WO2019205462A1 - Folding apparatus - Google Patents

Abstract

A folding apparatus, comprising: a bearing part (1), a folding part (2), and a mounting part (3). The bearing part (1) and/or the folding part (2) are mounted on the mounting part (3); the bearing part (1) is configured to limit the position of a support (100), and at least one mechanical arm can be mounted on the support (100); the folding part (2) acts on the mechanical arm on the support (100), so as to fold the mechanical arm. The folding apparatus facilitates improving accuracy and testing efficiency of a mechanical arm folding test.

Description

Folding device Technical field

The technical solution disclosed in the embodiment of the invention relates to a folding device.

Background technique

A collapsible arm on a carrier generally requires the application of an elastic element. In practical applications, it is necessary to test the degree of aging, workability, and the like of the arm components including the elastic member by repeatedly folding the arm on the carrier.

In the process of studying the embodiments of the present invention, the inventors found that in the prior art, when the arm on the carrier is folded, the arm on the carrier is manually folded. This folding method is prone to the folding angle and strength of the arm. Equilibrium, too large folding angles and too small folding angles will affect the accuracy of the test. In addition, in the test, the number of arm folding is counted by manual counting, so the statistical efficiency is low.

Summary of the invention

The folding device disclosed in the embodiment of the present invention aims to solve the following technical problems existing in the prior art: when the arm on the carrier is folded, the arm on the carrier is manually folded, and the folding angle is unbalanced, the compatibility is poor, and the folding efficiency is easy. Low problem.

One or more embodiments of embodiments of the present invention disclose a folding apparatus for folding a collapsible arm, including: a carrier, a fold, and a mounting portion, the carrier and/or the fold a portion mounted on the mounting portion; the carrier portion for defining a position of the carrier, the carrier being mountable with at least one arm; the folding portion acting on the arm on the carrier, such that The arm is folded.

In one or more embodiments of the present invention, the folding portion includes at least one first folding module and at least one second folding module; the first folding module acts on the linear motion trajectory The arm on the carrier causes the arm to complete the first folding action; the second folding module acts on the arm on the carrier in a curved motion trajectory, so that the arm completes the second folding action.

In one or more embodiments of the embodiments of the present invention, the folding portion further includes one or more sensors for the arm on the carrier and/or the first folding module and And the second folding module senses and triggers the first folding module and/or the second folding module to act on the arm on the carrier.

In one or more embodiments of the embodiments of the present invention, the first folding module includes: a first power portion, a first control portion connected to the first power portion, and a first power portion a first urging portion; the first control portion controls the first power portion to drive the first urging portion to push the arm on the carrier, so that the arm on the carrier completes the first folding action.

In one or more embodiments of the embodiments of the present invention, the first power portion includes at least one pen type cylinder, and the first force applying portion includes one or more abutting portions for resisting the arm and An adapter portion connected to the first power portion; the abutting portion is detachably mounted on the adapter portion.

In one or more embodiments of the present invention, the second folding module includes: a second power portion, a second force applying portion connected to the second power portion, and the second power portion a second control unit connected; the second control unit controls the second power unit to drive the second force applying unit to push the arm on the carrier, so that the arm on the carrier completes the second folding action.

In one or more embodiments of the embodiments of the present invention, the second power portion includes at least one rotary cylinder, and the second force applying portion includes at least one force applying mechanism, the force applying mechanism and the rotary cylinder Shaft connection.

In one or more embodiments of the present invention, the carrying portion includes a carrier and a limiting portion mounted on the carrier, and the carrier is detachably mounted on the mounting portion. The limiting portion is configured to mount the carrier.

In one or more embodiments of the embodiments of the present invention, the carrier is mounted or formed with a support portion for supporting the carrier, the support portion preventing the carrier from sliding during folding of the arm.

In one or more embodiments of the embodiments of the present invention, the folding apparatus further includes counting means for counting the number of times of folding, the counting means being mounted on the mounting portion.

