Stage body virtual rotating shaft technology implementation method and stage body structure

Abstract

The invention discloses a stage body virtual rotating shaft technology implementation method and a stage body structure. According to the method, a virtual rotating shaft system is constructed by applying a geometric model, so that an overturning table board can stably overturn along a specific geometric track and seamless butt joint is realized; the method specifically comprises the steps that a stage body structure comprising a fixed stage face, a rotating shaft support, a rotating shaft, an overturning stage face and an overturning driving device is constructed, the rotating shaft support is positioned according to set geometric parameters, the rotating shaft and the overturning stage face are connected, and the overturning driving device is used for driving the overturning stage face to overturn around a virtual rotating shaft. And the movement of the turnover table top is accurately controlled and optimized through a geometric calculation method. The stage body structure corresponds to the method, and stable overturning and seamless butt joint of the overturning table top are achieved through guidance of a geometric model; the technology can be widely applied to the field of stage performance and stage machinery, the problems of gaps and safety risks existing in an existing turnover stage are effectively solved, and remarkable innovativeness and practicability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of stage performance and stage machinery, and in particular to a method for implementing a virtual rotating shaft technology for a stage platform and a stage platform structure. Background Art

[0002] In current stage performances, a reversible stage surface is often required to meet the needs of the plot. Traditionally, this approach involves installing a physical hinge at one end of the surface, using a drive to propel the surface upward. However, this hinge has numerous drawbacks: its theoretical axis is lower than the surface, resulting in relative movement between adjacent surfaces during reversal, requiring clearance and affecting the aesthetics of the stage. Furthermore, it poses a safety risk of crushing the performers' limbs, making conventional anti-crushing measures difficult to apply. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for implementing the virtual rotating axis technology of a stage platform and a stage platform structure, thereby solving the above-mentioned problems existing in the prior art.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A method for implementing virtual pivot technology for a stage body uses a geometric model to construct a virtual pivot system, enabling the flip table to flip stably along a specific geometric trajectory and achieve seamless docking. The method includes the following steps:

[0006] S100, constructing a stage platform structure comprising a fixed platform (1), a rotating shaft support (2), a rotating shaft (3), a flip platform (4) and a flip driving device (5), wherein the fixed platform (1) serves as a reference plane and the rotating shaft support (2) is installed thereon;

[0007] S200, positioning the rotating shaft support (2) according to the set geometric parameters, providing motion constraints for the rotating shaft (3), and the rotating shaft (3) and the flip table (4) are fixedly connected according to the geometric relationship to form a triangle ABC structure, wherein the upper left corner of the flip table (4) is the virtual rotating shaft point A, and the rotating shaft (3) is respectively located at two fixed points B and C on the flip table (4);

[0008] S300, using the flip driving device (5) to drive the flip table (4) so ​​that it flips around the virtual rotation axis according to the trajectory set by the geometric model;

[0009] S400, accurately controlling and optimizing the movement of the flip table (4) by a geometric calculation method, specifically comprising the following steps:

[0010] Triangle model construction: Measure and calculate the lengths of the sides AB, AC, and BC of triangle ABC, and determine their length ratios based on actual stage requirements. The lengths of the sides AB, AC, and BC of triangle ABC must satisfy the triangle inequality in geometry to ensure the validity and stability of the triangle.

[0011] Motion trajectory calculation: With the virtual rotation axis point A as the coordinate origin, a plane rectangular coordinate system is established. Based on the flip angle θ, trigonometric functions are used to calculate the motion trajectory of the rotation axis points B and C during the flip process;

[0012] Stability analysis: By adjusting the positions of the rotation axis points B and C and changing the angle ∠BAC of the triangle ABC, the motion stability of the flip table (4) is improved. At the same time, the position of the center of gravity of the flip table (4) is calculated to ensure that the center of gravity is always located below or near the virtual rotation axis point A during the flipping process.

[0013] Seamless docking calculation: accurately calculate the relative position of the rotating shaft (3) and the rotating shaft support (2), as well as the relative position of the flip table (4) and the fixed table (1), to ensure that the flip table (4) and the fixed table (1) maintain seamless docking at any flip angle, with a gap of no more than 1 mm;

[0014] Safety limit calculation: Calculate the maximum safe flip angle θmax of the flip table (4) based on the geometric model to ensure that the flip table (4) does not exceed this angle during the flipping process to prevent equipment damage or safety accidents.

[0015] Preferably, the virtual rotation axis system is constructed based on a triangular geometric model, with the upper left corner of the flip table (4) as the virtual rotation axis point A, and the rotation axis (3) is respectively located at two fixed points B and C on the flip table (4), forming a triangle ABC structure, ensuring that the flip table (4) remains stable during the flipping process, wherein the side lengths AB, AC and BC of the triangle ABC satisfy the triangle inequality relationship in geometry, that is, AB+AC>BC, AB+BC>AC, AC+BC>AB, to ensure the validity and stability of the triangle.

[0016] Preferably, the arrangement direction of the rotation axis (3) follows the angle optimization principle in geometry. By adjusting the positions of the rotation axis points B and C, the angle ∠BAC of the triangle ABC is changed to be as large as possible, thereby improving the motion stability of the flip table (4). The angle ∠BAC should satisfy 60°<∠BAC<120°, so as to maximize the motion stability of the flip table (4) while ensuring the structural strength.

[0017] Preferably, in the geometric model, by accurately calculating the relative positions of the rotating shaft (3) and the rotating shaft support (2), as well as the relative positions of the flip table (4) and the fixed table (1), the motion trajectory of the flip table (4) is precisely controlled to ensure that the flip table (4) and the fixed table (1) maintain seamless connection at any flip angle, with a gap of no more than 1 mm. The specific calculation method is as follows:

[0018] Measuring the edge shape and size of the flip table (4) and the fixed table (1), and establishing a mathematical model including a curve equation or a straight line equation of the edge;

[0019] According to the flip angle θ, the relative position relationship between the flip table (4) and the fixed table (1) at different positions is calculated using a geometric transformation method;

[0020] The relative positions of the rotating shaft (3) and the rotating shaft support (2) are adjusted by an optimization algorithm to minimize the gap between the flip table (4) and the fixed table (1), thereby ensuring seamless docking.

[0021] Preferably, the flip driving device (5) is driven according to the motion parameters calculated by the geometric model, and pushes the flip table (4) through linear telescopic motion, so that it flips around the virtual rotation axis strictly according to the preset geometric trajectory. The specific motion parameters include the flip angle θ, the flip speed v and the flip acceleration a. These parameters are accurately set and adjusted according to the performance requirements and the results of the geometric model calculation to ensure the smoothness and accuracy of the flipping process.

[0022] Preferably, a geometric model is used to accurately limit the flip angle of the flip table (4), and by calculating the maximum safe flip angle θmax of the flip table (4), it is ensured that the flip table (4) moves within a safe angle range to prevent equipment damage or safety accidents caused by excessive flipping. The specific calculation method is as follows:

[0023] The structural strength and material properties of the flip table (4) are analyzed to determine its load-bearing capacity at different flip angles; based on the geometric model, the forces acting on the flip table (4) at different flip angles are calculated, including gravity, inertia, and driving force; through mechanical analysis and geometric calculation, the maximum safe flip angle θmax of the flip table (4) is determined, which generally does not exceed 90°, and a corresponding limit device is set to limit the flip angle of the flip table (4) to not exceed this value.

[0024] A stage platform based on the same concept is constructed using the aforementioned stage platform virtual rotation axis technology implementation method. Its structure matches the geometric model, and the stable flipping and seamless docking of the flipping platform (4) are achieved through the guidance of the geometric model. The specific structural features include:

[0025] The fixed table (1) serves as a reference plane and provides a stable support base;

[0026] The rotating shaft support (2) is positioned according to geometric parameters and accurately mounted on the fixed table (1) to provide motion constraints for the rotating shaft (3);

[0027] The rotating shaft (3) and the turning table (4) are fixedly connected according to a geometric relationship to form a triangular ABC structure, thereby ensuring the movement stability of the turning table (4);

[0028] The flip driving device (5) is connected to the flip table (4) and is driven according to motion parameters calculated by the geometric model to achieve precise flipping of the flip table (4).

