CN110546476A - Folding equipment - Google Patents
Folding equipment Download PDFInfo
- Publication number
- CN110546476A CN110546476A CN201880017344.XA CN201880017344A CN110546476A CN 110546476 A CN110546476 A CN 110546476A CN 201880017344 A CN201880017344 A CN 201880017344A CN 110546476 A CN110546476 A CN 110546476A
- Authority
- CN
- China
- Prior art keywords
- folding
- carrier
- arm
- force application
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
- Shaping Of Tube Ends By Bending Or Straightening (AREA)
Abstract
A folding apparatus comprising: the folding device comprises a bearing part (1), a folding part (2) and a mounting part (3), wherein the bearing part (1) and/or the folding part (2) are/is arranged on the mounting part (3); the bearing part (1) is used for limiting the position of the carrier (100), and at least one machine arm can be arranged on the carrier (100); the folding part (2) acts on the machine arm on the carrier (100) to fold the machine arm. The folding equipment is beneficial to improving the accuracy and the testing efficiency of the folding test of the machine arm.
Description
The technical scheme disclosed by the embodiment of the invention relates to folding equipment.
The foldable arms on the carrier generally require the application of elastic elements. In practical application, the aging degree, the working performance and the like of the parts of the horn including the elastic element need to be tested by repeatedly folding the horn on the carrier.
In the process of researching the embodiment of the invention, the inventor finds that in the prior art, when the horn on the carrier is folded, the horn on the carrier is folded manually, the folding angle and the force of the horn are unbalanced easily in the folding mode, and the accuracy of the test is affected by an excessively large folding angle and an excessively small folding angle. In addition, in the test, the folding times of the machine arm are counted by manual counting, so the counting efficiency is low.
Disclosure of Invention
The folding equipment disclosed by the embodiment of the invention aims to solve the following technical problems in the prior art: when the horn on the carrier is folded, the horn on the carrier is folded manually, and the problems of unbalanced folding angle, poor compatibility and low folding efficiency are easy to occur.
One or more embodiments of the present invention disclose a folding apparatus for folding a foldable horn, including: the folding device comprises a bearing part, a folding part and a mounting part, wherein the bearing part and/or the folding part are/is mounted on the mounting part; the bearing part is used for limiting the position of a carrier, and at least one machine arm can be arranged on the carrier; the folding part acts on the horn on the carrier so that the horn folds.
In one or more of the present embodiments, the folding section comprises at least one first folding module and at least one second folding module; the first folding module acts on the machine arm on the carrier in a linear motion track, so that the machine arm completes a first folding action; and the second folding module acts on the machine arm on the carrier in a curve motion track, so that the machine arm finishes a second folding action.
In one or more of the embodiments of the present invention, the folding portion further includes one or more sensors, and the sensors are configured to sense the arms and/or the first folding module and/or the second folding module on the carrier and trigger the first folding module and/or the second folding module to act on the arms on the carrier.
In one or more of the embodiments of the invention the first folding module comprises: the device comprises a first power part, a first control part connected with the first power part and a first force application part connected with the first power part; the first control part controls the first power part to drive the first force application part to push the machine arm on the carrier, so that the machine arm on the carrier completes a first folding action.
In one or more embodiments of the present invention, the first power portion includes at least one pen-shaped cylinder, and the first force application portion includes one or more supporting portions for supporting the arm and an adapter portion connected to the first power portion; the abutting part is detachably arranged on the switching part.
In one or more of the embodiments of the present invention, the second folding module includes: the second power part, a second force application part connected with the second power part and a second control part connected with the second power part; the second control part controls the second power part to drive the second force application part to push the machine arm on the carrier, so that the machine arm on the carrier completes a second folding action.
In one or more of the embodiments of the present invention, the second power part includes at least one revolving cylinder, and the second force application part includes at least one force application mechanism, and the force application mechanism is coupled to the revolving cylinder.
In one or more embodiments of the present invention, the carrier includes a carrier and a position-limiting portion mounted on the carrier, the carrier is detachably mounted on the mounting portion, and the position-limiting portion is used for mounting the carrier.
In one or more of the embodiments of the present invention, a support portion for supporting the carrier is installed or formed on the carrier plate, and the support portion prevents the carrier from sliding during the folding process of the arm.
In one or more of the embodiments of the present invention, the folding apparatus further includes a counting device for counting the number of times of folding, the counting device being mounted on the mounting portion.
Compared with the prior art, the technical scheme disclosed by the embodiment of the invention mainly has the following beneficial effects:
the folding equipment provided by the embodiment of the invention can be compatible with carriers of different specifications by replacing different bearing parts, and is beneficial to the folding equipment to fold the machine arms of different specifications. When the folding part folds the horn on the carrier, the bearing part can limit the position of the carrier, so that the carrier is not easy to shift in the process of folding the horn, and the balance of folding angles is favorably realized. The folding part acts on the horn on the carrier repeatedly, so that the horn can be folded repeatedly and uniformly, and the folding efficiency of the horn is improved.
