WO2021189401A1

WO2021189401A1 - Folding device

Info

Publication number: WO2021189401A1
Application number: PCT/CN2020/081587
Authority: WO
Inventors: 徐绍宸; 李富海; 蒉张涛; 周亚婷; 汪海涛
Original assignee: 吸力奇迹（北京）科技有限公司
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2021-09-30
Also published as: US20210300715A1

Abstract

A folding device, comprising: a first folding portion (10) configured to perform first folding on a foldable object in a first direction; a second folding portion (20) configured to perform second folding on the foldable object subjected to the first folding in a second direction; a third folding portion (30) configured to perform third folding on one end of the foldable object subjected to the second folding in a third direction, the third direction being perpendicular to the second direction; a fourth folding portion (40) configured to perform fourth folding on the other end of the foldable object subjected to the second folding in a fourth direction; and a transferring portion (50) configured to transfer, in a direction from the third folding portion (30) to the fourth folding portion (40), the foldable object subjected to the fourth folding to the fourth folding portion (40). The fourth folding portion (40) is further configured to perform fifth folding in the fourth direction when the folded object subjected to the fourth folding is transported to the fourth folding portion (40) by means of the transferring portion (50).

Description

Folding device

Technical field

This application relates to mechanical design technology, in particular to a folding device.

Application background

In modern life, it is often necessary to use some sheet-shaped living items. In order to facilitate storage and transportation, it is often necessary to fold these sheet-shaped living items into a smaller area. For example, napkins are special cleaning towels for banquet banquets. People put napkins on their laps or chests during meals. They are mostly used for western food. Napkins are also called mouth cloths. Folding napkins is one of the preparatory tasks before meals. The restaurant staff folds the napkins and places them on the dining table for guests to use during meals. However, due to the gradual increase in labor costs, the staff who fold napkins have high work intensity and low efficiency. It can be seen that there is an urgent need to develop a set of equipment that can automatically fold these sheet-like objects.

Summary of the invention

In view of this, the present application provides a folding device, which solves the problems of high labor cost and low folding efficiency of the existing folding methods.

A folding device provided by an embodiment of the present application includes: a first folding part configured to fold a folding object in a first direction for the first time; The folding object is folded in half along a second direction for a second time, wherein the first direction is opposite to the second direction; and the third folding portion is configured to fold one end of the folded object that has been folded in half for the second time A third folding is performed along a third direction, wherein the third direction is perpendicular to the second direction; the fourth folding part is configured to fold the other end of the folded object after the second half-folding The fourth direction is folded for the fourth time, wherein the fourth direction is opposite to the third direction; and the conveying part is configured to move The folded object after the fourth folding is transferred to the fourth folding part; wherein, the fourth folding part is further configured to, when the folded object after the fourth folding is transported When the part is transported to the fourth folding part, a fifth half-folding is performed along the fourth direction.

In an embodiment of the present application, the first folding portion includes a first folding axis and a first folding plate that is folded along the first folding axis; the second folding portion includes a second folding axis and a The second folding board folded by the second folding axis; the third folding portion includes a third folding axis and a third folding board folded along the third folding axis; the fourth folding portion includes a fourth folding axis And a fourth folding board folded along the fourth folding axis; wherein the first folding axis and the second folding axis are parallel to each other; the third folding axis and the fourth folding axis are both located at the The first folding axis and the second folding axis are both perpendicular to the first folding axis.

In an embodiment of the present application, the surface of the second folding board includes a first crease pressing block arranged corresponding to the third folding axis in a direction perpendicular to the second folding axis and A second crease pressing block corresponding to the fourth folding axis in a direction perpendicular to the second folding axis; and/or in a direction perpendicular to the second folding axis, and to the third folding axis and the third folding axis. The middle line of the gap between the fourth folding shafts corresponds to the third crease pressing block.

In an embodiment of the present application, the surface of the second folding board includes a plurality of the first crease pressing blocks, and the connecting line of the plurality of first crease pressing blocks and the third folding axis The axis of the second folding board is parallel; the surface of the second folding board includes a plurality of the second crease and pressure blocks, and the line of the plurality of the second crease and pressure blocks is parallel to the axis of the fourth folding shaft; The surface of the second folding plate includes a plurality of the third crease pressing blocks, and the connection line of the plurality of third crease pressing blocks is between the third folding axis and the fourth folding axis The midline of the gap is parallel.

In an embodiment of the present application, the first crease pressing block and/or the second crease pressing block and/or the third crease pressing block are elongated, and the elongated cross-section Including the triangular head.

In an embodiment of the present application, the folding object is a square shape, the width of the first folding plate in a direction perpendicular to the first folding axis is half of the width of the folding object, and the second folding plate The width in the direction perpendicular to the second folding axis is one-fourth of the width of the folding object, and the width of the third folding plate in the direction perpendicular to the third folding axis is the folding One-fourth of the width of the object, the width of the fourth folding board in the direction perpendicular to the fourth folding axis is one-fourth of the width of the folding object; wherein, the first folding axis and the The distance between the second folding axis is one quarter of the width of the folding object, and the distance between the third folding axis and the fourth folding axis is half of the width of the folding object.

