover frame A1. At this time, there is only contact between the mover frame A1 and the stator frame A2 between the gear C2, the auxiliary gear C3 and the rack C1, and the guide wheel assembly A32 and the vertical guide rail A31b and the horizontal guide rail A31a.

[0179] The load of the package B acts on the moving frame A1. Under the influence of gravity, the vertical guide rail A31b and the horizontal guide rail A31a on the moving frame A1 experience rolling friction with the vertical guide wheel A32b and the horizontal guide wheel A32a, respectively. The vertical guide rail A31b restricts the movement of the moving frame A1 in the sagittal plane normal (left-right direction), and the horizontal guide rail A31a restricts the movement of the moving frame A1 in the coronal plane normal (front-back direction). The moving frame A1 can only move along the cross-sectional normal (up-down direction). When the moving frame A1 moves to its lowest point relative to the stator frame A2, the top surface of the second limiting block A42 contacts the bottom surface of the first limiting block A41 on the moving frame A2, preventing the moving frame A1 from detaching from the stator frame A2.

[0180] When the moving frame A1 and the stator frame A2 move relative to each other, the motion is transmitted to the gear C2 via the rack C1. Since the gear C2 is fixedly connected to the external end 120 of the adaptive drive module D, the load is transmitted to the external end 120 in the form of load torque, and then to the center 210 via the reducer 230 (or the drive motor 220 if the reducer 230 is not installed). Since one end of the coil spring moves synchronously with the central shaft 210, and the other end of the coil spring is connected to the ratchet and pawl mechanism, the load torque is transmitted to the ratchet and pawl mechanism via the coil spring, and then to the frame body 110 via the ratchet and pawl mechanism. At this time, the central shaft rotation angle sensor in the adaptive drive module D detects the rotation angle of the central shaft 210. Since there is a mechanical transmission ratio relationship between the rotation of the central shaft 210 and the linear motion of the rack C1, the rotation angle of the central shaft 210 corresponds to the displacement of the guide wheel assembly on the L-shaped guide rail of the moving frame A1. The main controller in the control unit makes the drive module work according to the rotation angle of the central shaft 210, and rotates the corresponding number of revolutions to make the moving frame A1 generate a driving displacement relative to the stator frame A2, so that the vertical displacement of the moving frame A1 relative to the ground is zero, achieving the load reduction effect.

[0181] The adaptive adjustment process of this carrying system for load size or step frequency has been described in detail in the above description of the working process of the drive module, and will not be repeated here.

[0182] 2. Locked Mode:

[0183] In the locking mode, the locking mechanism A5 is locked, meaning the locking hook A55 is inserted into the second slot A54 on the mover frame A1, and then the locking insert A51 is inserted into the first slot A53 of the locking hook A55. At this time, no relative displacement can occur between the mover frame A1 and the stator frame A2, and the mover frame A1 and the stator frame A2 are locked. The carrying system in this mode is a regular backpack.

[0184] 3. Manual power generation mode:

[0185] The control unit controls all the electromagnetic switches to disengage the pawls from the ratchet. The square boss of the handle E is inserted into the square hole of the gear C2. When the handle E is rotated, since all the pawls are disengaged from the ratchet, the rotational torque generated by the human body will not be transmitted to the frame. Instead, it causes the winding frame 223 in the drive motor 220 to rotate relative to the rotor frame 221. The coil 224 on the winding frame 223 and the magnet 222 on the rotor frame 221 are relatively displaced to generate an induced current. This induced current is led out to the power module F to provide external power.