FIG. 1 is a configuration diagram of a folding apparatus in an embodiment of the present invention;
FIG. 2 is a schematic view of a carrier, a first arm, and a second arm in accordance with an embodiment of the present invention;
FIG. 3 is an exploded view of the folding apparatus in an embodiment of the present invention;
FIG. 4 is a bottom view of the folding apparatus in an embodiment of the present invention;
FIG. 5 is another exploded view of the folding apparatus in an embodiment of the present invention;
FIG. 6 is a top view of the folding apparatus with a carrier attached in accordance with an embodiment of the present invention;
fig. 7 is a schematic view of the carrier mounted on the carrying portion according to the embodiment of the present invention.
| 1 | Bearing part | | Connecting piece | ||
| 2 | Folding part | | Sliding plate | ||
| 3 | Mounting part | | Mounting hole | ||
| 4 | |
214 | |
||
| 10 | |
22 | |
||
| 20 | |
221 | The |
||
| 100 | Carrier | C1 | First rotary cylinder | ||
| 101 | A first pressing part | C2 | Second |
||
| 102 | Second pressing part | 222 | A |
||
| 11 | Support plate | D1 | |
||
| 111 | Hand screw | D2 | Air inlet |
||
| 12 | Supporting part | D3 | Air outlet |
||
| 121 | First supporting |
223 | Second |
||
| 122 | Second support plate | E1 | First |
||
| 13 | Limiting part | E11 | First rotating |
||
| 131 | Groove part | E12 | |
||
| 132 | Clamping hook | E13 | Second rotating |
||
| 21 | First folding module | E14 | Poke rod | ||
| 211 | A first power part | E2 | Second force application mechanism | ||
| 212 | A |
224 | Base seat | ||
| 213 | A first |
2241 | Second circular through hole | ||
| A | Abutting |
2242 | Regulating block | ||
| A1 | |
31 | First curved strip-shaped through hole | ||
| A11 | Strip- |
32 | Second curved through-hole |
| | Push rod | 33 | Straight through hole | ||
| B | Switching part |
In order to facilitate an understanding of the embodiments of the present invention, the embodiments of the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. Embodiments of the invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the invention belong. The terminology used herein in the description of the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention. The terms "first", "second", and the like in the claims, the description, and the drawings of the specification of the present application are used for distinguishing between different objects and not for describing a particular order. The folding devices described in the detailed description are only preferred embodiments and are not all possible embodiments of the invention.
The folding device in the embodiment of the invention is used for folding the foldable machine arm. A folding apparatus according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, fig. 1 is a configuration diagram of a folding apparatus in an embodiment of the present invention, fig. 2 is a schematic diagram of a carrier 100, a first horn 10, and a second horn 20 in an embodiment of the present invention, fig. 3 is an exploded view of the folding apparatus in an embodiment of the present invention, fig. 4 is a bottom view of the folding apparatus in an embodiment of the present invention, and fig. 5 is another exploded view of the folding apparatus in an embodiment of the present invention.
The folding apparatus includes: a carrying part 1, a folding part 2 and a mounting part 3. In this embodiment, the carrying portion 1 and the folding portion 2 are both mounted on the mounting portion 3.
The carrying part 1 is used for limiting the position of a carrier, and at least one machine arm can be arranged on the carrier. The carrier can be an unmanned aerial vehicle, an unmanned ship and other devices which can be provided with a horn. The folding device can be compatible with carriers of different specifications by replacing different bearing parts 1, thereby being suitable for the machine arms of different specifications. When the folding part 2 folds the machine arm on the carrier, the bearing part 1 can limit the position of the carrier, so that the carrier is not easy to deviate in the process of folding the machine arm, and the balance of folding angles is favorably realized. The folding part 2 acts on the machine arm on the carrier repeatedly, so that the machine arm can be folded repeatedly and uniformly, and the folding efficiency of the machine arm is improved.
As illustrated in fig. 2, the carrier 100 is mounted with a first horn 10 and a second horn 20. The inside of the carrier 100 is hollow, and a locking groove (not shown) and/or a locking hook (not shown) are formed in the hollow inside. A first pressing portion 101 and a second pressing portion 102 are formed on one surface of the carrier 100 facing the carrier 1. The first pressing portion 101 is located at one end of the carrier 100, and the second pressing portion 102 is located at the other end of the carrier 100. In this embodiment, the first arm 10 and the second arm 20 are mounted on two sides of the carrier 100 near the second pressing portion 102.
One surface of the first pressing portion 101 facing the bearing portion 1 is an inclined surface, and specifically, the thickness of the first pressing portion 101 gradually increases from a direction away from the second pressing portion 102 to a direction close to the second pressing portion 102. One surface of the second pressing portion 102 facing the bearing portion 1 is an inclined surface, and specifically, the thickness of the second pressing portion 102 gradually increases from the direction away from the first pressing portion 101 to the direction close to the first pressing portion 101.
As illustrated in fig. 3, the bearing part 1 includes: a carrier plate 11, a support part 12 and a limiting part 13.
The carrier plate 11 is detachably mounted on the mounting portion 3. In this embodiment, the carrier plate 11 further includes one or more hand screws 111. The mounting portion 3 is formed with a screw hole (not shown) to be engaged with the hand screw 111. The carrier plate 11 can be fixed to or removed from the mounting portion 3 by tightening or loosening the hand screw 111.
The supporting portion 12 is mounted on the carrier plate 11, in this embodiment, the supporting portion 12 may be integrally formed on the carrier plate 11, or mounted on the carrier plate 11 as an independent part. The support part 12 includes a first support plate 121 and a second support plate 122.
