316 results about "Load force" patented technology

The utility model provides a sealing aging test device for multi-environment simulation. The sealing aging test device comprises an upper end cover, a lower end cover, a gasket, a to-be-tested sealing ring and a sealing ring, the gasket is arranged between each stage of lower end cover and the upper end cover, the to-be-tested sealing ring is arranged between each stage of lower end cover and the gasket, and the sealing rings are arranged between the gasket and each stage of upper end cover and between the middle upper end cover and the middle lower end cover; the end covers are connected through bolts, and the gaskets are in interference fit connection or threaded connection with the upper end covers; the end cover center hole channel forms a first flow channel, the outer side hole channel forms a second flow channel, and flow channel isolation is achieved through a sealing ring. The aging conditions of the sealing ring under different compression amounts can be tested by adjusting the thickness of the gasket, the influence of different unbalance loading forces on the aging performance of the sealing ring can be tested by adjusting the gradient of the first end face of the gasket, and the aging conditions of the sealing ring under different working conditions can be simulated by inputting media into the two flow channels. Multiple groups of upper and lower end covers can be continuously added in the device.

The invention discloses a load simulation test device for a permanent magnet motor, which belongs to the technical field of motor testing and comprises a test board, a mounting table is mounted on the test board, the permanent magnet motor is mounted on the mounting table, and a load test box is mounted at the top, close to the permanent magnet motor, of the test board. A controller is installed at the top, close to the load test box, of the test board, an air cylinder is arranged to drive a movable rod to move, and when the movable rod moves, an end cover plate can be driven to rotate through cooperation of a longitudinal limiting groove, a spiral limiting groove, a fourth gear, a second tooth groove, a limiting block and other parts; when the end cover plate rotates, a guide rod can be driven to move through cooperation of an inclined extrusion groove and a sliding groove, when the guide rod moves, a first magnet can be driven to be close to or away from a second magnet to adjust the loading force of the permanent magnet motor, and the loading force of the permanent magnet motor can be conveniently adjusted according to needs.

The invention relates to a side-hung rotating platform real-time counterweight device, a side-hung rotating platform and a control method, and belongs to the technical field of automation equipment. According to the application, the eccentric load torque of the load is monitored in real time, and the counterweight assembly driven by the linear motor is controlled to move according to the eccentric load torque, so that the counterweight force arm is dynamically adjusted, and the reverse counterweight torque is accurately generated to counteract the eccentric load torque. And when the movement compensation is insufficient, the number of the balancing weights can be increased, so that the balancing weight quality is improved. The motion precision can be effectively improved, the equipment is protected, and the stability is improved.

The utility model discloses a resistance module connecting structure and fitness equipment, and the resistance module connecting structure comprises a rack; the load assembly is connected to the rack, and the load assembly comprises a load motor and a movable part; the output assembly is connected to the rack and comprises a connecting block, a movable pulley, a connecting rope and a stretching part which are sequentially connected, the connecting block is fixed to the movable part, the movable pulley is rotationally installed on the connecting block, and the connecting rope is wound around the movable pulley and extends outwards; wherein the load motor can output load force, and the stretching part is suitable for being pulled outwards so as to drive the connecting rope, the movable pulley, the connecting block and the movable part to move together; the load motor is in transmission connection with the movable part and used for driving the movable part to reset. A transmission structure is obviously optimized, the stretchable displacement range in the operation and use process of players is enlarged, the problem that ropes are folded is reduced or even avoided, and the stability and smoothness of power transmission are improved.

The invention provides a loading force control method for servo torque feed-forward and linear active disturbance rejection control, and belongs to the technical field of servo hydraulic equipment control. The method comprises the steps that a servo hydraulic tension pad dynamic model is constructed, and the servo torque feed-forward and linear active disturbance rejection control loading force is obtained based on the servo tension pad dynamic model and structural design parameters of a servo tension pad test bed; building a simulation model of the servo stretching pad; a simulation data set and an experiment data set are collected, the simulation data set and the experiment data set are combined, weighted and preprocessed, and a standardized feature matrix is obtained; constructing a servo feed-forward torque prediction model based on XGBoost, taking the standardized feature matrix as model input, and outputting a feed-forward torque; constructing a second-order system model of the servo stretching pad; and combining the feed-forward torque output by the servo feed-forward torque prediction model with the feedback torque calculated by the linear active disturbance rejection control to form a final torque instruction of the servo motor. According to the invention, the control precision and robustness of the loading force in the production process of the servo hydraulic stretching cushion are improved.