Compared with the prior art, the technical solutions disclosed in the embodiments of the present invention mainly have the following beneficial effects:

The folding apparatus in the embodiment of the present invention can be compatible with carriers of different specifications by replacing different carrying portions, which is advantageous for the folding device to fold arms of different specifications. When the folding portion is folded on the arm on the carrier, the bearing portion can define the position of the carrier, so that the carrier is less likely to be offset during the folding of the arm, which is advantageous for achieving the equalization of the folding angle. The arm is repeatedly applied to the carrier by the folding portion, so that the arm can be folded repeatedly and evenly, thereby improving the efficiency of folding the arm.

DRAWINGS

Figure 1 is a configuration diagram of a folding apparatus in an embodiment of the present invention;

2 is a schematic view of a carrier, a first arm, and a second arm in an embodiment of the present invention;

Figure 3 is an exploded view of the folding apparatus in the embodiment of the present invention;

Figure 4 is a bottom plan view of the folding apparatus in the embodiment of the present invention;

Figure 5 is another exploded view of the folding apparatus in the embodiment of the present invention;

Figure 6 is a plan view of the folding apparatus after the carrier is installed in the embodiment of the present invention;

Figure 7 is a schematic illustration of the carrier being mounted on a carrier portion in accordance with an embodiment of the present invention.

1	Carrying part		B1	Connector
2	Folding		B2		Sliding plate
3	Installation department		B21		Mounting holes
4	Counting device		214	Guiding structure
10	First arm		twenty two	Second folding module
20	Second arm		221	Second power department
100	Carrier		C1	First rotary cylinder
101	First holding part		C2	Second rotary cylinder
102	Second holding part		222	Second control unit
11	Carrier board		D1	The electromagnetic valve
111	Hand screw		D2	Intake pressure regulator
12	Support		D3	Outlet pressure regulator
121	First support plate		223	Second force application
122	Second support plate		E1	First force applying mechanism
13	Limiting department		E11	First shaft
131	Groove		E12	Adapter plate
132	The hook		E13	Second shaft
twenty one	First folding module		E14	Toggle lever
211	First power department		E2	Second force applying mechanism
212	First control department		224	Base
213	First force department		2241	Second circular through hole
A	Responsible department		2242	Adjustment block
A1	Guide rod		31	First curved through hole
A11		Strip hole		32	Second curved through hole

A2		Push rod		33	Straight through hole
B	Adapter

detailed description

In order to facilitate the understanding of the embodiments of the present invention, the embodiments of the present invention will be described more fully. Preferred embodiments of the embodiments of the invention are set forth in the accompanying drawings. However, embodiments of the invention may be implemented in many different forms and are not limited to the embodiments described herein. Rather, these embodiments are provided so that the understanding of the disclosure of the embodiments of the invention will be more thorough.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art of the embodiments of the invention, unless otherwise defined. The terminology used in the description of the embodiments of the present invention is for the purpose of describing particular embodiments, and is not intended to limit the embodiments of the invention. The terms "first", "second" and the like in the claims, the description and the drawings of the present application are used to distinguish different objects, and are not intended to describe a particular order. The folding device involved in the detailed description is only a preferred embodiment, and is not all possible embodiments of the embodiments of the present invention.

The folding apparatus in the embodiment of the present invention is for folding a foldable arm. The folding apparatus of the embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

1 to 5, wherein FIG. 1 is a configuration diagram of a folding apparatus according to an embodiment of the present invention, and FIG. 2 is a schematic view of the carrier 100, the first arm 10, and the second arm 20 in the embodiment of the present invention. 3 is an exploded view of the folding apparatus in the embodiment of the present invention, FIG. 4 is a bottom view of the folding apparatus according to an embodiment of the present invention, and FIG. 5 is another embodiment of the folding apparatus according to the embodiment of the present invention. An explosion map.