In an embodiment of the present application, the device further includes: a controller, and the first folding part, the second folding part, the third folding part, the fourth folding part, and the conveying part Are respectively electrically connected, configured to control the first folding part, the second folding part, the third folding part, and the fourth folding part to complete their respective folding actions by sending a control instruction, and to control the transmission Department completes the transfer action. Wherein, the controller is further configured to control the transfer part to transfer a center line parallel to the fourth folding axis of the folding object after the fourth folding to Above the fourth folding axis.

In an embodiment of the present application, each surface of the first folding board, the second folding board, the third folding board, and the fourth folding board is provided with a plurality of ventilation holes.

In an embodiment of the present application, the conveying part includes a single conveying belt mechanism or a plurality of conveying belt mechanisms arranged side-by-side in parallel; wherein, the third folding plate includes: distributedly arranged on a single or multiple conveying belt mechanisms, A plurality of third folding units in the gap between the first folding axis and the second folding axis, wherein each of the third folding units is folded along the third folding axis; the fourth folding board It includes: a plurality of fourth folding units distributedly arranged in the gap between a single or a plurality of the conveyor belt mechanism, the first folding shaft and the second folding shaft, wherein each of the fourth folding units is The fourth folding shaft is folded.

In an embodiment of the present application, the third folding part includes: a third rotation driving unit disposed below the third folding shaft; a third rocker fixedly connected to the rotation shaft of the third rotation driving unit; And a third bending link respectively rotatably connected with the third rocker and the third folding unit; wherein, the third folding unit includes a support portion and a connection portion that are not connected in parallel, wherein the support portion One end is connected to the third bending link, the other end of the support part is rotatably connected to the third folding shaft through the connecting part, and the support part is located on the conveyor belt of the conveyor belt mechanism in an unfolded state Below.

In an embodiment of the present application, the conveyor belt mechanism includes: a transmission drive motor; a transmission wheel set fixedly connected to the rotating shaft of the transmission drive motor; and a conveyor belt arranged on the transmission wheels of the transmission wheel set.

In an embodiment of the present application, the first folding board, the second folding board, the third folding board, and the fourth folding board are made of one or more combinations of the following materials: carbon fiber board, epoxy Resin board, acrylonitrile/butadiene/styrene copolymer board and acrylic board.

In an embodiment of the present application, the maximum folding angles of the first folding panel, the second folding panel, the third folding panel, and the fourth folding panel include 120° to 180°.

In an embodiment of the present application, the first folding portion further includes: a first driving mechanism configured to drive the first folding plate to be folded along the first folding axis; wherein, the first driving mechanism includes : A first driving subunit; a first rocker fixedly connected with the rotating shaft of the driving subunit; and a first bending link connected with the first rocker and the first folding plate in rotation respectively.

In an embodiment of the present application, the first folding portion further includes: a first driving mechanism configured to drive the first folding plate to be folded along the first folding axis; wherein, the first driving mechanism includes : The first linear drive unit includes a drive subunit, a sliding block, a linear guide rod and a rotating shaft base, wherein the drive subunit drives the sliding block to move along the linear guide rod, and one end of the linear guide rod It is rotatably connected with the rotating shaft base; and a fourth link, one end of the fourth link is fixedly connected with the first folding shaft, and the other end is rotatably connected with the slider.

In an embodiment of the present application, the first folding part further includes: a first driving mechanism configured to drive the first folding plate to be folded along the first folding axis; and a stroke feedback unit configured to When the first folding board is folded to a preset angle or folded back to an initial position, a stroke feedback signal is sent.

In an embodiment of the present application, the device further includes: a controller, and the first folding part, the second folding part, the third folding part, the fourth folding part, and the conveying part Are respectively electrically connected, configured to control the first folding part, the second folding part, the third folding part, and the fourth folding part to complete their respective folding actions by sending a control instruction, and to control the transmission The part completes the conveying action; wherein the controller is further configured to control the third folding part and the fourth folding part to simultaneously complete the third folding and the fourth folding, respectively.

In an embodiment of the present application, the controller is further configured to control the conveying part to continue to convey the folded object that has passed the fifth half-fold to the next process position after completing the fifth half-fold. .

In an embodiment of the present application, the device further includes: a grasping mechanism configured to grasp the folded object and release the folded object on the first folding plate and the second folding plate before turning over. On the plane formed in the folded state.

In an embodiment of the present application, the grasping mechanism includes a plurality of grasping units arranged in a distributed manner, wherein the multiple grasping units include one or more combinations of the following items: needle chuck, electrostatic Suction cups and pneumatic grippers.