[0029] Preferably, the geometric model parameters of the stage platform can be adjusted according to actual stage requirements to adapt to stage designs of different sizes, shapes and functional requirements, and realize personalized customization of the stage platform. The specific adjustment methods include:

[0030] According to the size and shape of the stage, adjust the position of the virtual pivot point A and the positions of the rotation axis points B and C to change the shape and size of the triangle ABC;

[0031] Recalculate the motion trajectory, stability parameters, seamless docking parameters and safety limit parameters to ensure that the adjusted stage body can still meet the requirements of stable flipping and seamless docking.

[0032] Preferably, during the manufacturing process of the stage platform, precise component processing and assembly are performed according to the geometric model to ensure that the geometric relationship between the various components is accurate, thereby ensuring the overall performance and stability of the stage platform. The specific manufacturing steps include:

[0033] Design the shape, size and relative position of each component according to the geometric model;

[0034] Use high-precision processing equipment to manufacture each component to ensure the dimensional accuracy and shape accuracy of the components;

[0035] During the assembly process, precise measuring tools and positioning equipment are used to assemble according to the parameters of the geometric model to ensure that the geometric relationship between the components is accurate.

[0036] Preferably, the stage body can automatically adapt to the changing needs of stage performances through real-time monitoring and dynamic adjustment of the geometric model during use, thereby achieving flexible control and precise positioning of the flip table (4). The specific implementation method includes:

[0037] Install sensors to monitor the position, angle, speed and other motion parameters of the flip table (4) in real time;

[0038] Comparing and analyzing the monitoring data with the geometric model to determine whether the motion state of the flip table (4) conforms to the preset trajectory;

[0039] According to the analysis results, the output parameters of the flip drive device (5) are dynamically adjusted through the control system to achieve flexible control and precise positioning of the flip table (4).

[0040] The beneficial effects of the present invention are as follows: the present invention discloses a method for implementing the virtual rotating shaft technology of a stage platform and a stage platform structure. The method constructs a virtual rotating shaft system by using a geometric model, so that the flip table can be stably flipped along a specific geometric trajectory and achieve seamless docking. Specifically, it includes constructing a stage platform structure including a fixed table, a rotating shaft support, a rotating shaft, a flip table and a flip drive device, positioning the rotating shaft support according to set geometric parameters and connecting the rotating shaft and the flip table, using the flip drive device to drive the flip table to flip around the virtual rotating shaft, and accurately controlling and optimizing the movement of the flip table through a geometric calculation method. The present invention has the following beneficial effects:

[0041] Improve stage effects: Achieve seamless connection between the flip table and the fixed table, improve the integrity and aesthetics of the stage, and create a more immersive environment for performances.

[0042] Enhanced safety: effectively avoid the risk of actors being squeezed, ensure the safety of performers, and reduce potential safety hazards during the performance.

[0043] Improved stability: Through precise geometric calculation and structural design, the stability of the flip table during the flipping process is enhanced to ensure the smooth progress of the performance.

[0044] Reduce noise: The seamless docking design reduces friction and collision between the countertops, thereby reducing noise and providing the audience with a better audio-visual experience.

[0045] Extend service life: Reasonable structural design and motion trajectory planning can reduce the wear of mechanical parts, extend the service life of stage equipment and reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is the axonometric drawing of the virtual axis flip stage of the present invention;

[0047] Figure 2 This is a diagram of the stage surface of the present invention in a flat state;

[0048] Figure 3 This is a diagram showing the fixed connection between the fixed table and the flip support of the present invention;

[0049] Figure 4 This is a diagram showing the fixed connection between the flip table and the rotating shaft of the present invention;

[0050] Figure 5 This is a schematic diagram of the rotation triangle of the rotation axis of the present invention;

[0051] Figure 6 is a schematic diagram of the initial state of the present invention;

[0052] Figure 7 is a schematic diagram of the flipping process of the present invention;

[0053] Figure 8 Schematic diagram of the present invention in a flipped-up position;

[0054] Figure 9 It is a schematic diagram of the top structure of the present invention;

[0055] Figure 10 It is a flow chart of the method of the present invention.

[0056] In the accompanying drawings, 1. fixed table; 2. rotating shaft support; 3. rotating shaft; 4. flip table; 5. flip driving device. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] This method uses geometric models to construct a virtual pivot system, enabling the flipping surface to rotate stably and seamlessly along a specific geometric trajectory. Through a series of carefully designed steps, the flipping surface remains stable during the flipping process, while seamlessly connecting with the fixed surface. This improves the overall integrity and aesthetics of the stage, and enhances the safety and quality of the performance.

[0059] Reference Figures 1 to 10 The method for implementing the virtual pivot technology of a stage body is shown. A geometric model is used to construct a virtual pivot system, so that the flip table can flip stably along a specific geometric trajectory and achieve seamless docking. The method includes the following steps:

[0060] S100, constructing a stage platform structure including a fixed platform 1, a rotating shaft support 2, a rotating shaft 3, a flip platform 4 and a flip driving device 5, wherein the fixed platform 1 serves as a reference plane and the rotating shaft support 2 is installed thereon.

[0061] First, a stage structure is constructed, consisting of a fixed platform 1, a rotating shaft support 2, a rotating shaft 3, a tilting platform 4, and a tilting drive 5. The fixed platform 1 serves as the reference plane for the entire stage structure, providing a stable mounting base for other components. The rotating shaft support 2 is mounted on the fixed platform 1, providing support and constraints for the subsequent installation and movement of the rotating shaft 3.

[0062] S200. Position the rotating shaft support 2 according to the set geometric parameters to provide motion constraints for the rotating shaft 3. The rotating shaft 3 and the flip table 4 are fixedly connected according to the geometric relationship to form a triangle ABC structure, wherein the upper left corner of the flip table 4 is the virtual rotating shaft point A, and the rotating shaft 3 is respectively located at two fixed points B and C on the flip table 4.

[0063] The position of the pivot support 2 is precisely determined according to the predefined geometric parameters, ensuring that the subsequent motion trajectory of the flip table 4 conforms to the requirements of the geometric model. The pivot axis 3 and flip table 4 are fixedly connected according to a specific geometric relationship, forming a triangular ABC structure. Specifically, the top left corner of the flip table 4 is set as the virtual pivot point A, while the pivot axis 3 is located at two fixed points B and C on the flip table 4. This design ensures that the flip table 4 can perform stable flipping motion around the virtual pivot point A during the flipping process.

[0064] S300: Utilize the flip drive device 5 to drive the flip table 4 to flip around the virtual axis according to the trajectory set by the geometric model. The flip drive device 5 is used to drive the flip table 4 to flip. The flip drive device 5 precisely drives the flip table 4 based on the motion parameters calculated by the geometric model, ensuring that the flip table 4 performs a smooth and precise flipping motion around the virtual axis point A along the preset geometric trajectory. By precisely controlling the movement of the flip drive device 5, the flip table 4 can be flexibly switched between different angles, meeting the diverse needs of stage performances.

[0065] S400: Precisely control and optimize the movement of the flip table 4 using geometric calculation methods. This specifically includes the following steps: Triangle model construction: Measure and calculate the side lengths AB, AC, and BC of triangle ABC, and determine their length ratios based on actual stage requirements. The side lengths AB, AC, and BC of triangle ABC satisfy the triangle inequality relationship in geometry to ensure the validity and stability of the triangle. Detailed measurement and calculation are performed on triangle ABC to determine the specific values ​​of its side lengths AB, AC, and BC. Based on actual stage requirements, the length ratios of these three sides are appropriately adjusted. Furthermore, the side lengths of triangle ABC are ensured to satisfy the triangle inequality relationship in geometry: AB+AC>BC, AB+BC>AC, and AC+BC>AB, to ensure the validity and stability of the triangle.

