Separable stage system and control method thereof

Abstract

The invention provides a separable stage system and a control method thereof. The separable stage system comprises a track unit. The stage unit is provided with a connecting part, a performance platform, a lifting transmission mechanism and a rotating transmission mechanism; the walking unit is provided with a lifting driving device, a rotating driving device and a coupling locking device; when the walking unit is located at the connecting position relative to the stage unit, the walking unit can be locked and unlocked at the connecting position through the coupling locking device, the lifting adjusting torque can act on the lifting transmission mechanism, and the rotating adjusting torque can act on the rotating transmission mechanism. The space requirement in the performance range is reduced, the wiring problem is eliminated, favorable conditions are provided for flexible translation, maintenance is facilitated, and the noise influence in the performance process is reduced.

Description

Technical Field

[0001] This invention relates to the field of stage equipment technology, specifically to a detachable stage system and its control method. Background Technology

[0002] A sliding stage enables the rapid movement and transformation of stage scenery and props, providing flexible and varied scene switching for performances. As a result, it is widely used in various performance venues, such as theaters, concert halls, and television studios, and is an important tool for enhancing performance effects and improving the audience experience.

[0003] However, existing translational stages also have significant drawbacks, such as: On the one hand, drive motors and transmission mechanisms are usually directly integrated under or inside the stage body and require on-site cabling, resulting in high space requirements, limited usage scenarios, and poor overall flexibility and intelligence.

[0004] On the other hand, since most of them use transmission methods such as chains and friction wheels, the operation is noisy and the positioning accuracy is low, which affects the performance effect.

[0005] On the other hand, the integrated design increases the probability of equipment failure and reduces reliability; at the same time, performances cannot be held during maintenance, and maintenance cannot be carried out during performances, which brings many inconveniences to maintenance and thus increases the cost of use. Summary of the Invention

[0006] The purpose of this invention is to provide a detachable stage system that separates the performance section from the drive section, thereby improving the flexibility and control precision of the performance section, reducing space requirements, and facilitating maintenance.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a detachable stage system, comprising: Track unit; A stage unit mounted on the track unit and moving when driven, the stage unit having a connecting part, a performance platform, a lifting transmission mechanism capable of receiving lifting adjustment torque to drive the performance platform to lift, and a rotation transmission mechanism capable of receiving rotation adjustment torque to drive the performance platform to rotate. A walking unit is mounted on the track unit and is capable of moving on its own. The walking unit has a lifting drive device that provides lifting adjustment torque, a rotation drive device that provides rotation adjustment torque, and a coupling locking device that can connect and disconnect from the connection part of the stage unit. When the walking unit is in the connected position relative to the stage unit, it can be locked and unlocked at that position by the coupling locking device, and the lifting adjustment torque can be applied to the lifting transmission mechanism, and the rotation adjustment torque can be applied to the rotation transmission mechanism.

[0008] Furthermore, the stage unit also includes a base, a lifting device, a rotating device, and a lifting platform. The lifting platform is mounted on the base via multiple lifting devices, and the performance platform is mounted on the lifting platform via the rotating device. The lifting transmission mechanism is connected to the lifting device, and the rotary transmission mechanism is connected to the rotary device.

[0009] Furthermore, the lifting transmission mechanism includes a lifting adjustment transmission shaft system and a synchronous gear set. The synchronous gear set is provided in equal number with the lifting device and the two are connected. All the synchronous gear sets are connected through the lifting adjustment transmission shaft system. One of the synchronous gear sets has an input end that can be connected to the output end of the lifting drive device to receive the lifting adjustment torque.

[0010] Furthermore, the rotary transmission mechanism includes a rotary adjustment transmission shaft system and a transmission gear set, the transmission gear set connecting the rotary device and the rotary adjustment transmission shaft system, and the rotary adjustment transmission shaft system having an input end capable of connecting to the output end of the rotary drive device to receive rotary adjustment torque.

[0011] Furthermore, the rotary adjustment transmission shaft system has a telescopic adjustment section.