The lower surface of the first support plate 121 is attached to the carrier plate 11. The upper surface of the first supporting plate 121 is used for supporting the carrier and is an inclined surface, and specifically, the height of the first supporting plate 121 gradually decreases from a direction away from the second supporting plate 122 to a direction close to the second supporting plate 122. The lower surface of the second supporting plate 122 is attached to the carrier plate 11. The upper surface of the second supporting plate 122 is used for supporting the carrier and is an inclined surface, and the height of the second supporting plate 122 gradually decreases from a position far away from the first supporting plate 121 to a position close to the first supporting plate 121. The upper surface of the first support plate 121 is attached to a surface of the first pressure support part 101 facing the bearing part 1, so that a resistance is generated between the first support plate 121 and the first pressure support part 101 to prevent the first pressure support part 101 from sliding on the upper surface of the first support plate 121. The upper surface of the second support plate 122 is attached to a surface of the second pressing portion 102 facing the carrying portion 1, so that a resistance is generated between the second support plate 122 and the second pressing portion 102 to prevent the second pressing portion 102 from sliding on the upper surface of the second support plate 122. The resistance between the first support plate 121 and the first pressure support part 101 and the resistance between the second support plate 122 and the second pressure support part 102 facilitate the carrier 100 to be balanced in stress on the first support plate 121 and the second support plate 122 by the first pressure support part 101 and the second pressure support part 102, and prevent the carrier 100 from sliding on the first support plate 121 and the second support plate 122.
In the embodiment of the present invention, further, the surface of the first supporting plate 121 supporting the first pressure holding part 101 is recessed toward the direction of the carrier plate 11. The surface of the second supporting plate 122 supporting the second pressing portion 102 is also recessed toward the carrier plate 11. The first pressing portion 101 protrudes toward one surface of the carrier portion 1 in the direction of the carrier plate 11, and the second pressing portion 102 also protrudes toward one surface of the carrier portion 1 in the direction of the carrier plate 11. Therefore, the upper surface of the first support plate 121 and the surface of the first pressing part 101 facing the bearing part 1 have a larger attaching area, and the upper surface of the second support plate 122 and the surface of the second pressing part 102 facing the bearing part 1 also have a larger attaching area, which is beneficial to increase the frictional resistance between the first support plate 121 and the first pressing part 101 and the frictional resistance between the second support plate 122 and the second pressing part 102.
The position-limiting part 13 is disposed on the carrier plate 11 and located between the first supporting plate 121 and the second supporting plate 122. The two sides of the limiting portion 13 are respectively formed with a groove portion 131 and a hook 132 and/or a slot for fastening a carrier.
Referring to fig. 2 and fig. 3, in the present embodiment, the carrier 100 is mounted on the first supporting plate 121, the second supporting plate 122 and the position-limiting portion 13. Specifically, the first pressing portion 101 of the carrier 100 is pressed against the first support plate 121. The second pressing portion 102 of the carrier 100 presses against the second support plate 122. The hollow interior of the carrier 100 accommodates the limiting portion 13, and a clamping groove and/or a clamping hook in the carrier 100 is/are fastened and fixed with a clamping hook 132 and/or a clamping groove of the limiting portion 13, so that the reliability of fixation between the limiting portion 13 and the carrier 100 is enhanced.
As illustrated in fig. 1, the fold 2 comprises at least one first folding module 21 and at least one second folding module 22. The first folding module 21 acts on the arm of the carrier in a linear motion trajectory, so that the arm performs a first folding action. The second folding module 22 acts on the arm of the carrier with a curved motion trajectory, so that the arm performs a second folding action.
Referring to fig. 3 and 4, the first folding module 21 includes: a first power unit 211 (shown in fig. 4), a first control unit 212 (shown in fig. 4) connected to the first power unit 211, and a first force application unit 213 (shown in fig. 3) connected to the first power unit 211. The main body of the first force application part 213 is located on the side of the mounting part 3 where the arm is located, and is used for applying force to the arm. The first force application part 213 passes through the mounting part 3 and is fixedly connected with the first power part 211. The first power portion 211 and the first control portion 212 are located on the opposite side of the mounting portion 3 from the horn, and the first power portion 211 and the first control portion 212 are pneumatically connected. The first power part 211 is controlled by the first control part 212 to drive the first force application part 213 to push the arm on the carrier, so that the arm on the carrier completes the first folding action.
The first power part 211 includes at least one pen-shaped cylinder. The first control portion 212 includes a solenoid valve. The electromagnetic valve is communicated with the pen-shaped air cylinder. The electromagnetic valve controls the extension and retraction of the piston rod of the pen-shaped air cylinder by changing the flow direction of air flow when the air flow enters and exits the pen-shaped air cylinder.
The first force application portion 213 includes one or more abutting portions a for abutting against the arm and an adapter portion B connected to the first power portion 211. The abutting part A is detachably arranged on the switching part B.
The supporting part A comprises a force guide rod A1 and a push rod A2 for supporting the mechanical arm. The push rod A2 is arranged at one end of the force guide rod A1, and a strip-shaped hole A11 is formed at the other end of the force guide rod A1. In this embodiment, one or more screws pass through the strip-shaped holes a11 to mount the force guide bar a1 on the adapter B.
The adapter part B includes a connecting member B1 and a sliding plate B2. Wherein the connection member B1 connects the first power part 211 and the sliding plate B2. The force guide rod A1 is installed on the sliding plate B2. The installation position of the force guide rod A1 on the sliding plate B2 can be adjusted. Specifically, a plurality of mounting holes B21 are formed in the sliding plate B2, and the force guide rod a1 is mounted on different mounting holes B21 through one or more screws to adjust the mounting position of the force guide rod a1 on the sliding plate B2. In the embodiment, when the specification of the carrier or the specification of the horn on the carrier is changed, the pushing rod A2 at the end of the force guide rod A1 can still act on the proper stressed position on the horn by adjusting the installation position of the force guide rod A1 on the sliding plate B2.
In an embodiment of the present invention, the first folding module 21 further includes a guide structure 214 for guiding the sliding plate B2. Specifically, the guide structure 214 includes one or more slide rails mounted on the mounting portion 3, and the sliding plate B2 slides on the one or more slide rails.