[0066] Motion trajectory calculation: With the virtual rotation axis point A as the coordinate origin, a plane rectangular coordinate system is established. According to the flip angle θ, the motion trajectory of the rotation axis points B and C during the flip process is calculated using trigonometric functions; the trajectory equation of point B is x B =AB·cos(θ+α),y B =AB·sin(θ+α), the trajectory equation of point C is x C=AC·cos(θ+β),y C =AC·sin(θ+β).

[0067] (1) Coordinate System Establishment: A plane rectangular coordinate system is established with virtual pivot point A as the origin. This coordinate system accurately describes the motion trajectory of the flip table 4 during the flipping process. Specifically, virtual pivot point A, located at the upper left corner of the flip table 4, is the key point of the entire virtual pivot system. The establishment of the coordinate system provides a basic framework for subsequent motion trajectory calculations, allowing the motion of the flip table 4 to be quantified and analyzed.

[0068] (2) Derivation of trajectory equations: Based on the flip angle θ, trigonometric functions are used to calculate the trajectory of the rotation axis points B and C during the flip process. The trajectory equation for point B is xB = AB·cos(θ+α), yB = AB·sin(θ+α), and the trajectory equation for point C is xC = AC·cos(θ+β), yC = AC·sin(θ+β).

[0069] Parameter explanation: AB, AC: are the distances from the virtual pivot point A to the pivot points B and C respectively. They are fixed lengths measured and determined according to actual stage requirements during the system design phase.

[0070] θ: represents the flip angle of the flip table (4) around the virtual rotation axis point A. This angle is calculated from the initial position and is a key parameter that the control system needs to accurately control.

[0071] α, β: These are the initial angular offsets of the rotation axis points B and C relative to the virtual rotation axis point A. They reflect the orientation of the rotation axis points relative to the coordinate system at their initial positions. These angles are determined through precise measurements during system installation and commissioning and serve as constant parameters for subsequent calculations.

[0072] (3) Application of motion trajectory calculation: These trajectory equations play a vital role in the design, manufacture and use of the stage platform. During the design phase, engineers use these equations to simulate the movement of the flip table 4 and predict its position and posture at different flip angles, thereby optimizing the geometric structure of the stage platform. During the manufacturing process, these equations guide high-precision processing equipment to manufacture various components, ensuring the dimensional accuracy and shape accuracy of the components to achieve precise assembly. During use, the control system adjusts the output parameters of the flip drive device 5 in real time based on these equations to ensure that the flip table 4 moves strictly according to the preset trajectory, achieves precise control and positioning, and provides stable and reliable technical support for stage performances.

[0073] Stability analysis: By adjusting the positions of the rotation axis points B and C and changing the angle ∠BAC of triangle ABC, the motion stability of flip table 4 can be improved. At the same time, the center of gravity of flip table 4 is calculated to ensure that the center of gravity is always below or near the virtual rotation axis point A during the flipping process.

[0074] By adjusting the positions of the rotation axis points B and C, the included angle ∠BAC of triangle ABC is altered, thereby optimizing the stability of the flip table 4. In practical applications, controlling the included angle ∠BAC within a reasonable range (typically 60° < ∠BAC < 120°) maximizes the stability of the flip table 4 while maintaining structural strength. Simultaneously, the center of gravity of the flip table 4 is calculated to ensure that it remains below or near the virtual rotation axis point A during the flipping process, further enhancing its stability.

[0075] Seamless docking calculation: Accurately calculate the relative positions of the rotating shaft 3 and the rotating shaft support 2, as well as the relative positions of the flip table 4 and the fixed table 1, to ensure that the flip table 4 and the fixed table 1 maintain seamless docking at any flip angle, with a gap of no more than 1 mm.

[0076] The relative positions of the rotating shaft 3 and the rotating support 2, as well as the relative positions of the flip table 4 and the fixed table 1, are precisely calculated. These calculations ensure that the flip table 4 seamlessly mates with the fixed table 1 at any flipping angle, with the gap between the two strictly controlled to no more than 1 mm. To achieve this, the edges of the flip table 4 and the fixed table 1 are precisely modeled, and a geometric fitting algorithm is used to calculate the optimal edge shape and dimensions, ensuring a perfect and seamless fit during flipping.

[0077] Safety limit calculation: Calculate the maximum safe flip angle θmax of the flip table 4 based on the geometric model to ensure that the flip table 4 does not exceed this angle during the flipping process to prevent equipment damage or safety accidents.

[0078] Based on the geometric model, the maximum safe tilt angle θmax of the tilting table 4 is calculated. In practice, the tilting angle of the tilting table 4 is strictly limited to this maximum safe angle to prevent equipment damage or safety accidents caused by excessive tilting. The maximum allowable displacement smax of the rotating shaft 3 during the tilting process is also calculated. The displacement of the rotating shaft 3 is monitored and controlled in real time using a limiter to ensure that the displacement of the rotating shaft 3 remains within the safe range.

[0079] exist Figure 6In the figure, the stage body is in the initial state, and the flip table 4 and the fixed table 1 are located in the same plane, forming a complete and flat stage surface. At this time, the upper left corner of the flip table 4 coincides with the virtual pivot point A, and the rotation axis 3 is located at two fixed points B and C on the flip table 4, forming a triangular ABC structure with the virtual pivot point A. The pivot support 2 is precisely installed on the fixed table 1 to provide motion constraints for the rotation axis 3. The initial flip angle θ = 0°, and the flip table 4 is completely flush with the fixed table 1, ensuring the flatness and aesthetics of the stage. The initial positions of the rotation axis points B and C are B0 and C0 respectively, and their coordinates are: xB0 = AB·cos(α), yB0 = AB·sin(α) xC0 = AC·cos(β), yC0 = AC·sin(β)

[0080] Figure 7 The state of the flip table 4 during the flipping process is shown (taking the flip angle θ = 30° as an example). The flip drive device 5 is activated, pushing the flip table 4 to rotate around the virtual rotation axis point A, and the flip angle θ = 30°. As the flip angle increases, the flip table 4 gradually leaves the horizontal position and flips to the predetermined angle. The rotation axis 3 moves along the constraint groove line of the rotation axis support 2. Its trajectory is calculated by trigonometric functions. The coordinates of points B and C are: xB = AB·cos(30°+α), yB = AB·sin(30°+α) xC = AC·cos(30°+β),

[0081] yC = AC·sin(30° + β). The control system monitors the position and angle of the flip table 4 in real time and dynamically adjusts the output parameters of the flip drive 5 through an optimization algorithm to ensure smoothness and accuracy during the flipping process. At this point, the gap between the flip table 4 and the fixed table 1 gradually increases, but remains within the design tolerances, ensuring seamless connection.

[0082] Figure 8 The display shows the state of the flip table 4 after it has completed its rotation and reached the target angle, using the maximum tilt angle θ = 60° as an example. At this point, the flip table 4 has accurately reached the predetermined tilt angle θ = 60°, forming a specific angle with the fixed table 1, creating a new space and effect for the stage performance. The coordinates of the rotation axis points B and C are: xB = AB·cos(60°+α), yB = AB·sin(60°+α), xC = AC·cos(60°+β), yC = AC·sin(60°+β). At this position, the edge of the flip table 4 perfectly aligns with the edge of the fixed table 1, with a clearance of less than 1 mm, ensuring the integrity and aesthetics of the stage. The limiter is triggered to ensure that the flip table 4 does not exceed the maximum safe tilt angle θmax, effectively preventing equipment damage or safety accidents caused by excessive tilting. The entire system is stable, providing a solid guarantee for the smooth conduct of the performance.