[0012] Furthermore, the coupling locking device includes a hook portion and a coupling connection driving device, both of which are hinged. The output end of the coupling connection driving device is hinged to the hook portion to provide a first driving force. The hook portion can move under the action of the first driving force to lock or unlock its connection with the connection portion.

[0013] Furthermore, the coupling locking device also includes a first detector, a second detector for detecting the moving position of the hook part, and a third detector for detecting the relative position of the walking unit and the stage unit; after the hook part moves to the point that it triggers the first detector to generate a first signal, the hook part and the connecting part are in a locked state; after the hook part moves to the point that it triggers the second detector to generate a second signal, the hook part and the connecting part are in an unlocked state; after the walking unit moves to the point that it triggers the third detector to generate a third signal, the relative position between the walking unit and the stage unit is in a connectable position.

[0014] Furthermore, the walking unit includes a movable seat, a walking drive device, and a wheel set; the walking drive device and the wheel set are both mounted on the movable seat, the wheel set forms a rolling engagement with the track unit, the track unit is provided with a rack, and a drive gear is provided on the rotating shaft of the walking drive device, the drive gear meshing with the rack.

[0015] Furthermore, the wheel assembly includes guide wheels A, guide wheels B, and traveling rollers; the track unit includes track A and track B, with two tracks A and one track B located between the two tracks A; the guide wheels A and the upper and lower surfaces of the horizontal plate of track B form a rolling engagement, the guide wheels B and the left and right surfaces of the vertical plate of track B form a rolling engagement, and the traveling rollers form a rolling engagement with track A; the stage unit is capable of moving on track A.

[0016] The present invention also provides a control method for a detachable stage system, wherein the detachable stage system is the aforementioned detachable stage system, comprising: In the first mode, the walking unit and the stage unit are connected and can move together on the track; In the second mode, the walking unit is separated from the stage unit, and the walking unit can move independently on the track; In the third mode, the walking unit and the stage unit are in a power-coupled state, the lifting drive device can drive the performance platform to rise and fall, and the rotation drive device can drive the performance platform to rotate.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1) This invention transforms the traditional integrated sliding stage into a split sliding stage. The stage unit used for performance is designed as a purely mechanical structure, reducing the space requirements within the performance area and eliminating wiring problems, thus providing favorable conditions for its flexible sliding. The walking unit used for driving is designed as an electromechanical integrated structure, and physical connection and power transmission are achieved through connecting devices, which not only facilitates maintenance but also reduces the noise impact during performances.

[0018] 2) This invention achieves lifting and rotation control of the performance platform by coupling two sets of drive devices, providing more reliable conditions and implementation methods for the flexible adjustment of the performance platform.

[0019] 3) The present invention uses a coupling locking device to connect and separate the walking unit and the stage unit, thereby avoiding the walking device from appearing in the performance area and affecting the normal performance. At the same time, the stable movement and precise positioning of the two are achieved by means of tracks, gears and racks, while also reducing noise during movement.

[0020] 4) The lifting transmission mechanism in this invention can realize synchronous lifting under single input end conditions, and the rotation transmission mechanism can realize power transmission when the height changes, so that the performance platform can more reliably complete lifting and rotation operations. Attached Figure Description

[0021] Figure 1 This is a front view of the structure in the connected state of a preferred embodiment of the present invention; Figure 2 yes Figure 1 The diagram shows a top view of the structure in the connected state of Embodiment 1. Figure 3 yes Figure 1 The diagram shows the right view of the structure in the connected state in Embodiment 1. Figure 4 yes Figure 1 A top enlarged view of the connecting device in Embodiment 1 shown; Figure 5 yes Figure 4 Structural sectional view along the AA direction; Figure 6 yes Figure 1 A magnified side view of the walking unit in Embodiment 1 shown; Figure 7 yes Figure 6 View from P direction; Figure 8 yes Figure 7 Sectional view along the BB direction; Figure 9 yes Figure 7 C-axis sectional view; Figure 10 yes Figure 1 The diagram shown is a three-dimensional view of the stage unit in its initial state in Embodiment 1. Figure 11 yes Figure 1 The diagram shows a three-dimensional view of the stage unit in both lifting and rotating states in Embodiment 1. Figure 12 yes Figure 10 A three-dimensional structural diagram of the lifting platform in the stage unit shown; Figure 13 yes Figure 10 A three-dimensional structural diagram of the base in the stage unit shown; Figure 14 yes Figure 1 The diagram shows a top view of the structure after the walking unit and the stage unit are connected in Embodiment 1. Figure 15 yes Figure 1 The top view of the structure after the walking unit and the stage unit are separated in Embodiment 1 is shown.