The folding device includes a carrying portion 1, a folding portion 2, and a mounting portion 3. In the present embodiment, the carrying portion 1 and the folded portion 2 are both mounted on the mounting portion 3.

The carrier 1 is used to define the position of the carrier on which at least one arm can be mounted. The carrier may be an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, and other devices that can be equipped with an arm. The folding device can be compatible with different specifications of the carrier by replacing different carrier portions 1, and thus is suitable for different specifications of the arm. When the folding portion 2 folds the arm on the carrier, the carrier portion 1 can define the position of the carrier, so that the carrier is less likely to be displaced during folding of the arm, which is advantageous for achieving the equalization of the folding angle. The arm that is repeatedly applied to the carrier by the folding portion 2 allows the arm to be repeatedly folded in a balanced manner, thereby improving the efficiency of folding the arm.

As illustrated in FIG. 2, the carrier 100 is mounted with a first arm 10 and a second arm 20. The interior of the carrier 100 is hollow, and a hollow interior is formed with a card slot (not shown) and/or a hook (not shown). The carrier 100 is formed with a first pressing portion 101 and a second pressing portion 102 toward one surface of the carrying portion 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 the present embodiment, the first arm 10 and the second arm 20 are disposed at positions on both sides of the carrier 100 near the second pressing portion 102.

One surface of the first holding portion 101 facing the carrying portion 1 is an inclined surface, and specifically, the thickness of the first pressing portion 101 is away from the second pressing portion 102 toward the second pressing portion. The direction of the portion 102 gradually increases. The surface of the second pressing portion 102 facing the carrying portion 1 is an inclined surface, and specifically, the thickness of the second pressing portion 102 is away from the first pressing portion 101 toward the first pressing. The direction of the portion 101 gradually increases.

As illustrated in FIG. 3 , the carrying portion 1 includes a carrier 11 , a support portion 12 , and a limiting portion 13 .

The carrier 11 is detachably mounted on the mounting portion 3. In the embodiment, the carrier 11 further includes one or more thumb screws 111. A threaded hole (not shown) that cooperates with the thumb screw 111 is formed on the mounting portion 3. The carrier plate 11 can be fixed or detached to the mounting portion 3 by tightening or loosening the thumb screw 111.

The supporting portion 12 is mounted on the carrier 11 . In the embodiment, the supporting portion 12 can be integrally formed on the carrier 11 or mounted on the carrier 11 as a separate portion. on. The support portion 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 support plate 121 is used to support the carrier and is an inclined surface. Specifically, the height of the first support plate 121 is away from the second support plate 122 toward the second support plate. The direction of 122 gradually decreases. The lower surface of the second support plate 122 is attached to the carrier plate 11. The upper surface of the second support plate 122 is for supporting the carrier and is an inclined surface, and the height of the second support plate 122 is away from the first support plate 121 toward the first support plate 121. slowing shrieking. The upper surface of the first support plate 121 and the first pressing portion 101 are attached to one side of the carrying portion 1 so that the first supporting plate 121 and the first pressing portion 101 are generated. The resistance prevents the first pressing portion 101 from sliding on the upper surface of the first support plate 121. The upper surface of the second supporting plate 122 and the second pressing portion 102 are attached to one side of the carrying portion 1 so that the second supporting plate 122 and the second pressing portion 102 are generated. The resistance prevents 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 pressing portion 101, and the resistance between the second support plate 122 and the second pressing portion 102 facilitate the passage of the carrier 100 through the The first pressing portion 101 and the second pressing portion 102 achieve a force balance on the first supporting plate 121 and the second supporting plate 122 to prevent the carrier 100 from being on the first supporting plate 121 And sliding on the second support plate 122.