[0186] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0187] Although embodiments of this disclosure have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. An adaptive suspension and load-reducing backpack system, characterized in that, Includes the back frame unit, bag body, transmission unit, and adaptive drive module; The back frame unit includes a moving frame, a stator frame, and a guide module. The guide module is connected between the moving frame and the stator frame and is used to restrict the moving frame to reciprocate only along the cross-sectional normal of the carrying system relative to the stator frame. The stator frame is provided with a shoulder strap on the side facing away from the moving frame. The package body is fixedly connected to the side of the mover frame facing away from the stator frame; The transmission unit is disposed between the mover frame and the stator frame, and includes a rack and gear that mesh with each other through teeth. The rack is disposed along the cross-sectional normal of the carrying system and is fixedly connected to the stator frame. The adaptive drive module includes a frame and a drive unit, a variable stiffness unit and a control unit arranged in the frame; The frame includes a frame body fixedly connected to the side of the mover frame facing away from the stator frame and an external end disposed on the frame body. The external end passes through a first hole on the mover frame and is fixedly connected to the gear. The load transmitted by the transmission unit is connected through the external end, and the power provided by the drive unit is transmitted to the mover frame and the package. The drive unit includes a central shaft and a drive motor arranged coaxially, and the power output by the drive motor is transmitted to the external end through the central shaft; The variable stiffness unit includes an elastic element and a stiffness adjustment assembly. The stiffness adjustment assembly is connected to the central shaft of the elastic element and the drive unit. The load torque is transmitted to the stiffness adjustment assembly through the central shaft and then applied to one end of the elastic element. The stiffness adjustment assembly changes the number of working revolutions and output torque of the elastic element by locking one end of the elastic element in one or two directions, thereby balancing the corresponding load torque. The stiffness adjustment assembly adjusts the initial angle of the elastic element by pre-tightening or unloading the other end of the elastic element. The initial angle of the elastic element corresponds to the initial position of the mover frame relative to the stator frame. The control unit is used to control the stiffness adjustment component and the drive motor according to the current signal of the drive motor and the rotation angle signal of the central shaft, so as to achieve a balance between the load torque, the elastic element torque and the drive motor output torque, and to provide power to the moving frame and the package body to maintain the target position while realizing adaptive adjustment for different load sizes.

2. The carrying system according to claim 1, characterized in that, The guiding module includes two L-shaped guide rails fixedly disposed on the left and right sides of the moving frame and several guide wheel groups installed on the side of the stator frame facing the moving frame. The horizontal and vertical sections of each L-shaped guide rail serve as horizontal and vertical guide rails, respectively. The several guide wheel groups are evenly distributed on the left and right sides of the stator frame. Each guide wheel group consists of two horizontal guide wheels and one vertical guide wheel. The two horizontal guide wheels are arranged on the front and rear sides of the horizontal guide rail and are rotatably sleeved on a corresponding horizontal guide wheel shaft fixedly connected to the stator frame. The vertical guide wheel is located inside the vertical guide rail and is rotatably sleeved on a vertical guide wheel shaft fixedly connected to the stator frame. During the movement of the moving frame relative to the stator frame, the horizontal guide wheels and the horizontal guide rails experience rolling friction, and the vertical guide wheels and the vertical guide rails experience rolling friction, respectively constraining the movement of the moving frame in the coronal plane normal and sagittal plane normal directions of the bearing system. A first limiting block and a second limiting block are respectively provided at the upper part of the moving frame and at the corresponding position of the stator frame. When the moving frame reaches the maximum downward displacement relative to the stator frame, the lower part of the first limiting block abuts against the upper part of the second limiting block.

3. The carrying system according to claim 1, characterized in that, A locking mechanism is provided between the mover frame and the stator frame, and near the lower part of the stator frame. The locking mechanism includes a locking insert and a locking hook. The locking insert is rotatably sleeved on a locking insert shaft fixedly connected to the stator frame, and the locking hook is rotatably sleeved on a locking hook shaft fixedly connected to the stator frame. The locking hook has a first slot that mates with one end of the locking insert. A second slot is provided on the lower part of the mover frame facing the stator frame, which mates with the end of the locking hook away from the locking hook shaft. When one end of the locking hook is inserted into the second slot and one end of the locking insert is inserted into the first slot, the mover frame and the stator frame are in a locked state. When one end of the locking insert is disengaged from the first slot and one end of the locking hook is disengaged from the second slot, the mover frame and the stator frame are in an unlocked state.

4. The carrying system according to claim 1, characterized in that, The transmission unit also includes an auxiliary gear, which is rotatably mounted on an auxiliary gear shaft fixed to the side of the mover frame facing the stator frame, and the auxiliary gear and the gear are respectively arranged on the left and right sides of the rack.