An embodiment of the present application provides a folding device that uses a first folding part, a second folding part, a third folding part, and a fourth folding part to perform four foldings respectively, and then multiplexing the fourth folding part to perform the fifth folding Folding can realize the automatic folding of the folded object, and greatly reduce the area of the folded object, and the entire folding process is accurate and efficient, which can greatly improve the efficiency of folding the folded object, thereby significantly improving the storage or transportation of the folded object. user experience.

Brief description of the drawings

Fig. 1 is a schematic structural diagram of a folding device provided by an embodiment of the application.

Fig. 2 is a schematic structural diagram of a second folding plate of a folding device provided by an embodiment of the application.

FIG. 3 is a schematic diagram showing the structure of the conveying part, the third folding part and the fourth folding part of the folding device provided by an embodiment of the application.

FIG. 4 is a schematic diagram of the structure of the first folding plate of the folding device provided by an embodiment of the application.

Fig. 5 is a schematic structural diagram of the first driving mechanism of the folding device provided by an embodiment of the application.

Fig. 6 is a schematic structural diagram of a first driving mechanism of a folding device provided by another embodiment of the application.

How to implement this application

In order to make the purpose, technical means, and advantages of this application clearer, the following further describes this application in detail with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a folding device provided by an embodiment of the application. As shown in FIG. 1, the folding device includes: a first folding part 10, a second folding part 20, a third folding part 30, a fourth folding part 40 and a conveying part 50.

Specifically, the first folding part 10 is configured to fold the folded object in a first direction (from the bottom to the top in FIG. 1) for the first time. It should be understood that the folding object may be sheet-shaped foldable items, such as napkins, bath towels, clothing, etc. However, the application does not restrict the specific types and materials of the folding objects, as long as the folding objects are soft enough to be folded. The folding device provided in the embodiment of the present application is used for folding.

The second folding part 20 is configured to fold the folded object that has been folded in half for the first time in a second direction (a direction from top to bottom in FIG. 1) for a second time, wherein the first direction and the second direction are opposite.

The third folding portion 30 is configured to fold one end of the folded object that has been folded in half for the second time along a third direction (from left to right in FIG. 1) for the third time, wherein the third direction is the same as the second direction. Phase perpendicular. It is worth noting that the third fold is not the same as the first half-folding and the second half-folding. Instead, one end of the folded object is folded to the middle of the folded object.

The fourth folding part 40 is configured to fold the other end of the folded object that has been folded in half for the second time in a fourth direction (from right to left in FIG. 1) for the fourth time, wherein the fourth direction and the third The direction is opposite. It is worth noting that the fourth fold is not the same as the first fold in half and the second fold in half, but the other end of the folded object is folded to the middle of the folded object.

The conveying part 50 is configured to convey the folded object after the fourth folding to the fourth folding part along the direction from the third folding part 30 to the fourth folding part 40 (from left to right in FIG. 1) 40, so that the fourth folding part 40 performs the next folding step.

When the folding object after the fourth folding is transported to the fourth folding part 40 by the conveying part 50, the fourth folding part 40 is folded in half along the fourth direction (from right to left in FIG. 1) for the fifth time. This completes the folding process for the folded object.

In an embodiment of the present application, as shown in FIG. 1, the first folding part 10 includes a first folding axis 101 and a first folding plate 102 that is folded along the first folding axis 101; the second folding part 20 includes a second folding The shaft 201 and the second folding board 202 folded along the second folding axis 201; the third folding portion 30 includes the third folding axis 301 and the third folding board 302 folded along the third folding axis 301; the fourth folding portion 40 It includes a fourth folding axis 401 and a fourth folding plate 402 folded along the fourth folding axis 401; wherein the first folding axis 101 and the second folding axis 201 are parallel to each other; the third folding axis 301 and the fourth folding axis 401 are both They are located between the first folding axis 101 and the second folding axis 201, and both are perpendicular to the first folding axis 101, and therefore are also perpendicular to the second folding axis 201. In an embodiment of the present application, the folding device further includes a controller 60 electrically connected to the first folding part 10, the second folding part 20, the third folding part 30, the fourth folding part 40, and the transmission part 50, respectively, and is configured In order to control the first folding part 10, the second folding part 20, the third folding part 30 and the fourth folding part 40 to complete the respective folding actions by sending a control command, and to control the conveying part 50 to complete the conveying action.

In this way, when the folding object needs to be folded, the controller 60 will control the first folding part 10 to act first, and the first folding board 102 can be folded along the first folding axis 101 to complete the first time from bottom to top as shown in Figure 1. Fold in half; then the controller 60 will control the action of the second folding part 20, and the second folding board 202 can be folded along the second folding axis 201 to complete the second half-folding from top to bottom as shown in Figure 1; then the controller 60 It will control the actions of the third folding part 30 and the fourth folding part 40. The third folding board 302 can be folded along the third folding axis 301 to complete the third folding from left to right as shown in Figure 1. The fourth folding board After 402 is folded along the fourth folding axis 401, the fourth folding from right to left as shown in FIG. 1 can be completed. Then the controller 60 controls the conveying part 50 to transfer the folded object that has been folded four times to the top of the fourth folding part 40, and the fourth folding plate 402 is folded along the fourth folding axis 401 again to complete the operation from the right to the right as shown in FIG. Fold in half for the fifth time from the left. The area of the folded object after five folds will be greatly reduced.

