Cooperative lifting device and method for flexible cable and follow-up cable

Abstract

The invention relates to the field of stage mechanical equipment, in particular to a collaborative lifting device and method for a flexible cable and a follow-up cable, the device adopts a single-input double-output speed reducer to drive double winding drums to synchronously rotate in a diameter-differentiated mode, and electrical errors are eliminated through mechanical synchronization; a lead screw nut of the automatic rope arranging assembly is rigidly coupled with a guide rail, and a rope arranging wheel is driven to linearly move to achieve zero-deflection-angle rope arranging. The spring assembly compensates the temperature and stroke difference in real time; the double-lifting-point and double-section structure of the flexible cable drum ensures that the ice screen is stressed evenly, and a slip ring is arranged in the cable drum to achieve rotation power supply and take-up and pay-off synchronization; the guide wheel set and the anti-disorder device restrain a cable path, and the limiting and positioning adjusting device ensures that a hanging point is accurate. According to the invention, arrangement of multiple matrixes and real-time attitude reconstruction are supported, the requirements of rapid switching and complex actions in performance are met, mechanical synchronization, tension self-adaption and redundant safety protection are realized, and the accuracy and reliability of cable cooperative lifting are ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of stage machinery, in particular to a flexible cable and follow-up cable cooperative lifting device and method. BACKGROUND

[0002] With the development of variety of performances and aerial performances, in order to ensure the safety of the actors and the reliability of the equipment, the current aerial performance device is temporarily removed and only suitable for the performance of the present occasion. It is almost impossible to arrange in a narrow space of 1m, and there is no steel cable and cable close to cooperative lifting, the lifting appliance cannot rotate or swing, which leads to the fact that the steel cable cannot accurately control the hanging props, and the props are misaligned. Each mechanical and control component is not redundantly designed, and the performance is interrupted or terminated. SUMMARY

[0003] Therefore, the present application provides a flexible cable and follow-up cable cooperative lifting device and method to solve the aforementioned problems in the prior art.

[0004] To achieve the above purpose, the present application provides a flexible cable and follow-up cable cooperative lifting device, comprising:

[0005] A driving mechanism having a single-input double-output structure;

[0006] A flexible cable reel connected to the first output shaft of the driving mechanism;

[0007] A cable reel connected to the second output shaft of the driving mechanism, and the pitch circle diameter of the cable reel and the pitch circle diameter of the flexible cable reel have differential design;

[0008] A self-roping assembly cooperating with the flexible cable reel and the cable reel respectively, for realizing zero deflection angle roping of the flexible cable and the cable;

[0009] A cable compensation device connected between the cable and the ice screen for real-time compensation of the cable length change caused by temperature change and cumulative stroke difference.

[0010] Further, the driving mechanism includes a motor, a single-input double-output speed reducer and two redundant brakes, the two output shafts of the speed reducer are coaxially connected with the flexible cable reel and the cable reel respectively, and the rotation directions of the two reels are consistent to realize mechanical synchronous rotation.

[0011] Further, the differential design includes that the pitch circle diameter of the cable reel is greater than the pitch circle diameter of the flexible cable reel, so as to offset the cumulative stroke deviation caused by the pitch difference of the flexible cable and the cable, and ensure the same actual lifting stroke.

[0012] Furthermore, the self-winding rope assembly includes a lead screw and nut assembly, a linear guide rail assembly, a nut seat assembly, an adjustable lead screw seat support assembly, a coupling, and a rope winding wheel assembly. The lead screw and nut assembly is rigidly coupled to the linear guide rail assembly, and the rope winding wheel assembly is mounted on the nut seat assembly. The lead screw rotation drives the rope winding wheel assembly to perform linear motion. The rope exit point of the rope winding wheel assembly is always consistent with the tangential direction of the flexible cable drum or the cable drum, so that the rope exit angle is controlled within a very small range.

[0013] Furthermore, the cable compensation device includes a spring assembly, a spring fixing device, and a hook assembly. The hook assembly is connected to the cable, and the spring assembly is connected to both the hook assembly and the ice shield assembly. By adjusting the spring tension, the cable can be adjusted in real time between a relaxed and a taut state to compensate for changes in the pitch circle diameter caused by changes in ambient temperature.

[0014] Furthermore, the flexible cable reel adopts a double-suspension-point double-section reel structure, while the cable reel adopts a single-suspension-point structure. The cable reel is equipped with a cable slip ring inside, which is fixed at the rotation center of the cable reel. After the cable is wound inside the reel, it is led out through the notch on the reel, realizing the synchronous rotation power supply and winding of the cable.

[0015] Furthermore, it also includes a guide wheel assembly and a dynamic anti-disorder device. The guide wheel assembly guides and constrains the flexible cable and the cable, and the dynamic anti-disorder device is installed on the cable reel exit side to prevent the cable from detaching from the rope groove during lifting and lowering through mechanical constraints.

[0016] Furthermore, it also includes a limiting device, a flexible cable positioning device, and a cable adjustment device. The limiting device provides limit protection for the lifting stroke, and the flexible cable positioning device and the cable adjustment device respectively perform precise positioning and adjustment of the end connection positions of the flexible cable and the cable to ensure accurate hanging point position.

[0017] On the other hand, a control method for a coordinated lifting device of a flexible cable and a follower cable includes:

[0018] Step S1: The motor drives a one-in-two-out reducer to drive the coaxially connected flexible rope drum and cable drum to rotate synchronously.