The process of folding the horn by the first folding module 21 includes: the first power part 211 drives the link B1, the slide plate B2, the force guide lever a1 and the pusher lever a2 to slide along the guide structure 214 on the mounting part 3. When the sliding plate B2 slides along the guide structure 214, the pushing rod a2 pushes the arm on the carrier, so that the arm on the carrier completes the first folding action.
Referring to fig. 3 and fig. 5, the second folding module 22 includes: a second power unit 221, a second control unit 222 connected to the second power unit 221, and a second biasing unit 223 connected to the second power unit 221. The force application part of the second force application part 223 passes through the installation part 3 and acts on the horn, and the rest part of the second force application part 223, the second power part 221 and the second control part 222 are all located on the opposite side of the horn of the installation part 3. The second power unit 221 is rotatably connected to the second force application unit 223, and the second control unit 222 is pneumatically connected to the second power unit 221. The second power unit 221 is controlled by the second control unit 222 to drive the second force application unit 223 to push the arm on the carrier, so that the arm on the carrier completes the second folding operation.
The second power unit 221 includes at least one revolving cylinder, and the second force application unit 223 includes at least one force application mechanism coupled to the revolving cylinder. In other embodiments of the present invention, the rotary cylinder may be replaced by a motor.
In the embodiment of the present invention, the second power part 221 includes two revolving cylinders, i.e., a first revolving cylinder C1 and a second revolving cylinder C2. The second force application part 223 includes two force application mechanisms, namely a first force application mechanism E1 and a second force application mechanism E2. The first force application mechanism E1 is coupled to the first rotation cylinder C1, and the second force application mechanism E2 is coupled to the second rotation cylinder C2.
The second control unit 222 includes: solenoid valve D1, air inlet pressure regulating valve D2 and air outlet pressure regulating valve D3. Wherein the solenoid valve D1 is disposed in the air intake lines of the first and second revolving cylinders C1, C2 for controlling the flow direction of air flowing into and out of the first and second revolving cylinders C1, C2. The intake pressure regulating valve D2 is provided in the intake line of the first and second revolving cylinders C1 and C2 for regulating the air pressure at which air flows into the first and second revolving cylinders C1 and C2. The air outlet pressure regulating valve D3 is disposed in the air outlet pipes of the first and second turning cylinders C1 and C2, and is used for regulating the air pressure when the air flows out of the first and second turning cylinders C1 and C2.
In the embodiment of the present invention, the electromagnetic valve D1 controls the flow direction of the air flowing into and out of the first and second revolving cylinders C1 and C2, thereby changing the rotation directions of the first and second revolving cylinders C1 and C2 and further changing the rotation directions of the first and second biasing mechanisms E1 and E2. The air pressure when the air flow enters or exits the first revolving cylinder C1 and the second revolving cylinder C2 is adjusted by the air inlet pressure adjusting valve D2 and the air outlet pressure adjusting valve D3, the rotation speed of the first revolving cylinder C1 and the second revolving cylinder C2 is changed, and the rotation speed of the first force application mechanism E1 and the second force application mechanism E2 is further changed.
The first force application mechanism E1 includes: the first rotating shaft E11, the adapter plate E12, the second rotating shaft E13 and the poke rod F14. One end of the first rotating shaft E11 is coupled to the first rotary cylinder C1, and the other end is mounted on the adapter plate E12. One end of the second rotating shaft E13 is mounted on the adapter plate E12, and the other end is mounted with the poke rod F14. Referring to fig. 1, fig. 3 and fig. 5, the poke rod E14 is accommodated in the groove 131 on the side of the limiting portion 13 to prevent the poke rod E14 from blocking the arm 10 of the carrier 100 from folding. The poke rod E14 is used for abutting against the mechanical arm and is cylindrical or conical in shape. In the present embodiment, the second urging mechanism E2 is the same in construction as the first urging mechanism F1.
The process of folding the horn by the second folding module 22 includes: the first revolving cylinder C1 drives the first urging mechanism E1 to rotate, and the second revolving cylinder C2 drives the second urging mechanism E2 to rotate. The solenoid valve D1 controls the steering of the first urging mechanism E1 and the second urging mechanism E2. The air inlet pressure regulating valve D2 and the air outlet pressure regulating valve D3 control the rotation speed of the first force application mechanism E1 and the second force application mechanism E2. The first force application mechanism E1 and the second force application mechanism E2 push the arms on the carrier in the process of rotating, so that the arms on the carrier complete the second folding action.
With continued reference to fig. 5, in the embodiment of the present invention, the second folding module 22 further includes a base 224. The base 224 is formed with a first circular through hole (not shown) and a second circular through hole 2241. The first circular through hole is not shown in fig. 5, and please refer to the second circular through hole 2241 for its specific shape. The first rotating shaft E11 of the first force application mechanism E1 is coupled with the first rotary cylinder C1 through the first circular through hole. A second rotating shaft (no reference numeral) of the second force application mechanism E2 passes through the second circular through hole 2241 and is coupled to the second rotary cylinder C2.
The base 224 is provided with a regulating block 2242. The adjusting block 2242 is located between the first force application mechanism E1 and the second force application mechanism E2, and blocks the first force application mechanism E1 and the second force application mechanism E2 to continue rotating after the first force application mechanism E1 and the second force application mechanism E2 rotate oppositely by a certain angle, so that the first force application mechanism E1 is prevented from colliding with the second force application mechanism E2.
