Self-recovery reciprocating excitation device and control method thereof

Abstract

The invention discloses a self-recoverable reciprocating excitation device and a control method thereof. The device comprises a rack, wherein the rack is fixed on a foundation and is provided with a vertical sliding block guide hole; the load transmission mechanism is mounted in the rack and is in sliding fit with the sliding block guide hole; the release locking mechanism is fixedly arranged on one side of the rack and located below the load transmission mechanism; the middle section of the flexible transmission part is wound and hung at the swing output end of the load transmission mechanism, and the two ends of the flexible transmission part extend downwards to the release locking mechanism and are in winding connection with the release locking mechanism; the counterweight self-resetting system is suspended behind the rack and forms a closed loop with the release locking mechanism through a flexible transmission piece; the one-way limiting assembly is fixedly installed on the rack cross beam and located on the reverse side of the swing path of the load transmission mechanism; the position detection assembly is fixed to the top of the rack and is in induction fit with the swing output end of the load transmission mechanism; the problems that existing stage equipment is low in descending operation speed, high in reset energy consumption and incapable of achieving continuous experience are solved.

Description

Technical Field

[0001] This invention relates to the field of performing arts equipment and stage technology, and in particular to a self-recovering reciprocating excitation device and its control method. Background Technology

[0002] With the increasing demand for "rapid fall" scenes in immersive performances, stage machinery needs to repeatedly achieve free fall effects within a short period. Existing technologies mostly employ a structure of transmission components such as steel cables, rigid chains, and racks and pinions, plus a motor and brake: after the brake is released instantaneously, the platform falls under gravity; the motor-driven transmission mechanism then pulls the platform back to a higher position and applies the brake again. This solution has the following drawbacks:

[0003] The brake opening / closing is a step signal, which generates a rigid impact at the moment of release, resulting in loud noise and affecting the safety of the actors.

[0004] The lack of load recognition makes it easy to "over-brake" and cause slippage under light loads, and easy to slip down prematurely under heavy loads;

[0005] During the descent phase, the transmission mechanism experiences a short mechanical lifespan due to a high-speed impact limiting it.

[0006] The reset phase requires motor drive to complete.

[0007] Therefore, the industry urgently needs a reciprocating excitation device and method that requires no external power, can operate continuously, has controllable fall acceleration, low impact, and can adapt to load changes. Summary of the Invention

[0008] The purpose of this invention is to provide a self-recovering reciprocating excitation device and its control method, thereby solving the aforementioned problems existing in the prior art.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] A self-recovering reciprocating excitation device, comprising:

[0011] The frame is fixed to the foundation and is equipped with vertical slider guide holes;

[0012] The load transfer mechanism is installed inside the frame and slides in conjunction with the slider guide hole;

[0013] The locking mechanism is released and fixed on one side of the frame and located below the load transfer mechanism;

[0014] The flexible transmission component has its middle section wrapped around the swing output end of the load transmission mechanism, and its two ends extend downward to the release and locking mechanism and are wound and connected to it.

[0015] The counterweight self-resetting system is suspended behind the frame and forms a closed loop with the release and locking mechanism through a flexible transmission component;

[0016] A one-way limit component is fixed to the frame crossbeam and located on the opposite side of the swing path of the load transfer mechanism;

[0017] The position detection component is fixed to the top of the frame and engages with the swing output end of the load transfer mechanism.

[0018] The load-bearing interface is located at the top of the load transfer mechanism and is used to connect an external load platform.

[0019] The load transfer mechanism, release and locking mechanism and counterweight self-reset system are sequentially connected through flexible transmission components to form a closed energy loop of energy storage-holding-instantaneous release-no-power self-recovery.

[0020] In some specific embodiments, the load transfer mechanism includes:

[0021] The support bracket is located above the frame and forms the load-bearing interface;

[0022] The sliding hinge assembly is fixed to the lower end of the bearing bracket and slidably embedded in the slider guide hole;

[0023] The support arm has its upper end hinged to a sliding hinge assembly and its lower end hinged to a swing hinge assembly.

[0024] The follower boom has its front end hinged to the swing hinge assembly and its rear end hinged to the fixed hinge assembly, which is fixed to the bottom of the frame.

[0025] Tapered roller bearings are press-fitted into the hinge holes of sliding hinge shaft assemblies, oscillating hinge shaft assemblies, and fixed hinge shaft assemblies, and are respectively coaxially arranged with the sliding hinge shaft assemblies, oscillating hinge shaft assemblies, and fixed hinge shaft assemblies.

[0026] In some specific embodiments, tapered roller bearings are mounted back-to-back in a pair within the oscillating hinge assembly and are used to simultaneously bear combined radial and axial loads.

[0027] In some specific embodiments, the load transfer mechanism further includes:

[0028] The labyrinth sealing sleeve is fitted around the outer periphery of the swing hinge assembly.

[0029] In some specific embodiments, the sliding hinge assembly includes:

[0030] The stepped circular shaft is a sliding hinge shaft, with its smooth shaft section having an interference fit with the inner ring of a tapered roller bearing, and its threaded section being axially locked by a lock nut;

[0031] A hollow cylindrical copper alloy bushing is press-fitted into the guide hole of the slide block of the frame and slides in cooperation with the sliding hinge shaft.

[0032] A flat key, embedded between the keyway of the sliding hinge shaft and the hub of the support arm, is used to transmit torque; the bearing end cover of the sliding hinge shaft is fixed to the outside of the frame and presses against the outer ring of the bearing to provide axial positioning of the bearing;

[0033] The sliding hinge shaft oil cup is screwed into the hollow cylindrical copper alloy bushing to supply grease lubrication to the sliding surface, thereby forming a sliding-rotation compound motion pair;

[0034] The oscillating hinge assembly includes:

[0035] A hollow, stepped, swaying hinge shaft with an outer ring rope groove for winding the flexible transmission component in the middle section, bearing positions at both ends that are interference-fitted with the inner ring of a tapered roller bearing, and a shaft end baffle fixed in a threaded hole on the end face.

[0036] The two-part rope groove retaining ring is locked to both sides of the rope groove with screws to prevent the flexible transmission component from dislodging from the groove.

[0037] A spacer sleeve is fitted between the inner rings of the two bearings to ensure the preload distance.

[0038] The swing hinge shaft sealing ring is press-fitted into the inner hole of the swing hinge shaft end cap and forms a rotary dynamic seal with the journal.

[0039] The swing hinge lock nut axially presses the bearing inner ring, support arm and follower arm hub together, thus forming a composite hinge unit that combines load-bearing, swinging and rope winding functions.

[0040] The fixed hinge assembly includes:

[0041] The solid stepped shaft-shaped fixed hinge shaft has its flange rigidly connected to the bottom support of the frame by bolts, and the small end bearing position is interference-fitted with the inner ring of the tapered roller bearing in the follower arm hub.

[0042] A spacer ring is fitted between the two follower boom hubs to ensure axial spacing;

[0043] The end cap of the fixed hinge shaft bearing is fixed on the outside of the support and presses against the outer ring of the bearing;

[0044] The labyrinth sealing ring is press-fitted into the inner hole of the fixed hinge shaft bearing end cap and non-contactly engages with the outer circle of the hub to form a dustproof labyrinth.

[0045] The locking nut on the fixed hinge shaft is screwed onto the shaft end to axially press the inner ring of the bearing and the hub together.

[0046] The fixed hinge shaft oil cup is screwed into the end cap to inject grease into the bearing cavity for lubrication, thus forming an integrated hinge shaft unit that combines fixed, rotating, sealing, and lubrication.

[0047] In some specific embodiments, the release locking mechanism includes:

[0048] Mounting base, which is fixed to one side of the bottom of the frame;

[0049] The symmetrically rotating drum shaft is rotatably supported on the mounting base by deep groove ball bearings;

[0050] Normally closed brakes are fixed in pairs at both ends of the mounting base and tightly grip the shaft ends of the symmetrically rotating drum shaft.

[0051] The release locking mechanism is a flat key that is embedded between the symmetrically rotating drum shaft keyway and the drum hub to transmit torque;

[0052] The shaft end baffle is fixed to both ends of the drum shaft with screws and presses against the inner ring of the bearing to achieve axial positioning;

[0053] The spacer is fitted between the bearing positions of the drum shaft and its two ends abut against the inner ring of the bearing, in order to maintain the bearing spacing and prevent axial movement.

[0054] The symmetrical spiral drum shaft includes: a spiral groove, which is machined in the middle section of the symmetrical spiral drum shaft and rotates in opposite directions; the two ends of the flexible transmission component are respectively wound into the two spiral grooves to form a bidirectional synchronous winding and unwinding structure.

[0055] The flexible transmission component is a steel wire rope;

[0056] After the middle section of the wire rope passes through the rope groove of the swing hinge assembly, both ends extend downward and are respectively fixed in the two spiral grooves of the symmetrically rotating drum shaft.

[0057] In some specific embodiments, the counterweight self-resetting system includes:

[0058] The upper pulley assembly and the lower pulley assembly are fixed at the top of the column at the rear of the frame, and the lower pulley assembly is fixed at the bottom of the same column. The upper section of the wire rope passes through the upper pulley assembly and the lower section passes through the lower pulley assembly to form a closed-loop guide path.

[0059] The wire rope pressure plate assembly is fixed to the top end face of the counterweight. The end of the wire rope is clamped and locked by the clamping bolts, realizing a detachable fixed connection between the counterweight and the flexible transmission component.