In the embodiment of the present invention, further, the first support plate 121 supports the surface of the first pressing portion 101 to be recessed toward the direction of the carrier 11 . The surface of the second support plate 122 supporting the second pressing portion 102 is also recessed toward the direction of the carrier 11 . The first pressing portion 101 protrudes toward a direction of the carrier 11 facing the carrier 11 , and the second pressing portion 102 faces the side of the carrying portion 1 also toward the carrier 11 The direction is convex. Therefore, the upper surface of the first supporting plate 121 and the first pressing portion 101 face a side of the carrying portion 1 with a larger bonding area, and the upper surface of the second supporting plate 122 and the upper surface The second pressing portion 102 also has a larger bonding area toward one side of the carrying portion 1 , which is advantageous for increasing the frictional resistance between the first supporting plate 121 and the first pressing portion 101 and Frictional resistance between the second support plate 122 and the second pressing portion 102.

The limiting portion 13 is mounted on the carrier 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 card slot for the buckle carrier.

Referring to FIG. 2 and FIG. 3 simultaneously, in the embodiment, the carrier 100 is mounted on the first support plate 121, the second support plate 122, and the limiting portion 13. Specifically, the first pressing portion 101 of the carrier 100 is pressed on the first supporting plate 121. The second pressing portion 102 of the carrier 100 is pressed against the second support plate 122. The recessed portion 13 is accommodated in the hollow interior of the carrier 100, and the card slot and/or the hook inside the carrier 100 is fastened to the hook 132 and/or the card slot of the limiting portion 13 . To enhance the reliability of the fixing between the limiting portion 13 and the carrier 100.

As illustrated in FIG. 1, the fold 2 includes 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 completes the first folding action. The second folding module 22 acts on the arm of the carrier in a curved motion trajectory, so that the arm completes the second folding action.

Referring to FIG. 3 and FIG. 4 , the first folding module 21 includes: a first power unit 211 (shown in FIG. 4 ) and a first control unit 212 connected to the first power unit 211 (as shown in FIG. 4 ). 4) and a first urging portion 213 (shown in FIG. 3) connected to the first power portion 211. The main body portion of the first urging portion 213 is located on the side of the mounting portion 3 on which the arm is located for applying force to the arm. The first urging portion 213 is fixedly coupled to the first power portion 211 through the mounting portion 3 . The first power portion 211 and the first control portion 212 are located on a side of the mounting portion 3 opposite to the arm, and the first power portion 211 and the first control portion 212 are pneumatically connected. The first power unit 211 is controlled by the first control unit 212 to drive the first urging portion 213 to push the arm on the carrier, so that the arm on the carrier completes the first folding action.

The first power portion 211 includes at least one pen-shaped cylinder. The first control portion 212 includes a solenoid valve. The solenoid valve is in communication with the pen-shaped cylinder. The solenoid valve controls the piston rod of the pen cylinder to extend and retract by changing the flow direction of the airflow as it enters and exits the pen cylinder.

The first urging portion 213 includes one or more abutting portions A for abutting the arm and an interposing portion B connected to the first power portion 211. The abutting portion A is detachably mounted on the adapter portion B.

The abutting portion A includes a guiding rod A1 and a pushing rod A2 for abutting the arm. The push rod A2 is disposed at one end of the lead rod A1, and the other end of the lead rod A1 is formed with a strip hole A11. In the present embodiment, one or more screws are passed through the strip holes A11 to mount the force guiding rod A1 on the adapter portion B.

The adapter portion B includes a connecting member B1 and a sliding plate B2. The connecting member B1 connects the first power portion 211 and the sliding plate B2. The guide rod A1 is mounted on the sliding plate B2. The mounting position of the guiding rod A1 on the sliding plate B2 is adjustable. Specifically, the sliding plate B2 is processed with a plurality of mounting holes B21, and the guiding rod A1 is mounted on different mounting holes B21 by one or more screws to adjust the sliding of the guiding rod A1. The mounting position on board B2. In this embodiment, when the specification of the carrier or the specification of the arm on the carrier is changed, the end position of the guiding rod A1 is adjusted by adjusting the mounting position of the guiding rod A1 on the sliding plate B2. The push rod A2 can still act on a suitable force receiving portion on the arm.