It can be seen that the folding device provided by the embodiment of the present application uses the first folding portion 10, the second folding portion 20, the third folding portion 30, and the fourth folding portion 40 to perform four foldings respectively, and then through multiplexing The fourth folding part 40 performs the fifth folding, which can realize the fully automatic folding of the folded object, and greatly reduce the area of the folded object, and the entire folding process is accurate and efficient, which can greatly improve the efficiency of folding the folded object, thereby significantly improving The user experience of the folded object during storage or transportation.

FIG. 2 is a schematic diagram showing the structure of the second folding plate 202 of the folding device provided by an embodiment of the application. As shown in FIG. 2, the surface of the second folding board 202 includes a first crease pressing block 2021 arranged corresponding to the third folding axis 301 in a direction perpendicular to the second folding axis 201, and a second folding axis 201. The second crease pressing block 2022 arranged in the vertical direction corresponding to the fourth folding axis 401, and the gap between the third folding axis 301 and the fourth folding axis 401 in the direction perpendicular to the second folding axis 201 The third crease pressing block 2023 is arranged corresponding to the center line.

Since the third folding axis 301 itself is perpendicular to the second folding axis 201, the arrangement of the third folding axis 301 or the fourth folding axis 401 in the direction perpendicular to the second folding axis 201 means that the first crease pressing block 2021 or The second crease pressing block 2022 is aligned with the axis of the third folding axis 301 or the fourth folding axis 401 in the direction perpendicular to the second folding axis 201, and the axis of the third folding axis 301 or the fourth folding axis 401 is aligned. It also corresponds to the creases formed after the third folding portion 30 and the fourth folding portion 40 are folded for the third and fourth times, respectively. Since the folded object after four foldings will be transported to the fourth folding part 40, the midline of the gap between the third folding axis 301 and the fourth folding axis 401 actually corresponds to the fourth folding axis during the fifth folding 401 axis.

Considering that after the second fold in half, although the area of the folded object has been reduced, the thickness of the stack will also increase, and the increase in thickness may be the subsequent third fold, fourth fold, and fifth fold. The folding process of the second fold is difficult. Therefore, by arranging the first crease pressing block 2021, the second crease pressing block 2022, and the fifth crease pressing block 2023 on the second folding board 202, The surface of the folded object after being folded in half is formed with grooves corresponding to the creases of the subsequent folding process, so that the subsequent third, fourth, and fifth folding processes can be smoothly performed based on these grooves.

In a further example of the present application, as shown in FIG. 2, in order to ensure the flatness of the formed grooves corresponding to the creases, the convenience of these grooves for the subsequent folding process and the creases are further realized. For the balance between the materials used for the pressing blocks, the surface of the second folding plate 202 may include: a plurality of first crease pressing blocks 2021, and the connecting line of the plurality of first crease pressing blocks 2021 is parallel to the axis of the third folding shaft 301 A plurality of second crease pressing blocks 2022, the connection line of the plurality of second crease pressing blocks 2022 is parallel to the axis of the fourth folding shaft 401; and a plurality of third crease pressing blocks 2023, a plurality of third creases The connecting line of the pressing block 2023 is parallel to the center line of the gap between the third folding axis 301 and the fourth folding axis 401. In this way, even if the first crease press block 2021, the second crease press block 2022, and the third crease press block 2023 do not have a long length, an effective groove can still be formed.

In a further example of the present application, as shown in FIG. 2, the first crease press block 2021 and/or the second crease press block 2022 and/or the third crease press block 2023 are elongated, elongated The cross section includes a triangular head. The triangular head is more conducive to forming a linear groove with a clear shape on the surface of the folding object, so as to further improve the convenience of the subsequent folding process.

However, it should be understood that in other embodiments of the present application, depending on the material and type of the folding object, the first crease press block 2021, the second crease press block 2022, and the third crease press block may not be provided. 2023, or only a part of the above three types of crease press blocks are provided. The present application does not make a strict limitation on the specific crease press blocks and the number of crease press blocks included on the surface of the second folding board 202.