[0022] Figure label: 1. Track A; 2. Track B; 3. Stage Unit; 4. Traveling Unit; 5. Stage Rollers; 6. Connecting Part; 7. Performance Platform; 8. Base; 9. Lifting Device; 10. Rotating Device; 11. Lifting Platform; 12. Dual-Axis Gearbox; 13. Three-Axis Gearbox; 14. Drive Shaft A; 15. Drive Shaft B; 16. Slewing Bearing; 17. Arc-Shaped Track; 18. Support Wheel; 19. Drive Shaft C; 20. Drive Shaft D; 21. Drive Shaft E; 22. Drive Shaft F; 23. Drive Shaft G; 24. Splined Shaft; 25. Bushing A; 26. Bushing B; 27. Gear Set A; 28. Gear... 29. Gear set B; 30. Gear set C; 31. Gear ring; 32. Universal joint; 33. Moving seat; 34. Travel drive device; 35. Guide wheel A; 36. Guide wheel B; 37. Traveling roller; 38. Main seat; 39. Sub-seat; 40. Rack; 41. Drive gear; 42. Lifting drive device; 43. Rotation drive device; 44. Bushing C; 45. Bushing D; 46. Coupling locking device; 47. Hook connection; 48. Coupling connection drive device; 49. Hinge support; 50. First detector; 51. Second detector; 52. Third detector; 53. Extension seat. Detailed Implementation

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1: As Figures 1 to 15 As shown, the present invention discloses a detachable stage system, including a track unit, a stage unit 3 and a walking unit 4.

[0025] The track unit guides the movement of the walking unit 4 and the stage unit 3 in a straight line. It includes track A1 and track B2. Track A1 uses conventional steel rails of the appropriate type, with two rails installed parallel to each other on the ground, and the laying length is set according to the actual situation. Track B2 uses H-beams of the appropriate type, with one rail installed parallel to each other on the ground between the two tracks A1, and the laying length is set according to the actual situation.

[0026] Stage unit 3 is mounted on track A1 via stage rollers 5 that match track A1, allowing it to move linearly along track A1 when driven. Stage unit 3 includes a connecting part 6, a performance platform 7, a lifting transmission mechanism, and a rotation transmission mechanism. In this example, the lifting and rotation of the performance platform 7 are achieved through two different motion mechanisms.

[0027] Specifically, such as Figures 10 to 13 As shown, stage unit 3 also includes a base 8, a lifting device 9, a rotating device 10, and a lifting platform 11. The base 8, lifting platform 11, and performance platform 7 are all square structures made of steel components. The base 8 moves on track A1 via stage rollers 5 at its bottom and provides a mounting base for the upper components. The lifting device 9 and lifting transmission mechanism are both mounted on the base 8, and the lifting platform 11 is fixedly connected to the end of the lifting rod of the lifting device 9. Four lifting devices 9 are provided, arranged in a square matrix at the four corners of the top of the base 8. The lifting devices 9 are helical lifting devices, meaning they utilize a threaded connection to convert the rotational motion of the input end into the linear motion of the lifting rod.

[0028] In order to achieve synchronous control of the four lifting devices 9, the lifting transmission mechanism connects all the lifting devices 9 in series, that is, the synchronous drive of all the lifting devices 9 is achieved by the lifting adjustment torque acting on the input end of the lifting transmission mechanism.