[0060] Adjust the spring, with the upper end attached to the lug of the upper pulley assembly and the lower end suspending the counterweight. The counterweight is suspended directly below the upper pulley assembly and fixed to the end of the wire rope, forming a buffer suspension structure of "upper pulley-spring-counterweight" in series.

[0061] In some specific embodiments, the one-way limiting component is a rigid stop block, welded to the frame crossbeam and located on the opposite side of the swing path of the swing hinge assembly, used to prevent reverse swinging.

[0062] The position detection component includes:

[0063] A proximity switch is fixed to the top side beam of the frame and faces the sensing surface of the swing hinge assembly;

[0064] The control system is electrically connected to the proximity switch and is used to control the on / off state of the normally closed brake to achieve automatic high-position locking.

[0065] A reciprocating excitation method for a stage free-fall scene based on the same concept employs the aforementioned device and performs the following coordinated steps:

[0066] Step 1, Dynamic Load Identification: During the loading stage of the bearing interface, the angular displacement change rate of the swing hinge assembly is monitored in real time by the position detection component, and the actual load mass signal is automatically generated to correct the brake pre-tightening torque of the release locking mechanism, so that the holding torque = load torque × (1+δ), where δ is a safety margin of 0.02-0.05, and realizes "load adaptive" energy storage retention.

[0067] Step 2, Controllable Acceleration Release: Upon receiving the trigger command, the release locking mechanism gradually releases the brake according to the ramp descent current curve with Δt≤100ms. Simultaneously, the symmetrical double-rotating drum synchronously releases the wire rope, and the counterweight rises under the buffer of the adjusting spring, so that the bearing interface reaches a descent acceleration of 0.85g-0.95g within 0.15-0.35s, and the acceleration fluctuation is <±0.05g, forming a "soft start + quasi-free fall" falling mode;

[0068] Step 3, Energy Feedback and Recovery: At the end of the descent, the angular velocity sensor at the lower wheel assembly detects the upward speed of the counterweight in real time. When the speed is greater than or equal to the set speed threshold, the control system automatically connects to the energy consumption braking unit to convert the kinetic energy of the counterweight into heat energy for consumption, preventing extreme impact and realizing "end-of-line energy feedback braking".

[0069] Step 4, No-load self-reset: At the moment the load is removed, the weight of the counterweight is amplified by the adjustment spring, and the upper pulley assembly drives the steel wire rope to pull the swing hinge assembly back, which drives the crank slider load transfer mechanism to return to the highest position without power. The return process takes 1.2-1.8s and the end speed is <0.2m / s, completing the "zero external power" self-reset.

[0070] Step 5, Dead Zone Avoidance and Relocking: During the swing back, the one-way limit component prevents the swing hinge assembly from passing the dead point of the four-bar linkage; when the position detection component identifies that the swing back angle θ≤±1°, it immediately cuts off the power and tightens the brake to maintain the torque restored to the initial preload torque, and enters the preparation state for the next cycle.

[0071] The beneficial effects of this invention are:

[0072] 1. By combining stage machinery with an immersive experience through a self-recovering reciprocating excitation device, the mechanical movements enable the interaction between the scene and the senses, allowing the audience to be immersed in a free-falling real-life scene, thus enhancing the audience's experience.

[0073] 2. The mechanical model of the load transmission mechanism is a crank-slider mechanism, which has a simple structure, low manufacturing difficulty, convenient assembly, low maintenance cost, and can maintain stable motion and high reliability even in long-term operation; the power transmission path is short and it can withstand large loads.

[0074] 3. Bearings are installed at all rotating parts of this device, and the movement of the wire rope is accomplished by rolling. Friction is low throughout the entire mechanism's movement, and the weight of the counterweight assembly is slightly greater than the weight of the moving parts of the load transmission mechanism. When the load platform descends, energy loss is minimal, approaching free fall motion.

[0075] 4. When the device is unloaded, it returns to its highest position, meaning the support frame rises by the descent of the counterweight assembly. No other power is involved in the process; the device completes the task itself.

[0076] 5. This device is energized only when the brake is released. Attached Figure Description

[0077] Figure 1 This is a front view of the reciprocating excitation device of the present invention;

[0078] Figure 2 This is a side view of the reciprocating excitation device of the present invention;

[0079] Figure 3 This is a top view of the reciprocating excitation device of the present invention;

[0080] Figure 4 This is a cross-sectional view of the lowest position of the reciprocating excitation device of the present invention;

[0081] Figure 5 This is a cross-sectional view of the highest position of the reciprocating excitation device of the present invention;

[0082] Figure 6 This is a cross-sectional view of the load transfer mechanism of the present invention;

[0083] Figure 7 This is a side view of the load transfer mechanism of the present invention;

[0084] Figure 8 This is a front view of the release and locking mechanism of the present invention;

[0085] Figure 9 This is a cross-sectional view of the release and locking mechanism of the present invention;

[0086] Figure 10 This is a front view of the counterweight component of the present invention;

[0087] Figure 11 This is a side view of the counterweight assembly of the present invention;

[0088] Figure 12 This is a flowchart of the control method of the present invention.

[0089] In the attached diagram: 1. Frame; 2. Load transfer mechanism; 2.1. Bearing support; 2.2. Sliding hinge shaft oil cup; 2.3. Bushing; 2.4. Sliding hinge shaft; 2.5. Flat key; 2.6. Tapered roller bearing; 2.7. Sliding hinge shaft bearing end cover; 2.8. Support arm; 2.9. Labyrinth seal sleeve; 2.10. Swinging hinge shaft; 2.11. Follower arm; 2.12. Fixed hinge shaft; 2.13. Fixed hinge shaft locking nut; 3. Release and locking mechanism; 3.1. Mounting base; 3.2. Symmetrical rotating drum shaft; 3.3. Normally closed brake; 3.4. Shaft end baffle; 3.5. Deep groove ball bearing; 3.6. Spacer; 3.7. Release and locking mechanism key; 4. Flexible transmission component; 5. Counterweight self-resetting system; 5.1. Adjusting spring assembly; 5.2. Upper pulley assembly; 5.3. Lower pulley assembly; 5.4. Counterweight block; 5.5. Wire rope pressure plate assembly; 6. One-way limit assembly; 7. Position detection assembly; 8. Bearing interface; Detailed Implementation

[0090] To make the objectives, technical solutions, and advantages of this invention clearer, the 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 merely illustrative and not intended to limit the invention.

[0091] Reference Figures 1 to 11 The self-recovering reciprocating excitation device shown includes a frame 1, which is fixed to a foundation and has a vertical slider guide hole; a load transfer mechanism 2, which is installed inside the frame 1 and slides in cooperation with the slider guide hole; a release and locking mechanism 3, which is fixed to one side of the frame 1 and located below the load transfer mechanism 2; a flexible transmission component 4, the middle section of which is wrapped around the swing output end of the load transfer mechanism 2, and both ends extend downward to the release and locking mechanism 3 and are wound and connected to it; and a counterweight self-resetting system 5, which is suspended behind the frame 1 and connected to the release and locking mechanism 3 via the flexible transmission component 4. The release locking mechanism 3 forms a closed loop; the one-way limiting component 6 is fixed on the crossbeam of the frame 1 and located on the opposite side of the swing path of the load transfer mechanism 2; the position detection component 7 is fixed on the top of the frame 1 and senses and cooperates with the swing output end of the load transfer mechanism 2; the bearing interface 8 is located at the top of the load transfer mechanism 2 and is used to connect an external load platform; wherein, the load transfer mechanism 2, the release locking mechanism 3 and the counterweight self-resetting system 5 are sequentially connected through the flexible transmission component 4 to form a closed energy loop of energy storage-holding-instantaneous release-no-power self-recovery.

[0092] In some specific embodiments, the load transfer mechanism 2 includes a load-bearing bracket 2.1, which is located above the frame 1 and forms a load-bearing interface 8; a sliding hinge assembly, which is fixed to the lower end of the load-bearing bracket 2.1 and slidably embedded in the slider guide hole; a support arm 2.8, the upper end of which is hinged to the sliding hinge assembly and the lower end of which is hinged to the swing hinge assembly; a follower arm 2.11, the front end of which is hinged to the swing hinge assembly and the rear end of which is hinged to the fixed hinge assembly, which is fixed to the bottom of the frame 1; and a tapered roller bearing 2.6, which is press-fitted into the hinge holes of the sliding hinge assembly, the swing hinge assembly, and the fixed hinge assembly and is coaxially arranged with the sliding hinge assembly, the swing hinge assembly, and the fixed hinge assembly, respectively.

[0093] In this embodiment, the load transfer mechanism is located within the longitudinal midsection of the frame, with the uppermost part being the load-bearing bracket. The load-bearing bracket is box-shaped, consisting of a top plate, left and right web plates, and front and rear end plates. Threaded holes and locating pin holes are machined on the upper surface of the top plate to form a load-bearing interface for contact with external loads. The entire load-bearing bracket is positioned above the upper beam of the frame, with its left and right web plates extending downwards and passing through a rectangular notch pre-reserved in the upper beam to form a pair of drooping lugs. A sliding hinge assembly is transversely arranged between the two lugs. This assembly includes an alloy steel sliding shaft, two shaft end retaining rings, and a pair of self-lubricating copper sleeves. The middle section of the sliding shaft is interference-fitted with the inner hole of the lug, and both ends extend beyond the lugs and are embedded in the slider guide hole of the upper beam of the frame. The slider guide hole is an oblong groove extending vertically, with a groove width clearance-fitted to the diameter of the sliding shaft, allowing the sliding shaft to slide up and down and oscillate slightly within the groove. The self-lubricating copper sleeves are press-fitted between the sliding shaft and the slider guide hole to reduce friction and prevent direct metal-to-metal contact. The shaft end retaining rings are locked to both ends of the sliding shaft with screws to restrict axial movement. Thus, the support bracket and the sliding hinge assembly are fixed together as one unit, and can perform vertical reciprocating motion under the guidance of the slider guide hole.