[0083] Preferably, the virtual pivot system is constructed based on a triangular geometry model, with the upper left corner of the flip table 4 as the virtual pivot point A, and the rotation axis 3 is respectively located at two fixed points B and C on the flip table 4, forming a triangle ABC structure to ensure that the flip table 4 remains stable during the flipping process, wherein the side lengths AB, AC and BC of the triangle ABC satisfy the triangle inequality relationship in geometry, that is, AB+AC>BC, AB+BC>AC, AC+BC>AB, to ensure the validity and stability of the triangle.

[0084] (1) Construction of triangular geometry model

[0085] The virtual pivot system of the present invention is constructed based on a triangular geometry model to ensure the stability of the flip table 4 during the flipping process. Specifically, the upper left corner of the flip table 4 is set as the virtual pivot point A, and the position of the rotation axis 3 is determined based on this point. The rotation axis 3 is respectively installed at two fixed points B and C on the flip table 4, forming a triangle ABC structure. This structural design ensures that the flip table 4 can rotate stably around the virtual pivot point A during the flipping process.

[0086] (2) The composition of triangle ABC

[0087] Triangle ABC forms the core geometric structure of the virtual pivot system. Point A, the virtual pivot point, is the upper left corner of the flip table 4 and the vertex of the entire triangle. Points B and C are the installation locations of the pivot axis 3 on the flip table 4, located at two different locations on the flip table 4. Through precise measurement and calculation, the lengths of the sides AB, AC, and BC of triangle ABC are determined. These lengths are then adjusted in proportion to actual stage requirements to accommodate varying stage designs and functional requirements.

[0088] (3) Triangle inequality relationship

[0089] In order to ensure the validity and stability of triangle ABC, the lengths of its sides AB, AC, and BC must satisfy the triangle inequality relationship in geometry. Specifically:

[0090] AB+AC>BC; AB+BC>AC; AC+BC>AB

[0091] The triangle inequality is a fundamental condition for a triangle to exist, ensuring that the three sides of a triangle form a valid geometric shape. In practice, by accurately measuring and calculating AB, AC, and BC, we can ensure that the lengths of the sides of triangle ABC satisfy the above inequality.

[0092] (4) The stabilizing effect of triangle ABC

[0093] Triangle ABC, which satisfies the triangle inequality, provides a stable foundation for the tilting platform 4. During the tilting process, the triangle ABC structure ensures uniform force distribution across the tilting platform 4, minimizing the potential for wobbling and shifting. This stability is crucial for stage performances, ensuring the safety of performers and equipment while enhancing the overall aesthetic quality of the stage.

[0094] In summary, by constructing a virtual shaft system based on a triangular geometric model and ensuring that the side lengths of triangle ABC satisfy the triangle inequality relationship, the present invention can effectively improve the motion stability of the flip table 4 and ensure the safety and reliability of the stage body during the flipping process.

[0095] Preferably, the arrangement direction of the rotating shaft 3 follows the angle optimization principle in geometry. By adjusting the positions of the rotating shaft points B and C, the angle ∠BAC of the triangle ABC is changed to increase the angle as much as possible to improve the movement stability of the flip table 4. The angle ∠BAC should satisfy 60°<∠BAC<120° to maximize the movement stability of the flip table 4 while ensuring the structural strength.

[0096] (1) Angle optimization principle

[0097] Angle optimization is a key principle for improving the stability of the flip table 4. This principle is based on the geometric theory of triangle stability, which states that a triangle's three internal angles and side lengths have a specific relationship, and that the stability of a triangle varies with the size of the included angle. In this invention, by fine-tuning the positions of the rotational axis points B and C, and thus changing the included angle ∠BAC of triangle ABC, the stability of the flip table 4 can be significantly improved.

[0098] (2) Adjust the position of the rotation axis

[0099] Adjusting the positions of pivot points B and C is a direct way to change angle ∠BAC. In practice, first determine the location of virtual pivot point A, then select appropriate points B and C on the flip table 4 as the installation locations for pivot axis 3. By adjusting the positions of points B and C, the shape of triangle ABC can be changed, thereby varying the angle ∠BAC.

[0100] (3) Improve exercise stability

[0101] Increasing the angle ∠BAC can effectively improve the motion stability of the flip table 4. When the angle ∠BAC increases, the structure of the triangle ABC is more stable, which makes the flip table 4 more evenly stressed during the flipping process and reduces the shaking and deviation caused by uneven force. At the same time, a larger angle can reduce the moment of inertia of the flip table 4 during the flipping process, making its movement smoother. After a large number of experiments and simulation analysis, it was verified that the motion stability of the flip table 4 is optimal when the angle ∠BAC is in the range of 60°<∠BAC<120°. In practical applications, it is preferred to select a configuration with an angle ∠BAC close to 90° to achieve the best balance between stability and structural strength.

[0102] (4) Guarantee of structural strength

[0103] Although increasing the angle ∠BAC can improve movement stability, if the angle is too large, it may affect the structural strength of triangle ABC. Therefore, when adjusting the angle, it is necessary to ensure that the angle ∠BAC does not exceed 120° to avoid a significant decrease in structural strength. At the same time, the size and material selection of the rotating shaft 3 should also match the angle ∠BAC to ensure the structural strength of the entire system. Specifically, the diameter of the rotating shaft 3 should be reasonably designed according to the actual force conditions and the size of the angle. Usually, the diameter of the rotating shaft 3 should not be less than 20 mm to ensure sufficient strength and rigidity. For large stage platforms, the diameter of the rotating shaft 3 can be further increased to 30-50 mm to accommodate larger loads and more complex force conditions.

[0104] Preferably, in the geometric model, by accurately calculating the relative positions of the rotating shaft 3 and the rotating shaft support 2, as well as the relative positions of the flip table 4 and the fixed table 1, the motion trajectory of the flip table 4 is precisely controlled to ensure that the flip table 4 and the fixed table 1 maintain seamless docking at any flip angle, with a gap of no more than 1 mm. The specific calculation method is as follows:

[0105] Measuring the shape and size of the edges of the flip table 4 and the fixed table 1, and establishing a mathematical model, including a curve equation or a straight line equation of the edges;

[0106] According to the flip angle θ, the relative position relationship between the flip table 4 and the fixed table 1 at different positions is calculated using the geometric transformation method;

[0107] The relative positions of the rotating shaft 3 and the rotating shaft support 2 are adjusted through an optimization algorithm to minimize the gap between the flip table 4 and the fixed table 1 to ensure seamless docking.

[0108] (1) Accurately calculate relative position

[0109] In the geometric model, precise calculations of the relative positions of the rotating shaft 3 and the rotating shaft support 2, as well as the relative positions of the flip table 4 and the fixed table 1, enable precise control of the motion trajectory of the flip table 4. This precise calculation is key to ensuring that the flip table 4 maintains a seamless connection with the fixed table 1 at any flip angle.

[0110] (2) Measuring edge shape and size

[0111] First, the shape and size of the edges of the flip table 4 and the fixed table 1 are precisely measured. High-precision measuring equipment, such as a laser scanner or coordinate measuring machine, is used during the measurement process to ensure the accuracy of the measured data. Based on the measurement results, a mathematical model is established, including the curve equation or straight line equation of the edge. For example, if the edge is a straight line, it can be represented by the linear equation y = kx + b; if it is a curve, such as an arc, the circle equation (xa) is used. 2 +(yb) 2 =r 2 express.

[0112] (3) Calculate the relative position relationship based on the flip angle θ

[0113] According to the set flip angle θ, the geometric transformation method is used to calculate the relative position relationship between the flip table 4 and the fixed table 1 at different positions. The specific steps are as follows:

[0114] 1. Establish a plane rectangular coordinate system with the virtual rotation axis point A as the coordinate origin.

[0115] 2. In the coordinate system, the edge shape and position of the flip table 4 and the fixed table 1 are expressed.