5. The carrying system according to claim 1, characterized in that, The elastic element is a non-linear elastic element, consisting of a first sub-coil spring and a second sub-coil spring connected in series through the stiffness adjustment component. The first sub-coil spring is positioned closer to the central axis than the second sub-coil spring. Each sub-coil spring is either a linear coil spring, or all are non-linear coil springs, or one is a linear coil spring and the other is a non-linear coil spring. The non-linear coil spring is a planar spiral spring formed by sequentially connecting multiple coil spring segments end to end and integrally molded, with adjacent coil spring segments having different stiffnesses. The stiffness adjustment assembly includes a first stiffness adjustment mechanism and a second stiffness adjustment mechanism. The first stiffness adjustment mechanism includes a first sub-coil spring locking member and a first sub-coil spring drive frame fixedly connected to the central shaft. The second stiffness adjustment mechanism includes a second sub-coil spring locking member and a second sub-coil spring drive frame. Each sub-coil spring drive frame can rotate relative to the frame body and is fixedly connected to the outer ends of the first and second sub-coil springs, respectively. Each sub-coil spring locking member includes a ratchet and pawl mechanism and a matching stop switch and return spring. Each ratchet and pawl mechanism shares a ratchet shaft, which is coaxially arranged with the central shaft and rotatably connected to the frame body. A coil spring inner end adjustment member is provided at the end of the ratchet shaft away from the central shaft. By rotating the ratchet shaft through the coil spring inner end adjustment member, the inner end rotation angle of each sub-coil spring is adjusted, thereby achieving pre-tightening or unloading of the inner end of each sub-coil spring. The first ratchet and pawl mechanism is connected... Between the inner end of the first sub-coil spring and the lower end face of the second sub-coil spring drive frame, the second ratchet and pawl mechanism is connected between the inner end of the second sub-coil spring and the lower end face of the top cover of the frame body; each return spring is always kept in a compressed state to provide a force to the corresponding stop pawl towards its respective ratchet direction; during the stiffness adjustment of the elastic element, the first sub-coil spring locking member is locked to the second sub-coil spring drive frame according to the command of the control unit, realizing the series connection of the first sub-coil spring and the second sub-coil spring; the stop switch in the second sub-coil spring locking member increases or decreases the number of working turns of the first sub-coil spring and the second sub-coil spring simultaneously according to the command of the control unit, until the load torque, the torque of the nonlinear elastic element and the output torque of the drive motor reach a balance, and the control unit controls all stop switches to lock the inner ends of the first sub-coil spring and the second sub-coil spring simultaneously.

6. The carrying system according to claim 5, characterized in that, it is provided that... The first sub-coil spring is provided with P A coil spring segment, the second sub-coil spring having a... Q One spring segment, P and Q All are positive integers greater than or equal to 1. When the number of segments of the sub-coil spring is 1, the sub-coil spring is a linear coil spring. When the number of segments of the sub-coil spring is greater than 1, the sub-coil spring is a non-linear coil spring. The nonlinear elastic element is designed according to the following steps: the given working curve of the adaptive drive module is divided into... S The working curve of the adaptive drive module is a function relating the rotation angle of the central axis to the torque output through the external terminal. The total number of segments of the nonlinear elastic element is taken as... S ,Right now S = P + Q And the first coil spring segment is located on the outer ring of the first sub-coil spring; the first i The working curve segment and its slope are respectively used as the first segment of the working curve. i The working curve and stiffness of each coil spring segment i =1,2,..., S And in accordance with industry standard JB / T7366-1994, the first i The design of the first spring segment is carried out to obtain the second spring segment. i Parameters of each coil spring segment, including elastic modulus E Cross-sectional thickness h Cross-sectional width b and unfolded length l .

7. The carrying system according to claim 5, characterized in that, The first ratchet and pawl mechanism includes a first ratchet rotatably mounted on the ratchet shaft, and a first positive stop pawl and a first negative stop pawl that engage with the first ratchet through their teeth. The inner end of the first sub-coil spring is fixedly connected to the first ratchet. The ends of the first positive stop pawl and the first negative stop pawl that are away from their respective teeth are rotatably connected to the lower end face of the second sub-coil spring drive frame. A first positive return spring and a first positive stop switch are provided between the end of the first positive stop pawl near its teeth and the lower end face of the second sub-coil spring drive frame. A first negative return spring and a first negative stop switch are provided between the end of the first negative stop pawl near its teeth and the lower end face of the second sub-coil spring drive frame. The second ratchet and pawl mechanism includes a second ratchet fixedly sleeved on the ratchet shaft, and a second positive stop pawl and a second negative stop pawl that engage with the second ratchet through their teeth. The inner end of the second sub-coil spring is fixedly connected to the second ratchet. The ends of the second positive stop pawl and the second negative stop pawl that are away from their respective teeth are rotatably connected to the lower end face of the top cover of the frame body. A second positive return spring and a second positive stop switch are provided between the end of the second positive stop pawl near its teeth and the lower end face of the top cover of the frame body. A second negative return spring and a second negative stop switch are provided between the end of the second negative stop pawl near its teeth and the lower end face of the top cover of the frame body. During the adjustment of the elastic element, the first ratchet and the second sub-coil spring drive frame remain locked. At most one of the two stop pawls cooperating with the second ratchet contacts the teeth of the second ratchet. When the load torque, the torque of the elastic element and the output torque of the drive motor are balanced, both stop pawls cooperating with the same ratchet contact the teeth of the ratchet.