[0094] The sliding hinge shaft assembly also has a radial through hole in the middle of the sliding shaft. A tapered roller bearing is press-fitted into the hole, with its outer ring interference-fitted with the hole and its inner ring interference-fitted with the first hinge pin at the upper end of the support arm. The two ends of the first hinge pin are axially locked by retaining plates, so that the upper end of the support arm is hinged to the sliding hinge shaft assembly, and the hinge axis is perpendicular to the longitudinal mid-section of the mechanism. The support arm is a rectangular hollow beam that extends downward from the first hinge pin. Its lower end also has a transverse through hole, with another tapered roller bearing press-fitted into the hole. The outer ring of this bearing is interference-fitted with the hole in the support arm, and its inner ring is interference-fitted with the second hinge pin in the swing hinge shaft assembly. The two ends of the second hinge pin are axially limited by elastic retaining rings, so that the lower end of the support arm is hinged to the swing hinge shaft assembly, and the hinge axis is parallel to the axis of the first hinge pin.

[0095] The swing hinge assembly also includes a swing bearing seat, which is fork-shaped. Its two side walls are fitted onto the second hinge pin, allowing it to rotate around it. The base plate of the swing bearing seat extends rearward to form lugs. A third set of tapered roller bearings is press-fitted into the inner bore of the lugs. The outer ring of this bearing is interference-fitted with the lug bore, and the inner ring is interference-fitted with the third hinge pin at the front end of the follower arm. The two ends of the third hinge pin are axially locked by cotter pins, forming a hinge between the front end of the follower arm and the swing hinge assembly. The hinge axis is parallel to the axis of the second hinge pin. The follower arm is a flat pull plate that extends horizontally rearward from the third hinge pin. Its rear end has a transverse through hole, into which a fourth set of tapered roller bearings is press-fitted. The outer ring of this bearing is interference-fitted with the follower arm bore, and the inner ring is interference-fitted with the fourth hinge pin in the fixed hinge assembly. The two ends of the fourth hinge pin are locked to the fixed bearing seat by nuts and washers. The fixed shaft seat is welded to the inner web of the bottom longitudinal beam of the frame. Its position is lower than the slider guide hole and located behind and below the support arm, providing a fixed rotation center for the follower boom.

[0096] Dynamic Working Process: When an external load is applied vertically downwards through the bearing interface, the bearing bracket drives the sliding hinge shaft assembly to slide downwards along the slider guide hole; the upper end of the support arm moves downwards with the sliding shaft, while the lower end swings backwards under the constraint of the swing shaft seat, pushing the swing shaft seat to move backwards and downwards; the swing shaft seat pulls the follower arm through the third hinge pin, causing the follower arm to rotate clockwise at a small angle around the fourth hinge pin; the linear guidance of the slider guide hole decomposes the vertical motion of the bearing bracket into the pure linear displacement of the sliding shaft, and the double rocker mechanism formed by the support arm and the follower arm converts the linear displacement into angular swing, so that the load is finally transmitted to the bottom of the frame through the fixed shaft seat, realizing step-by-step distribution and smooth landing. During unloading, the external load is removed, and the mechanism moves in the opposite direction under its own weight or the action of the return spring. The bearing bracket rises, and the support arm and the follower arm swing back. The tapered roller bearings at each hinge point roll synchronously, ensuring that the pin shaft only bears pure torque and radial force, avoiding jamming and wear caused by sliding friction, so that the mechanism maintains low clearance, low damping and long service life even under multiple cyclic loading.

[0097] In some specific embodiments, tapered roller bearings 2.6 are mounted back-to-back in the oscillating hinge assembly and are used to simultaneously bear combined radial and axial loads.

[0098] In this embodiment, the transverse through holes inside the two side walls of the fork-shaped swing shaft seat of the swing hinge assembly expand in a stepped manner from the outside to the inside, forming two coaxial bearing cavities with different diameters. The outer bearing cavity has a smaller diameter and is used to accommodate the outer ring end face of the first tapered roller bearing; the inner bearing cavity has a larger diameter and is used to accommodate the outer ring end face of the second tapered roller bearing. Positioning bosses are machined at the bottom of both bearing cavities, respectively engaging with the outer ring end faces of the corresponding bearings to achieve axial positioning. The first and second tapered roller bearings are arranged back-to-back: the large end face of the outer ring of the first bearing faces outward, and the large end face of the outer ring of the second bearing faces outward. The small end faces of their outer rings are far apart within the stepped holes, forming a back-to-back span. The inner rings of both bearings are jointly fitted onto the second hinge pin, with the large end faces of the inner rings facing each other, and the small end faces of the inner rings engaging with the shoulder of the second hinge pin and the outer locking nut, respectively. Pre-tightening the nuts brings the two inner rings closer together, thereby establishing a controllable axial preload between the outer and inner rings. After the second hinge pin passes through the lower end hole of the support arm, its two ends extend into the bearing cavities on both sides of the swing shaft seat. First, the first tapered roller bearing is pressed in, then the second tapered roller bearing is pressed in from the outside. Finally, the lock nut is screwed in from the outside and a specified torque is applied to complete the back-to-back pairing installation. This back-to-back configuration allows the swing shaft seat to withstand the radial force from the support arm while balancing the bidirectional axial force generated by the swing of the support arm: when the support arm swings forward, the axial force causes the swing shaft seat to tend to move outward, at which time the first tapered roller bearing bears the main axial load; when the support arm swings backward, the axial force is in the opposite direction, and the second tapered roller bearing bears the main axial load. During dynamic operation, the load transfer mechanism is subjected to external impacts. The lower end of the support arm not only transmits the vertically downward radial force, but also continuously generates alternating axial component force due to changes in the swing angle. The tapered roller bearings installed back to back distribute the radial force evenly to the rolling element row through the line contact between the rolling elements and the inner and outer raceways. At the same time, the moment rigidity formed by the back-to-back span resists the overturning moment caused by the axial component force, so that the swing shaft seat always maintains a stable rotation center, avoids the swing hinge shaft assembly from jamming due to axial movement or tilting, and ensures that the load is smoothly transferred to the follower arm and finally unloaded to the bottom of the frame.

[0099] In some specific embodiments, the load transfer mechanism 2 further includes a labyrinth seal sleeve 2.9, which is sleeved on the outer periphery of the swing hinge assembly.

[0100] In some specific embodiments, the sliding hinge shaft assembly includes a stepped cylindrical sliding hinge shaft 2.4, whose smooth shaft section is interference-fitted with the inner ring of the tapered roller bearing 2.6, and whose threaded section is axially locked by a lock nut; a hollow cylindrical copper alloy bushing is press-fitted into the guide hole of the slider of the frame 1 and slides in fit with the sliding hinge shaft 2.4; a flat key 2.5 is embedded between the keyway of the sliding hinge shaft 2.4 and the hub of the support arm 2.8 for transmitting torque; a sliding hinge shaft bearing end cap 2.7 is fixed to the outside of the frame 1 and presses against the outer ring of the bearing for providing axial positioning of the bearing; a sliding hinge shaft oil cup 2.2 is screwed into the hollow cylindrical copper alloy bushing 2.3 to supply grease lubrication to the sliding surface, thereby forming a sliding-rotation compound kinematic pair;

[0101] The sliding hinge shaft assembly is located between the left and right web plates of the support bracket and the upper beam of the frame. Its core component is a stepped cylindrical sliding hinge shaft. This shaft consists of three coaxial cylindrical sections: the outermost is a threaded section, the middle is a smooth shaft section, and the innermost is a shoulder section. The diameter of the smooth shaft section matches the nominal size of the inner ring of the tapered roller bearing. The two are press-fitted together on a hydraulic press, with the end face of the bearing inner ring abutting against the end face of the shoulder, achieving both radial and axial positioning. The threaded section extends outward from the frame and is screwed onto a lock nut, with a specified torque applied to press the nut end face against the other side of the bearing inner ring, completing the axial locking of the bearing inner ring. The slider guide hole of the upper beam of the frame is a circular hole that penetrates the wall plate. A hollow cylindrical copper alloy bushing is first press-fitted into the hole. The outer circle of the bushing is interference-fitted with the guide hole, and the inner hole is slidingly fitted with the optical shaft section of the sliding hinge shaft, forming a micron-level clearance. This ensures smooth upward and downward sliding while preventing lateral swaying. A spiral oil groove is opened at the upper end of the inner hole of the bushing, and the oil groove communicates with the radial oil hole of the bushing. A flat key is embedded between the keyway of the optical shaft section of the sliding hinge shaft and the keyway of the support arm hub. A gap is left between the top of the key and the bottom of the keyway, and the side of the key is transitionally fitted with the hub keyway. When the support arm is subjected to swing load, the torque is transmitted to the sliding hinge shaft through the flat key, preventing the inner ring of the bearing from bearing additional torque. The outer side of the frame is equipped with a sliding hinge shaft bearing end cover, which is fastened to the frame wall plate by circumferentially distributed screws. The inner flange of the end cover extends into the guide hole of the slider and presses against the outer ring end face of the tapered roller bearing. An adjusting shim is added between the outer end and the frame wall plate to precisely control the axial clearance of the bearing outer ring. A dustproof labyrinth ring is provided in the center of the end cover to maintain a small gap with the threaded section of the sliding hinge shaft and prevent dust from entering the bearing. The outer cylindrical surface of the hollow cylindrical copper alloy bushing is radially drilled and tapped. The oil cup of the sliding hinge shaft is screwed into the hole. The inner cavity of the oil cup is connected to the oil hole of the bushing. When the external load reciprocates, the oil cup is manually screwed at specified intervals. The grease enters the spiral oil groove through the oil hole and is evenly coated on the sliding surface during the sliding motion of the sliding hinge shaft to form a continuous oil film.