In an embodiment of the present invention, the folding portion 2 further comprises one or more sensors (not shown) for sensing the arms on the carrier and/or the first folding module 21 and/or the second folding module 22 and triggering the first folding module 21 and/or the second folding module 22 to act on the arms on the carrier. Specifically, after the one or more sensors sense the arm on the carrier and/or the first folding module 21 and/or the second folding module 22, if it is found that the arm on the carrier completes the first folding action, the second folding module 22 is triggered to act on the arm on the carrier, and if it is found that the arm on the carrier completes the second folding action, the first folding module 21 is triggered to act on the arm on the carrier.
The sensors include, but are not limited to, position sensors and vision sensors. Specifically, the position sensor applied to the embodiment of the present invention may be a touch sensor (e.g., a travel switch) or a proximity sensor (e.g., a hall sensor). The vision sensor applied to the embodiment of the present invention may be a ccd (charge Coupled device) camera. The method comprises the steps of shooting a machine arm on a carrier through a CCD camera, and then carrying out visual positioning on the machine arm on the carrier so as to judge whether the machine arm on the carrier completes a first folding action and a second folding action.
Referring to fig. 3 and 5, in the embodiment of the present invention, a first curved strip-shaped through hole 31 and a second curved strip-shaped through hole 32 are formed on the mounting portion 3. The first curved strip-shaped through hole 31 and the second curved strip-shaped through hole 32 are respectively located at one side of the bearing part 1. The first force application mechanism E1 penetrates through the first curved strip-shaped through hole 31 to poke and push the machine arm on the carrier in a curved motion track. The second force application mechanism E2 pushes the horn on the carrier through the second curved strip-shaped through hole 32 with a curved motion track. The first curved strip through hole 31 and the second curved strip through hole 32 are used for limiting the track and the angle of rotation of the first force application mechanism E1 and the second force application mechanism E2.
Referring to fig. 5, in the embodiment of the present invention, the mounting portion 3 is further formed with a straight through hole 33, and the first force applying portion 213 pushes and pushes the arm of the carrier along the straight through hole 33 with a straight motion track.
With reference to fig. 5, in the embodiment of the present invention, the folding apparatus further includes a counting device 4 mounted on the mounting portion 3. The counting device 4 is used for counting the folding times of the machine arm on the carrier. When one or more of the sensors triggers the horn of the first folding module 21 to act on the carrier once and the horn of the second folding module 22 to act on the carrier once, the counted number of folds by the counting device 4 is increased by 1 time.
Referring to fig. 3 to 7, fig. 6 is a top view of the folding apparatus mounting carrier 100 according to the embodiment of the present invention, and fig. 7 is a schematic diagram of the carrier 100 mounted on the carrying portion 1 according to the embodiment of the present invention. The process of folding the first arm 10 and the second arm 20 by the folding unit 2 will be briefly described below with reference to the carrier 100, the first arm 10, and the second arm 20.
The process of folding the first arm 10 and the second arm 20 by the folding part 2 through the first folding module 21 includes: the first control part 212 controls the first power part 211 to push the link B1 and the sliding plate B2 to slide on the guide structure 214 toward the carrier 100. The force guide bar a1 and the push bar a2 mounted on the sliding plate B2 push the first arm 10 to be folded from the unfolded state to the folded state in the direction indicated by the arrow I (clockwise direction), so that the first arm 10 completes the first folding action. At the same time, the first folding module 21 will also act on the second arm 20, so that the second arm 20 is folded from the unfolded state to the folded state in the direction indicated by the arrow III (counterclockwise direction), so that the second arm 20 also completes the first folding action. After the first folding motion of the first arm 10 and the second arm 20 is completed, the first control part 212 controls the first power part 211 to drive the connecting member B1 and the sliding plate B2 to slide on the guiding structure 214 in a direction away from the carrier 100, so that the force guiding rod a1 and the pushing rod a2 mounted on the sliding plate B2 are reset.
During the process of folding the first arm 10 and the second arm 20 by the first folding module 21, the one or more sensors sense the first folding module 21 (or the first arm 10 and the second arm 20 on the carrier 100), and when the first arm 10 and the second arm 20 complete the first folding action, the second folding module 22 is triggered to act on the first arm 10 and the second arm 20, so that the first arm 10 and the second arm 20 fold to complete the second folding action.
The process of folding the first arm 10 and the second arm 20 by the second folding module 22 mainly includes: the first rotary cylinder C1 drives the first force application mechanism E1 to rotate in the direction indicated by the arrow II (counterclockwise), and the second rotary cylinder C2 drives the second force application mechanism E2 to rotate in the direction indicated by the arrow IV (clockwise). The first force applying mechanism E1 pushes the first arm 10 to fold from the retracted state to the extended state in the direction indicated by the arrow II, so as to complete the second folding operation. The second force application mechanism E2 pushes the second arm 20 to fold from the contracted state to the expanded state in the direction indicated by the arrow IV, so as to complete the second folding action. After the first arm 10 and the second arm 20 complete the second folding operation, the second controller 222 controls the first rotary cylinder C1 to rotate clockwise and the second rotary cylinder C2 to rotate counterclockwise, so that the first force application mechanism E1 and the second force application mechanism E2 are respectively reset.
During the process of folding the first boom 10 and the second boom 20 by the second folding module 22, the one or more sensors sense the second folding module 22 (or the first boom 10 and the second boom 20 on the carrier 100), and when the first folding module 10 and the second boom 20 complete the second folding action, the first folding module 21 is triggered to act on the first boom 10 and the second boom 20.