In an embodiment of the present application, the folding object is a square (for example, a square napkin), and the dimensions of the folding object may include, but are not limited to, 60 cm×60 cm, 55 cm×55 cm, and 50 cm×50 cm. As shown in FIG. 1, the width of the first folding board 102 in the direction perpendicular to the first folding axis 101 is half the width of the folding object, and the width of the second folding board 202 in the direction perpendicular to the second folding axis 201 is The width of the third folding board 302 in the direction perpendicular to the third folding axis 301 is one-fourth of the width of the folding object, and the fourth folding board 402 is perpendicular to the fourth folding axis 401. The width in the direction of is one-fourth of the width of the folded object. The distance between the first folding axis 101 and the second folding axis 201 is one quarter of the width of the folding object, and the distance between the third folding axis 301 and the fourth folding axis 401 is half of the width of the folding object. When the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 are all in the unfolded state, the formed projection contour on the horizontal plane corresponds to the square folding object. In this way, when performing a folding action, as shown in FIG. 1, the controller 60 will control the first folding part 10 to move first to achieve the first half-folding, that is, half-folding is achieved at the 50% vertical midline position of the folded object in the unfolded state. Work. Then the second folding part 20 acts, that is, the second step of folding in half will be realized at the 25% position of the vertical direction of the unfolded state of the folding object. After that, the third folding portion 30 and the fourth folding portion 40 act separately, that is, the third folding and the fourth folding are respectively realized at the position of 25% and 75% of the transverse direction of the unfolded state of the folding object. At this time, the area of the folded object has been reduced to 1/8 of the original, and it is a long strip, and the two ends are respectively folded to the middle, and the two ends are opposite. Then the controller 60 will control the conveying part 50 to convey the center line of the folding object that has undergone the fourth folding parallel to the fourth folding axis 401 to above the fourth folding axis 401, because the fourth folding plate 402 is perpendicular to the fourth folding The width in the direction of the axis 401 is one-fourth of the width of the folding object. Therefore, the fifth folding of the fourth folding plate 402 at this time can just fold the folding object that has been folded four times in half, that is, the fourth folding part 40 performs the fifth folding. Fold it in half for the fifth time. In this way, the area of the folded object after five foldings can only be reduced to 1/16 of the original, which is very convenient for storage for subsequent storage and transportation.

FIG. 3 is a schematic diagram showing the structure of the conveying part, the third folding part and the fourth folding part of the folding device provided by an embodiment of the application. As shown in FIG. 3, the conveying part 50 includes two conveying belt mechanisms 51 arranged side by side in parallel. The conveying belt mechanism 51 includes: a conveying drive motor 511; a conveying wheel set 512 fixedly connected to the rotating shaft of the conveying drive motor 511; The rotation of the rotating shaft of the conveying driving motor 511 can make the conveying wheels of the conveying wheel set 512 rotate, and thereby drive the conveying belt 513 to rotate to realize the transmission of the folded object.

As shown in FIG. 3, the third folding plate 302 includes: three third folding units 3021 distributed in the gap between the two conveyor belt mechanisms 51, the first folding shaft 101 and the second folding shaft 201, each of which The third folding unit 3021 is folded along the third folding axis 301. The fourth folding plate 402 includes: three fourth folding units 4021 distributed in the gap between the two conveyor belt mechanisms 51, the first folding shaft 101 and the second folding shaft 201, wherein each fourth folding unit 4021 is The fourth folding shaft 401 is folded.

By designing the third folding board 302 and the fourth folding board 402 to include a plurality of folding units, and these folding units are distributed in the gap between the conveyor belt mechanism 51, the first folding shaft 101 and the second folding shaft 201, it is possible to Therefore, the rotation of the conveyor belt 513 of the conveyor belt mechanism 51 and the folding action of the folding unit do not interfere with each other.

In a further embodiment, in order to further prevent the folding unit from interfering with the rotation process of the conveyor belt 513 before being folded, as shown in FIG. The rotation drive unit 303; the third rocker 304 fixedly connected to the shaft of the third rotation drive unit 303; and the third bending link 305 that is rotatably connected to the third rocker 304 and the third folding unit 3021; The three-folding unit 3021 includes a supporting portion 30211 and a connecting portion 30212 that are not connected in parallel, wherein one end of the supporting portion 30211 is connected to the third bending link 305, and the other end of the supporting portion 30211 is rotatably connected to the third folding shaft 301 through the connecting portion 30212 The supporting portion 30211 is located below the conveyor belt 513 of the conveyor belt mechanism 51 in the unfolded state.

As shown in FIG. 3, the rotation shaft of the third rotation driving unit 303 drives the third rocker 304 to rotate, and the third bending link 305 drives the third folding unit 3021 to rotate along the third folding axis 301. The supporting portion 30211 of the third folding unit 3021 is used to support the folded object to complete the folding action. Since the other end of the supporting portion 30211 is rotatably connected to the third folding shaft 301 through the connecting portion 30212, and the connecting portion 30212 faces downward, it supports The portion 30211 is located below the conveyor belt of the conveyor belt mechanism 51 in the unfolded state, so as to effectively prevent the support portion 30211 from interfering with the rotation process of the conveyor belt 513 before being folded.

It should be understood that the fourth folding portion 40 can also be implemented with a structure similar to the third folding portion 30 to prevent the turning of the fourth folding unit 4021 from interfering with the rotation of the conveyor belt 513. That is, the fourth folding part 40 may specifically include: a fourth rotation driving unit disposed below the fourth folding shaft 401; a fourth rocker fixedly connected to the rotation shaft of the fourth rotation driving unit; and a fourth rocker and The fourth folding unit 4021 is a fourth bending link rotatably connected; wherein, the fourth folding unit 4021 includes a support portion and a connection portion that are not connected in parallel, wherein one end of the support portion is connected to the fourth bending link, and the other end of the support portion Through the connection part and the fourth folding shaft 401 rotatably connected, the support part is located below the conveyor belt of the conveyor belt mechanism 51 in the unfolded state. The detailed description of the specific action of the fourth folding part 40 will not be repeated here.