[0116] 3. Use the rotation matrix to perform coordinate transformation and calculate the position of the flip table 4 after rotating around the virtual rotation axis point A by an angle of θ.

[0117] (IV) Optimizing the algorithm to adjust relative positions

[0118] An optimization algorithm adjusts the relative position of the rotating shaft 3 and the rotating support 2 to minimize the gap between the flip table 4 and the fixed table 1, ensuring seamless connection. Common optimization algorithms include genetic algorithms and particle swarm optimization. The optimization objective function is defined as the gap between the flip table 4 and the fixed table 1. An iterative calculation is performed to find the relative position of the rotating shaft 3 and the rotating support 2 that minimizes the objective function. During the optimization process, the objective function is evaluated, and the optimal solution is selected, and the relative position of the rotating shaft 3 and the rotating support 2 is updated. This process repeats until the ideal position that minimizes the gap is found.

[0119] (V) Implementation of seamless docking

[0120] After these calculations and adjustments, the reversible deck 4 seamlessly mates with the fixed deck 1 during the reversing process, with the gap between the two strictly controlled to no more than 1 mm. This not only enhances the overall integrity and aesthetics of the stage but also creates a more immersive environment for performances. Furthermore, the precise docking reduces friction and collisions between the decks, thereby reducing noise and enhancing the audience's audiovisual experience.

[0121] In summary, by accurately calculating and optimizing the relative positions of the rotating shaft 3 and the rotating shaft support 2, and the flip table 4 and the fixed table 1, the present invention achieves precise motion control and seamless docking of the flip table 4, providing a better technical solution for stage performances.

[0122] Preferably, the flip drive device 5 is driven according to the motion parameters calculated by the geometric model, and pushes the flip table 4 through linear telescopic motion, so that it flips around the virtual axis strictly according to the preset geometric trajectory. The specific motion parameters include the flip angle θ, the flip speed v and the flip acceleration a. These parameters are precisely set and adjusted according to the performance requirements and the results of the geometric model calculation to ensure the smoothness and accuracy of the flipping process.

[0123] (1) Motion parameter calculation

[0124] The flip drive device 5 is driven by the motion parameters calculated by the geometric model, pushing the flip table 4 through linear telescopic motion, causing it to flip around the virtual axis along a strictly pre-set geometric trajectory. Specific motion parameters include the flip angle θ, flip velocity v, and flip acceleration a. These parameters are precisely set and adjusted based on the performance requirements and the results of the geometric model calculations to ensure a smooth and accurate flipping process.

[0125] (2) Flip angle θ

[0126] The flip angle θ refers to the rotation angle of the flip table 4 relative to the fixed table 1. During the performance, the flip table 4 needs to switch between different angles depending on the plot and stage effects. Through geometric model calculations, the angle values ​​of the flip table 4 at various key locations can be precisely determined. For example, in one scene, the flip table 4 may need to be tilted 45° to form an inclined surface for the actors to perform specific actions or performances; in another scene, it may need to be tilted 90° to fully open the tabletop, revealing props or scenery hidden underneath.

[0127] (3) Flip speed v

[0128] The flip speed v refers to the angular change in rotation of the flip table 4 about its virtual axis per unit time. The speed setting needs to take into account the performance's rhythm and stage effects. For example, in thrilling scenes, a faster flip speed may be required to enhance the dynamics of the performance; whereas, in scenes requiring actors to perform delicate movements on the flip table, a slower speed may be required to ensure safety and stability. Furthermore, the speed setting must be compatible with the performance of the flip drive device 5 to ensure smooth operation within the specified speed range.

[0129] (IV) Flip acceleration a

[0130] The flip acceleration a refers to the rate of change of the flip velocity v over time. During the flipping process, proper acceleration setting is crucial to ensuring smooth and precise flipping. For example, at the beginning of a flip, appropriate acceleration allows the flip table 4 to quickly reach the set flip velocity. As the flip table approaches the target angle, the acceleration is gradually reduced to allow the flip table 4 to smoothly stop at the target position, avoiding vibration or shock caused by excessive speed. The acceleration setting also needs to consider the inertia of the flip table 4 and the output characteristics of the flip drive 5 to ensure the dynamic performance of the entire flipping process.

[0131] (5) Collaboration between drive device and motion parameters

[0132] The flip drive device 5 precisely drives the tilting table 4 according to the set motion parameters. In practice, the flip drive device 5 typically utilizes high-precision drive components such as servo motors or hydraulic cylinders. These components can precisely output the required force or torque according to the control system's instructions, thereby achieving precise flipping of the tilting table 4. For example, the servo motor can precisely control the motor's rotation angle and speed to achieve precise adjustment of the flip angle θ, flip speed v, and flip acceleration a. The hydraulic cylinder achieves smooth flipping of the tilting table 4 by controlling the flow and pressure of the hydraulic oil.

[0133] (6) The role of the control system

[0134] The control system plays a key role in the flipping process. Based on the performance requirements and the results of the geometric model calculations, it generates corresponding control signals to precisely control the motion parameters of the flip drive 5. For example, the control system can utilize a programmable logic controller (PLC) or industrial computer, using pre-programmed control algorithms to achieve real-time control of the flip drive 5. Furthermore, the control system can also be linked with other stage equipment, such as lighting and sound systems, to achieve even more complex and exciting stage effects.

[0135] (7) Ensure the stability and accuracy of the flipping process

[0136] By precisely setting and adjusting motion parameters such as the flip angle θ, flip velocity v, and flip acceleration a, combined with a high-precision flip drive device 5 and an advanced control system, the present invention ensures the smoothness and accuracy of the flip table 4 during the flipping process. This not only improves the quality and safety of stage performances, but also provides audiences with a more exciting visual experience.

[0137] Preferably, a geometric model is used to accurately limit the flip angle of the flip table 4. By calculating the maximum safe flip angle θmax of the flip table 4, it is ensured that the flip table 4 moves within a safe angle range to prevent equipment damage or safety accidents caused by excessive flipping. The specific calculation method is as follows:

[0138] Analyze the structural strength and material properties of the flip table 4 to determine its load-bearing capacity at different flip angles. Calculate the forces acting on the flip table 4 at different flip angles based on the geometric model, including gravity, inertia, and driving force. Determine the maximum safe flip angle θmax of the flip table 4 through mechanical analysis and geometric calculations, which generally does not exceed 90°. Install a corresponding limiter to prevent the flip table 4 from exceeding this angle.

[0139] (1) Structural strength and material properties analysis

[0140] An in-depth analysis of the structural strength and material properties of the flip table 4 was conducted to determine its load-bearing capacity at different flip angles. The flip table 4 is typically made of high-strength steel or aluminum alloy, which possesses excellent tensile strength, yield strength, and fatigue strength, capable of withstanding the various loads encountered during stage performances. Using modern mechanical analysis methods such as finite element analysis, the stress distribution and deformation of the flip table 4 at different flip angles were simulated to identify structural weaknesses and critical stress points. Based on the analysis results, the structural design of the flip table 4 was optimized, such as by adding reinforcement ribs and adjusting the plate thickness, to improve its overall load-bearing capacity and resistance to deformation.

[0141] (2) Calculation of stress conditions

[0142] Based on the geometric model, the forces acting on the flip table 4 at different flip angles are calculated, including gravity, inertia, and driving force. Gravity is the torque exerted on the virtual axis by the combined weight of the flip table 4 and the actors, props, etc. on it. As the flip angle increases, the torque generated by gravity will continue to change. Inertia is the inertial effect caused by acceleration or deceleration of the flip table 4 during the flipping process, which is particularly significant at the beginning and end of the flip. The driving force is the power provided by the flip drive device 5 to achieve the flipping motion. Its magnitude and direction directly affect the motion state of the flip table 4. The specific calculation steps are as follows:

[0143] 1. Establish a coordinate system: With the virtual rotation axis point A as the origin, establish a three-dimensional coordinate system to describe the posture and force conditions of the flip table 4 in space.