The folding unit 2 repeatedly folds the first arm 10 and the second arm 20, so that the first arm 10 and the second arm 20 repeatedly and alternately perform a first folding operation and a second folding operation. During the process of folding the first arm 10 and the second arm 20, the parts (including but not limited to the elastic elements) of the first arm 10 and the second arm 20 will age continuously. When the first arm 10 and the second arm 20 complete one first folding motion and one second folding motion, the counting device 4 will count once. When the value accumulated by the counter 4 reaches a predetermined threshold value, the folding unit 2 stops folding the first arm 10 and the second arm 20. After the number of folds accumulated by the counting device 4 reaches a set threshold, the degree of aging of the components can be determined by checking the components of the first arm 10 and the second arm 20, and the folding performance of the first arm 10 and the second arm 20 can be determined according to the relationship between the degree of aging of the components and the threshold.
It is understood that the folding portion 2 may also adopt other processes to fold the first arm 10 and the second arm 20, and therefore, if the process of folding the first arm 10 and the second arm 20 by the folding portion 2 is simply changed, the folding portion still falls within the protection scope of the embodiment of the present invention. Further, the first folding motion is not limited to the arm being folded from the expanded state to the contracted state, nor is the second folding motion limited to the arm being folded from the contracted state to the expanded state. For example, the first folding motion may be the folding of the arm from the retracted state to the extended state, and the second folding motion may be the folding of the arm from the extended state to the retracted state. It is therefore not possible to consider the difference between the first folding action and/or the second folding action alone and the situation disclosed in the embodiments of the present invention as being outside the scope of protection of the embodiments of the present invention.
According to the folding equipment in the embodiment of the invention, the carrier is arranged on the bearing part 1, and the position of the carrier is limited, so that when the folding part 2 folds the machine arm, the carrier is fixed, and the accuracy of the folding angle of the machine arm is improved. The first folding module 21 acts on the arm on the carrier in a linear motion track, so that the arm on the carrier is folded from an unfolded state to a retracted state to complete a first folding action. The second folding module 22 acts on the arm of the carrier with a curved motion trajectory, so that the arm of the carrier is folded from the retracted state to the extended state to complete the second folding operation. The first folding module 21 and the second folding module 22 repeatedly and alternately fold the horn on the carrier to a retracted state and an extended state, so that the parts (including but not limited to the elastic element) of the horn are continuously aged, and then the relationship between the aging degree of the parts and the folding times is obtained. The folding angle of each folding action is balanced by using the mode that the first folding module 21 and the second folding module 22 fold the arms on the carrier instead of manual folding arms, which is beneficial to improving the accuracy of the test result and the test efficiency.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present application, and are not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
- A folding apparatus for folding a foldable boom, comprising: the folding device comprises a bearing part, a folding part and a mounting part, wherein the bearing part and/or the folding part are/is mounted on the mounting part;the bearing part is used for limiting the position of a carrier, and at least one machine arm can be arranged on the carrier;the folding part acts on the horn on the carrier so that the horn folds.
- The folding apparatus of claim 1, wherein said folding portion comprises at least one first folding module and at least one second folding module;the first folding module acts on the machine arm on the carrier in a linear motion track, so that the machine arm completes a first folding action;and the second folding module acts on the machine arm on the carrier in a curve motion track, so that the machine arm finishes a second folding action.
- The folding apparatus of claim 2, wherein the folding section further comprises one or more sensors for sensing the horn on the carrier and/or the first folding module and/or the second folding module and triggering the first folding module and/or the second folding module to act on the horn on the carrier.
- The folding apparatus of claim 2, wherein said first folding module comprises: the device comprises a first power part, a first control part connected with the first power part and a first force application part connected with the first power part; the first control part controls the first power part to drive the first force application part to push the machine arm on the carrier, so that the machine arm on the carrier completes a first folding action.
- The folding apparatus of claim 4 wherein said first power portion includes at least one pen-shaped cylinder, said first force applying portion including one or more retaining portions for retaining the arm and an adapter portion connected to said first power portion; the abutting part is detachably arranged on the switching part.
- The folding apparatus of claim 2, wherein said second folding module comprises: the second power part, a second control part connected with the second power part and a second force application part connected with the second power part; the second control part controls the second power part to drive the second force application part to push the machine arm on the carrier, so that the machine arm on the carrier completes a second folding action.
- The folding apparatus of claim 6 wherein said second power section includes at least one swivel cylinder and said second force application section includes at least one force application mechanism, said force application mechanism being journaled with said swivel cylinder.
- The folding apparatus of claim 1, wherein the carrying portion comprises a carrier and a position-limiting portion mounted on the carrier, the carrier is detachably mounted on the mounting portion, and the position-limiting portion is used for mounting the carrier.
- The folding apparatus of claim 8, wherein the carrier plate is provided with or formed with a support for supporting the carrier, the support being configured to prevent the carrier from sliding during folding of the arm.