The invention belongs to the technical field of intelligence, and discloses a bridge load test detection system based on wireless transmission. Comprising the following steps: uniformly distributing a bridge into M sections, and calculating a double-field coupling weight coefficient of each section; dynamically selecting a test point according to the double-field coupling weight coefficient of each section; a movable wireless sensor node is adopted to monitor a test point, and structural response data of the test point is collected; constructing a sensitivity matrix through the initial excitation parameter and the structural response data to obtain a corrected target function, and correcting the target function through iterative optimization to finally obtain an optimal excitation parameter; predicting the maximum dynamic load force and the actual dynamic load force; whether early warning is carried out or not is judged according to the predicted maximum dynamic load force and the predicted actual dynamic load force; and the accuracy and efficiency of the bridge load test are obviously improved.

The ball screw pair comprises a nut and a ball return device installed on the nut, a nut raceway is arranged on the nut, a ball return raceway is arranged on the ball return device, and the ball return raceway is in butt joint with the nut raceway. The ball screw pair is characterized in that the gradually-changing raceways are arranged at the two ends, in butt joint with the ball return raceway, of the nut raceway, and the gradually-changing raceways are arranged at the two ends, in butt joint with the ball return raceway, of the nut raceway. One end of the gradual-change raceway is in butt joint with the nut raceway and has the same depth as the nut raceway, and the other end of the gradual-change raceway is in butt joint with the ball return raceway and has the same depth as the ball return raceway; the ball screw pair has the advantages that the balls are in smooth transition from the nut raceway to the ball return raceway through the gradually-changed raceway, so that the vibration noise during working of the ball screw pair is greatly reduced, and the service life is prolonged; and moreover, as the positions of the two ends of the gradually-changed raceway are accurately determined, when the ball screw pair works, the area (namely the area of the gradually-changed raceway), which is not subjected to loading force during working, of the ball is controlled within the minimum range, and normal operation of the ball screw pair is ensured.

The utility model belongs to the technical field of ships, and particularly relates to a launching barge anchoring equipment reinforcing structure which comprises a launching barge. The launching barge comprises a buoyancy tank in the middle and buoyancy towers arranged at four corners of the buoyancy tank; anchoring equipment is arranged on the buoyancy tank, the anchoring equipment is used for fixing the launching barge in a water area, and the buoyancy tank comprises a buoyancy tank deck and a buoyancy tank end sealing plate; a fixing reinforcing device is arranged on the anchoring equipment and used for reinforcing the anchoring equipment. By arranging the anchoring equipment, when a ship is berthed, the anchoring equipment can fix the ship at a preset position and prevent the ship from drifting due to external force such as stormy waves, the structural strength of the anchoring equipment can be enhanced by arranging the fixing and reinforcing device, more loading force can be borne, and falling and damage caused by insufficient structural strength are prevented; the safety of the ship is influenced. The stable, safe and controllable operation of the ship entering and exiting the launching barge and the sinking and floating process is ensured, and the reinforcing structure of the launching barge anchoring equipment is reliable.

The invention discloses a bidirectional and horizontal action hydraulic capstan test device and method, and belongs to the technical field of test bench testing and test equipment. The device comprises a supporting seat, a hydraulic capstan and a load oil cylinder, the load oil cylinder adopts a unique structure that a piston rod is fixed and a cylinder body can move bidirectionally, and two ends of the cylinder body are connected with the hydraulic capstan winding drum through two steel wire ropes with opposite winding directions. The core is a set of hydraulic loop integrating an electric proportional overflow valve and four one-way valves: when a cylinder body is pulled, oil in a pressed cavity needs to return through the electric proportional overflow valve, and the simulation load force can be accurately controlled by setting the pressure of the valve through an electric signal; meanwhile, the loop can automatically supplement oil to the negative pressure cavity, vacuum is prevented, and stable load is ensured. The problem that in the prior art, a variable load cannot be provided for a bidirectional and horizontal acting hydraulic capstan is solved, precise and stable simulation of a single oil cylinder on a bidirectional load is achieved, and the hydraulic capstan load simulation device has the advantages of being compact in structure, precise in control, safe and reliable.