[0019] Step S2: The screw nut assembly in the self-winding rope assembly drives the rope-winding wheel assembly to make linear motion, so that the flexible rope and cable are wound or released in a zero-angle manner.

[0020] Step S3: The spring assembly of the cable compensation device monitors the cable tension in real time. When temperature changes or accumulated travel difference cause the cable to become loose or too tight, the cable length is automatically adjusted by the extension and retraction of the spring to keep the cable in normal operating condition.

[0021] Step S4: The redundant brake is activated immediately in case of power failure or emergency, realizing dual braking protection for the flexible cable reel and the cable drum.

[0022] In step S5, the real-time posture reconstruction module of multiple devices dynamically adjusts the height and posture of each group of ice screens according to rehearsal and performance instructions, so as to realize the coordinated movement of the matrix screens.

[0023] Compared with the prior art, the beneficial effects of this invention are as follows: This invention establishes a mechanical synchronous transmission chain through a single-input dual-output structure of the drive mechanism, ensuring that the angular velocities of the flexible cable drum and the cable drum are strictly equal, thereby eliminating electrical synchronization errors and ensuring consistent winding and unwinding speeds. Furthermore, given the geometric parameter difference between the cable drum's pitch circle diameter and the flexible cable drum, the proportional relationship between circumference and pitch is utilized to actively offset the difference in rope pitch caused by the different cable diameters, ensuring that the linear displacements of both are always equal and avoiding accumulated travel deviations. The screw and nut assembly of the self-winding component is rigidly coupled to the linear guide rail, precisely converting the drum's rotational motion into the nut's linear displacement through the screw helix angle. The displacement is at a fixed transmission ratio with the drum's rotational speed, ensuring that the rope exit point of the rope wheel assembly is always aligned with the drum's tangential direction, making the rope exit angle approach zero and preventing lateral wear of the cable. The spring assembly of the cable compensation device automatically expands and contracts according to Hooke's Law. When temperature changes cause thermal expansion and contraction of the drum's pitch diameter or differences in pitch lead to cable slack, the linear relationship between spring tension and elongation allows it to actively adjust cable tension, keeping the cable in a taut but not overloaded steady state. The dual-point, dual-section drum structure ensures balanced force on the ice screen. The single-point cable drum, in conjunction with an internally fixed cable slip ring, electrically isolates the stationary power supply cable from the rotating cable, achieving rotating contact power supply and preventing cable twisting. The guide wheel assembly and dynamic anti-disorder device mechanically restrict the cable's movement trajectory. The electrical and mechanical dual-limiting of the limit device provides redundant protection. The flexible cable positioning device and cable adjustment device precisely position the suspension point through an adjustable clamping structure. Therefore, the entire device constructs a logical closed loop of mechanical synchronization, geometric compensation, mechanical self-adaptation, and electrical isolation. The parameters of each mechanism are coupled and matched to ensure the synchronous accuracy of the lifting and lowering of the heavy-duty ice screen, cable life, and system reliability. Attached Figure Description

[0024] Figure 1 Bottom plan view of a coordinated lifting device for a flexible cable and a follower cable provided by the present invention;

[0025] Figure 2 A plan view of a coordinated lifting device for a flexible cable and a follower cable provided by the present invention;

[0026] Figure 3 A schematic diagram of a self-releasing rope assembly of a coordinated lifting device for a flexible cable and a follower cable provided by the present invention;

[0027] Figure 4 A drive layout diagram of a coordinated lifting device for a flexible cable and a follower cable provided by the present invention;

[0028] Figure 5 A schematic diagram of a cable compensation device for a coordinated lifting device of a flexible cable and a follower cable provided by the present invention;

[0029] Figure 6 A schematic diagram of the guide assembly of a coordinated lifting device for a flexible cable and a follower cable provided by the present invention;

[0030] Reference numerals: 1. Drive mechanism; 2. Flexible cable drum; 3. Cable drum; 31. Cable slip ring; 4. Selfie rope assembly; 41. Screw and nut assembly; 42. Linear guide rail assembly; 43. Nut seat assembly; 44. Adjustable screw seat support assembly; 45. Coupling; 46. Rope guide wheel assembly; 5. Cable compensation device; 51. Spring assembly; 52. Spring fixing device; 53. Hook assembly; 6. Guide wheel group; 7. Dynamic anti-disorder device; 8. Limit device; 81. Limit switch trigger assembly; 82. Mechanical stop; 9. Flexible cable positioning device; 10. Cable adjustment device. Detailed Implementation

[0031] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0032] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0033] It should be noted that in the description of this invention, the terms "upper", "lower", "left", "right", "inner", "outer", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and is not intended to indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0034] Furthermore, it should be noted that, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0035] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the present invention provides a coordinated lifting device for a flexible cable and a follower cable, comprising:

[0036] Drive mechanism 1, which has a single-input dual-output structure;

[0037] The flexible cable reel 2 is connected to the first output shaft of the drive mechanism 1;

[0038] The cable reel 3 is connected to the second output shaft of the drive mechanism 1, and the pitch circle diameter of the cable reel 3 is designed differently from that of the flexible cable reel 2.

[0039] The self-winding rope assembly 4 is respectively engaged with the flexible cable drum 2 and the cable drum 3 to achieve zero-angle rope winding of the flexible cable and the cable;

[0040] The cable compensation device 5 is connected between the cable and the ice screen and is used to compensate for changes in cable length caused by temperature changes and cumulative travel differences in real time.