In addition, it should be understood that although FIG. 3 illustrates that the conveying part 50 includes two conveyor belt mechanisms 51, in other embodiments of the present application, according to different application scenarios, the conveying part 50 may also include a single conveyor belt mechanism 51. Or more conveyor belt mechanisms 51 arranged side by side in parallel. At this time, the third folding plate 302 includes: a plurality of third folding units 3021 distributed in the gap between the single or multiple conveyor belt mechanisms 51, the first folding shaft 101 and the second folding shaft 201, each of which is The three folding unit 3021 is folded along the third folding axis 301. The fourth folding plate 402 includes: a plurality of fourth folding units 4021 distributed in the gap between the single or multiple conveyor belt mechanisms 51, the first folding shaft 101 and the second folding shaft 201, wherein each fourth folding unit 4021 is folded along the fourth folding axis 401.

In an embodiment of the present application, the surfaces of the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 are provided with a plurality of ventilation holes 60. Taking the first folding board 102 as shown in FIG. 4 as an example, the surface of the first folding board 102 includes a plurality of ventilation holes 60 arranged in an array. These vent holes 60 can effectively reduce the air resistance when the first folding board 102 is turned over, reduce the weight of the first folding board 102, reduce the output torque of the motor driving the folding action, and further improve work efficiency. In a further embodiment, the ventilation holes 60 may include one or more combinations of the following shapes: square, circular, and elliptical. However, the specific shape of the ventilation hole 60 is not strictly limited in this application.

In an embodiment of the present application, the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 may be made of one of the following materials: carbon fiber board, epoxy resin board, acrylonitrile /Butadiene/styrene copolymer board and acrylic board. In a further embodiment, considering reducing the output torque of the motor driving the folding action, it is necessary to reduce the weight of the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402. The first folding The board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 may be carbon fiber boards. However, it should be understood that the specific materials of the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 are also not strictly limited in this application.

In an embodiment of the present application, the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 are along the first folding axis 101, the second folding axis 201, and the third folding axis 301, respectively. The maximum folding angle with the fourth folding axis 401 includes 120° to 180°. Since the folding object itself has a certain weight, in order to improve folding efficiency, after folding the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 to a certain extent, the folding object is subjected to gravity. The function can complete the folding process by itself. In this self-folding process, the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 can complete the homing action. In an embodiment of the present application. Considering that in order to further improve the alignment effect of the two sides of the folded object after being folded, the maximum folding angle of the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 may be 180 °. However, it should be understood that the specific maximum folding angles of the first folding board 102, the second folding board 202, the third folding board 302, and the fourth folding board 402 can be adjusted based on the specific requirements of the actual scene. Be strict.

In an embodiment of the present application, the first folding part 10 and the second folding part 20 may include a driving mechanism for driving the first folding board 102 and the second folding board 202 to perform a folding action. Taking the first folding part 10 as an example, the first folding part 10 may further include: a first driving mechanism configured to drive the first folding plate 102 to be folded along the first folding axis 101. As shown in Figure 5, the first driving mechanism may include: a first driving subunit 103; a first rocker 104 fixedly connected to the shaft of the first driving subunit 103; A first bending link 105 is rotatably connected to a folding board 102. In this way, when the shaft of the first driving subunit 103 rotates, the first rocker 104 will also rotate. Under the transmission of the first rocker 104, the first bending link 105 will also rotate, thereby driving the first folding plate. The rotation of 102 is generated, thereby driving the first folding plate 102 to perform a folding action.

In another embodiment of the present application, still taking the first folding portion 10 as an example, as shown in FIG. 6, the first driving mechanism may include: a first linear driving unit, including a driving subunit 110 (in the example of FIG. The driving sub-unit 110 may be integrated in the slider 106, and the driving sub-unit 110 may be, for example, a stepping motor; in another embodiment, the driving sub-unit 110 may also be connected with the slider 106, for example, an air cylinder is used to drive the slider 106 Sliding), the slider 106, the linear guide rod 107 and the shaft base 108, wherein the driving subunit 110 drives the slider 106 to move along the linear guide rod 107, one end of the linear guide rod 107 is rotatably connected with the shaft base 108; and the fourth link A rod 109, one end of the fourth link 109 is fixedly connected to the first folding shaft 101, and the other end is rotatably connected to the slider 106. In this way, the driving subunit 110 can make the distance between the slider 106 and the shaft base 108 change during the movement of the driving slider 106 along the linear guide rod 107. Under the transmission of the fourth link 109, the linear guide rod 107 will change. Will swing relative to the shaft base 108, and cause the first folding shaft 101 to also rotate. The first folding plate 102 can be fixedly connected to the first folding shaft 101, so that the first folding plate 102 can be driven to follow the first folding shaft. The rotation of 101 performs a folding action.