[0102] The dynamic working process is as follows: The external load is transmitted downward through the bearing bracket. The bearing bracket drives the sliding hinge shaft to slide back and forth vertically within the copper alloy bushing, while the support arm swings around the sliding hinge shaft. The sliding hinge shaft slides up and down with the bearing bracket and rotates relative to it within the hub of the support arm, forming a sliding-rotational composite motion. The inner ring of the tapered roller bearing moves synchronously with the sliding hinge shaft, while the outer ring is fixed by the bearing end cover. The rolling elements roll between the inner and outer ring raceways, converting the combined radial and axial load of the support arm into rolling friction. The flat key continuously transmits torque, and grease is continuously replenished to the sliding surface, keeping the sliding pair in a low-friction, low-wear state. The locking nut and the bearing end cover together maintain the bearing preload and prevent axial movement, thus achieving smooth coupling of sliding and rotational motion throughout the entire load transmission process, ensuring that the load is stably transmitted step by step to the bottom of the frame.

[0103] The swing hinge shaft assembly includes a hollow stepped shaft-shaped swing hinge shaft 2.10, whose outer ring rope groove is used for winding the middle section of the flexible transmission component 4, and the bearing positions at both ends are interference-fitted with the inner ring of the tapered roller bearing 2.6. The end face threaded hole is fixed with the shaft end baffle; a two-half rope groove retaining ring is locked to both sides of the rope groove by screws to prevent the flexible transmission component 4 from dislodging; a spacer sleeve is fitted between the inner rings of the two bearings to ensure the preload distance; a swing hinge shaft sealing ring is pressed into the inner hole of the swing hinge shaft end cover and forms a rotary dynamic seal with the journal; and a swing hinge shaft locking nut is used to axially press the inner ring of the bearing, the support arm 2.8 and the hub of the follower arm 2.11, thereby forming a composite hinge shaft unit that integrates the three functions of load bearing, swinging and rope winding.

[0104] The swing hinge shaft assembly is located between the lower end of the support arm and the front end of the follower arm. Its core is a hollow, stepped, shaft-shaped swing hinge shaft. From the center outwards, the outer circumference of this swing hinge shaft features a rope groove, bearing seats, a journal, and threaded holes on the end face. The rope groove is located in the middle section of the shaft, with a rounded bottom and a width slightly larger than the diameter of the flexible transmission component, allowing for two to three continuous turns of the flexible transmission component. On each side of the rope groove is an annular recess. Two half-section rope groove retaining rings are locked to the recesses by circumferentially distributed countersunk screws. The inner edge of the retaining rings protrudes above the sidewall of the rope groove, forming a lip to prevent the flexible transmission component from dislodging during sudden load changes. The bearing seats are located adjacent to both sides of the rope groove. The diameter of the bearing seats matches the nominal size of the inner ring of the tapered roller bearing. The two are press-fitted together on a hydraulic press, with the end face of the bearing inner ring abutting against the shoulder of the rope groove sidewall, achieving both radial and axial positioning. A spacer sleeve is fitted between the two bearing seats. The outer diameter of the spacer sleeve is smaller than the outer diameter of the bearing inner ring, and its inner diameter is clearance-fitted with the outer circle of the swing hinge shaft. Its length is determined by calculation based on the design preload. After installation, its two end faces are respectively in contact with the end faces of the two bearing inner rings to ensure a constant back-to-back span between the bearings. The journals at both ends of the swing hinge shaft are used to install seals. The end caps of the swing hinge shaft are fixed to the outer end faces of the support arm and the follower arm with screws. A swing hinge shaft sealing ring is press-fitted into the inner hole of the end cap. The lip of the sealing ring is in interference contact with the surface of the journal to form a rotary dynamic seal, preventing dust and moisture from entering the bearing cavity. Each end face of the swing hinge shaft has a set of threaded holes. The shaft end baffle is fastened to the end face with an internal hexagon screw. The outer edge of the baffle covers the end face of the bearing inner ring, providing secondary axial restraint. The locking nut of the swing hinge shaft is screwed onto the thread at the shaft end. The end face of the nut presses the inner ring of the outer bearing, the hub of the support arm, the spacer sleeve, the inner ring of the inner bearing, and the hub of the follower arm in sequence. Finally, it is tightened to the specified torque, so that the above parts form a gapless axial pressing assembly, thereby constituting a composite hinge shaft unit that integrates the three functions of bearing, swinging, and rope winding.

[0105] The dynamic working process is as follows: The external load is transmitted to the swing hinge shaft rope groove via the flexible transmission component. The radial clamping force and tangential tension generated by the winding act together on the middle section of the shaft, forming a concentrated load. This load is transmitted to the inner ring of the tapered roller bearing through the bearing seat, diffused to the outer ring through the rolling elements, and then transmitted to the two arms through the hubs of the support arm and the follower arm, thus realizing the load-bearing function. At the same time, the support arm and the follower arm swing relative to each other due to load changes. The swing hinge shaft rotates synchronously in the inner rings of the two bearings. The rope groove slowly releases or retracts the flexible transmission component as the shaft rotates, realizing the swing function. The flexible transmission component is always constrained by the retaining ring lip in the rope groove to prevent lateral slippage; the spacer sleeve maintains the bearing preload distance to avoid relative tilting of the inner and outer rings; the sealing ring continuously sweeps across the journal to form a dynamic oil film, ensuring that the grease does not leak and impurities do not enter; the locking nut and the shaft end baffle together maintain the axial clamping force to prevent the inner ring of the bearing from loosening under alternating loads. Thus, on the same swing hinge shaft, the three motion modes of bearing, swinging and rope winding are coupled in real time, and the load is smoothly diverted to the support arm and follower arm, and finally transmitted to the bottom of the frame, realizing efficient and low-wear composite motion transmission.

[0106] The fixed hinge shaft assembly includes: a solid stepped shaft-shaped fixed hinge shaft 2.12, whose flange is rigidly fixed to the bottom support of the frame 1 by bolts; the small end bearing position is interference-fitted with the inner ring of the tapered roller bearing 2.6 in the hub of the follower arm 2.11; a spacer ring, fitted between the two follower arm hubs to ensure axial spacing; a fixed hinge shaft bearing end cap, fixed to the outside of the support and pressing the outer ring of the bearing; a labyrinth seal ring, press-fitted into the inner hole of the fixed hinge shaft bearing end cap and non-contactly engaged with the outer circle of the hub to form a dustproof labyrinth; a fixed hinge shaft locking nut 2.13, screwed onto the shaft end to axially press the inner ring of the bearing and the hub; and a fixed hinge shaft oil cup screwed into the end cap to inject grease into the bearing cavity for lubrication, thus forming an integrated fixed-rotation-sealing-lubrication hinge shaft unit.

[0107] The fixed hinge shaft assembly is located inside the bottom longitudinal beam of the frame and consists of a solid stepped shaft. The left end of this fixed hinge shaft is a flange with circumferentially distributed through holes on its surface. High-strength bolts pass through these through holes and are screwed into the corresponding threaded holes of the bottom support of the frame, rigidly connecting the flange to the support to form a fixed end. The middle section of the fixed hinge shaft is the small-end bearing seat, with a diameter matching the nominal size of the inner ring of the tapered roller bearing. The two are press-fitted together on a hydraulic press, with the bearing inner ring end face abutting against the shaft shoulder boss, achieving both radial and axial positioning. The outer ring of the tapered roller bearing is pre-pressed into the inner bore of the follower boom's rear end hub. The hub, along with the bearing, is fitted into the small-end bearing seat, with the hub end face fitting against the bearing inner ring end face. When the two follower arms are installed opposite each other, a spacer ring is fitted in the middle. The outer diameter of the spacer ring is smaller than the outer diameter of the hub, and its inner diameter is clearance-fitted with the small end of the fixed hinge shaft. Its thickness is determined according to the design axial clearance calculation. After installation, its two end faces are respectively in contact with the end faces of the two hubs to ensure that the two follower arms maintain the specified axial distance and prevent them from rubbing against each other during swinging. The bearing end cover of the fixed hinge shaft is fastened to the outer end face of the support by circumferentially distributed hexagonal screws. The flange of the end cover's inner hole extends into the support hole and presses against the bearing outer ring end face. An adjusting shim is added between the outer end and the support to precisely control the axial clearance of the bearing outer ring. The labyrinth seal ring consists of two non-contact annular lips. One is pressed into the inner hole of the bearing end cover of the fixed hinge shaft, and the other is pressed into the outer circle of the hub. The two lips interlock to form a tortuous channel with a channel gap of less than 0.2 mm, forming a dustproof labyrinth to prevent dust and moisture from entering the bearing cavity. The locking nut of the fixed hinge shaft is screwed onto the shaft end thread. The end face of the nut sequentially presses against the outer bearing inner ring, outer hub, spacer ring, inner hub, and inner bearing inner ring. After tightening to the specified torque, a cotter pin is passed through the radial hole of the nut and the transverse hole of the shaft end to prevent loosening, forming a gapless axially pressed assembly. The grease cup of the fixed hinge shaft is screwed into the radial threaded hole on the top of the end cover. The inner cavity of the grease cup communicates with the oil hole of the end cover, and the other end of the oil hole leads directly to the bearing cavity. The grease cup is manually screwed on at specified intervals, and the grease is injected into the bearing cavity through the oil hole, forming a continuous oil film between the rolling elements and the inner and outer ring raceways, realizing the integrated function of fixing, rotating, sealing, and lubricating.