[0041] Specifically, the drive mechanism 1 uses a single motor 11 connected to a one-in-two-out reducer 12. The two output shafts of the reducer are coaxially connected to the flexible cable drum and the cable drum, respectively. The reducer and the drums are directly and rigidly connected via flanges or couplings, ensuring that the two drums rotate in the same direction and achieve mechanical synchronous rotation. The pitch circle diameter of the cable drum is designed to be larger than that of the flexible cable drum, using the difference in drum diameter to offset the cumulative travel deviation caused by the different pitches of the flexible cable and cable. The screw and nut assembly of the self-winding rope assembly is rigidly coupled to the linear guide rail. The screw is connected to the drum drive shaft via a coupling. The rope winding wheel assembly is mounted on the nut seat, and the rotation of the screw drives the rope winding wheel assembly to move linearly, ensuring that the exit point of the flexible cable and cable is always consistent with the tangential direction of the corresponding drum, achieving zero-angle rope winding. The hook assembly of the cable compensation device connects to the cable, and the spring assembly is connected to the hook assembly and the ice screen assembly, respectively. The cable tension is adjusted in real time by the extension and contraction of the springs to compensate for the changes in the drum pitch circle diameter and the cumulative pitch error caused by changes in ambient temperature. The entire device forms an independent drive unit through the compact integration of a reducer, drum, and self-winding rope assembly, meeting the space-constrained requirements when multiple devices are arranged in a matrix.

[0042] Specifically, the drive mechanism includes a motor 11, a one-in-two-out reducer 12, and redundant dual brakes 13. The two output shafts of the reducer are coaxially connected to the flexible cable reel and the cable reel, respectively, and the two reels rotate in the same direction to achieve mechanical synchronous rotation.

[0043] Specifically, the motor of the drive mechanism is directly connected to the input end of a single-input, double-output reducer via a flange or coupling. The reducer internally uses gear transmission to distribute the power from the single input shaft to two parallel output shafts. The two output shafts extend from both sides of the reducer and are rigidly coaxially connected to the drum shafts of the flexible cable reel and cable reel respectively via key connections or expansion sleeve connections, ensuring that the rotational motion output by the reducer is directly transmitted to the drums without intermediate transmission links. Dual brakes are installed at the ends of the two output shafts of the reducer, with each brake acting independently on its corresponding output shaft, forming redundant braking protection. The gear transmission pair inside the reducer is designed so that the two output shafts rotate in the same direction. When the motor rotates in one direction, the flexible cable reel and cable reel rotate synchronously in the same direction, achieving precise mechanical synchronization.

[0044] Specifically, the single-motor drive distributes power through a rigid mechanical connection, eliminating the electrical control delays and synchronization errors of dual-motor drives. Synchronization accuracy is guaranteed by machining precision, unaffected by power grid fluctuations or controller response speed, significantly improving reliability. The single-input, dual-output reducer directly couples the power source and actuator, eliminating intermediate transmission chains, improving transmission efficiency, accelerating response speed, and resulting in a compact structure with minimal space requirements. The redundant dual-brake design provides double protection; if one brake fails, the other can still independently brake the corresponding drum, preventing speed differences between the flexible cable and the main cable due to brake failure, thus preventing ice screen tilting or cable breakage. The coaxial connection ensures no eccentricity or angular deviation between the reducer output shaft and the drum shaft, resulting in minimal rotational runout, smooth drum operation, and high rope-laying accuracy.

[0045] Specifically, the differentiated design includes having a pitch circle diameter of the cable reel 3 that is larger than that of the flexible cable reel 2, in order to offset the cumulative travel deviation caused by the difference in pitch between the flexible cable and the cable, and to ensure that the actual lifting travel is the same.

[0046] Specifically, the difference in travel between flexible cable reels and cable reels under the same number of rotations stems from their different rope pitches. Flexible cables have larger diameters and larger rope pitches; cable diameters are smaller and their rope pitches are correspondingly smaller. When both reels rotate synchronously, the flexible cable travels a greater distance per rotation than the cable. This difference accumulates with each rotation, gradually increasing the system travel error and eventually causing the cable to become over-tensioned or slack. To eliminate this accumulated deviation, the pitch circle diameter of the cable reel is designed to be larger than that of the flexible cable reel. In the specific design, the actual rope pitch of the flexible cable and the actual rope pitch of the cable are measured or calculated to obtain the travel difference per rotation. Based on this difference, using the circumference formula, the cable reel diameter is increased so that the increase in rope length per rotation is exactly equal to the pitch difference. For example, if the cable travel per rotation is shorter than that of the flexible cable by a certain length, this length is converted into an increment in the cable reel's pitch circle circumference, thereby determining the diameter increase.

[0047] Specifically, by differentiating geometric parameters, the cumulative stroke error caused by pitch differences is eliminated at its source, preventing the cable from breaking due to stroke lag or becoming loose and tangled due to stroke advance. This method does not rely on electrical control or dynamic adjustment; stroke synchronization can be achieved through a purely mechanical structure. The structure is simple and reliable, requiring no additional sensors or actuators. Increasing the cable reel diameter ensures that the cable exit speed matches the flexible cable, resulting in smooth and tilt-free lifting of the ice screen. This design achieves precise mechanical synchronization between the flexible cable and the cable, bringing the system's cumulative error close to zero and significantly improving long-term operational stability. It is particularly suitable for situations where the pitch circle diameter changes due to material shrinkage in sub-zero environments. Combined with a cable compensation device, residual errors can be further eliminated.