In an embodiment of the present application, in addition to the first driving mechanism, the first folding portion 10 may further include: a stroke feedback unit configured to, when the first folding plate 102 is folded to a preset angle or folded back to the initial position, Send travel feedback signal. The travel feedback unit can be realized by a mechanical travel switch, a photoelectric sensor, a Hall sensor and other structures. In this way, when the first folding plate 102 is folded to a specific position or folded back to the initial position, the stroke feedback unit will send the stroke feedback signal to the controller 60, and the controller 60 can immediately stop the driving signal output of the driving subunit to prevent occurrence Mechanical failure can increase the life of the drive sub-unit at the same time.

It should be understood that although only the specific structure and stroke feedback mode of the first driving mechanism are given above, the second folding portion 20 may also adopt a corresponding driving mode and stroke feedback mode, and may also adopt a specific structure similar to the foregoing embodiment. . At the same time, the specific driving mode and stroke feedback mode of the first folding part 10 and the second folding part 20 are not limited to the specific implementations listed above, and this application does not make a strict limitation on this.

In an embodiment of the present application, considering that the third folding and the fourth folding do not interfere with each other, in order to further improve the folding efficiency, the controller 60 may be further configured to control the third folding part 30 and the fourth folding part 40 at the same time. Complete the third and fourth folds respectively.

In an embodiment of the present application, the controller 60 is further configured to control the transfer unit 50 to continue to transfer the folded object that has passed the fifth half-fold to the next process position after completing the fifth half-fold. The folded object that has been folded can be directly transferred to the next step, which can further improve the application efficiency of the folded object.

In an embodiment of the present application, the folding device may further include: a grasping mechanism configured to grasp the folded object and release the folded object on the first folding board 102 and the second folding board 202 in an unfolded state. On the plane. In a further embodiment, the grasping mechanism may include a plurality of grasping units arranged in a distributed manner, wherein the multiple grasping units include one or more combinations of the following items: needle chuck, electrostatic chuck and pneumatic clamp claw. However, it should be understood that in other embodiments of the present application, the folding object can also be manually released on the plane formed by the first folding board 102 and the second folding board 202 in the unfolded state. Whether the folding device includes a grasping mechanism and the specific types and distribution of grasping units in the grasping mechanism are not specifically limited.

The above are only preferred embodiments of the present application, and are not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A folding device, characterized in that it comprises

The first folding part is configured to fold the folded object in half along the first direction for the first time;

The second folding part is configured to perform a second half-folding of the folded object after the first half-folding in a second direction, wherein the first direction and the second direction are opposite;

The third folding part is configured to perform a third folding of one end of the folding object after the second half-folding in a third direction, wherein the third direction is perpendicular to the second direction;

A fourth folding part configured to fold the other end of the folding object that has been folded in half for the second time in a fourth direction for a fourth time, wherein the fourth direction is opposite to the third direction; and

A conveying part configured to convey the folded object after the fourth folding to the fourth folding part along a direction from the third folding part to the fourth folding part;

Wherein, the fourth folding part is further configured to perform a fifth time along the fourth direction when the folding object after the fourth folding is transported to the fourth folding part by the transport part fold.
The device according to claim 1, wherein the first folding part comprises a first folding shaft and a first folding plate folded along the first folding shaft;

The second folding part includes a second folding shaft and a second folding plate folded along the second folding shaft;

The third folding portion includes a third folding axis and a third folding plate folded along the third folding axis;

The fourth folding portion includes a fourth folding axis and a fourth folding board folded along the fourth folding axis;

Wherein, the first folding axis and the second folding axis are parallel to each other; the third folding axis and the fourth folding axis are both located between the first folding axis and the second folding axis, and Both are perpendicular to the first folding axis.
The device according to claim 2, wherein the surface of the second folding board comprises:

A first crease pressing block arranged corresponding to the third folding axis in a direction perpendicular to the second folding axis and arranged corresponding to the fourth folding axis in a direction perpendicular to the second folding axis The second crease press block; and/or

In the direction perpendicular to the second folding axis, a third crease pressing block is provided corresponding to the midline of the gap between the third folding axis and the fourth folding axis.
The device according to claim 3, wherein the surface of the second folding plate comprises a plurality of the first crease and pressure blocks, and the connecting line of the plurality of the first crease and pressure blocks is connected to the The axis of the third folding shaft is parallel;

The surface of the second folding board includes a plurality of the second crease pressing blocks, and the connecting line of the plurality of the second crease pressing blocks is parallel to the axis of the fourth folding shaft;