8. The carrying system according to claim 1, characterized in that, The elastic element is a single nonlinear coil spring formed by connecting multiple coil spring segments end to end in sequence and integrally molding them, with adjacent coil spring segments having different stiffnesses. The stiffness adjustment assembly includes a stiffness adjustment mechanism, which comprises an inner end adjusting component of a coil spring, a coil spring locking component, and a coil spring drive frame fixedly connected to the central shaft. The inner end adjusting component is located at the center of the top cover of the frame body and is used to adjust the inner end rotation angle of the nonlinear coil spring to achieve pre-tensioning or unloading of the inner end of the nonlinear coil spring. The coil spring drive frame is rotatable relative to the frame body and is fixedly connected to the outer end of the nonlinear coil spring. The coil spring locking component includes a ratchet and pawl mechanism and a matching stop switch and a return spring. The ratchet and pawl mechanism is connected between the inner end of the nonlinear coil spring and the lower end face of the top cover of the frame body. Each return spring is always kept in tension to provide a force to the stop pawl towards the ratchet. During the stiffness adjustment process of the nonlinear coil spring, the stop switch, according to the instruction of the control unit, causes the ratchet to move only in a set direction, thereby increasing or decreasing the number of working turns of the nonlinear coil spring until the load torque, the torque of the nonlinear coil spring, and the output torque of the drive motor reach a balance. At this point, the control unit controls the stop switch to lock the inner end of the nonlinear coil spring.

9. The carrying system according to claim 8, characterized in that, The nonlinear coil spring is designed according to the following steps: the given working curve of the adaptive drive module is divided into... S The working curve of the adaptive drive module is a function of the rotation angle of the central shaft and the torque output through the external terminal. The number of segments of the nonlinear coil spring is taken as... S And the first coil spring segment is located on the outer ring of the nonlinear coil spring; the first... i The working curve segment and its slope are respectively used as the first segment of the working curve. i The working curve and stiffness of each coil spring segment i =1,2,..., S And in accordance with industry standard JB / T7366-1994, the first i The design of the first spring segment is carried out to obtain the second spring segment. i Parameters of each coil spring segment, including elastic modulus E Cross-sectional thickness h Cross-sectional width b and unfolded length l .

10. The carrying system according to claim 8, characterized in that, The ratchet and pawl mechanism includes a ratchet shaft coaxial with the central shaft, a ratchet fixedly sleeved on the ratchet shaft, and a positive stop pawl and a negative stop pawl that engage with the ratchet through their teeth. The top end of the ratchet shaft is rotatably connected to the frame body. The inner end of the nonlinear coil spring is fixedly connected to the ratchet shaft. The ends of the positive stop pawl and the negative stop pawl away from their respective teeth are rotatably connected to the lower end face of the top cover of the frame body. A positive return spring and a positive stop switch are provided between the end of the positive stop pawl near its teeth and the lower end face of the top cover of the frame body. A negative return spring and a negative stop switch are provided between the end of the negative stop pawl near its teeth and the lower end face of the top cover of the frame body. During the adjustment process of the nonlinear coil spring, at most one of the two stop pawls that cooperate with the ratchet will contact the teeth of the ratchet; when the load torque, the coil spring torque and the output torque of the drive motor are balanced, both stop pawls that cooperate with the ratchet will contact the teeth of the ratchet.