[0029] like Figure 13 As shown, the lifting transmission mechanism includes a lifting adjustment transmission shaft system and a synchronous gear set. The synchronous gear set is provided in equal numbers to the lifting device 9. Specifically, the synchronous gear set is a bevel gearbox, consisting of one dual-shaft gearbox 12 and three tri-shaft gearboxes 13. The lifting adjustment transmission shaft system includes drive shaft A14 and drive shaft B15. "Dual-shaft" refers to a transmission form with one input shaft and one output shaft, while "tri-shaft" refers to a transmission form with one input shaft and two output shafts. The dual-shaft gearbox 12 is connected to the lifting device 9 located on the left front side, and the three tri-shaft gearboxes 13 are connected to the remaining lifting devices 9. The dual-shaft gearbox 12 on the left side and the tri-shaft gearbox 13 on the same side are connected via drive shaft A14, the two tri-shaft gearboxes 13 on the right side are connected via drive shaft A14, and the two tri-shaft gearboxes 13 at the front side are connected via drive shaft B15. In other words, one output shaft of the tri-shaft gearbox 13 at the front right side serves as the input shaft of the lifting transmission mechanism, receiving the lifting adjustment torque.

[0030] like Figure 10 As shown, the performance platform 7 is mounted on the lifting platform 11 via a rotating device 10. The rotating device 10 is a slewing bearing 16, with its fixed ring installed in the center of the lifting platform 11 and its rotating ring installed in the center of the performance platform 7, thereby achieving relative rotational installation between the performance platform 7 and the lifting platform 11. Since the performance platform 7 can be designed as a platform with a large area according to actual requirements, an arc-shaped track 17 can also be provided to improve its stability during rotation. The diameter of the track 17 is not less than half the length of the performance platform 7. Correspondingly, the lifting platform 11 is provided with support wheels 18, which form rolling support with the surface of the arc-shaped track 17, thereby improving the stability of the performance platform 7 during rotation.

[0031] A rotary transmission mechanism is mounted on the lifting platform 11 and connected to the rotary device 10. A transmission gear set connects the rotary device 10 and the rotary adjustment transmission shaft system. (Example) Figure 12 As shown, the rotary transmission mechanism includes a rotary adjustment transmission shaft system and a transmission gear set. The rotary adjustment transmission shaft system includes transmission shaft C19, transmission shaft D20, transmission shaft E21, transmission shaft F22, transmission shaft G23, spline shaft 24, bushing A25, and bushing B26. The transmission gear set is divided into gear set A27, gear set B28, gear set C29, and gear set D30.

[0032] Drive shaft C19, serving as the input shaft of the rotary transmission mechanism, is installed on the left side of base 8 and is connected to bushing A25 via universal joint 32. Drive shafts D20, E21, F22, and G23 are all mounted on lifting platform 11 and arranged perpendicularly in pairs. The axes of drive shafts D20, E21, and F22 are parallel to the horizontal plane, while the axis of drive shaft G23 is perpendicular to the horizontal plane.

[0033] Drive shafts D20 and E21 are connected via gear set A27, drive shafts E21 and F22 are connected via gear set B28, and drive shafts F22 and G23 are connected via gear set C29. Drive shaft G23 and rotary device 10 are connected via gear set D30. Gear sets A27, B28, and C29 are all bevel gear sets, while gear set D30 is a gear ring 31 set, with the gear ring 31 coaxially mounted on the rotary ring of rotary device 10. Drive shaft D20 is connected to bushing B26 via universal joint 32, and splined shaft 24 connects bushing A25 and bushing B26 to form a telescopic shaft, which, in conjunction with universal joint 32, enables normal torque transmission as height changes. When drive shaft C19 receives rotational adjustment torque, it can drive the performance platform 7 to rotate via a rotary transmission mechanism.

[0034] The walking unit 4 is mounted on track B2 and has self-driving capability, thus enabling it to move on track B2 and drive the stage unit 3 to move synchronously on track A1.

[0035] like Figure 2 As shown, the walking unit 4 has a lifting drive device 42 that provides lifting adjustment torque, a rotation drive device 43 that provides rotation adjustment torque, and a coupling locking device 46 that can be connected to and separated from the connection part 6 of the stage unit 3.