[0048] Specifically, the self-winding rope assembly 4 includes a lead screw and nut assembly 41, a linear guide rail assembly 42, a nut seat assembly 43, an adjustable lead screw seat support assembly 44, a coupling 45, and a rope winding wheel assembly 46. The lead screw and nut assembly is rigidly coupled to the linear guide rail assembly, and the rope winding wheel assembly is mounted on the nut seat assembly. The lead screw rotation drives the rope winding wheel assembly to make linear motion. The rope exit point of the rope winding wheel assembly is always consistent with the tangential direction of the flexible cable drum or the cable drum, so that the rope exit angle is controlled within a very small range.

[0049] Specifically, the self-winding rope assembly includes a flexible cable self-winding rope assembly and a cable self-winding rope assembly. The flexible cable self-winding rope assembly works with the flexible cable drum and drives the rope-winding wheel assembly to move along a linear guide rail via a screw and nut assembly, achieving automatic rope winding of the flexible cable. The groove of the rope-winding wheel assembly is designed to match the diameter of the flexible cable, ensuring that the flexible cable is neatly arranged on the drum. The cable self-winding rope assembly works with the cable drum and similarly drives the rope-winding wheel assembly to move linearly via a screw and nut assembly, achieving automatic cable winding. The groove of the rope-winding wheel assembly is designed to match the diameter of the cable, ensuring that the cable is wound orderly on the drum.

[0050] Specifically, the core of the self-winding rope assembly lies in precisely converting rotational motion into linear motion while maintaining strict alignment between the rope exit direction and the drum tangent. The lead screw in the lead screw-nut assembly is connected to the drum drive shaft via a coupling, rotating synchronously with the drum. The nut and lead screw are threaded together, converting rotational motion into axial linear motion. The linear guide assembly's slide rail is arranged parallel to the lead screw, and the slider is rigidly connected to the nut seat assembly, forming a guiding constraint. The nut seat assembly simultaneously grips the nut and slider, preventing the nut from rotating and allowing only linear movement. The rope-winding pulley assembly is mounted above the nut seat assembly, with the center of the pulley groove coinciding with the rope exit point of the flexible cable or electrical cable. The adjustable lead screw seat support assembly supports both ends of the lead screw; adjusting the seat position changes the relative distance between the lead screw and the drum. The entire system forms a closed loop: for every rotation of the drum, the lead screw rotates synchronously, and the nut drives the rope-winding pulley assembly to move a distance equal to one screw pitch, which is exactly equal to the axial pitch of the cable on the drum. The groove of the rope guide assembly is designed to be arc-shaped, so that the wrap angle of the cable when entering and exiting the groove is greater than 180 degrees. The position of the cable in the groove is always aligned with the tangent point of the drum. Geometrically, this ensures that the direction of the rope exit is perpendicular to the surface of the drum, making the rope exit angle close to zero (±0.15°).

[0051] Specifically, the rigid coupling between the lead screw and nut assembly and the linear guide assembly eliminates the rotational degree of freedom during nut movement. Rope routing accuracy depends solely on the lead screw's machining accuracy and is unaffected by load variations. The integrated design of the rope routing wheel assembly and nut seat assembly directly transmits the nut's linear displacement to the rope exit point without intermediate transmission backlash, resulting in minimal rope routing position error. The rope exit point maintains strict alignment with the drum's tangential direction, preventing lateral forces when the cable enters and exits the drum, thus avoiding frictional wear between the cable and the drum edge and extending cable lifespan. The adjustable lead screw seat support assembly allows on-site adjustment of the lead screw and drum parallelism, compensating for installation errors and ensuring no decrease in rope routing accuracy after long-term operation. The self-driving rope assembly requires no additional motor drive, being directly driven by the drum drive shaft. This integration of power source and actuator results in a compact structure, with synchronization guaranteed by mechanical connections, unaffected by electrical interference, and highly reliable operation.

[0052] Specifically, the cable compensation device 5 includes a spring assembly 51, a spring fixing device 52, and a hook assembly 53. The hook assembly 53 is connected to the cable, and the spring assembly 51 is connected to the hook assembly 53 and the ice screen assembly respectively. By adjusting the spring tension, the cable can be adjusted in real time between a relaxed and a taut state to compensate for the change in pitch circle diameter caused by changes in ambient temperature.

[0053] Specifically, the spring fixing device is a rigid bracket, fixed to the frame structure of the ice screen assembly by bolts, and its end is equipped with a hook ring or hook shaft. The spring assembly uses a cylindrical helical spring, with one end hooked onto the hook ring of the spring fixing device and the other end connected to the force-bearing ring of the hook assembly. The hook assembly consists of a force-bearing ring, a hook body, and a locking buckle. The force-bearing ring is hooked to the end of the spring, the hook body is used to hook the lifting ring or connector at the end of the cable, and the locking buckle prevents the cable from detaching. An elastic connection chain is formed between the spring fixing device and the hook assembly, transmitting the cable tension to the ice screen assembly. When the ambient temperature decreases, the metal drum contracts, causing the pitch circle diameter to decrease, the cable becomes relatively longer and looser, and the spring assembly, due to its elasticity, pulls the hook assembly towards the ice screen, tightening the cable; when the ambient temperature increases, the drum expands, causing the pitch circle diameter to increase, the cable becomes relatively shorter and tighter, the spring assembly is stretched and releases the tension, allowing the cable to relax.