[0108] The dynamic working process is as follows: When the follower boom is subjected to alternating loads from the swing hinge shaft assembly, the load is transmitted through the hub to the inner ring of the tapered roller bearing, diffused through the rolling elements to the outer ring, and finally transmitted to the bottom of the frame through the bearing end cover and support of the fixed hinge shaft, achieving fixed end bearing. During the swinging process, the follower boom reciprocates around the fixed hinge shaft at small angles. The inner ring of the bearing rotates synchronously with the hub, the outer ring is fixed by the end cover, and the rolling elements roll purely between the inner and outer ring raceways, converting sliding friction into rolling friction. The spacer ring maintains a constant axial distance between the two hubs, preventing lateral movement of the hubs during swinging; the labyrinth seal ring's tortuous channel throttles the airflow multiple times, making it difficult for dust and moisture to enter the bearing cavity, while the non-contact structure avoids additional frictional power consumption; the fixed hinge shaft locking nut continuously provides axial preload, eliminating bearing clearance and improving system rigidity; grease is continuously replenished to the bearing cavity, maintaining the oil film thickness between the rolling elements and the raceways, reducing contact stress and wear rate. Therefore, under the premise of complete fixation, the fixed hinge shaft assembly provides a stable rotation center for the follower boom, smoothly transmits alternating loads to the bottom of the frame, and realizes efficient operation of fixed-rotation-sealing-lubrication integration.

[0109] In some specific embodiments, the release locking mechanism 3 includes a mounting base 3.1, which is fixed to one side of the bottom of the frame 1; a symmetrically rotating drum shaft 3.2, which is rotatably supported on the mounting base 3.1 by a deep groove ball bearing 3.5; a normally closed brake 3.3, which is fixed in pairs at both ends of the mounting base 3.1 and holds the shaft ends of the symmetrically rotating drum shaft 3.2; a release locking mechanism key 3.7, which is embedded between the keyway of the symmetrically rotating drum shaft 3.2 and the drum hub to transmit torque; and a shaft end baffle 3.4, which is locked to both ends of the drum shaft by screws. The bearing inner ring is pressed to achieve axial positioning; the spacer 3.6 is sleeved between the bearing positions of the drum shaft and its two ends abut against the bearing inner ring to maintain the bearing spacing and prevent axial movement; the symmetrically rotating drum shaft 3.2 includes: a spiral groove, which is machined in the middle section of the symmetrically rotating drum shaft 3.2 and rotates in opposite directions; the flexible transmission component 4 is wound into the two spiral grooves at both ends to form a bidirectional synchronous winding and unwinding structure; the flexible transmission component 4 is a steel wire rope; after the middle section of the steel wire rope passes through the rope groove of the swing hinge shaft assembly, its two ends extend downward and are fixed into the two spiral grooves of the symmetrically rotating drum shaft 3.2.

[0110] The release and locking mechanism is located on one side of the bottom of the frame and consists of a mounting base, a symmetrically rotating drum shaft, normally closed brakes, a key, shaft end plates, spacers, and spiral grooves. The mounting base is rigidly fixed to the bottom longitudinal beam of the frame with high-strength bolts, forming a rigid support for the entire mechanism. The symmetrically rotating drum shaft is a stepped solid shaft with two spiral grooves machined in opposite directions in the middle section, with a smooth transition section between the two spiral grooves to prevent cross-wearing of the wire rope. Both ends of the drum shaft are rotatably supported in the bearing housing holes of the mounting base by deep groove ball bearings. The outer ring of the bearing is interference-fitted with the housing hole, and the inner ring is interference-fitted with the bearing seat of the drum shaft. Spacers are fitted between the bearing seats of the drum shaft, with their end faces abutting against the end faces of the inner rings of the two bearings, to maintain the bearing spacing and prevent axial movement. The normally closed brakes are fixed in pairs at both ends of the mounting base. The brake discs are fixed to the shaft ends of the drum shaft by a key connection. Under the action of spring force, the brake calipers normally close and hold the brake discs, providing braking torque. A flat key is fitted between the keyway of the drum shaft and the keyway of the drum hub to transmit torque. The shaft end baffle is locked to both ends of the drum shaft with screws, pressing the inner ring of the bearing to achieve axial positioning.

[0111] The wire rope, acting as a flexible transmission component, winds through the groove of the swing hinge assembly in its middle section, and then extends downwards at both ends, which are respectively fixed in two helical grooves that rotate symmetrically toward the drum shaft. One end of the wire rope is fixed to the starting end of the right-hand helical groove by a pressure plate and bolts, and the other end is fixed to the starting end of the left-hand helical groove in the same way, forming a bidirectional synchronous winding and unwinding structure.

[0112] The dynamic working process is as follows: When the external load is transmitted to the swing hinge assembly via the bearing support, the middle section of the wire rope is stretched, and both ends simultaneously pull the symmetrically rotating drum shaft. Because the two helical grooves rotate in opposite directions, the drum shaft tends to rotate under the tension of the wire rope, but the braking torque provided by the normally closed brake prevents the drum shaft from rotating, keeping the wire rope taut and locking the load. When the load needs to be released, an external control signal energizes and opens the normally closed brake, releasing the braking torque, and the drum shaft begins to rotate under the tension of the wire rope. The right-hand helical groove tightens one end of the wire rope, while the left-hand helical groove simultaneously releases the other end, allowing the wire rope to slide smoothly within the grooves, achieving a uniform descent of the load. During the rotation of the drum shaft, the deep groove ball bearing provides rotational support, the spacer maintains the bearing spacing to prevent axial movement, the flat key transmits torque, and the shaft end baffle ensures axial positioning. When the load descends to the predetermined position, the normally closed brake is de-energized and closes, re-engaging the brake disc, stopping the drum shaft from rotating, and locking the wire rope again, achieving precise positioning and locking of the load. Throughout the process, the wire rope remains within the spiral groove, and the groove retaining ring prevents the wire rope from dislodging, ensuring safe and reliable transmission.

[0113] In some specific embodiments, the counterweight self-resetting system 5 includes an upper pulley assembly 5.2 and a lower pulley assembly 5.3. The upper pulley assembly 5.2 is fixed to the top of the rear column of the frame 1, and the lower pulley assembly 5.3 is fixed to the bottom of the same column. The upper section of the wire rope 4 passes through the upper pulley assembly 5.2 and the lower section passes through the lower pulley assembly 5.3 to form a closed-loop guide path. The wire rope pressure plate assembly 5.5 is fixed to the top end face of the counterweight block 5.4. The end of the wire rope 4 is clamped and locked by the clamping bolt, realizing a detachable fixed connection between the counterweight block and the flexible transmission component. The adjusting spring 5.1 is attached to the lifting lug of the upper pulley assembly 5.2 at its upper end and the counterweight block 5.4 is suspended at its lower end, so that the counterweight block 5.4 is suspended directly below the upper pulley assembly 5.2 and fixed to the end of the wire rope 4, forming a buffer suspension structure of "upper pulley-spring-counterweight" series connection.

[0114] The counterweight self-resetting system is located in the same longitudinal plane as the rear column of the frame. The upper pulley assembly is rigidly connected to the front extension plate at the top of the column by bolts, with its axis perpendicular to the column axis and the center of the pulley groove aligned with the center line of the column, forming the highest turning point of the closed-loop guide. The lower pulley assembly is also rigidly connected to the inner extension plate at the bottom of the column by bolts, with the center of the pulley groove and the center of the upper pulley assembly's pulley groove remaining on the same vertical plane, forming the lowest turning point of the closed-loop guide. After the upper section of the wire rope is led out from the release locking mechanism, it first wraps horizontally around the upper pulley assembly and then extends vertically downwards; the lower section of the wire rope is led out in the opposite direction from the same release locking mechanism, first wraps horizontally around the lower pulley assembly and then extends vertically upwards. The two sections of the wire rope form an inverted U-shaped closed-loop guide path within the column's internal space.

[0115] The counterweight is a rectangular cast iron block with two vertical T-slots along its thickness. Square nuts are placed in the T-slots for connection to the wire rope pressure plate assembly. The wire rope pressure plate assembly consists of two high-strength aluminum alloy clamping plates and several clamping bolts. The lower clamping plate is welded to the top end face of the counterweight, and the upper clamping plate is fixed to the lower clamping plate by the clamping bolts. The end of the wire rope passes through the wedge-shaped groove between the upper and lower clamping plates. After tightening the clamping bolts, the clamping plates exert lateral compression under the wedge action, firmly clamping the end of the wire rope, thus achieving a detachable and fixed connection between the counterweight and the wire rope.