In an embodiment of the invention, the first folding module 21 further includes a guiding structure 214 for guiding the sliding plate B2. Specifically, the guiding structure 214 includes one or more sliding rails, and the one or more sliding rails are mounted on the mounting portion 3, and the sliding plate B2 is on the one or more sliding rails. Slide it.

The process of folding the arm by the first folding module 21 includes: the first power portion 211 drives the connecting member B1, the sliding plate B2, the guiding rod A1, and the guiding rod A2 along the guiding portion 3 Structure 214 slides. When the sliding plate B2 slides along the guiding 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 power unit 221 . The second urging portion 223. a biasing portion of the second urging portion 223 acts on the arm through the mounting portion 3, the remaining portion of the second urging portion 223, and the second power portion 221, the second portion The control unit 222 is located on the opposite side of the arm of the mounting portion 3. The second power unit 221 is rotatably connected to the second urging portion 223 , and the second control unit 222 is pneumatically connected to the second power unit 221 . The second control unit 222 controls the second power unit 221 to drive the second urging portion 223 to push the arm on the carrier, so that the arm on the carrier completes the second folding operation.

The second power portion 221 includes at least one rotary cylinder, and the second force applying portion 223 includes at least one force applying mechanism that is coupled to the rotary cylinder. In other embodiments of the embodiments of the invention, the rotary cylinder may be replaced by a motor.

In the embodiment of the present invention, the second power portion 221 includes two rotary cylinders, which are a first rotary cylinder C1 and a second rotary cylinder C2, respectively. The second urging portion 223 includes two urging mechanisms, which are a first urging mechanism E1 and a second urging mechanism E2, respectively. The first urging mechanism E1 is axially coupled to the first rotary cylinder C1, and the second urging mechanism E2 is coupled to the second rotary cylinder C2.

The second control unit 222 includes a solenoid valve D1, an intake pressure regulating valve D2, and an outlet pressure regulating valve D3. The solenoid valve D1 is disposed in the intake lines of the first rotary cylinder C1 and the second rotary cylinder C2 for controlling airflow in and out of the first rotary cylinder C1 and the second rotary cylinder C2. The flow of time. The intake pressure regulating valve D2 is disposed in the intake lines of the first rotary cylinder C1 and the second rotary cylinder C2 for regulating airflow into the first rotary cylinder C1 and the second rotary cylinder Air pressure at C2. The outlet pressure regulating valve D3 is disposed in the outlet lines of the first rotary cylinder C1 and the second rotary cylinder C2 for regulating the flow of air out of the first rotary cylinder C1 and the second rotary cylinder C2 The pressure at that time.

In the embodiment of the present invention, the flow direction when the airflow enters and exits the first swing cylinder C1 and the second swing cylinder C2 is controlled by the solenoid valve D1, and the first swing cylinder C1 and the second swing are changed. The direction of rotation of the cylinder C2 further changes the direction of rotation of the first urging mechanism E1 and the second urging mechanism E2. Adjusting the air pressure when the airflow enters and exits the first rotary cylinder C1 and the second rotary cylinder C2 through the intake pressure regulating valve D2 and the outlet pressure regulating valve D3, changing the first rotary cylinder C1 and the The rotational speed of the second rotary cylinder C2, in turn, changes the rotational speed of the first urging mechanism E1 and the second urging mechanism E2.

The first urging mechanism E1 includes a first rotating shaft E11, an adapter plate E12, a second rotating shaft E13, and a toggle lever F14. One end of the first rotating shaft E11 is axially connected to the first rotating 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 provided with the toggle lever F14. Referring to FIG. 1 , FIG. 3 and FIG. 5 , the toggle lever E14 is received in the groove portion 131 on the side of the limiting portion 13 to prevent the toggle lever E14 from blocking the carrier 100. The arm 10 is folded. The toggle lever E14 is used to resist the arm, and its shape is cylindrical or tapered. In the embodiment, the second urging mechanism E2 has the same configuration as the first urging mechanism F1.