[0144] 2. Decompose Gravity: Decompose the total gravity of the tilting table 4 and the load onto each axis of the coordinate system and calculate the torque Mg generated on the virtual axis at different tilting angles θ. The torque Mg can be expressed as: Mg = W·L·sinθ, where W is the total gravity, L is the distance from the point of gravity to the virtual axis, and θ is the tilting angle.

[0145] 3. Calculate the inertial force: Calculate the moment Mi generated by the inertial force based on the kinematic parameters of the flip table 4, such as angular velocity ω and angular acceleration α. ​​The inertial moment Mi can be expressed as Mi = J·α, where J is the moment of inertia of the flip table 4 and α is the angular acceleration.

[0146] 4. Determine the driving force: Based on the performance parameters of the rollover drive device 5, such as maximum output torque and speed range, determine the torque Md generated by the driving force. The driving torque Md must overcome the gravitational torque Mg and the moment of inertia Mi, and provide additional torque to achieve the desired rollover acceleration. According to Newton's second law, the driving torque Md can be expressed as Md = Mg + Mi + J·α.

[0147] (3) Determination of the maximum safe flip angle θmax

[0148] Through mechanical analysis and geometric calculations, the maximum safe tilting angle θmax of the tilting platform 4 is determined, taking into account its structural strength, material properties, and stress conditions. θmax is generally set to no more than 90° to prevent excessive tilting of the tilting platform 4, which could lead to equipment damage or safety accidents. In actual applications, θmax can be adjusted within a certain range based on the specific stage design and performance requirements, but must ensure that it does not exceed the safety limits of the materials and structure. For example, for some lightweight stage designs, θmax might be set to 60°, while for heavy-duty stage designs, θmax might be closer to 90°, but this must be subject to rigorous mechanical analysis and safety assessment.

[0149] (4) Limit device setting

[0150] To ensure that the tilting table 4 moves within a safe angular range, appropriate limit devices are installed. These limit devices can be mechanical limit switches, photoelectric sensors, or magnetic sensors, installed along the motion path of the tilting table 4 or on the tilting drive 5. These limit devices monitor the tilting angle in real time and, when it approaches θmax, issue a signal to control the tilting drive 5 to stop or reverse its direction, effectively preventing the tilting table 4 from exceeding the safe angular range. Furthermore, the limit devices are highly precise and reliable, operating stably under various environmental conditions to ensure the safety of stage performances.

[0151] (5) Security protection mechanism

[0152] In addition to limiters, comprehensive safety mechanisms are also required to address potential emergencies. For example, an emergency stop button could be installed to immediately halt the operation of the flip drive 5 in the event of an abnormality, preventing the accident from escalating. Furthermore, regular equipment maintenance and inspections are essential to ensure the proper functioning of all components, promptly identify and address potential safety hazards, and further enhance the safety and reliability of stage equipment.

[0153] In summary, by using a geometric model to accurately limit the flip angle of the flip table 4, the present invention can effectively prevent equipment damage or safety accidents caused by excessive flipping, and ensure the safety and smooth progress of stage performances.

[0154] A stage platform based on the same concept is constructed using the aforementioned stage platform virtual rotation axis technology implementation method. Its structure matches the geometric model, and the geometric model is used to guide the stable flipping and seamless docking of the flip table 4. Specific structural features include:

[0155] The fixed deck 1 serves as a reference plane and provides a stable support base. It serves as the foundational structure of the entire stage, providing stable support for other components. Typically constructed from high-strength steel or concrete, it possesses sufficient strength and rigidity to withstand the weight of the reversible deck 4, performers, props, and various stage equipment. The size and shape of the fixed deck 1 are determined by the overall stage design requirements, and its surface is meticulously finished to ensure flatness and smoothness, providing an optimal stage performance environment.

[0156] The rotating shaft support 2 is positioned according to geometric parameters and is precisely installed on the fixed table 1, providing motion constraints for the rotating shaft 3; the rotating shaft 3 and the flip table 4 are fixedly connected according to a geometric relationship to form a triangular ABC structure, ensuring the motion stability of the flip table 4; the flip drive device 5 is connected to the flip table 4 and driven according to the motion parameters calculated by the geometric model to achieve precise flipping of the flip table 4.

[0157] Rotating shaft support 2: Rotating shaft support 2 is precisely positioned according to geometric parameters and mounted on fixed table 1. Its primary function is to provide motion constraints for rotating shaft 3, ensuring that it follows the defined geometric trajectory. The structural design of rotating shaft support 2 is based on a geometric model, and its position and dimensions are precisely calculated to ensure precise fit with rotating shaft 3. Rotating shaft support 2 is typically manufactured from a high-strength alloy material with excellent wear resistance and deformation resistance, ensuring long-term stable operation.

[0158] Rotating Axis 3: Rotating Axis 3 is fixedly connected to the turning table 4 based on a geometric relationship, forming a triangle ABC structure, ensuring the stability of the turning table 4. Rotating Axis 3 is mounted on the turning table 4 at two fixed points B and C, which together with the virtual pivot point A form triangle ABC. The size and material selection of Rotating Axis 3 take into account the weight and size of the turning table 4 and the forces acting during the turning process, ensuring sufficient strength and rigidity. High-precision bearings are used to connect Rotating Axis 3 to the rotating support 2 to ensure smooth and accurate movement.

[0159] Tilting Deck 4: Tilting Deck 4 is one of the primary performance areas, with its upper left corner representing virtual pivot point A. Its structural design takes into account factors such as strength, rigidity, and weight, typically constructed from lightweight, high-strength materials such as aluminum alloy or carbon fiber composite. Its surface undergoes special treatment for excellent wear resistance and anti-slip properties, ensuring performer safety during performances. The edge shape and dimensions of Tilting Deck 4 are precisely designed to seamlessly interface with Fixed Deck 1 during the reversal process.

[0160] Flip drive device 5: The flip drive device 5 is connected to the flip table 4 and is driven according to the motion parameters calculated by the geometric model to achieve precise flipping of the flip table 4. The flip drive device 5 usually uses high-precision drive elements such as servo motors, hydraulic cylinders or pneumatic cylinders, which can accurately control motion parameters such as flip angle, speed and acceleration. The installation position and connection method of the flip drive device 5 have been carefully designed to ensure that it will not cause additional interference or impact on the movement of the flip table 4 during the driving process. At the same time, the flip drive device 5 is equipped with overload protection and emergency braking functions to ensure the safety of stage performances.

[0161] Preferably, the geometric model parameters of the stage platform can be adjusted according to actual stage requirements to adapt to stage designs of different sizes, shapes and functional requirements, and realize personalized customization of the stage platform. The specific adjustment method includes: adjusting the position of the virtual pivot point A and the positions of the rotation axis points B and C according to the stage size and shape, changing the shape and size of the triangle ABC; recalculating the motion trajectory, stability parameters, seamless docking parameters and safety limit parameters to ensure that the adjusted stage platform can still meet the requirements of stable flipping and seamless docking.

[0162] 1. Adjust the position of virtual pivot point A and rotation axis points B and C

[0163] Depending on the size and shape of the stage, the position of virtual pivot point A, as well as the positions of rotation points B and C, can be adjusted to change the shape and size of triangle ABC. This adjustment can be achieved by modifying the coordinate parameters in the geometric model, while also considering the motion trajectory and stability requirements of the flip deck 4. For example, in a large stage design, virtual pivot point A may need to be moved toward the center of the stage to increase the range of motion of the flip deck 4; in a small stage design, virtual pivot point A may need to be moved closer to the stage edge to save space and meet specific performance requirements.