- The folding apparatus of claim 1, further comprising a counting device for counting the number of folds, said counting device being mounted on said mounting portion.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820619558.1U CN208350340U (en) | 2018-04-27 | 2018-04-27 | A kind of folding apparatus |
| CN2018206195581 | 2018-04-27 | ||
| PCT/CN2018/106271 WO2019205462A1 (en) | 2018-04-27 | 2018-09-18 | Folding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110546476A true CN110546476A (en) | 2019-12-06 |
Family
ID=64887695
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820619558.1U Expired - Fee Related CN208350340U (en) | 2018-04-27 | 2018-04-27 | A kind of folding apparatus |
| CN201880017344.XA Pending CN110546476A (en) | 2018-04-27 | 2018-09-18 | Folding equipment |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820619558.1U Expired - Fee Related CN208350340U (en) | 2018-04-27 | 2018-04-27 | A kind of folding apparatus |
Country Status (2)
| Country | Link |
|---|---|
| CN (2) | CN208350340U (en) |
| WO (1) | WO2019205462A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208350340U (en) * | 2018-04-27 | 2019-01-08 | 深圳市大疆创新科技有限公司 | A kind of folding apparatus |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5558299A (en) * | 1994-04-19 | 1996-09-24 | Mcdonnell Douglas Corporation | Wing fold push-pin locking assembly |
| CN101135605A (en) * | 2007-10-22 | 2008-03-05 | 奇瑞汽车有限公司 | Test-bed of folding key |
| CN103010452A (en) * | 2012-12-10 | 2013-04-03 | 中国飞机强度研究所 | Wing folding control instrument |
| CN203681871U (en) * | 2013-12-20 | 2014-07-02 | 深圳市大疆创新科技有限公司 | Engine arm assembly and stander device of aircraft and aircraft |
| CN103913302A (en) * | 2012-12-31 | 2014-07-09 | 重庆长安汽车股份有限公司 | Test apparatus of automobile folding key |
| CN103994878A (en) * | 2014-04-17 | 2014-08-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Integration test verification method of airplane movable wing surface |
| CN104443430A (en) * | 2014-12-12 | 2015-03-25 | 北京航星机器制造有限公司 | Test set for unfolding of folding control surface |
| JP5857326B1 (en) * | 2015-04-18 | 2016-02-10 | 株式会社アドテックス | Unmanned flying vehicle and control device therefor |
| CN205150239U (en) * | 2015-10-16 | 2016-04-13 | 零度智控（北京）智能科技有限公司 | Horn folding device and aircraft |
| CN105691590A (en) * | 2016-04-12 | 2016-06-22 | 郭根松 | UAV (Unmanned Aerial Vehicle) arm folding mechanism |
| CN205384139U (en) * | 2016-02-29 | 2016-07-13 | 温州市坤顺数控科技有限公司 | Durable test test bench of automobile -used folding key switch |
| CN205554560U (en) * | 2016-02-22 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Unmanned vehicles and frame thereof |
| CN106017900A (en) * | 2016-07-12 | 2016-10-12 | 合肥经纬电子科技有限公司 | Notebook computer flip service life test device |
| CN206020975U (en) * | 2016-07-26 | 2017-03-15 | 东莞市瑞科五金塑胶制品有限公司 | A kind of device that plunges for being applied to multi-rotor unmanned aerial vehicle |
| CN206258268U (en) * | 2016-12-21 | 2017-06-16 | 北京强度环境研究所 | A kind of folding wing analog loading test device |
| CN107000016A (en) * | 2014-12-04 | 2017-08-01 | 库卡系统有限责任公司 | Foldable tool, method for folding and folding device |
| CN206410856U (en) * | 2017-01-05 | 2017-08-15 | 张家港天乐橡塑科技股份有限公司 | A kind of cripping test frock |
| CN206407167U (en) * | 2017-01-12 | 2017-08-15 | 中国民航大学 | A kind of aircraft wing automatic detection labelling apparatus |
| CN206430912U (en) * | 2016-12-26 | 2017-08-22 | 上海海泰汽配有限公司 | A kind of folding arm rest fatigue test device |
| CN206430904U (en) * | 2017-01-25 | 2017-08-22 | 安徽江淮汽车集团股份有限公司 | Rearview mirror fold resistant reliability detecting device |
| CN206609599U (en) * | 2017-03-07 | 2017-11-03 | 温州市金伦眼镜有限公司 | A kind of eyeglasses temple arm folds test device |
| CN206634203U (en) * | 2017-04-01 | 2017-11-14 | 湖北大秀天域科技发展有限公司 | A kind of police unmanned plane of investigation type |
| CN208350340U (en) * | 2018-04-27 | 2019-01-08 | 深圳市大疆创新科技有限公司 | A kind of folding apparatus |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2589959Y (en) * | 2002-12-26 | 2003-12-03 | 英业达股份有限公司 | Rotation shaft testing jig for folding style electronic installation |
| KR100831085B1 (en) * | 2007-03-21 | 2008-05-20 | 장기정 | Apparatus for testing the opening and closing durability of folder type portable terminal |
| CN106507937B (en) * | 2013-07-08 | 2015-05-20 | 浙江理工大学 | A kind of folding wings development mechanism ground simulation test device |
| CN203638109U (en) * | 2013-09-30 | 2014-06-11 | 中国航天科工集团第六研究院二一○所 | Special motion distribution device for ground test equipment of foldable double wing plate bracket of aircraft |
| CN205981730U (en) * | 2016-07-26 | 2017-02-22 | 常州金标轨道交通技术服务有限公司 | Tired capability test device of folding seat chair |
-
2018
- 2018-04-27 CN CN201820619558.1U patent/CN208350340U/en not_active Expired - Fee Related
- 2018-09-18 WO PCT/CN2018/106271 patent/WO2019205462A1/en active Application Filing
- 2018-09-18 CN CN201880017344.XA patent/CN110546476A/en active Pending