The process of folding the arm by the second folding module 22 includes: the first rotary cylinder C1 drives the first urging mechanism E1 to rotate, and the second rotary cylinder C2 drives the second urging mechanism E2 turns. The solenoid valve D1 controls the steering of the first urging mechanism E1 and the second urging mechanism E2. The intake pressure regulating valve D2 and the outlet pressure regulating valve D3 control the rotational speeds of the first urging mechanism E1 and the second urging mechanism E2. The first urging mechanism E1 and the second urging mechanism E2 push the arm on the carrier during the rotation, so that the arm on the carrier completes the second folding action.

Referring to FIG. 5 , in the embodiment of the present invention, the second folding module 22 further includes a base 224 . A first circular through hole (not shown) and a second circular through hole 2241 are formed on the base 224. The first circular through hole is not fully shown in FIG. 5, and the specific shape thereof is referred to the second circular through hole 2241. The first rotating shaft E11 of the first urging mechanism E1 is axially coupled to the first rotary cylinder C1 through the first circular through hole. The second rotating shaft (without reference numeral) of the second urging mechanism E2 is axially coupled to the second rotary cylinder C2 through the second circular through hole 2241.

An adjustment block 2242 is mounted on the base 224. The adjusting block 2242 is located between the first urging mechanism E1 and the second urging mechanism E2, and blocks after the first urging mechanism E1 and the second urging mechanism E2 are rotated by a certain angle The first urging mechanism E1 and the second urging mechanism E2 continue to rotate to prevent the first urging mechanism E1 from colliding with the second urging mechanism E2.

In an embodiment of the invention, the fold 2 further comprises one or more sensors (not shown) for the arms on the carrier and/or the first folding module 21 and/or the The two folding module 22 senses and triggers the first folding module 21 and/or the second folding module 22 to act on the carrier arm. 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 the arm on the carrier is completed, the first The folding action triggers the second folding module 22 to act on the arm of the carrier. If the arm on the carrier completes the second folding action, the first folding module 21 is triggered to act on the carrier arm.

The sensors include, but are not limited to, position sensors and vision sensors. Specifically, the position sensor applied in the embodiment of the present invention may be a contact sensor (for example, a stroke switch) or a proximity sensor (for example, a Hall sensor). The visual sensor used in the embodiment of the present invention may be a CCD (Charge Coupled Device) camera. The arm on the carrier is photographed by the CCD camera, and then the arm on the carrier is visually positioned to determine whether the arm on the carrier completes the first folding action and the second folding action.

Referring to FIG. 3 and FIG. 5 simultaneously, in the embodiment of the present invention, the mounting portion 3 is formed with a first curved strip-shaped through hole 31 and a second curved strip-shaped through hole 32. 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 carrying portion 1. The first urging mechanism E1 traverses the arm of the carrier by a curved path of motion through the first curved through hole 31. The second urging mechanism E2 pushes the arm on the carrier through the second curved through hole 32 in a curved motion trajectory. The first curved strip through hole 31 and the second curved through hole 32 are used to define a trajectory and an angle at which the first urging mechanism E1 and the second urging mechanism E2 rotate.

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 urging portion 213 moves linearly along the straight through hole 33. The trajectory resists pushing the arm on the carrier.

With continued reference to FIG. 5, in an embodiment of the invention, the folding apparatus further includes a counting device 4 mounted on the mounting portion 3. The counting device 4 is used to count the number of folds of the arm on the carrier. When the one or more of the sensors trigger the arm of the first folding module 21 acting on the carrier and the arm of the second folding module 22 acting on the carrier once, the counting device 4 The number of statistical folds is increased by one.

Referring to FIG. 3 to FIG. 7, FIG. 6 is a plan view of the folding apparatus after the carrier 100 is installed in the embodiment of the present invention, and FIG. 7 is a schematic view showing 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 portion 2 will be briefly described below in conjunction with the carrier 100, the first arm 10, and the second arm 20.