The invention discloses a high-precision closed-loop force control linear rotating motor and a force control method thereof, and relates to the technical field of motors, the linear rotating motor comprises a shell, a linear motor, a rotating output shaft part, a constant force spring device, a force sensor and a controller, the rotary output shaft part comprises a rotary motor, a rotary connecting piece and an output rotating shaft, and can realize composite motion of axial reciprocating and angular rotation; the constant-force spring device provides constant balance force in the linear direction to compensate for gravity loads. The force sensor detects output thrust in real time and generates a feedback signal; the controller performs closed-loop force control adjustment according to the feedback signal; according to the motor, through the built-in high-precision force sensor and the constant-force spring structure, high-precision, low-force-value and stable force control performance is achieved, output fluctuation can be effectively reduced, and the system response speed and control precision can be improved.

The invention relates to a door and window safety performance detection device for constructional engineering, and belongs to the technical field of constructional engineering detection. The uniformly distributed load force application assembly can apply uniform or gradient change pressure to the whole surface of the door and window to simulate wind pressure; the concentrated load force application assembly can perform fixed-point impact on specific parts of doors and windows and simulate hard object impact or violent forcible entry; the wind pressure loading assembly applies uniform and gradient-adjustable wind pressure loads to the surfaces of doors and windows, simulates stress states under different wind levels and detects the air tightness of the doors and windows, and the rainfall simulation assembly simulates rainfall environments with different strengths to detect the water tightness of the doors and windows; the deformation of doors and windows, the stress of key parts of the doors and windows, the water leakage condition and the air leakage condition can be monitored, and the comprehensiveness and the real-time performance of detection data are ensured. The system can achieve the detection of multiple safety performance dimensions of the doors and windows of the constructional engineering, effectively improves the detection efficiency and precision, reduces the manual operation intervention, and provides a comprehensive and reliable data support for the safety performance evaluation of the doors and windows.

The invention provides a high-precision calculation method for weighing a farm feed tower under a wind load condition, and belongs to the technical field of weight calculation methods. The method specifically comprises the following steps that the dead weight of a feed tower, the total weight after feed is added and the static supporting force of each supporting leg are determined; the wind direction is measured, and the supporting legs are divided into a windward group and a leeward group according to the vertical symmetry plane, perpendicular to the wind direction, of the center of the material tower; respectively calculating the vertical distance from each supporting leg of the windward group and the leeward group to the symmetry plane, calculating the wind load force and the upsetting moment by combining the wind speed to establish a supporting leg counter-force mathematical model under the wind load, and obtaining the dynamic supporting force of each supporting leg; superposing the static supporting force and the dynamic supporting force of each supporting leg to obtain an estimated supporting force of each supporting leg; the estimated supporting force of each supporting leg under the wind load and the supporting force, measured in real time, of each supporting leg are used for conducting filtering calculation to obtain accurate dynamic supporting force of the wind load; and deducting the accurate wind load dynamic supporting force and the dead weight of the feed tower to obtain the actual accurate weight of the feed.

The utility model discloses a resistance output module and fitness equipment, and the resistance output module comprises a rack; the load assembly is connected to the rack, and the load assembly comprises a load motor and a transmission chain; the output assembly is connected to the rack, the output assembly comprises a connecting part, a connecting rope and a stretching part which are connected in sequence, and the connecting part is fixed to one side of the transmission chain; wherein the load motor can output load force, the stretching part is suitable for moving outwards so as to drive the load motor to rotate through the transmission chain, and the load motor is in transmission connection with the transmission chain and used for driving the transmission chain to reset. The output assembly is fixed to the transmission chain, so that a player can directly pull the stretching component to train, the structure of a transmission system is greatly simplified, use of complex components such as a traditional speed reducer and a traditional differential mechanism is reduced, and the problem that a traditional rope is prone to being folded and wound when being repeatedly wound and released on a winding wheel is thoroughly solved; and smoothness and stability of power output are ensured.

A harmonic reducer flexible bearing test bench comprises a rack, the rack is provided with a driving module, a loading module and a data acquisition module, the driving module is connected with a to-be-tested bearing and is used for driving the to-be-tested bearing to perform eccentric rotation, the loading module abuts against the to-be-tested bearing and applies a loading force to the to-be-tested bearing, and the data acquisition module is used for acquiring data of the to-be-tested bearing. The data acquisition module acquires various detection data of a to-be-detected bearing in the detection process, the loading module comprises a loading block and a loading ring belt, one side of the loading block is used for being matched with the loading ring belt, and the other side of the loading block abuts against the to-be-detected bearing. The beneficial effects of the invention are that the loading block is arranged as an intermediate transmission element, and the direct contact between the loading ring belt and the bearing to be tested is effectively isolated, so that the fluctuation of the loading force caused by the uncertain contact area is reduced, and the accuracy and repeatability of test data are improved.