[0054] Specifically, the spring fixing device of the cable compensation device is rigidly connected to the frame structure of the ice screen assembly. One end of the spring assembly is hooked onto the hanging point of the spring fixing device, and the other end is connected to the force-bearing ring of the hook assembly. The hook body of the hook assembly is hooked onto the lifting ring or connector at the end of the cable. The spring assembly uses a compression spring or a tension spring, and the spring stiffness is selected according to the weight of the ice screen and the pretension requirements of the cable. When the ambient temperature changes, the pitch circle diameter of the flexible cable reel and the cable reel changes due to the thermal expansion and contraction of the materials, causing the relative length relationship between the flexible cable and the cable to shift, and the cable tends to become loose or too tight. At this time, the spring assembly generates elastic deformation according to Hooke's law. When the cable is loose, the spring retracts and pulls the hook assembly to tighten the cable. When the cable is too tight, the spring extends and releases the tension to relax the cable. The automatic expansion and contraction of the spring maintains the cable tension within the preset range. The hook assembly transmits tension between the spring and the cable, while allowing the cable a certain degree of freedom of swing when swaying, avoiding rigid constraints that could cause the cable to bend.

[0055] Specifically, the cable compensation device forms a passive automatic adjustment mechanism, requiring no sensor detection or control system intervention. It responds in real time to changes in drum size caused by ambient temperature variations, exhibiting strong adaptability. The elastic deformation of the spring absorbs the energy of sudden changes in cable tension, preventing instantaneous impact forces from directly acting on the cable conductor and avoiding cable breakage. This device ensures that the cable maintains a reasonable tension throughout the entire operation, preventing it from detaching from the rope guide or tangling with other components due to slack, and also preventing it from exceeding its tensile strength due to excessive tension, significantly improving cable life and system reliability. Due to the compensation effect, the manufacturing and installation tolerances of the cable drum and flexible cable drum can be appropriately relaxed, reducing processing costs and assembly difficulty. At the same time, the system's adaptability to low-temperature environments is enhanced, allowing stable operation under conditions of large temperature variations.

[0056] Specifically, the flexible cable reel 2 adopts a double-suspension-point double-section reel structure, and the cable reel 3 adopts a single-suspension-point structure. The cable reel 3 is provided with a cable slip ring 31 inside. The cable slip ring 31 is fixed to the rotation center of the cable reel 3. After the cable is wound inside the reel, it is led out through the notch on the reel, so as to realize the synchronous rotation power supply and winding and unwinding of the cable.

[0057] Specifically, the flexible cable reel is designed with a double-suspension-point, double-section structure. The reel body consists of two coaxially arranged sections rigidly connected by a partition or connecting rib. Each section is independently wound with a flexible cable, forming two suspension points. The two flexible cables are led out from the rope grooves of the two sections and symmetrically connected to two suspension points on the top of the ice screen via guide wheel sets, ensuring the ice screen's weight is evenly distributed across the two flexible cables. The cable reel adopts a single-suspension-point structure, with a single row of rope grooves in a single reel. The cable is wound multiple times within the reel. The axial position of the cable reel is positioned between or outside the two sections of the flexible cable reel, and it is installed coaxially with the flexible cable reel. A cable slip ring is fixedly installed at the center of the cable reel. The stator of the slip ring is connected to the equipment frame via a bracket, while the rotor is fixed to the rotation center of the cable reel. The external power supply cable is connected to the input end of the slip ring stator, and the output end of the slip ring rotor is connected to the starting end of the internal cable. After being wound multiple times at a specified pitch inside the reel, the internal cable is led out from a pre-set notch in the reel wall. The edges of the notch are polished smooth and fitted with a cable sheath to prevent cable wear. After being led out, the cable is connected to the cable suspension point on the ice screen via a guide wheel. The suspension point is located at the center of the ice screen or near the flexible cable suspension point. When the reel rotates, the slip ring rotor rotates synchronously with the reel, enabling rotational power supply. The internal cable is wound or released synchronously with the reel's winding and unwinding, preventing cable twisting.

[0058] Specifically, the synchronous rotation of power supply and cable winding ensures that the cable is neither powered off nor subjected to torsional stress during lifting and lowering, solving the space-consuming problem of traditional drum power supply which requires external drag chains or sliding contact lines, resulting in a more compact device structure. The combination of a dual-point flexible cable and a single-point cable separates the mechanical support of the ice screen from the electrical supply. The flexible cable bears the entire load, while the cable only bears its own weight tension, significantly extending cable life. The overall structure integrates power transmission, cable winding and lowering, and electrical supply through a coaxially arranged drum and central slip ring, greatly reducing the equipment width and providing conditions for matrix arrangement. Furthermore, the relative positions of the flexible cable and cable remain fixed during operation, eliminating cross-interference and ensuring stable and reliable system operation.

[0059] Specifically, it also includes a guide wheel assembly 6 and a dynamic anti-disorder device 7. The guide wheel assembly 6 guides and constrains the flexible cable and the cable, and the dynamic anti-disorder device 7 is installed on the cable reel exit side to prevent the cable from coming off the rope groove during the lifting and lowering process through mechanical constraints.