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5558299A (en) * | 1994-04-19 | 1996-09-24 | Mcdonnell Douglas Corporation | Wing fold push-pin locking assembly |
| CN101135605A (en) * | 2007-10-22 | 2008-03-05 | 奇瑞汽车有限公司 | Test-bed of folding key |
| CN103010452A (en) * | 2012-12-10 | 2013-04-03 | 中国飞机强度研究所 | Wing folding control instrument |
| CN103913302A (en) * | 2012-12-31 | 2014-07-09 | 重庆长安汽车股份有限公司 | Test apparatus of automobile folding key |
| CN203681871U (en) * | 2013-12-20 | 2014-07-02 | 深圳市大疆创新科技有限公司 | Engine arm assembly and stander device of aircraft and aircraft |
| CN103994878A (en) * | 2014-04-17 | 2014-08-20 | 中国航空工业集团公司沈阳飞机设计研究所 | Integration test verification method of airplane movable wing surface |
| CN107000016A (en) * | 2014-12-04 | 2017-08-01 | 库卡系统有限责任公司 | Foldable tool, method for folding and folding device |
| CN104443430A (en) * | 2014-12-12 | 2015-03-25 | 北京航星机器制造有限公司 | Test set for unfolding of folding control surface |
| JP5857326B1 (en) * | 2015-04-18 | 2016-02-10 | 株式会社アドテックス | Unmanned flying vehicle and control device therefor |
| CN205150239U (en) * | 2015-10-16 | 2016-04-13 | 零度智控（北京）智能科技有限公司 | Horn folding device and aircraft |
| CN205554560U (en) * | 2016-02-22 | 2016-09-07 | 深圳市大疆创新科技有限公司 | Unmanned vehicles and frame thereof |
| CN205384139U (en) * | 2016-02-29 | 2016-07-13 | 温州市坤顺数控科技有限公司 | Durable test test bench of automobile -used folding key switch |
| CN105691590A (en) * | 2016-04-12 | 2016-06-22 | 郭根松 | UAV (Unmanned Aerial Vehicle) arm folding mechanism |
| CN106017900A (en) * | 2016-07-12 | 2016-10-12 | 合肥经纬电子科技有限公司 | Notebook computer flip service life test device |
| CN206020975U (en) * | 2016-07-26 | 2017-03-15 | 东莞市瑞科五金塑胶制品有限公司 | A kind of device that plunges for being applied to multi-rotor unmanned aerial vehicle |
| CN206258268U (en) * | 2016-12-21 | 2017-06-16 | 北京强度环境研究所 | A kind of folding wing analog loading test device |
| CN206430912U (en) * | 2016-12-26 | 2017-08-22 | 上海海泰汽配有限公司 | A kind of folding arm rest fatigue test device |
| CN206410856U (en) * | 2017-01-05 | 2017-08-15 | 张家港天乐橡塑科技股份有限公司 | A kind of cripping test frock |
| CN206407167U (en) * | 2017-01-12 | 2017-08-15 | 中国民航大学 | A kind of aircraft wing automatic detection labelling apparatus |
| CN206430904U (en) * | 2017-01-25 | 2017-08-22 | 安徽江淮汽车集团股份有限公司 | Rearview mirror fold resistant reliability detecting device |
| CN206609599U (en) * | 2017-03-07 | 2017-11-03 | 温州市金伦眼镜有限公司 | A kind of eyeglasses temple arm folds test device |
| CN206634203U (en) * | 2017-04-01 | 2017-11-14 | 湖北大秀天域科技发展有限公司 | A kind of police unmanned plane of investigation type |
| CN208350340U (en) * | 2018-04-27 | 2019-01-08 | 深圳市大疆创新科技有限公司 | A kind of folding apparatus |
Non-Patent Citations (2)
| Title |
|---|
| 李英 等: "某型机旋翼斜梁折叠地面模拟试验台拖动系统的设计与应用", 《直升机技术》 * |
| 覃海鹰 等: "直升机桨叶折叠铰磨损分析与改进", 《直升机技术》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019205462A1 (en) | 2019-10-31 |
| CN208350340U (en) | 2019-01-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101233321B (en) | Reciprocating pump with electronically monitored air valve and piston | |
| EP3184263B1 (en) | Mechanism with one sensor for panel present and double sheet detection for grippers | |
| CN208953675U (en) | Motor load tester | |
| CN110546476A (en) | Folding equipment | |
| WO2007140257A2 (en) | Wheel chuck | |
| SE443317B (en) | HANDLE FOR SAVEL REVERSIBLE AS NON-REVERSIBLE PNEUMATIC HAND MACHINE | |
| CN209085958U (en) | Air suspension leading arm rigidity detection device | |
| CN108907057A (en) | Rivet driver | |
| JP5954562B2 (en) | Device for operating several components simultaneously | |
| JPH10315435A (en) | Method and apparatus for control of suction air | |
| CN108398345A (en) | The mechanism of detectable auto parts machinery | |
| WO2004088147A1 (en) | Actuator having the function of control of operation displacement | |
| CN203643148U (en) | Endurance testing device for plug valve | |
| CN103111428B (en) | Spring sorting machine | |
| US20090179445A1 (en) | Rotating gripper assembly utilizing stepper motors | |
| US10639967B2 (en) | Air-outlet adjusting assembly | |
| CN105537939A (en) | Electromagnetic valve detection assembling system | |
| US10882148B2 (en) | Pivot unit | |
| EP1849559B1 (en) | Positioning and/or clamping apparatus, with adjustable opening position of the working arm | |
| CN103940680B (en) | Body bending detects frock | |
| US8733089B2 (en) | Fluid-dynamic circuit | |
| EP1464446A2 (en) | Clamping apparatus with linear indexed device | |
| US4092871A (en) | Precision drive mechanism for converting fixed reciprocating motion to adjustable reciprocating motion | |
| CN106672329B (en) | Bag opening mechanism and bagging machine with same | |
| CN112690552B (en) | Finger positioning device, nail art machine, finger positioning method and nail art method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20191206 |
|
| WD01 | Invention patent application deemed withdrawn after publication |