[0116] The adjusting spring is a cylindrical helical compression spring with a hook at its upper end, which is attached to a lifting lug hole below the upper pulley assembly. The lower end of the spring has a lifting ring, through which a short steel wire rope is threaded. The other end of the short steel wire rope is connected to a lifting lug at the center of the top of the counterweight via a shackle. Thus, the counterweight is suspended directly below the upper pulley assembly by the adjusting spring, and simultaneously fixed to the end of the closed-loop steel wire rope via a steel wire rope pressure plate assembly, forming a series-connected buffer suspension structure of "upper pulley-spring-counterweight".

[0117] The dynamic working process is as follows: When the locking mechanism releases the brake and the load decreases, one side of the wire rope closed-loop path tightens while the other side relaxes. The counterweight accelerates upward under the combined action of its own weight and spring tension, storing gravitational potential energy. The spring is stretched, generating a restoring force proportional to the displacement, forming a flexible buffer for the counterweight and avoiding instantaneous impact. When the load reaches the target position, the locking mechanism re-brakes, the wire rope stops moving, and the counterweight continues to slide slightly upward due to inertia. The spring is further stretched, absorbing the remaining kinetic energy, and then rebounds in the opposite direction, causing the counterweight to oscillate slightly several times before coming to rest at a new equilibrium position. At this time, the restoring force of the spring and the weight of the counterweight reach a new balance, and the wire rope remains taut, preparing for the next reset. If the reset force needs to be adjusted, it can be achieved by increasing or decreasing the number of counterweights or replacing the springs with different stiffnesses, without disassembling the wire rope pressure plate assembly, making maintenance convenient. Throughout the process, the upper pulley assembly and the lower pulley assembly always provide low-friction steering for the wire rope. The closed-loop path ensures that the counterweight moves strictly vertically, avoiding lateral swaying and ensuring smooth reset, low noise, and long service life.

[0118] In some specific embodiments, the one-way limiting component 6 is a rigid stop block, welded to the crossbeam of the frame 1 and located on the opposite side of the swing path of the swing hinge assembly, to prevent reverse swinging.

[0119] The position detection component 7 includes a proximity switch, which is fixed to the top side beam of the frame 1 and faces the sensing surface of the swing hinge assembly; and a control system, which is electrically connected to the proximity switch and is used to control the on / off power of the normally closed brake to achieve automatic high-position locking.

[0120] The one-way limiting component is a rectangular rigid stop block made of wear-resistant alloy steel. Its bottom surface is fully fitted with the upper flange of the frame beam, and it is fully welded around its perimeter with a weld height of not less than six millimeters to ensure that the stop block will not loosen or fall off under impact. The stop block is located on the opposite side of the swing path of the swing hinge assembly, specifically about twenty millimeters behind the vertical line of the swing hinge center. The stop surface is machined into a vertical plane and surface hardened to a Rockwell hardness of 50 or higher to improve impact resistance and wear resistance. When the swing hinge assembly swings backward under external load, the stop block does not interfere with its normal movement. Once the load is released, the swing hinge assembly swings back under the action of the counterweight self-resetting system, and the stop block makes line contact with the rigid boss at the rear edge of the swing hinge assembly, preventing it from continuing to swing in the opposite direction. This achieves one-way mechanical limiting and prevents impact damage caused by inertial overshoot.

[0121] The position detection assembly includes an inductive proximity switch. The proximity switch body is bolted to the lower wing plate of the top side beam of the frame via an L-shaped bracket. An elongated hole is provided at the cantilever end of the bracket for fine-tuning the proximity switch's position, ensuring its sensing surface faces the sensing surface of the swing hinge assembly. The sensing surface is a circular carbon steel target plate welded to the top of the swing hinge assembly, its surface perpendicular to the proximity switch axis. The detection distance between them is adjusted to 80% of the rated operating distance to avoid malfunctions due to vibration or temperature changes. The proximity switch output line is a shielded cable, routed along the inner side of the frame side beam, and enters the control box via a waterproof connector, where it is electrically connected to the control system input module. The core of the control system is a programmable logic controller (PLC). Its output module is connected to the normally closed brake electromagnetic coil via shielded twisted-pair cable, and an emergency stop button and a power failure protection relay are connected in series in the circuit to ensure immediate power-off braking under any abnormal conditions.

[0122] The dynamic working process is as follows: During the load descent phase, the swing hinge assembly swings backward and downward, the sensing surface gradually moves away from the proximity switch, the proximity switch remains open, the control system does not issue any commands, and the normally closed brake remains released, allowing the load to descend at a constant speed. When the load is about to reach the lowest position, the swing hinge assembly begins to swing back under the action of the counterweight self-resetting system, and the sensing surface moves upward and enters the detection range of the proximity switch. After the proximity switch detects the metal target plate, it outputs a high-level signal to the control system. After the internal logic of the control system confirms the validity of the signal through a 50-millisecond delay filter, it immediately cuts off the power to the normally closed brake. The brake spring pushes the brake caliper to grip the brake disc, the drum shaft stops rotating instantly, the wire rope stops unwinding, and the swing hinge assembly is mechanically locked at the current high position. At this time, the one-way limit component also plays a role. If the brake action is slightly delayed, the rigid boss of the swing hinge assembly will hit the stop block, forming a secondary mechanical protection to prevent any reverse swing. When the load needs to be lowered again, the operator issues a release command via the control panel. The control system first briefly energizes the brake for 0.5 seconds to release it, then maintains the energized state, allowing the load to descend again. The proximity switch signal is then disconnected, and the system enters the next cycle. Throughout the process, the proximity switch and control system work together to achieve automatic high-position locking, and the one-way limit component provides mechanical redundancy protection. Together, they ensure that the mechanism will not swing backward or fall from a high position under any operating condition, protecting the equipment and personnel safety.

[0123] Reference Figure 12 The reciprocating excitation method for a stage free-fall scene shown employs the above-mentioned device and performs the following coordinated steps:

[0124] Step 1, Dynamic Load Identification: During the loading stage of the bearing interface 8, the angular displacement change rate of the swing hinge shaft assembly is monitored in real time by the position detection component 7, and the actual load mass signal is automatically generated to correct the brake pre-tightening torque of the release locking mechanism 3, so that the holding torque = load torque × 1 + δ, where δ is a safety margin of 0.02-0.05, and realizes "load adaptive" energy storage retention.

[0125] The specific steps are as follows: Step 1, Dynamic Load Identification: During the loading stage of the bearing interface 8, the proximity switch in the position detection component 7 continuously collects the distance change of the top sensing surface of the swing hinge assembly at a frequency of 1kHz, and sends the analog signal to the high-speed counting module of the control system; the system performs differential calculation on adjacent sampled values ​​to obtain the angular displacement change rate Δθ / Δt. According to the pre-calibrated "angular displacement change rate - load mass" curve, the control software converts the real-time angular velocity into the actual load mass m and generates the corresponding digital signal. Subsequently, the CPU calls the "brake preload torque - load mass" mapping table and calculates the required holding torque T = m·g·r·1+δ through linear interpolation, where r is the drum radius, g is the gravitational acceleration, and δ is a safety margin of 0.02–0.05. The calculation results are converted into a 0–10V analog quantity by the DA module and output to the proportional pressure reducing valve of the brake. This drives the normally closed brake solenoid coil current, which is continuously adjustable within the range of 200–600mA, thus changing the compression of the brake spring and precisely adjusting the static friction torque of the brake to the level of "load torque × 1 + δ". The entire identification and correction cycle is less than 50ms, achieving "load adaptive" energy storage and retention: regardless of whether the loading process is slow hoisting or sudden drop, the system can complete the torque refresh before the swing hinge assembly swings back, ensuring that the wire rope does not slip or the hook does not slip, while reserving the optimal braking energy for the subsequent release stage.

[0126] Step 2, Controllable Acceleration Release: Upon receiving the trigger command, the release locking mechanism 3 gradually releases the brake according to the ramp descent current curve with Δt≤100ms. At the same time, the symmetrical double-rotating drum synchronously releases the wire rope 4, and the counterweight 5.4 rises under the buffer of the adjusting spring 5.1, so that the bearing interface 8 reaches a descent acceleration of 0.85g-0.95g within 0.15-0.35s, and the acceleration fluctuation is <±0.05g, forming a "soft start + quasi-free fall" falling mode.

[0127] This step specifically involves: Step Two, Controllable Acceleration Release: Upon receiving the trigger command, the control system immediately initiates the "Controllable Acceleration Release" subroutine. First, within ≤10ms, the CPU linearly reduces the control current of the proportional pressure reducing valve of the normally closed brake from its rated holding value (corresponding to the maximum braking torque) to zero along a ramp-down curve, with a ramp time Δt ≤100ms. This ensures that the positive pressure between the brake shoes and the brake disc gradually decreases, preventing the wire rope from impacting and vibrating due to instantaneous pressure loss. Simultaneously, the symmetrical double-rotating drum rotates synchronously during the brake release process: the wire rope on the right-hand spiral groove side releases at a constant pitch, while the wire rope on the left-hand spiral groove side tightens synchronously at the same pitch, balancing the axial force of the drum and preventing lateral movement of the drum.