[0036] As a preferred example, such as Figures 6 to 9As shown, the traveling unit 4 also includes a movable seat 33, a traveling drive device 34, guide wheels A35, guide wheels B36, and traveling rollers 37. The traveling drive device 34, guide wheels A35, guide wheels B36, and traveling rollers 37 are all mounted on the movable seat 33. There are four sets of guide wheels A35, each set including one guide wheel at the top and one at the bottom, thus forming a rolling engagement with the upper and lower surfaces of the horizontal plate of the track B2. The function of guide wheels A35 is to restrict the vertical freedom of the traveling unit 4. Similarly, there are four sets of guide wheels B36, each set containing one guide wheel, thus forming a rolling engagement with the left and right surfaces of the vertical plate of the track B2. The function of guide wheels B36 is to restrict the horizontal freedom of the traveling unit 4 to the left and right. That is, through guide wheels A35 and B36, the traveling unit 4 can only move along the length of the track B2. There are two traveling rollers 37, which form a rolling engagement with the track A1, and their function is to provide support. The movable seat 33 includes a main seat body 38 and a secondary seat body 39. Guide wheels A35, guide wheels B36, and a travel drive device 34 are all mounted on the main seat body 38, while travel rollers 37, a lifting drive device 42, and a rotation drive device 43 are all mounted on the secondary seat body 39. In other words, the secondary seat body 39 is closer to the stage unit 3 than the main seat body 38.

[0037] A rack 40 is mounted on track B2, and a drive gear 41 is mounted on the rotating shaft of the walking drive device 34. The drive gear 41 meshes with the rack 40. When the walking drive device 34 is working, the entire walking unit 4 moves along track B2 with the cooperation of the drive gear 41 and the rack 40.

[0038] Both the lifting drive device 42 and the rotating drive device 43 are mounted on the movable base 33. The rotating shaft of the lifting drive device 42 is fitted with a bushing C44, and correspondingly, the input shaft of the lifting transmission mechanism is splined and can be keyed to the bushing C44. The rotating shaft of the rotating drive device 43 is fitted with a bushing D45, and correspondingly, the input shaft of the rotating transmission mechanism is splined and can be keyed to the bushing D45. In other words, the input shaft of the lifting transmission mechanism is coaxially aligned with bushing C44, and the input shaft of the rotating transmission mechanism is coaxially aligned with bushing D45. Therefore, the lifting drive device 42 is located slightly to the left on the movable base 33, and the rotating drive device 43 is located slightly to the right. When the distance between the traveling unit 4 and the stage unit 3 meets the connection requirements, the input shaft of the lifting transmission mechanism is keyed to bushing C44, and the input shaft of the rotating transmission mechanism is keyed to bushing D45.

[0039] As a preferred example, both the lifting drive device 42 and the rotation drive device 43 are geared motors, which can provide larger torque and lower speed, making it easier to control the performance platform 7 stably.

[0040] like Figure 4 and Figure 5 As shown, the coupling locking device 46 connects the walking unit 4 to the stage unit 3, thereby enabling drive control of the stage unit 3. Specifically, the coupling locking device 46 includes a hook part 47 and a coupling connection drive device 48. The hook part 47 is hinged to one end of the sub-base 39 near the stage unit 3 via a hinge support 49. The fixed end of the coupling connection drive device 48 is hinged to the sub-base 39, and its output end is hinged to the hook part 47. The output end of the coupling connection drive device 48 is hinged to the hook part 47 to provide a first driving force. The hook part 47 can move under the action of the first driving force to lock or unlock its connection with the connecting part 6. That is, the connecting part 6 must be provided with a hole or groove for the hook part 47 to connect to. When the hook part 47 moves to a certain position, it will engage in the hole or groove to form a hook.