[0164] 2. Recalculation of motion trajectory, stability parameters, seamless connection parameters and safety limit parameters

[0165] After adjusting the geometric model parameters, the motion trajectory, stability parameters, seamless connection parameters, and safety limit parameters need to be recalculated to ensure that the adjusted stage platform still meets the requirements of stable flipping and seamless connection. The recalculation of the motion trajectory involves the position and posture of the flip table 4 at different flip angles. Through geometric transformation methods and optimization algorithms, the motion trajectory of the flip table 4 is ensured to meet the design requirements. The recalculation of the stability parameters needs to consider the geometric characteristics of the adjusted triangle ABC, as well as the center of gravity position and force conditions of the flip table 4. Through mechanical analysis methods, the stability of the flip table 4 at different flip angles is determined. The recalculation of the seamless connection parameters requires remodeling and fitting the edge shape and size of the flip table 4 and the fixed table 1 to ensure that the two can still achieve seamless connection during the flipping process. The recalculation of the safety limit parameters requires re-determining the maximum safe flip angle θmax of the flip table 4 and the maximum allowable displacement smax of the rotation axis 3 based on the adjusted geometric model to ensure the safety of the stage performance.

[0166] Preferably, during the manufacturing process of the stage platform, precise component processing and assembly are performed according to the geometric model to ensure that the geometric relationship between the various components is accurate, thereby ensuring the overall performance and stability of the stage platform. The specific manufacturing steps include:

[0167] Design the shape, size and relative position of each component according to the geometric model.

[0168] Based on the geometric model, each stage platform component is designed in detail to determine its shape, size, and relative position. Computer-aided design (CAD) software is used throughout the design process to accurately construct 3D models of each component, ensuring that the geometric relationships between them meet design requirements. Furthermore, taking into account the manufacturing process and assembly precision requirements, component shapes and sizes are optimized to improve production efficiency and product quality.

[0169] Each component is manufactured using high-precision processing equipment to ensure the dimensional accuracy and shape accuracy of the components.

[0170] Advanced processing equipment, such as CNC machine tools and laser cutting machines, is used to perform high-precision machining on all components. During machining, operations are strictly adhered to design drawings and process requirements to ensure the dimensional and shape accuracy of the components. For example, the machining accuracy of the fixed table 1 and the tilting table 4 is controlled within ±1 mm, and the machining accuracy of the rotating shaft 3 and the rotating shaft support 2 is controlled within ±0.1 mm to ensure precise fit between all components.

[0171] During the assembly process, precise measuring tools and positioning equipment are used to assemble according to the parameters of the geometric model to ensure that the geometric relationship between the components is accurate.

[0172] During the assembly phase, high-precision measurement tools, such as total stations and laser trackers, are used to monitor and adjust the installation positions and geometric relationships of each component in real time. Furthermore, auxiliary equipment, such as positioning fixtures and assembly tooling, ensures that each component is assembled precisely according to the parameters of the geometric model. For example, when installing pivot support 2, its relative position to fixed table 1 is precisely measured to ensure positioning accuracy within ±0.5 mm. When connecting rotating shaft 3 and tilting table 4, high-precision angle measurement and positioning equipment are used to ensure that the geometric shape and dimensions of triangle ABC meet design requirements.

[0173] Preferably, the stage body can automatically adapt to the changing needs of stage performances through real-time monitoring and dynamic adjustment of the geometric model during use, and realize flexible control and precise positioning of the flip table 4. The specific implementation method includes:

[0174] Sensors are installed to monitor the position, angle, speed and other motion parameters of the flip table 4 in real time.

[0175] Various sensors, such as position sensors, angle sensors, and speed sensors, are installed on the turning table 4 and the turning drive 5 to monitor the motion of the turning table 4 in real time. These sensors collect data with high precision and frequency, and transmit the data to the control system. For example, the position sensor, which uses a magnetic scale or photoelectric encoder, can accurately measure the position changes of the turning table 4 with an accuracy of ±0.1 mm. The angle sensor, which uses a high-precision inclinometer, can monitor the turning angle of the turning table 4 in real time with an accuracy of ±0.1°. The speed sensor, which uses a laser velocimeter, can accurately measure the turning speed of the turning table 4 with an accuracy of ±0.01 m / s.

[0176] The monitoring data is compared and analyzed with the geometric model to determine whether the motion of the flip table 4 conforms to the preset trajectory. The control system compares and analyzes the real-time monitoring data with the preset parameters in the geometric model. Using a specially designed algorithm, the data is processed and evaluated to determine whether the motion of the flip table 4 conforms to the preset trajectory. For example, the least squares method is used to fit and compare the actual motion trajectory with the preset trajectory, calculating the deviation between the two. The Kalman filter algorithm is also used to filter the monitoring data to remove noise and improve data accuracy. If the actual motion state deviates from the preset trajectory, the system will promptly issue an alarm and take appropriate adjustment measures.

[0177] According to the analysis results, the output parameters of the flip drive device 5 are dynamically adjusted through the control system to achieve flexible control and precise positioning of the flip table 4.

[0178] Based on the results of the comparative analysis, the control system dynamically adjusts the output parameters of the flip drive 5, such as driving force, speed, and acceleration, to correct the motion deviations of the flip table 4 and ensure that it moves strictly according to the preset trajectory. For example, if the monitoring data shows that the flip angle of the flip table 4 lags behind the preset trajectory, the control system will appropriately increase the output torque of the flip drive 5 and increase the flip speed, so that the flip table 4 can quickly catch up and accurately reach the target position; if the motion trajectory of the flip table 4 is found to be offset, the control system will fine-tune the motion of the flip table 4 by adjusting the output direction and torque of the flip drive 5 to return it to the correct trajectory. Through this real-time feedback and dynamic adjustment mechanism, the stage body can automatically adapt to the various changing needs of stage performances, realize flexible control and precise positioning of the flip table 4, and provide stable and reliable technical support for stage performances.

[0179] By adopting the above technical solution disclosed in the present invention, the following beneficial effects are obtained:

[0180] 1. Enhance stage effects: Virtual hinge technology enables seamless connection between the flip table and the fixed table, improving the integrity and aesthetics of the stage, creating an immersive environment for performances, and enhancing the audience's viewing experience.

[0181] 2. Enhanced safety: Accurately limit the flip angle and set a limit device to prevent equipment damage and safety accidents caused by excessive flipping, while avoiding the risk of actors being squeezed and ensuring the safety of performers.

[0182] 3. Improve stability: Use triangular geometry models to build a virtual shaft system to form a stable triangular structure, ensuring that the flip table remains stable during the flipping process, thereby enhancing the smooth progress of the performance.

[0183] 4. Reduce noise: The seamless docking design reduces friction and collision between the countertops, thereby reducing noise and providing the audience with a better audio-visual experience.

[0184] 5. Extend service life: Reasonable structural design and motion trajectory planning can reduce the wear of mechanical parts, extend the service life of stage equipment and reduce maintenance costs.

[0185] 6. Wide applicability: The geometric model parameters can be adjusted according to different stage requirements to adapt to various sizes, shapes and functional requirements, meet personalized customization needs, and have broad application prospects and promotion value.

[0186] 7. Flexible control and precise positioning: Through real-time monitoring and dynamic adjustment, it automatically adapts to changes in stage performances, realizes flexible control and precise positioning of the flip table, and provides strong support for complex and ever-changing stage performances.

[0187] 8. Innovation-driven: This technology provides brand-new technical solutions for the fields of stage performances and stage machinery, promotes industry development, and creates significant economic and social benefits.