11. The carrying system according to claim 1, characterized in that, The elastic element is a non-linear elastic element, consisting of a first sub-coil spring and a second sub-coil spring connected in parallel through the stiffness adjustment assembly and having the same number of working coils. The first sub-coil spring is positioned closer to the central axis than the second sub-coil spring. Each sub-coil spring is either a linear coil spring, or all are non-linear coil springs, or one is a linear coil spring and the other is a non-linear coil spring. The non-linear coil spring is a planar spiral spring formed by sequentially connecting multiple coil spring segments end to end and integrally molded, with adjacent coil spring segments having different stiffnesses. The stiffness adjustment assembly includes a first stiffness adjustment mechanism and a second stiffness adjustment mechanism. A partition plate is provided inside the frame body and fixedly connected to the frame body. The first stiffness adjustment mechanism includes a first sub-coil spring locking member and a first sub-coil spring fixing bracket. The first stiffness adjustment mechanism and the first sub-coil spring are located on the side of the partition facing the central axis. The second stiffness adjustment mechanism includes a second sub-coil spring locking member and a second sub-coil spring fixing bracket. The second stiffness adjustment mechanism and the second sub-coil spring are located on the side of the partition facing away from the central axis. Each sub-coil spring locking member includes a ratchet and pawl mechanism and a matching stop switch and return spring. Each ratchet and pawl mechanism shares a ratchet shaft. The ratchet shaft is coaxial with the central axis and fixedly connected, and rotatably connected to the frame body. The first ratchet and pawl mechanism is connected to the first... Between the outer end of the first sub-coil spring and the lower end face of the partition, the second ratchet and pawl mechanism is connected between the outer end of the second sub-coil spring and the lower end face of the top cover of the frame body; each return spring is always kept in a compressed state to provide a force to the corresponding stop pawl towards its respective ratchet; during the adjustment of the elastic element, each stop switch, according to the instruction of the control unit, makes each ratchet move only in the same set direction, so that the number of working turns of the two sub-coil springs increases or decreases, until the load torque, the torque of the elastic element and the output torque of the drive motor reach a balance, and the control unit controls the corresponding stop switch to lock the outer ends of the two sub-coil springs.

12. The carrying system according to claim 11, characterized in that, The nonlinear elastic element is designed according to the following steps: The given operating curve of the adaptive drive module is divided into... S The working curve of the adaptive drive module is a functional relationship between the rotation angle of the central axis and the torque output through the external terminal. Let the number of spring segments contained in the first sub-spring be... P The second sub-coil spring contains the following number of coil spring segments: Q , P and Q All are positive integers greater than or equal to 1, and satisfy the following conditions: S ≥ P , S ≥ Q When the number of spring segments of the sub-spring is 1, the sub-spring is a linear spring; when the number of spring segments of the sub-spring is greater than 1, the sub-spring is a non-linear spring. Regarding the first i Segment working curve, i =1,2,..., S At a certain angle on this section of the working curve φ The torque at that point is used as the angle of rotation. φ The sum of the torque of the first sub-coil spring and the torque of the second sub-coil spring, and the angle... φ The slope of the working curve at that point is used as the turning angle. φ The sum of the stiffness of the first sub-coil spring and the stiffness of the second sub-coil spring is used to obtain the result compared to the first sub-coil spring. i The working curves of the first and second sub-coil springs within the corresponding rotation angle range of the segment working curve; Based on the working curves of the first and second sub-coil springs, each coil segment within the first and second sub-coil springs was designed according to industry standard JB / T7366-1994, resulting in the parameters of each coil segment, including the elastic modulus. E Cross-sectional thickness h Cross-sectional width b and unfolded length l .