[0041] like Figure 4 As shown, since confirmation is required after the locking mechanism locks and unlocks before subsequent operations can be performed, the coupling locking device 46, as a preferred example, further includes a first detector 50 and a second detector 51 to confirm its current state. The first detector 50 and the second detector 51 are installed at different positions on the hook portion 47. Alternatively, the first detector 50 is installed on the hook portion 47, and the second detector 51 is installed on the sub-base 39 or the hinge support 49. When the hook portion 47 moves to the point where it triggers the first detector 50 to generate a first signal, it indicates that the hook portion 47 is hooked with the connecting portion 6, and the traveling unit 4 is locked with the stage unit 3, allowing both to perform subsequent control operations. When the hook portion 47 moves to the point where it triggers the second detector 51 to generate a second signal, it indicates that the hook portion 47 is separated from the connecting portion 6. At this time, the traveling unit 4 is unlocked from the stage unit 3, and only the traveling unit 4 can perform subsequent control operations. The coupling connection drive device 48 uses a linear actuator such as a hydraulic cylinder or an electric cylinder.

[0042] like Figure 14 and Figure 15 As shown, since the coupling locking device 46 can only function properly to lock and unlock the two units after the walking unit 4 and the stage unit 3 are at a specific distance / position, in a preferred embodiment, for ease of position detection, the coupling locking device 46 also includes a third detector 52. The third detector 52 is mounted on the sub-base 39 via an extension seat 53 and is used to detect the relative position of the walking unit 4 and the stage unit 3. That is, when the third detector 52 is triggered to generate a third signal, it indicates that the relative position between the walking unit 4 and the stage unit 3 is in a connectable position, at which point a locking operation can be performed to connect and lock the two units.

[0043] As a preferred example, the first detector 50, the second detector 51, and the third detector 52 are limit switches.

[0044] Working principle and process of the present invention During non-performance hours, both the walking unit 4 and the stage unit 3 are located outside the performance area and are connected by a coupling locking device 46. When a performance is about to begin, the walking drive device 34 is activated, causing the walking unit 4 to drive the stage unit 3 towards the performance area. When it reaches its destination, the walking drive device 34 stops. At this time, the coupling locking device 46 remains in its original position, and the performance platform 7 is adjusted to the set height and angle according to the performance requirements. After adjustment, the coupling connection drive device 48 in the coupling locking device 46 is activated, driving the hook part 47 to disengage from the connecting part 6. The walking drive device 34 then reverses direction, driving the walking unit 4 away from the stage unit 3 back to its initial position. Only the stage unit 3 remains within the performance area, thus preventing the presence of the walking unit 4 from affecting the performance. After the performance, the walking unit 4 is activated again to move towards the stage unit 3, and the two are connected again by the coupling locking device 46. Finally, the walking unit 4 drives the stage unit 3 back to its initial position.

[0045] Example 2: Based on the same inventive concept, this example also provides a control method. The detachable stage system is the aforementioned detachable stage system, comprising: In the first mode, the walking unit 4 and the stage unit 3 are connected and can move together on the track.

[0046] In the second mode, the walking unit 4 is separated from the stage unit 3, and the walking unit 4 can move independently on the track.

[0047] In the third mode, the walking unit 4 and the stage unit 3 are in a state of power coupling. The lifting drive device 42 can drive the performance platform 7 to rise and fall, and the rotation drive device 43 can drive the performance platform 7 to rotate.

[0048] It should be noted that the control part in this invention is prior art, and therefore will not be described in detail.

[0049] Any aspects of this invention not described in detail are well-known to those skilled in the art.

[0050] In the description of this invention, it should be understood that the terms "upper," "lower," "left," and "right," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0051] In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0052] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications and equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A detachable stage system, characterized in that: include: Track unit; A stage unit (3) is set on the track unit and moves after being driven. The stage unit (3) has a connecting part (6), a performance platform (7), a lifting transmission mechanism that can accept lifting adjustment torque to drive the performance platform (7) to rise and fall, and a rotation transmission mechanism that accepts rotation adjustment torque to drive the performance platform (7) to rotate. The walking unit (4) is set on the track unit and can move on its own. The walking unit (4) has a lifting drive device (42) that can provide lifting adjustment torque, a rotation drive device (43) that provides rotation adjustment torque, and a coupling locking device (46) that can be connected and separated from the connecting part (6) of the stage unit (3). When the walking unit (4) is in the connected position relative to the stage unit (3), it can be locked and unlocked in that position by the coupling locking device (46), and the lifting adjustment torque can act on the lifting transmission mechanism, and the rotation adjustment torque can act on the rotation transmission mechanism.