The invention relates to the technical field of engineering machinery control, and discloses a hydraulic control system under a variable load piling working condition, which comprises a multi-dimensional state acquisition module, a fluid parameter observation module, a signal reconstruction decoupling module, a virtual impedance mapping module and a fluid phase locking control module. The acquisition module acquires a basic physical state; the observation module solves the effective volume elastic modulus of the hydraulic oil based on a fluid continuity equation; the reconstruction module utilizes the modulus to correct signal lag, reconstructs external load force through an inverse dynamic model and decouples environmental acoustic impedance; the mapping module dynamically generates a target mechanical impedance parameter according to the environment impedance; and the control module calculates an ideal instruction based on the target parameter, corrects the gain by utilizing the fluid modulus and locks the rebound peak phase to adjust the action time sequence of the valve core. Control distortion caused by fluid parameter drift is solved, active flexible adaptation to variable load geology is achieved, energy hedging is avoided, and operation efficiency is improved.

The utility model discloses a four-force-arm multi-track strength training device which comprises a machine frame. The four adjusting assemblies are located on the same side of the rack and arranged on the periphery of the rack, each adjusting assembly comprises an adjusting base and an output rod, the adjusting bases are rotationally connected to the rack in the horizontal direction, and the output rods are rotationally connected to the adjusting bases in the vertical direction; the four stretching parts are connected with the adjusting assemblies in a one-to-one correspondence mode, each stretching part comprises a pulling block, the pulling blocks are connected to the outer side of the output rod, and the pulling blocks are suitable for being pulled outwards; and the resistance output module is connected to the rack, and the resistance output module is used for outputting load force to the pulling block. Two additional force arms and a flexible multi-angle adjusting mechanism are added, the types of training actions are greatly enriched, the adaptability and expansibility of the equipment are improved, a user can do diversified and personalized exercise according to different muscle groups, operation is easy, convenient and visual, the equipment is suitable for people of various body types and training levels, and the practicability is high. And the fitness experience and the training effect are obviously enhanced.

The invention belongs to the technical field of hydraulic systems, and particularly relates to a balance valve effectiveness simulation verification method and system. The balance valve effectiveness simulation verification method is scientific and reasonable in design, and is realized through the following steps: constructing a hydraulic-mechanical coupling model containing a balance valve in AMESim, applying variable load force and periodic forcible entry force, performing real-time simulation in combination with Simulink, and comparing working conditions when the balance valve is installed and when the balance valve is not installed; and quantitatively analyzing the displacement tracking error, the pressure stabilization time and the oscillation amplitude. The system comprises a model building module, a load applying module, a joint simulation module and a result analysis module, and the stability of the balance valve in the hydraulic system can be verified efficiently at low cost. The method is suitable for engineering machinery such as forcible entry robots, and scientific basis is provided for design and optimization of the balance valve.

The invention relates to a stacker crane based on a gantry structure. The stacker crane comprises a stand column. Z-axis driving assemblies are mounted at the tops of the stand columns, and lifting tables are slidably connected to the inner sides of the stand columns. By arranging the balancing weight assembly, the balancing weight counteracts the load of the lifting platform in the reverse direction through the chain, the motor only needs to provide net load force (total load-balancing weight), energy consumption is reduced, the service life of the motor is prolonged, the balancing weight moves along the inner wall of the stand column, and the stand column limits the moving path of the balancing weight; the first rubber coating wheel set and the second rubber coating wheel set are additionally arranged, so that the balancing weight can make linear reciprocating motion in the stand column more stably; in order to prolong the service life of the rubber coating wheels, the guide wheel module adopts a seesaw framework, the first rubber coating wheel and the second rubber coating wheel are connected through a rotating shaft and arranged on the inner side of the movable seat, it can be guaranteed that the stress of the two wheels is consistent, meanwhile, the force borne by each wheel is reduced by half, and the service life of the first rubber coating wheel and the service life of the second rubber coating wheel are prolonged.