[0128] In the initial stage of wire rope release, the counterweight begins to rise under the buffering effect of the adjusting spring: the spring gradually extends from its initial compressed state, and its restoring force and the weight of the counterweight form a resultant force in opposite directions. This resultant force is transmitted to the bearing interface through the closed-loop wire rope, generating a downward traction force. The control system calculates the actual descent acceleration by real-time acquisition of the angular displacement signal of the proximity switch and compares it with the target curve (0.85g–0.95g) using a PID closed-loop: if the acceleration is below the lower limit, the CPU immediately reduces the slope of the brake current ramp, releasing the braking torque in advance; if the acceleration is above the upper limit, the current is instantaneously increased to apply a small amount of braking and suppress overshoot. The entire adjustment cycle is 20ms, ensuring that the acceleration fluctuation is <±0.05g.

[0129] After an adjustment window of approximately 0.15–0.35 seconds, the load interface can be stabilized in the quasi-free fall acceleration range of 0.85g–0.95g. At this time, the brake current has dropped to zero, the drum rotates completely freely, the counterweight's upward speed reaches its maximum value, and the spring extension is close to its limit. The system enters the "soft start + quasi-free fall" drop mode: the load descends smoothly with a constant acceleration close to but slightly lower than gravity, which eliminates the mechanical impact caused by traditional instantaneous release and reserves controllable kinetic energy for the subsequent buffer positioning stage, achieving a controllable drop with low stress, low noise, and high repeatability throughout the entire process.

[0130] Step 3, Energy Feedback and Recovery: At the end of the descent, the angular velocity sensor at point 5.3 of the sliding wheel assembly detects the upward speed of the counterweight in real time. When the speed is greater than or equal to the set speed threshold, the control system automatically connects to the energy consumption braking unit to convert the kinetic energy of the counterweight into heat energy for consumption, preventing extreme impact and realizing "end-of-line energy feedback braking".

[0131] This step specifically involves: Step 3, Energy Feedback Recovery: When descending to the final 15mm of travel, the angular velocity sensor at the pulley assembly collects the pulley rotation speed in real time at a frequency of 2kHz and converts it into the linear velocity of the counterweight's ascent. When the detected speed is greater than or equal to the set speed threshold (usually corresponding to the counterweight's kinetic energy reaching 10% of its unloaded potential energy), the control system immediately outputs a PWM signal, connecting to the energy-consuming braking unit. This unit consists of an IGBT power module and an aluminum-cased braking resistor. The braking resistor is directly attached to the outer wall of the frame column via thermally conductive silicone, serving as both a heat sink and a structural component. The energy-consuming braking unit has an electromagnetic clutch connected in parallel at the pulley shaft extension end: the clutch's driving plate is fixed to the pulley shaft, and the driven plate is coaxial with the braking resistor fan; the PWM signal causes the clutch to gradually engage, and the pulley shaft drives the fan to rotate, simultaneously converting the remaining kinetic energy of the counterweight into heat energy for discharge through fan resistance and resistor heating effect. The control algorithm employs a speed-current dual closed-loop system: the outer loop uses the measured speed as feedback, while the inner loop uses the clutch coil current. By adjusting the PWM duty cycle from 0% to 100% linearly, the braking torque is increased steplessly, ensuring that the counterweight decelerates smoothly to below 0.05 m / s in the last 10mm, preventing rigid impact to the upper limit. The entire energy feedback process involves no mechanical friction pairs, avoiding the rebound and noise generated by traditional forced braking, achieving "end-of-pipe energy feedback braking." Simultaneously, the resistance temperature rise is ≤40K, and heat is rapidly dissipated through natural convection on the frame columns, allowing the system to complete continuous cyclic operation without additional cooling devices.

[0132] Step 4, No-load self-reset: At the moment the load is removed, the weight of the counterweight 5.4 is flexibly amplified by the adjusting spring 5.1, and drives the steel wire rope through the upper pulley assembly 5.2 to pull the swing hinge assembly back, which drives the crank-slider load transfer mechanism 2 to return to the highest position without power. The return process takes 1.2-1.8s and the end speed is <0.2m / s, completing the "zero external power" self-reset;

[0133] This step is specifically as follows: Step 4, No-load self-reset: The instant the external lifting device disengages from the load-bearing interface, the load mass signal suddenly drops to zero. The control system immediately disengages from all braking interventions, the energy-consuming braking unit disconnects, and the normally closed brake remains in a de-energized release state. The entire drum-wire rope system enters freewheel mode. At this time, the counterweight's own weight generates amplified tension through the adjusting spring: the spring is at its tension limit position, and the stored elastic potential energy begins to be released. Its restoring force is superimposed with the counterweight's weight, forming a combined traction force of approximately 1.3 times the counterweight's own weight. This resultant force, after being deflected by the upper pulley assembly, acts on the upper section of the closed-loop wire rope. The wire rope then pulls the swing hinge assembly to swing back and upward. During the swing, the rope groove of the swing hinge assembly simultaneously winds up the wire rope, allowing the drum to rotate in the opposite direction with zero resistance, preventing rope slack or tangling.

[0134] The crank-slider load transfer mechanism, pulled by a steel wire rope, uses a sliding hinge assembly as the slider, and a support arm and follower arm to form a crank, creating a powerless crank-slider kinematic chain. In the initial stage of the return stroke, the counterweight has the greatest acceleration, while the spring tension gradually decreases. As the swing hinge assembly approaches its highest point, the transmission angle of the crank-slider mechanism decreases, naturally reducing the system speed and achieving automatic deceleration. The entire return stroke takes approximately 1.2–1.8 seconds. At the end, a one-way limit assembly provides a final mechanical stop, ensuring the swing hinge assembly stops accurately at its highest position. At this point, the counterweight is suspended again directly below the upper pulley assembly, the spring is adjusted back to its initial compression, and all system components return to their standby state. The final velocity is suppressed to below 0.2 m / s, with no impact or rebound. The entire process requires no external power, relying solely on the counterweight's own weight and the spring's potential energy to achieve "zero external power" self-recovery, preparing for the next loading cycle.

[0135] Step 5, Dead Zone Avoidance and Relocking: During the swing back, the one-way limit component 6 prevents the swing hinge component from crossing the dead point of the four-bar linkage; when the position detection component 7 identifies that the swing back angle θ≤±1°, it immediately cuts off the power and tightens the brake to maintain the torque restored to the initial pre-tightening torque, and enters the preparation state for the next cycle.

[0136] This step specifically involves: Step 5, Dead Zone Avoidance and Relocking: During the swing-back phase, when the crank-slider-four-bar linkage approaches its highest position, the support arm and follower arm tend to be collinear, forming a classic dead zone with a transmission angle close to zero. The rigid stop surface of the one-way limit component is precisely set at a mechanical position 1.8° before the dead zone, with the welding height consistent with the height of the rear edge boss of the swing hinge assembly. When the mechanism swings back to this position, the boss and the stop surface make line contact, forcibly preventing further swing-back and ensuring that the four-bar linkage cannot cross the dead zone, thereby completely avoiding the risk of inability to lock or secondary forward movement caused by dead zone slippage.

[0137] Meanwhile, the position detection component continuously monitors the swing angle: when the sensing surface enters the detection range of the proximity switch, and the measured swing angle θ ≤ ±1° (relative to the theoretical highest point), the control system completes signal confirmation within 5 ms and immediately cuts off the power to the normally closed brake. The brake spring quickly pushes the brake caliper to grip the brake disc, restoring the initial preload torque set in step one. At this time, the drum is instantaneously locked, the wire rope tension is maintained by the brake, and the load transmission mechanism is stable at the highest position; the system timer is reset to zero, each sensor returns to its initial sampling state, and the entire machine enters the preparation stage for the next cycle. The entire dead zone avoidance and relocking process is performed without manual intervention. The mechanical limit and electric brake provide double protection, ensuring that the repeatability accuracy of each swing endpoint is ≤0.5 mm, achieving highly reliable, debugging-free continuous operation.

[0138] By adopting the above-disclosed technical solution of this invention, the following beneficial effects are obtained:

[0139] Through a three-step coupling of "load identification - ramp release - closed-loop acceleration control", the system achieves "human-like" soft release under heavy load conditions for the first time in a pure mechanical-hydraulic hybrid architecture. On the one hand, it reduces the peak impact acceleration by more than 90%, significantly reducing the instantaneous dynamic load coefficient of the wire rope, drum and frame, and extending fatigue life by 3 to 5 times. On the other hand, it controls the standard deviation of the release process within ±0.05g, so that different mass loads can obtain a consistent descent curve, providing a predictable kinetic energy benchmark for subsequent buffer positioning, significantly improving operational safety, repeatability and maintenance cycle, and has industrial application value of energy saving, low noise and no debugging required.

[0140] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A self-restoring reciprocating excitation device, characterized by, The device comprises: a rack (1) fixed to the ground and provided with a vertical sliding block guide hole; a load transmission mechanism (2) installed inside the rack (1) and in sliding fit with the sliding block guide hole; a release locking mechanism (3) fixed to one side of the rack (1) and located below the load transmission mechanism (2); a flexible transmission member (4) with the middle section thereof hung around the swing output end of the load transmission mechanism (2) and the two ends thereof extended downward to the release locking mechanism (3) and woundly connected therewith; a counterweight self-resetting system (5) hung behind the rack (1) and forming a closed loop with the release locking mechanism (3) through the flexible transmission member (4); a one-way limiting assembly (6) fixed to the crossbeam of the rack (1) and located on the reverse side of the swing path of the load transmission mechanism (2); a position detection assembly (7) fixed to the top of the rack (1) and in sensing fit with the swing output end of the load transmission mechanism (2); a load bearing interface (8) provided at the top end of the load transmission mechanism (2) and used for externally connecting a load platform; wherein the load transmission mechanism (2), the release locking mechanism (3) and the counterweight self-resetting system (5) are sequentially connected through the flexible transmission member (4) to form a closed energy loop of energy storage-keeping-instantaneous release-powerless self-recovery.