2. The detachable stage system according to claim 1, characterized in that: The stage unit (3) also includes a base (8), a lifting device (9), a rotating device (10), and a lifting platform (11). The lifting platform (11) is mounted on the base (8) via multiple lifting devices (9), and the performance platform (7) is mounted on the lifting platform (11) via the rotating device (10). The lifting transmission mechanism is connected to the lifting device (9), and the rotary transmission mechanism is connected to the rotary device (10).

3. A detachable stage system according to claim 2, characterized in that: The lifting transmission mechanism includes a lifting adjustment transmission shaft system and a synchronous gear set. The synchronous gear set is provided in equal numbers with the lifting device (9) and the two are connected. All the synchronous gear sets are connected through the lifting adjustment transmission shaft system. One of the synchronous gear sets has an input end that can be connected to the output end of the lifting drive device (42) to receive the lifting adjustment torque.

4. A detachable stage system according to claim 2, characterized in that: The rotary transmission mechanism includes a rotary adjustment transmission shaft system and a transmission gear set. The transmission gear set connects the rotary device (10) and the rotary adjustment transmission shaft system. The rotary adjustment transmission shaft system has an input end that can connect to the output end of the rotary drive device (43) to receive the rotary adjustment torque.

5. A detachable stage system according to claim 4, characterized in that: The rotary adjustment transmission shaft system has a telescopic adjustment section.

6. A detachable stage system according to claim 1, characterized in that: The coupling locking device (46) includes a hook part (47) and a coupling connection driving device (48). The hook part (47) and the coupling connection driving device (48) are both hinged. The output end of the coupling connection driving device (48) is hinged to the hook part (47) to provide a first driving force. The hook part (47) can move under the action of the first driving force to lock or unlock the connection with the connection part (6).

7. A detachable stage system according to claim 6, characterized in that: The coupling locking device (46) further includes a first detector (50) and a second detector (51) for detecting the moving position of the hook part (47) and a third detector (52) for detecting the relative position of the walking unit (4) and the stage unit (3); after the hook part (47) moves to trigger the first detector (50) to generate a first signal, the hook part (47) and the connecting part (6) are in a locked state; after the hook part (47) moves to trigger the second detector (51) to generate a second signal, the hook part (47) and the connecting part (6) are in an unlocked state; after the walking unit (4) moves to trigger the third detector (52) to generate a third signal, the relative position between the walking unit (4) and the stage unit (3) is in a connectable position.

8. A detachable stage system according to claim 6, characterized in that: The walking unit (4) includes a movable seat (33), a walking drive device (34), and a wheel set; the walking drive device (34) and the wheel set are both mounted on the movable seat (33), the wheel set forms a rolling engagement with the track unit, the track unit is provided with a rack (40), and a drive gear (41) is provided on the rotating shaft of the walking drive device (34), the drive gear (41) meshes with the rack (40).

9. A detachable stage system according to claim 1, characterized in that: The wheel set includes guide wheel A (35), guide wheel B (36) and traveling roller (37); the track unit includes track A (1) and track B (2), there are two tracks A (1) and one track B (2) located between the two tracks A (1); the guide wheel A (35) forms a rolling fit with the upper and lower surfaces of the horizontal plate of track B (2), the guide wheel B (36) forms a rolling fit with the left and right surfaces of the vertical plate of track B (2), and the traveling roller (37) forms a rolling fit with track A (1); the stage unit (3) can move on track A (1).

10. A control method for a detachable stage system, wherein the detachable stage system is the detachable stage system as described in claim 1, characterized in that: include: In the first mode, the walking unit (4) and the stage unit (3) are connected and can move together on the track; In the second mode, the walking unit (4) is separated from the stage unit (3), and the walking unit (4) can move independently on the track; In the third mode, the walking unit (4) and the stage unit (3) are in a power coupling state, the lifting drive device (42) can drive the performance platform (7) to rise and fall, and the rotation drive device (43) can drive the performance platform (7) to rotate.

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