13. The carrying system according to claim 11, characterized in that, The first ratchet and pawl mechanism includes a first ratchet rotatably mounted on the ratchet shaft, and a first positive stop pawl and a first negative stop pawl that engage with the first ratchet through their teeth. A first sub-coil spring fixing frame integrally formed with the first ratchet is provided on the outer periphery of the first ratchet. The inner end and outer end of the first sub-coil spring are fixedly connected to the ratchet shaft and the first sub-coil spring fixing frame, respectively. The ends of the first positive stop pawl and the first negative stop pawl away from their respective teeth are rotatably connected to the end face of the partition facing the first sub-coil spring fixing frame. A first positive return spring and a first positive stop switch are provided between the end of the first positive stop pawl near its teeth and the partition. A first negative return spring and a first negative stop switch are provided between the end of the first negative stop pawl near its teeth and the partition. The second ratchet and pawl mechanism includes a second ratchet rotatably mounted on the ratchet shaft, and a second positive stop pawl and a second negative stop pawl that engage with the second ratchet through teeth. A second sub-coil spring fixing frame integrally formed with the second ratchet is provided on the outer periphery of the second ratchet. The inner end and outer end of the second sub-coil spring are fixedly connected to the second ratchet shaft and the second sub-coil spring fixing frame, respectively. The ends of the second positive stop pawl and the second negative stop pawl away from their respective teeth are rotatably connected to the end face of the top cover of the frame body facing the second sub-coil spring fixing frame. A second positive return spring and a second positive stop switch are provided between the end of the second positive stop pawl near its teeth and the top cover of the frame body. A second negative return spring and a second negative stop switch are provided between the end of the second negative stop pawl near its teeth and the top cover of the frame body. During the adjustment of the elastic element, at most one of the two stop pawls cooperating with the same ratchet will contact the teeth of the ratchet; when the load torque, the torque of the elastic element and the output torque of the drive motor are balanced, both stop pawls cooperating with the same ratchet will contact the teeth of the ratchet.

14. The carrying system according to claim 13, characterized in that, After the torque is balanced, if the working angle requires the carrier to continue rotating in the original direction of rotation by a certain angle... α First, position the two stop pawls that engage with each ratchet in the opposite state to that before torque balance, so that the outer ends of each sub-coil spring rotate by an angle. α The inner end of each sub-coil spring will rotate by the same angle as the outer end of the sub-coil spring. α Then, the stop pawl is used to lock each ratchet in both directions; After the torque is balanced, if the working angle requires the carrier to rotate in the opposite direction of the original rotation by an angle... β First, the two stop pawls that cooperate with each ratchet are placed in the same state as before torque balance. Then, the drive motor drives the carrier to rotate in the opposite direction of the original rotation to unload each sub-coil spring. This continues until the elastic torque of each sub-coil spring is zero. Then, the drive motor drives the carrier to continue rotating in the opposite direction of the original rotation by an angle. β This causes the outer ends of each sub-spring to rotate in the opposite direction of the original rotation of the carrier by an angle. β At this point, first use the stop pawls to lock each ratchet in both directions. Then, place the two stop pawls that cooperate with each ratchet in the same state as before torque balance, and apply the load torque. The inner ends of each sub-spring rotate in the original direction of the carrier's rotation, and each sub-spring is compressed and deformed. The outer ends of each sub-spring rotate in the opposite direction of the original direction of the carrier's rotation by an angle. β This allows the torque to reach equilibrium again, and finally, the stop pawls are used to lock all ratchet wheels in both directions.

15. The carrying system according to claim 5, 8, or 11, characterized in that, The control unit includes a circuit board and a main controller, an angle sensor, and a current sensor mounted on the circuit board. The circuit board is fixedly connected to the frame body. The angle sensor is used to measure the rotation angle of the central shaft in real time, and the current sensor is used to measure the current of the drive motor in real time. The main controller is used to control the drive motor and each stop switch according to the rotation angle signal of the central shaft and the current signal of the drive motor.

16. The carrying system according to any one of claims 5 to 13, characterized in that, The carrying system also includes a handle that engages with the gear and a power module connected to the drive motor, enabling the carrying system to have a manual power generation function. When manual power generation is required, the moving frame, along with the adaptive drive module and the package on it, is detached from the upper part of the stator frame. The control unit controls each stop switch to disengage all stop pawls from the teeth of the corresponding ratchet. The handle rotates the gear to generate current in the drive motor, which is then stored in the power module.

17. The carrying system according to any one of claims 1 to 14, characterized in that, The control unit is also used to perform four-loop control on the drive motor according to the acceleration of the moving subframe, so that the moving subframe and the package body are maintained at the target position while achieving adaptive adjustment of different step frequency magnitudes. The step frequency magnitude is equivalent to the oscillation frequency of the acceleration of the moving subframe. The four-loop control adds an acceleration loop to the FOC method. The acceleration loop is used to fit the deviation between the current position and the target position of the moving subframe through a PID control algorithm based on the deviation between the current acceleration and the target acceleration of the moving subframe. The target rotation angle of the drive motor is obtained based on the deviation of the target position. The target rotation angle is used as the input of the FOC method. After calculation by the FOC method, the target current value for the drive motor to maintain or reach the target rotation angle is obtained.

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