2. The device according to claim 1, characterized in that: the load transmission mechanism (2) comprises: a load bearing support (2.1) located above the rack (1) and constituting the load bearing interface (8); a sliding hinge shaft assembly fixed to the lower end of the load bearing support (2.1) and slidingly embedded in the sliding block guide hole; a support arm (2.8) with the upper end thereof hinged to the sliding hinge shaft assembly and the lower end thereof hinged to a swing hinge shaft assembly; a follower arm (2.11) with the front end thereof hinged to the swing hinge shaft assembly and the rear end thereof hinged to a fixed hinge shaft assembly fixed to the bottom of the rack (1); a tapered roller bearing (2.6) press-fitted in the hinge holes of the sliding hinge shaft assembly, the swing hinge shaft assembly and the fixed hinge shaft assembly and coaxially arranged with the sliding hinge shaft assembly, the swing hinge shaft assembly and the fixed hinge shaft assembly, respectively.

3. The device according to claim 2, characterized in that: the tapered roller bearings (2.6) are installed in pairs back to back in the swing hinge shaft assembly and used for simultaneously bearing radial and axial combined load.

4. The device according to claim 3, characterized in that: the load transmission mechanism (2) further comprises: a labyrinth seal sleeve (2.9) sleeved on the outer periphery of the swing hinge shaft assembly.

5. The device according to claim 4, characterized in that: the sliding hinge shaft assembly comprises: a stepped round shaft-shaped sliding hinge shaft (2.4) with the optical axis segment thereof in interference fit with the inner ring of the tapered roller bearing (2.6) and the threaded segment axially locked by a lock nut; a hollow cylindrical copper alloy shaft sleeve press-fitted in the sliding block guide hole of the rack (1) and in sliding fit with the sliding hinge shaft (2.4). Flat key (2.5) embedded between the keyway of the sliding hinge shaft (2.4) and the hub of the support arm (2.8) to transmit torque; Sliding hinge shaft bearing end cover (2.7) fixed on the outside of the frame (1) and pressed against the bearing outer ring to provide axial positioning of the bearing; Sliding hinge shaft oil cup (2.2) screwed into the hollow cylindrical copper alloy shaft sleeve (2.3) to supply lubricating oil to the sliding surface, thus forming a sliding-rotating composite motion pair; The swing hinge shaft assembly comprises: Hollow stepped shaft-shaped swing hinge shaft (2.10) with outer ring rope groove for winding the middle section of the flexible transmission member (4), bearing position at both ends for interference fit with the inner ring of the tapered roller bearing (2.6), and end face threaded hole for fixing the shaft end baffle; Two half rope groove retainer rings are locked on both sides of the rope groove by screws to prevent the flexible transmission member (4) from coming out of the groove; Spacing sleeve is sleeved between the inner rings of the two bearings to ensure the pre-tightening distance; Swing hinge shaft sealing ring is pressed into the inner hole of the swing hinge shaft end cover and forms a rotating dynamic seal with the shaft journal; Swing hinge shaft locking nut axially compresses the bearing inner ring, support arm (2.8) and hub of the follower arm (2.11), thus forming a composite hinge shaft unit with the functions of bearing, swinging and rope winding combined into one; The fixed hinge shaft assembly comprises: Solid stepped shaft-shaped fixed hinge shaft (2.12) with flange rigidly connected to the bottom support of the frame (1) through bolts, small end bearing position interference fit with the inner ring of the tapered roller bearing (2.6) in the hub of the follower arm (2.11); Spacing ring is sleeved between the hubs of the two follower arms to ensure the axial spacing; Fixed hinge shaft bearing end cover is fixed on the outside of the support and pressed against the bearing outer ring; Labyrinth sealing ring is pressed into the inner hole of the fixed hinge shaft bearing end cover and non-contact embedded with the outer circle of the hub to form a dustproof labyrinth; Fixed hinge shaft locking nut (2.13) is screwed on the end of the shaft to axially compress the bearing inner ring and the hub; The fixed hinge shaft oil cup is screwed into the end cover to inject lubricating oil into the bearing cavity for lubrication, thus forming a fixed-rotating-sealing-lubrication integrated hinge shaft unit.

6. The device according to claim 5, characterized in that: The release locking mechanism (3) comprises: Mounting base (3.1) fixed to one side of the bottom of the frame (1); Symmetrically rotating drum shaft (3.2) rotationally supported on the mounting base (3.1) by deep groove ball bearings (3.5); Normally closed brake (3.3) fixed on both ends of the mounting base (3.1) and tightly holding the shaft ends of the symmetrically rotating drum shaft (3.2); Release locking mechanism flat key (3.7) embedded between the keyway of the symmetrically rotating drum shaft (3.2) and the drum hub to transmit torque; Shaft end baffle (3.4) locked on both end faces of the drum shaft by screws and pressed against the inner ring of the bearing to achieve axial positioning; Spacer (3.6) is sleeved between the bearing positions of the drum shaft and abuts against the inner ring of the bearing at both ends to maintain the spacing of the bearings and prevent axial movement; The symmetrically rotating drum shaft (3.2) comprises: spiral grooves machined in the middle section of the symmetrically rotating drum shaft (3.2) with opposite rotation directions, and the flexible transmission member (4) is wound in the two sections of spiral grooves to form a bidirectional synchronous winding and unwinding structure; The flexible transmission member (4) is a steel wire rope; The middle section of the steel wire rope is wound around the rope groove of the swing hinge shaft assembly, and the two ends extend downward and are fixed in the two spiral grooves of the symmetrically rotating drum shaft (3.2) respectively.

7. The apparatus of claim 6, wherein: The counterweight self-resetting system (5) comprises: The upper pulley assembly (5.2) is fixed to the top end of the rear column of the frame (1), and the lower pulley assembly (5.3) is fixed to the bottom end of the same column, the upper section of the steel wire rope (4) is wound around the upper pulley assembly (5.2), and the lower section is wound around the lower pulley assembly (5.3) to form a closed loop guiding path; The steel wire rope pressing plate assembly (5.5) is fixed to the top end surface of the counterweight block (5.4) and clamps and locks the end of the steel wire rope (4) through a pressing bolt to achieve detachable fixed connection between the counterweight block and the flexible transmission member; The adjusting spring (5.1) is hung at the upper end of the hanger of the upper pulley assembly (5.2) and is hung at the lower end of the counterweight block (5.4), so that the counterweight block (5.4) is hung below the upper pulley assembly (5.2) and is fixed to the end of the steel wire rope (4) to form a "upper pulley-spring-counterweight" series buffer suspension structure.

8. The apparatus of claim 1, wherein: The one-way limiting assembly (6) is a rigid stopper which is welded to the crossbeam of the frame (1) and is located on the reverse side of the swing path of the swing hinge shaft assembly to prevent reverse swing; The position detection assembly (7) comprises: A proximity switch is fixed to the top side beam of the frame (1) and faces the sensing surface of the swing hinge shaft assembly; A control system is electrically connected with the proximity switch and is used to control the on-off electricity of the normally closed brake to realize automatic locking at a high position.

9. A reciprocating method of triggering a stage free fall scene, characterized in that, The device of any one of claims 1-8 is adopted, and the following synchronous steps are performed: Step one, dynamic load identification: during the loading stage of the bearing interface (8), the angular displacement change rate of the swing hinge shaft assembly is monitored in real time by the position detection assembly (7) to automatically generate an actual load mass signal for correcting the brake pre-tightening torque of the release locking mechanism (3), so that the holding torque = load torque x (1+δ), δ is a safety margin of 0.02-0.05, to realize "load adaptive" energy storage holding; Step two, controllable acceleration release: after receiving the trigger instruction, the release locking mechanism (3) gradually releases the brake according to the slope descending current curve of Δt≤100 ms, and the symmetrically double-rotating drum simultaneously releases the steel wire rope (4), the counterweight block (5.4) rises under the buffer of the adjusting spring (5.1), so that the bearing interface (8) reaches a descending acceleration of 0.85g-0.95g within 0.15-0.35s, and the acceleration fluctuation is <±0.05g, forming a "soft start + quasi-free fall" falling mode; Step three, energy feedback recovery: at the end of the descent, the angular velocity sensor at the lower pulley assembly (5.3) detects the rising speed of the counterweight in real time, when the speed ≥ set speed threshold, the control system automatically accesses the energy consumption brake unit to convert the kinetic energy of the counterweight into heat energy consumption, preventing extreme impact, realizing "end energy feedback brake"; Step four, self-resetting under no load: at the moment of load removal, the weight (5.4) is adjusted by the flexible spring (5.1) to amplify the pulling force, which drives the wire rope through the upper pulley assembly (5.2) to pull the swing hinge shaft assembly back, and drives the crank slider load transmission mechanism (2) to return to the highest position without power, the return process takes 1.2-1.8s and the end speed is <0.2m / s, completing the "zero external power" self-recovery; Step five, dead zone avoidance and relocking: during the return process, the one-way limiting assembly (6) prevents the swing hinge shaft assembly from crossing the four-bar mechanism dead point; when the position detection assembly (7) identifies that the return angle θ≤±1°, the brake is immediately powered off and clamped, the holding torque is restored to the initial pre-tightening torque, and the next cycle is ready.

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