The folding of the first arm 10 and the second arm 20 by the first folding module 21 includes: the first control unit 212 controls the first power unit 211 pushes the connecting member B1 and the sliding plate B2 to slide on the guiding structure 214 toward the carrier 100. The force guiding rod A1 and the pushing rod A2 mounted on the sliding plate B2 push the first arm 10 to be folded from the unfolded state to the contracted state in the direction indicated by the arrow I (the clockwise direction), so that The first arm 10 performs the first folding action. At the same time, the first folding module 21 will also act on the second arm 20 such that the second arm 20 is folded from the unfolded state to the contracted 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 arm 10 and the second arm 20 complete the first folding action, the first control unit 212 controls the first power unit 211 to drive the connecting member B1 and the sliding plate B2. The guide structure 214 is slid in a direction away from the carrier 100 such that the lead rod A1 and the push rod A2 mounted on the slide plate B2 are reset.

During the folding of the first arm 10 and the second arm 20 by the first folding module 21, one or more of the sensors are paired with the first folding module 21 (may also The first arm 10 and the second arm 20 on the carrier 100 are sensed, and the first arm 10 and the second arm 20 are sensed to complete the first folding action. The second folding module 22 is triggered to act on the first arm 10 and the second arm 20 such that the first arm 10 and the second arm 20 are folded 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 urging mechanism E1 according to the arrow II In the illustrated direction (counterclockwise), the second rotary cylinder C2 drives the second urging mechanism E2 to rotate in the direction indicated by the arrow IV (clockwise direction). The first urging mechanism E1 pushes the first arm 10 to be folded from the contracted state to the unfolded state in the direction indicated by the arrow II to complete the second folding action. The second urging mechanism E2 pushes the second arm 20 to be folded from the contracted state to the deployed state in the direction indicated by the arrow IV to complete the second folding action. After the first arm 10 and the second arm 20 complete the second folding operation, the second control unit 222 controls the first rotary cylinder C1 to rotate clockwise, and controls the second rotary cylinder C2 to reverse The hour hand is rotated to reset the first urging mechanism E1 and the second urging mechanism E2, respectively.

During the folding of the first arm 10 and the second arm 20 by the second folding module 22, one or more of the sensors are paired with the second folding module 22 (also The first arm 10 and the second arm 20 on the carrier 100 are sensed, and the first arm 10 and the second arm 20 are sensed to complete the second folding action. The first folding module 21 is triggered to act on the first arm 10 and the second arm 20 .

The folding portion 2 repeatedly folds the first arm 10 and the second arm 20 such that the first arm 10 and the second arm 20 repeatedly alternately complete the first folding action and the second folding action. During the continuous folding of the first arm 10 and the second arm 20, the components of the first arm 10 and the second arm 20 (including but not limited to elastic elements) will continue Ageing. When the first arm 10 and the second arm 20 complete a first folding action and a second folding action, the counting device 4 will count once. When the value accumulated by the counting device 4 reaches the set threshold, the folding portion 2 will stop folding the first arm 10 and the second arm 20. After the number of times of folding accumulated by the counting device 4 reaches a set threshold value, the components of the first arm 10 and the second arm 20 can be inspected to determine the degree of aging of the components, and according to the components. The degree of aging is related to the threshold to judge the folding performance of the first arm 10 and the second arm 20.

It can be understood that the folding portion 2 can also fold the first arm 10 and the second arm 20 by other processes, so if the folding portion 2 is simply changed to the first machine The process of folding the arm 10 and the second arm 20 still falls within the scope of protection of the embodiments of the present invention. Further, the first folding action is not limited to the folding of the arm from the unfolded state to the contracted state, and the second folding action is not limited to the folding of the arm from the contracted state to the expanded state. For example, the first folding action may also be that the arm is folded from the contracted state to the deployed state, and the second folding action may also be that the arm is folded from the deployed state to the contracted state. Therefore, it is considered that the difference between the first folding operation and/or the second folding action and the situation disclosed in the embodiment of the present invention is beyond the scope of protection of the embodiment of the present invention.