[0188] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for implementing a virtual rotating shaft technology for a stage, characterized by: A virtual axis system is constructed using a geometric model to enable the flip table to flip stably along a specific geometric trajectory and achieve seamless docking. The method includes the following steps: S100, constructing a stage platform structure comprising a fixed platform (1), a rotating shaft support (2), a rotating shaft (3), a flip platform (4) and a flip driving device (5), wherein the fixed platform (1) serves as a reference plane and the rotating shaft support (2) is installed thereon; S200, positioning the rotating shaft support (2) according to the set geometric parameters, providing motion constraints for the rotating shaft (3), and the rotating shaft (3) and the flip table (4) are fixedly connected according to the geometric relationship to form a triangle ABC structure, wherein the upper left corner of the flip table (4) is the virtual rotating shaft point A, and the rotating shaft (3) is respectively located at two fixed points B and C on the flip table (4); S300, using the flip driving device (5) to drive the flip table (4) so ​​that it flips around the virtual rotation axis according to the trajectory set by the geometric model; S400, accurately controlling and optimizing the movement of the flip table (4) by a geometric calculation method, specifically comprising the following steps: Triangle model construction: Measure and calculate the lengths of the sides AB, AC, and BC of triangle ABC, and determine their length ratios based on actual stage requirements. The lengths of the sides AB, AC, and BC of triangle ABC must satisfy the triangle inequality in geometry to ensure the validity and stability of the triangle. Motion trajectory calculation: With the virtual rotation axis point A as the coordinate origin, a plane rectangular coordinate system is established. Based on the flip angle θ, trigonometric functions are used to calculate the motion trajectory of the rotation axis points B and C during the flip process; Stability analysis: By adjusting the positions of the rotation axis points B and C and changing the angle ∠BAC of the triangle ABC, the motion stability of the flip table (4) is improved. At the same time, the position of the center of gravity of the flip table (4) is calculated to ensure that the center of gravity is always located below or near the virtual rotation axis point A during the flipping process. Seamless docking calculation: accurately calculate the relative position of the rotating shaft (3) and the rotating shaft support (2), as well as the relative position of the flip table (4) and the fixed table (1), to ensure that the flip table (4) and the fixed table (1) maintain seamless docking at any flip angle, with a gap of no more than 1 mm; Safety limit calculation: Calculate the maximum safe flip angle θmax of the flip table (4) based on the geometric model to ensure that the flip table (4) does not exceed this angle during the flipping process to prevent equipment damage or safety accidents.

2. The method for implementing the stage platform virtual rotation axis technology according to claim 1, characterized in that: The virtual rotation axis system is constructed based on a triangular geometric model, with the upper left corner of the flip table (4) as the virtual rotation axis point A, and the rotation axis (3) respectively located at two fixed points B and C on the flip table (4), forming a triangle ABC structure, ensuring that the flip table (4) remains stable during the flipping process, wherein the side lengths AB, AC and BC of the triangle ABC satisfy the triangle inequality relationship in geometry, that is, AB+AC>BC, AB+BC>AC, AC+BC>AB, to ensure the validity and stability of the triangle.

3. The method for implementing the stage platform virtual rotation axis technology according to claim 2, characterized in that: The arrangement direction of the rotation axis (3) follows the angle optimization principle in geometry. By adjusting the positions of the rotation axis points B and C, the angle ∠BAC of the triangle ABC is changed to increase the angle as much as possible to improve the motion stability of the flip table (4). The angle ∠BAC should meet 60°<∠BAC<120°, so as to maximize the motion stability of the flip table (4) while ensuring the structural strength.

4. The method for implementing the stage platform virtual rotation axis technology according to any one of claims 1 to 3, characterized in that: In the geometric model, by accurately calculating the relative positions of the rotating shaft (3) and the rotating shaft support (2), as well as the relative positions of the flip table (4) and the fixed table (1), the motion trajectory of the flip table (4) is precisely controlled to ensure that the flip table (4) and the fixed table (1) maintain seamless connection at any flip angle, with a gap of no more than 1 mm. The specific calculation method is as follows: Measuring the edge shape and size of the flip table (4) and the fixed table (1), and establishing a mathematical model including a curve equation or a straight line equation of the edge; According to the flip angle θ, the relative position relationship between the flip table (4) and the fixed table (1) at different positions is calculated using a geometric transformation method; The relative positions of the rotating shaft (3) and the rotating shaft support (2) are adjusted by an optimization algorithm to minimize the gap between the flip table (4) and the fixed table (1), thereby ensuring seamless docking.

5. The method for implementing the virtual rotation axis technology of the stage platform according to any one of claims 1 to 3, characterized in that: The flip driving device (5) is driven according to the motion parameters calculated by the geometric model, and pushes the flip table (4) through linear telescopic motion, so that it flips around the virtual rotation axis strictly according to the preset geometric trajectory. The specific motion parameters include the flip angle θ, the flip speed v and the flip acceleration a. These parameters are accurately set and adjusted according to the performance requirements and the results of the geometric model calculation to ensure the smoothness and accuracy of the flip process.

6. The method for implementing the virtual rotation axis technology of the stage platform according to any one of claims 1 to 3, characterized in that: The geometric model is used to accurately limit the flip angle of the flip table (4). By calculating the maximum safe flip angle θmax of the flip table (4), it is ensured that the flip table (4) moves within the safe angle range to prevent equipment damage or safety accidents caused by excessive flipping. The specific calculation method is as follows: Analyze the structural strength and material properties of the flip table (4) to determine its load-bearing capacity at different flip angles; According to the geometric model, the forces acting on the flip table (4) at different flip angles are calculated, including gravity, inertia, and driving force; Through mechanical analysis and geometric calculation, the maximum safe flip angle θmax of the flip table (4) is determined, which generally does not exceed 90°, and a corresponding limit device is set to limit the flip angle of the flip table (4) to not exceed this value.

7. A stage body, characterized by: The stage platform virtual rotation axis technology implementation method according to any one of claims 1 to 6 is used to construct the stage platform, and its structure matches the geometric model. The stable flipping and seamless docking of the flip table (4) are achieved through the guidance of the geometric model. The specific structural features include: The fixed table (1) serves as a reference plane and provides a stable support base; The rotating shaft support (2) is positioned according to geometric parameters and accurately mounted on the fixed table (1) to provide motion constraints for the rotating shaft (3); The rotating shaft (3) and the turning table (4) are fixedly connected according to a geometric relationship to form a triangular ABC structure, thereby ensuring the movement stability of the turning table (4); The flip driving device (5) is connected to the flip table (4) and is driven according to motion parameters calculated by the geometric model to achieve precise flipping of the flip table (4).

8. The stage platform according to claim 7, characterized in that: The geometric model parameters of the stage platform can be adjusted according to actual stage requirements to adapt to stage designs of different sizes, shapes and functional requirements, and realize personalized customization of the stage platform. The specific adjustment methods include: According to the size and shape of the stage, adjust the position of the virtual pivot point A and the positions of the rotation axis points B and C to change the shape and size of the triangle ABC; Recalculate the motion trajectory, stability parameters, seamless docking parameters and safety limit parameters to ensure that the adjusted stage body can still meet the requirements of stable flipping and seamless docking.

9. The stage platform according to claim 7, characterized in that: During the manufacturing process of the stage platform, precise component processing and assembly are performed according to the geometric model to ensure that the geometric relationships between the various components are accurate, thereby ensuring the overall performance and stability of the stage platform. The specific manufacturing steps include: Design the shape, size and relative position of each component according to the geometric model; Use high-precision processing equipment to manufacture each component to ensure the dimensional accuracy and shape accuracy of the components; During the assembly process, precise measuring tools and positioning equipment are used to assemble according to the parameters of the geometric model to ensure that the geometric relationship between the components is accurate.

10. The stage platform according to any one of claims 7 to 9, characterized in that: During use, the stage platform can automatically adapt to the changing needs of stage performances through real-time monitoring and dynamic adjustment of the geometric model, and realize flexible control and precise positioning of the flip table (4). The specific implementation method includes: Install sensors to monitor the position, angle, speed and other motion parameters of the flip table (4) in real time; Comparing and analyzing the monitoring data with the geometric model to determine whether the motion state of the flip table (4) conforms to the preset trajectory; According to the analysis results, the output parameters of the flip drive device (5) are dynamically adjusted through the control system to achieve flexible control and precise positioning of the flip table (4).

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