A headgear for securing a mask to a user's face is described. The headgear requires a first load force to elongate the headgear and, when fitted to a user, applies a balanced fit force that substantially equals a load force applied to the headgear during respiratory therapy. In some embodiments, the headgear includes an elastic portion configured to provide a retraction force, a non-elastic portion configured to be inelastic in comparison to the elastic portion, and a restriction mechanism connected to the non-elastic portion and to the elastic portion. The restriction mechanism is configured to apply a first resistance force to the user's head on elongation of the headgear and a second resistance force to the user's head on retraction of the headgear.

The invention provides a coal mine underground reservoir dam body anti-impact stability simulation test device and method.The device comprises a main body frame, a dam body model, dam body loading systems, an impact disturbance system, an impact energy monitoring system and a response measurement monitoring system, and the dam body loading systems are arranged on the upper portion and the two sides of the main body frame; the static load module is used for providing vertical static load force and transverse static load force for the dam body model; the impact disturbance system is arranged at the upper part of the main body frame and is used for applying a dynamic load force to a target position of the dam body model; the impact energy monitoring system is used for monitoring the impact speed and impact energy of the impact disturbance system; and the response measurement monitoring system is used for monitoring the response state of the dam body model when the dam body loading system and the impact disturbance system act. According to the method, the mechanical response characteristics and the deformation failure rule of the underground reservoir dam body under the impact load effect can be obtained, and the impact dynamic disaster breeding and causing mechanism of the underground reservoir dam body of the coal mine is disclosed.

The utility model discloses a self-balancing pile foundation static loading force detection device which comprises a load box, one end of an upper displacement rod and one end of a lower displacement rod are fixedly assembled on the side wall of the load box, a jack is fixedly assembled in the load box, the top of the load box is fixedly connected with one end of an oil pipe, and a steel cage is assembled on the outer side wall of the load box. The other ends of the upper displacement rod and the lower displacement rod are fixedly connected with a displacement sensor, the displacement sensor is fixedly assembled at the bottom of the datum line beam, the displacement sensor is in electric signal connection with data analysis equipment, and the other end of the oil pipe is fixedly connected with a high-pressure oil pump. The load box is redesigned in the device, pipeline distribution in the load box is more reasonable, the connecting process of the displacement sensor and the corresponding pipeline is simplified by optimizing pipeline distribution, meanwhile, the steel cage is also designed in the device, the mode that horn ribs are matched with reinforcing ribs is adopted, and the stability of the device is improved. The stability of connection and fixation between the steel cage and the load box is enhanced, and the protection effect of the steel cage on the load box is enhanced.

The invention relates to the technical field of testing, and provides an actuator loading testing device which comprises a hydraulic oil cylinder, a reversing valve, a hydraulic pump, a motor, a first ball valve, a second ball valve, a proportional overflow valve, an electromagnetic overflow valve and a controller. The controller is used for controlling the first ball valve, the second ball valve, the reversing valve, the electromagnetic overflow valve or the proportional overflow valve according to the oil inlet and outlet pressure of the first cavity A and the second cavity B of the hydraulic oil cylinder so as to test the actuator. The device not only can carry out a tension test of the actuator, but also can carry out a thrust test of the actuator, not only can carry out a variable and constant load test of the actuator, but also can keep the load force unchanged when the actuator moves so as to carry out a constant load test of the actuator and cover a full working condition test of the actuator, and the whole device is loaded by a hydraulic system, so that the test efficiency is improved. High load can be obtained by increasing system pressure, and the whole device is safe and reliable.

The embodiment of the invention discloses a robot control method and device, equipment and a medium, and the method comprises the steps that the current state information of a target joint of a robot is obtained, and the current state information at least comprises the current joint angle, the current load mass and the current angular velocity; based on the current joint angle and the current load mass, the current load torque of the target joint is determined; the current load moment is a blocking moment which acts on the output end of the transmission device of the target joint and is generated by a load; determining a target current value of the target joint based on the current load moment and the current angular velocity; and controlling a target joint of the robot based on the target current value.