In the folding device of the embodiment of the present invention, the carrier is mounted on the carrying portion 1 and the position of the carrier is defined, so that when the folding portion 2 is folded, the carrier is fixed, which is beneficial to improve The accuracy of the folding angle of the arm. The arm of the carrier is biased from the unfolded state to the contracted state by the linear movement track by the first folding module 21 to complete the first folding action. The arm on the carrier is moved by the second folding module 22 in a curved motion trajectory, and the arm on the carrier is folded from the contracted state to the unfolded state to complete the second folding action. The first folding module 21 and the second folding module 22 repeatedly fold the arms on the carrier into a contracted state and an unfolded state, so that the components of the arm (including but not limited to elastic members) are continuously Aging, and then the relationship between the degree of aging of the parts and the number of folds. The folding of the arm on the carrier by the first folding module 21 and the second folding module 22 replaces the manual folding arm, so that the folding angle of each folding action is balanced, which is beneficial to improve the accuracy of the test result. And test efficiency.

Finally, it should be noted that the above embodiments are only used to illustrate 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, those skilled in the art should understand that the technical solutions described in the foregoing embodiments may be modified or equivalently substituted for some of the technical features. The modifications and substitutions of the present invention do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A folding device for folding a foldable arm, comprising: a carrying portion, a folding portion and a mounting portion, wherein the carrying portion and/or the folding portion are mounted on the mounting portion ;

   The carrying portion is configured to define a position of the carrier, and the carrier may be provided with at least one arm;

   The fold acts on the arm on the carrier such that the arm is folded.
2. The folding apparatus according to claim 1, wherein the folding portion comprises at least one first folding module and at least one second folding module;

   The first folding module acts on the arm on the carrier in a linear motion trajectory, so that the arm completes the first folding action;

   The second folding module acts on the arm on the carrier in a curved motion trajectory, so that the arm completes the second folding action.
3. The folding apparatus according to claim 2, wherein said folding portion further comprises one or more sensors for use on said carrier arm and/or said first folding module and And the second folding module senses and triggers the first folding module and/or the second folding module to act on the arm on the carrier.
4. The folding apparatus according to claim 2, wherein the first folding module comprises: a first power portion, a first control portion connected to the first power portion, and a connection with the first power portion The first urging portion controls the first power portion to drive the first urging portion to push the arm on the carrier, so that the arm on the carrier completes the first folding action.
5. The folding apparatus according to claim 4, wherein said first power portion includes at least one pen-shaped cylinder, and said first urging portion includes one or more abutting portions for abutting the arm and The adapter portion connected to the first power portion; the abutting portion is detachably mounted on the adapter portion.
6. The folding apparatus according to claim 2, wherein the second folding module comprises: a second power unit, a second control unit connected to the second power unit, and a second power unit a second urging portion; the second control portion controls the second kinetic portion to drive the second urging portion to push the arm on the carrier such that the arm on the carrier completes the second folding action.
7. The folding apparatus according to claim 6, wherein said second power portion includes at least one rotary cylinder, said second urging portion includes at least one urging mechanism, said urging mechanism and said rotary cylinder Shaft connection.
8. The folding apparatus according to claim 1, wherein the carrying portion comprises a carrier and a limiting portion mounted on the carrier, the carrier is detachably mounted on the mounting portion, The limiting portion is configured to mount the carrier.
9. The folding apparatus according to claim 8, wherein said carrier plate is provided with or formed with a support portion for supporting said carrier, said support portion for preventing said carrier from sliding during folding of said arm .
10. The folding apparatus according to claim 1, further comprising counting means for counting the number of times of folding, said counting means being mounted on said mounting portion.

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