[0060] Specifically, the six guide wheel sets consist of multiple guide wheel groups. Each guide wheel group includes a wheel body, axle, and bracket. The surface of the guide wheel body is machined with an arc-shaped rope groove matching the diameter of the flexible cable or cable. The depth of the rope groove is greater than the radius of the cable, ensuring that the cable is not easily dislodged after being embedded. The guide wheels are fixed to the equipment frame by the bracket and are arranged on the rope exit side of the drum and at key turning positions on the ice screen suspension path. After the cable is led out from the drum, it passes around each guide wheel in sequence. The wheel grooves form a radial constraint on the cable, limiting the swing range of the cable. The dynamic anti-disorder device is installed at the closest position on the rope exit side of the drum and consists of a limit baffle, a rope pressing wheel, and an elastic clamping mechanism. The limit baffle is arranged close to the outer surface of the drum, and a gap is left between the baffle and the drum that allows only a single layer of cable to pass through. The rope pressing wheel applies pressure to the cable on the surface of the drum through the elastic clamping mechanism. The clamping force is automatically adjusted according to the cable tension. The clamping force increases when the cable is slack and decreases when the cable is taut. When the drum rotates and lays the rope, the cable is arranged in an orderly manner within the gap of the limit baffle. The pressure wheel presses the cable tightly into the rope groove to prevent the cable from jumping out of the rope groove due to drum vibration or acceleration changes.

[0061] Specifically, the arc-shaped design of the guide wheel groove matches the cable diameter, resulting in a large contact area, low unit pressure, and reduced cable sheath crushing. Simultaneously, the groove depth ensures limited lateral displacement after cable embedding, improving operational stability. The limit baffle of the dynamic anti-tangle device strictly restricts the cable exit position within the rope groove range, eliminating axial movement of the cable on the drum and preventing rope misalignment or tangling. The elastic clamping mechanism of the pressure wheel adapts to changes in cable tension in real time, providing additional clamping force when the cable is slack to prevent it from jumping out of the rope groove, and automatically reducing pressure when the cable is taut to avoid excessive clamping and increased drive resistance.

[0062] Specifically, it also includes a limiting device 8, a flexible cable positioning device 9, and a cable adjusting device 10. The limiting device 8 provides limiting protection for the lifting stroke, while the flexible cable positioning device 9 and the cable adjusting device 10 respectively perform precise positioning and adjustment of the end connection positions of the flexible cable and the cable to ensure accurate hanging point positions.

[0063] Specifically, the limit device 8 consists of a limit switch trigger assembly 81 and a mechanical stop 82. The limit switch trigger assembly 81 includes a trigger plate and a proximity switch or limit switch. The trigger plate is installed on the nut seat assembly of the self-laying rope assembly or on the hanging assembly connected to the ice screen. The proximity switch is fixed at the upper and lower limit positions of the lifting path. When the ice screen is raised or lowered to the limit position, the trigger plate enters the sensing range of the proximity switch, and the switch signal is transmitted to the motor controller of the drive mechanism to cut off the power. The mechanical stop is rigidly installed at the physical limit positions of the upper and lower limits, located on the movement path of the trigger plate. When the electrical limit fails, the trigger plate directly hits the mechanical stop, forcibly stopping the movement of the ice screen. The flexible cable positioning device includes a positioning seat, a locking clamp, and an adjusting bolt. The positioning seat is fixed to the hanging point on the top of the ice screen. The locking clamp consists of two clamps with semi-circular grooves. The end of the flexible cable passes through the semi-circular groove and is locked by the adjusting bolt. The clamp spacing is adjustable to change the clamping force on the flexible cable. The cable adjustment device includes an adjustment seat, a cable clamp, and a fine-tuning screw. The adjustment seat is fixed to the cable connection point of the ice screen, the cable clamp holds the end of the cable, and the fine-tuning screw is threadedly connected to the cable clamp. By rotating the fine-tuning screw, the position of the cable clamp relative to the adjustment seat is changed, thereby achieving precise adjustment of the cable suspension point position.

[0064] Specifically, the positioning and adjustment devices work together to precisely control the end connection positions of the flexible cables and electrical cables, ensuring that the geometric center of the ice screen's suspension coincides with its center of gravity, resulting in smooth lifting and lowering without swaying. The integration of the limit device and the positioning and adjustment device significantly improves the safety and positioning accuracy of the entire system. During installation and debugging, the suspension point position can be quickly adjusted, shortening performance preparation time. Furthermore, it can adapt to the suspension requirements of ice screens of different specifications, enhancing the equipment's versatility.

[0065] Specifically, the entire system deploys multiple sets of compact units, each of which is driven independently. It also includes a real-time attitude reconstruction module, which enables arbitrary positional movements, synchronous movements, and attitude adjustment of multiple screens in a side-by-side matrix through the real-time attitude reconstruction module.

[0066] Specifically, multiple compact units are deployed in a matrix configuration on the top of the theater. Each unit includes an independent drive mechanism, drum assembly, self-winding rope assembly, cable compensation device, and guide wheel assembly. These units are isolated by a frame structure, forming independent working units. Each unit's drive motor is equipped with an independent controller, which is connected to the central control system via fieldbus or Ethernet communication for command issuance and status feedback. A real-time attitude reconstruction module is integrated into the central control system, consisting of a position encoder, tension sensor, temperature sensor, and data processing unit. The position encoder is mounted on the output shaft of the reducer in each unit, monitoring the rotation angle of the flexible cable drum and cable drum in real time and converting it into the height of the ice screen. The tension sensor is mounted on the spring assembly of the cable compensation device, monitoring the cable tension in real time. The temperature sensor is located near the drum, monitoring changes in ambient temperature. The data processing unit collects real-time data from all sensors and calculates the target position and attitude of each ice screen based on a pre-set performance script or director's instructions. Based on the processing results of the attitude reconstruction module, independent position commands, speed curves, and synchronization timing signals are sent to each unit controller, enabling arbitrary positional movements of multiple ice screens. For groups of ice screens requiring synchronized operation, the central controller employs a master-slave synchronization or isochronous synchronization mode, sending the same start signal and speed reference to all units within the group. It also compares the position feedback of each unit in real time, dynamically compensating for speed deviations to ensure that the height deviation of the ice screens within the group is kept within a minimal range. For the attitude adjustment of a side-by-side multi-screen matrix, the central control system treats the matrix as a rigid body. Based on the overall target attitude of the matrix (such as tilt, rotation, or wave deformation), it calculates the relative height difference of each unit's ice screen and sends differentiated position commands to each unit. Each unit independently drives the flexible cables and electrical cables to coordinate lifting and lowering, enabling the matrix as a whole to achieve a preset attitude.