The present invention discloses a detection device for alloy castings with a tensile performance detection function. The present invention relates to the technical field of metal tensile testing machines. The detection device includes a base, a control panel, an ultrasonic detector, a dynamic mechanism, a tensile mechanism and a clamping mechanism. The dynamic mechanism includes an assembly plate and a locking pin mechanism. The tensile mechanism includes a side frame and a slide. The clamping mechanism includes a wedge shell. The assembly plate and the clamping mechanism are each provided with two groups. One group of assembly plates is fixedly connected to the side frame, and the other group of assembly plates is fixedly connected to the slide. The locking pin mechanism includes an electrically controlled locking pin, which is fixedly connected to the wedge shell. The side frame and the control panel are both fixedly connected to the base, and the ultrasonic detector is fixedly connected to the side frame. The ultrasonic detector, the dynamic mechanism and the tensile mechanism are all connected to the control panel via electrical signals. The present invention applies a tensile load to the alloy casting, performs ultrasonic detection, actively changes the load force direction, applies a torque load, simulates actual working conditions, and improves detection accuracy.

The invention provides a control method. The control method comprises the following steps: controlling a motor to start based on a rotating speed-current serial double closed-loop mode; and when the driving force and the loading force of the motor are balanced, switching to control the motor to work based on a pressure-current series-connection type double closed-loop mode or a position-current series-connection type double closed-loop mode. According to the configuration, on one hand, different control modes are used in different stages, and the overall complexity of the control scheme is reduced; on the other hand, the logic of the switching control sub-schemes is modified, so that the switching opportunity between the two control sub-schemes is more reasonable; the problem that in the prior art, the whole control scheme is complex or the switching opportunity of the control sub-schemes is unreasonable is solved. In one embodiment of the invention, when the difference value between the driving force and the load force is small, the output amplitude limiting of the current inner loop is triggered, and the stability during dynamic switching can be further improved.

The invention discloses an operation early warning method and device of a dredger, the dredger and a storage medium, and relates to the field of water conservancy projects. The method comprises the following steps: calculating an external loading force of a corresponding monitoring point based on real-time working condition data of the dredger at each monitoring point; calculating the abnormal energy increment of the corresponding monitoring point based on the external load force of each monitoring point; performing space-time weighting processing on the abnormal energy increment of each monitoring point to obtain a comprehensive risk index of the dredger; performing deviation fusion processing on the real-time working condition data and the reference working condition data of each monitoring point to obtain a comprehensive deviation index of the dredger; and performing early warning according to the comprehensive risk index and the comprehensive deviation index. According to the technical scheme, the accuracy of early warning of the operation of the dredger is improved.

The utility model relates to a logistics equipment technical field especially relates to a turnover mechanism, including conveying assembly and the frame of one side of conveying assembly, still include swing subassembly, swing board both ends are equipped with clamping assembly and counterweight subassembly respectively, drive subassembly is used for promoting swing board rotation to make clamping assembly overturn, limiting component is used for limiting clamping assembly, the utility model discloses two clamping air cylinders drive mobile seat linear movement along the branch board respectively, utilizes fixed base and mobile seat to form the clamping surface, realizes the clamping or loosening of goods, promotes swing board to rotate around the first pivot through drive subassembly, utilizes lever principle to realize the lifting overturn of clamping assembly, and counterweight subassembly offsets the load torque of clamping end, reduces the drive energy consumption.

High-offset belt tensioners have an end plate having a bore therethrough, a pivot tube with a first end fixedly connected in the bore of the end plate and a second end having an annular cup, an arm seated over the annular cup of the pivot tube for rotation relative thereto, and a flat wire torsion spring with its inner spring hook attached to the pivot tube and its outer spring hook attached to the arm at a position that counterbalances a hub load force acting in a first plane. The flat wire torsion spring biases the arm in a belt engaging direction and applies a spring force acting on the arm in a second plane. A direction of the spring force acting on the arm stays in the same location with respect to the arm and moves with the arm throughout its entire sweep in the belt engaging direction.

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.

The invention discloses a multi-point excitation dynamic load identification method, device and equipment and a computer readable storage medium. According to the method, in a multi-degree-of-freedom motion system model, a preset time domain is divided into a plurality of time periods, every m continuous time periods serve as a dynamic load recognition unit, N degrees of freedom exist in the multi-degree-of-freedom motion system model, and in the preset time domain, a dynamic load is applied to each of the m degrees of freedom, the m dynamic load force values are constant in one identification unit, and m is smaller than or equal to N; and aiming at each identification unit, solving the equation set based on the dynamic load force values, and calculating to obtain each dynamic load force value of the identification unit, so that the technical problem that each independent load is difficult to accurately separate and identify when facing a multi-source excitation problem is solved, and the technical requirement of a modern complex engineering structure on multi-load accurate identification is met.