[0067] Specifically, a control method for a coordinated lifting device of a flexible cable and a follower cable includes:

[0068] Step S1: The motor drives a one-in-two-out reducer to drive the coaxially connected flexible rope drum and cable drum to rotate synchronously.

[0069] Step S2: The screw nut assembly in the self-winding rope assembly drives the rope-winding wheel assembly to make linear motion, so that the flexible rope and cable are wound or released in a zero-angle manner.

[0070] Step S3: The spring assembly of the cable compensation device monitors the cable tension in real time. When temperature changes or accumulated travel difference cause the cable to become loose or too tight, the cable length is automatically adjusted by the extension and retraction of the spring to keep the cable in normal operating condition.

[0071] Step S4: The redundant brake is activated immediately in case of power failure or emergency, realizing dual braking protection for the flexible cable reel and the cable drum.

[0072] In step S5, the real-time posture reconstruction module of multiple devices dynamically adjusts the height and posture of each group of ice screens according to rehearsal and performance instructions, so as to realize the coordinated movement of the matrix screens.

[0073] Specifically, after the motor starts, it drives a single-input, double-output reducer. This reducer distributes the power from the single input shaft to two coaxially arranged output shafts, causing the flexible cable drum and the cable drum to rotate synchronously. The two drums rotate in the same direction, achieving strict synchronization of winding and unwinding speeds at the mechanical level. The lead screw of the self-winding rope assembly is connected to the drum drive shaft via a coupling. For every rotation of the drum, the lead screw rotates synchronously by one rotation, driving the nut seat to move the rope winding wheel assembly along the linear guide rail by a distance equal to one pitch. This pitch is equal to the axial pitch of the cable on the drum, ensuring that the center of the rope winding wheel groove is always aligned with the tangent point of the drum, allowing the cable to wind or unwind at a zero-off-angle. The spring fixing device of the cable compensation unit is rigidly connected to the ice screen frame. One end of the spring assembly is hooked to the fixing device, and the other end is connected to the hook assembly. The hook body of the hook assembly hooks the end of the cable. When changes in ambient temperature cause changes in the drum pitch diameter or cumulative differences in the screw pitch cause the cable to slack, the spring automatically retracts to tighten the cable according to Hooke's Law. When the cable is too tight, the spring extends to release the tension. The passive extension and contraction of the spring maintains the cable tension within a preset range. Redundant brakes are installed on the two output shafts of the reducer. The brakes are linked to the motor controller. When power is cut off or an emergency stop signal is triggered, the two brakes simultaneously clamp the drum shaft, forming a double braking protection. The real-time attitude reconstruction module is integrated into the central control system. The encoders at the ends of the drum shafts of each unit provide real-time feedback of the rotation angle and convert it into the height of the ice screen. The tension sensor of the cable compensation device monitors the spring tension and indirectly reflects the cable tension. The temperature sensor monitors the ambient temperature of the drum. After the data processing unit merges all the data, it calculates the target position of each ice screen according to the performance script and sends independent position commands and speed curves to the motor controllers of each unit. For groups of synchronized actions, a master-slave synchronization mode is used to compare the position deviation in real time and dynamically compensate. For matrix attitude adjustment, the relative height difference of each unit is calculated to form an overall deformation.

[0074] Specifically, this control method deeply integrates mechanical synchronization, tension adaptation, redundancy safety, and collaborative control. Each step forms a closed-loop logic chain through physical coupling and sensor feedback. The cable arrangement accuracy, tension stability, and multi-machine collaborative accuracy are coupled with each other to achieve heavy-load, high-precision, and complex actions.

[0075] Specifically, this invention establishes a mechanical synchronous transmission chain through a single-input, dual-output structure of the drive mechanism, ensuring that the angular velocities of the flexible cable drum and the cable drum are strictly equal, thereby eliminating electrical synchronization errors and ensuring consistent winding and unwinding speeds. Furthermore, given the larger geometric parameter difference between the cable drum's pitch circle diameter and the flexible cable drum, the proportional relationship between circumference and pitch actively offsets the difference in rope pitch caused by the different cable diameters, ensuring that their linear displacements are always equal and avoiding accumulated travel deviations. The screw and nut assembly of the self-winding component is rigidly coupled to the linear guide rail, precisely converting the drum's rotational motion into the nut's linear displacement through the screw helix angle. The displacement is at a fixed transmission ratio to the drum's rotational speed, ensuring that the rope exit point of the rope wheel assembly is always aligned with the drum's tangential direction, making the rope exit angle approach zero and preventing lateral wear of the cable. The spring assembly of the cable compensation device automatically expands and contracts according to Hooke's Law. When temperature changes cause thermal expansion and contraction of the drum's pitch diameter or differences in pitch lead to cable slack, the linear relationship between spring tension and elongation allows it to actively adjust cable tension, keeping the cable in a taut but not overloaded steady state. The dual-point, dual-section drum structure ensures balanced force on the ice screen. The single-point cable drum, in conjunction with an internally fixed cable slip ring, electrically isolates the stationary power supply cable from the rotating cable, achieving rotating contact power supply and preventing cable twisting. The guide wheel assembly and dynamic anti-disorder device mechanically restrict the cable's movement trajectory. The electrical and mechanical dual-limiting of the limit device provides redundant protection. The flexible cable positioning device and cable adjustment device precisely position the suspension point through an adjustable clamping structure. Therefore, the entire device constructs a logical closed loop of mechanical synchronization, geometric compensation, mechanical self-adaptation, and electrical isolation. The parameters of each mechanism are coupled and matched to ensure the synchronous accuracy of the lifting and lowering of the heavy-duty ice screen, cable life, and system reliability.

[0076] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0077] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A coordinated lifting device for a flexible cable and a follower cable, characterized in that, include: The drive mechanism has a single-input dual-output structure; A flexible cable reel is connected to the first output shaft of the drive mechanism; The cable reel is connected to the second output shaft of the drive mechanism, and the pitch circle diameter of the cable reel is designed differently from that of the flexible cable reel. The self-winding rope assembly cooperates with the flexible cable reel and the cable reel respectively to achieve zero-angle rope winding of the flexible cable and the cable; The cable compensation device is connected between the cable and the ice screen to compensate for changes in cable length caused by temperature changes and cumulative travel differences in real time.

2. The coordinated lifting device of flexible cable and follower cable according to claim 1, characterized in that, The drive mechanism includes a motor, a one-in-two-out reducer, and redundant dual brakes. The two output shafts of the reducer are coaxially connected to the flexible cable reel and the cable reel, respectively, and the two reels rotate in the same direction to achieve mechanical synchronous rotation.

3. The coordinated lifting device of flexible cable and follower cable according to claim 2, characterized in that, The differentiated design includes having a larger pitch circle diameter for the cable reel than for the flexible cable reel, in order to offset the cumulative travel deviation caused by the difference in pitch between the flexible cable and the cable, and to ensure that the actual lifting travel is the same.

4. The coordinated lifting device of flexible cable and follower cable according to claim 3, characterized in that, The self-winding rope assembly includes a lead screw and nut assembly, a linear guide rail assembly, a nut seat assembly, an adjustable lead screw seat support assembly, a coupling, and a rope winding wheel assembly. The lead screw and nut assembly is rigidly coupled to the linear guide rail assembly. The rope winding wheel assembly is mounted on the nut seat assembly. The lead screw rotation drives the rope winding wheel assembly to perform linear motion. The rope exit point of the rope winding wheel assembly is always consistent with the tangential direction of the flexible cable drum or the cable drum, so that the rope exit angle is controlled within a very small range.

5. The coordinated lifting device of flexible cable and follower cable according to claim 4, characterized in that, The cable compensation device includes a spring assembly, a spring fixing device, and a hook assembly. The hook assembly is connected to the cable, and the spring assembly is connected to both the hook assembly and the ice shield assembly. By adjusting the spring tension, the cable can be adjusted in real time between a relaxed and a taut state to compensate for changes in the pitch circle diameter caused by changes in ambient temperature.

6. The coordinated lifting device of flexible cable and follower cable according to claim 5, characterized in that, The flexible cable reel adopts a double-suspension-point, double-section reel structure, while the cable reel adopts a single-suspension-point structure. The cable reel is equipped with a cable slip ring inside, which is fixed to the rotation center of the cable reel. After the cable is wound inside the reel, it is led out through the notch on the reel, realizing the synchronous rotation power supply and winding of the cable.

7. The coordinated lifting device of flexible cable and follower cable according to claim 6, characterized in that, It also includes a guide wheel assembly and a dynamic anti-disorder device. The guide wheel assembly guides and constrains the flexible cable and the cable. The dynamic anti-disorder device is installed on the cable reel exit side and uses mechanical constraints to prevent the cable from coming off the rope groove during lifting and lowering.

8. The coordinated lifting device of flexible cable and follower cable according to claim 7, characterized in that, It also includes a limiting device, a flexible cable positioning device, and a cable adjustment device. The limiting device provides limit protection for the lifting stroke, and the flexible cable positioning device and the cable adjustment device respectively perform precise positioning and adjustment of the end connection positions of the flexible cable and the cable to ensure accurate hanging point position.

9. A control method for a coordinated lifting device of a flexible cable and a follower cable as described in any one of claims 1-8, characterized in that, include: Step S1: The motor drives a one-in-two-out reducer to drive the coaxially connected flexible rope drum and cable drum to rotate synchronously. Step S2: The screw nut assembly in the self-winding rope assembly drives the rope-winding wheel assembly to make linear motion, so that the flexible rope and cable are wound or released in a zero-angle manner. Step S3: The spring assembly of the cable compensation device monitors the cable tension in real time. When temperature changes or accumulated travel difference cause the cable to become loose or too tight, the cable length is automatically adjusted by the extension and retraction of the spring to keep the cable in normal operating condition. Step S4: The redundant brake is activated immediately in case of power failure or emergency, realizing dual braking protection for the flexible cable reel and the cable drum. In step S5, the real-time posture reconstruction module of multiple devices dynamically adjusts the height and posture of each group of ice screens according to rehearsal and performance instructions, so as to realize the coordinated movement of the matrix screens.

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