The surface of the second folding plate includes a plurality of the third crease pressing blocks, and the connection line of the plurality of third crease pressing blocks is between the third folding axis and the fourth folding axis The midline of the gap is parallel.
The device according to claim 3, wherein the first crease pressing block and/or the second crease pressing block and/or the third crease pressing block are elongated, and the The elongated cross-section includes a triangular head.
The device according to claim 2, wherein the folding object is a square, the width of the first folding plate in a direction perpendicular to the first folding axis is half of the width of the folding object, and The width of the second folding plate in the direction perpendicular to the second folding axis is one-fourth of the width of the folding object, and the width of the third folding plate in the direction perpendicular to the third folding axis The width is one-fourth of the width of the folding object, and the width of the fourth folding plate in the direction perpendicular to the fourth folding axis is one-fourth of the width of the folding object

Wherein, the distance between the first folding axis and the second folding axis is one-fourth of the width of the folding object, and the distance between the third folding axis and the fourth folding axis is determined by Said to be half of the width of the folded object.
The device according to claim 6, further comprising:

The controller is electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the conveying part, respectively, and is configured to send a control instruction to control the The first folding part, the second folding part, the third folding part, and the fourth folding part complete their respective folding actions, and the conveying part is controlled to complete the conveying action.

Wherein, the controller is further configured to control the transfer part to transfer a center line parallel to the fourth folding axis of the folding object after the fourth folding to Above the fourth folding axis.
The device according to claim 2, wherein the surface of each of the first folding board, the second folding board, the third folding board and the fourth folding board is provided with a plurality of ventilation holes.
The device according to claim 2, wherein the conveying part comprises a single conveying belt mechanism or a plurality of conveying belt mechanisms arranged side by side in parallel;

Wherein, the third folding plate includes: a plurality of third folding units distributedly arranged in the gap between the single or multiple conveyor belt mechanisms, the first folding shaft and the second folding shaft, wherein each One of the third folding units is folded along the third folding axis;

The fourth folding plate includes: a plurality of fourth folding units distributed in the gap between the single or multiple conveyor belt mechanisms, the first folding shaft and the second folding shaft, each of which is The fourth folding unit is folded along the fourth folding axis.
The device according to claim 9, wherein the third folding part comprises:

A third rotating drive unit arranged below the third folding shaft;

A third rocker fixedly connected to the rotating shaft of the third rotating drive unit; and

A third bending link rotatably connected with the third rocker and the third folding unit;

Wherein, the third folding unit includes a supporting portion and a connecting portion that are not connected in parallel, wherein one end of the supporting portion is connected to the third bending link, and the other end of the supporting portion is connected to the connecting portion through the connecting portion. The third folding shaft is rotatably connected, and the support portion is located below the conveyor belt of the conveyor belt mechanism in an unfolded state.
The device according to claim 9, wherein the conveyor belt mechanism comprises:

Transmission drive motor;

A transmission wheel set fixedly connected to the rotating shaft of the transmission drive motor; and

A conveyor belt arranged on a conveyor wheel of the conveyor wheel set.
The device according to claim 2, wherein the first folding board, the second folding board, the third folding board, and the fourth folding board are made of one or more combinations of the following materials: Carbon fiber board, epoxy resin board, acrylonitrile/butadiene/styrene copolymer board and acrylic board.
The device according to claim 2, wherein the maximum folding angles of the first folding board, the second folding board, the third folding board, and the fourth folding board include 120° to 180° °.
The device according to claim 2, wherein the first folding part further comprises: a first driving mechanism configured to drive the first folding plate to be folded along the first folding axis; wherein, the The first driving mechanism includes:

The first driving subunit;

A first rocker fixedly connected to the rotating shaft of the driving subunit; and

The first bending link is respectively connected with the first rocker rod and the first folding plate rotatably connected.
The device according to claim 2, wherein the first folding part further comprises: a first driving mechanism configured to drive the first folding plate to be folded along the first folding axis;

Wherein, the first driving mechanism includes:

The first linear driving unit includes a driving subunit, a sliding block, a linear guide rod and a rotating shaft base, wherein the driving subunit drives the sliding block to move along the linear guide rod, and one end of the linear guide rod is connected to The rotating shaft base is connected in rotation; and

A fourth link, one end of the fourth link is fixedly connected with the first folding shaft, and the other end is rotatably connected with the slider.
The device according to claim 2, wherein the first folding part further comprises:

A first driving mechanism configured to drive the first folding plate to be folded along the first folding axis; and

The stroke feedback unit is configured to send a stroke feedback signal when the first folding plate is folded to a preset angle or turned back to an initial position.
The device according to claim 1, further comprising:

The controller is electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the conveying part, respectively, and is configured to send a control instruction to control the The first folding part, the second folding part, the third folding part, and the fourth folding part complete their respective folding actions, and control the transfer part to complete the transfer action;

Wherein, the controller is further configured to control the third folding part and the fourth folding part to simultaneously complete the third folding and the fourth folding, respectively.
The device according to claim 17, wherein the controller is further configured to control the conveying part to continue to convey the folded object that has passed the fifth half-fold after completing the fifth half-fold Go to the next process position.
The device according to claim 1, further comprising:

The grasping mechanism is configured to grasp the folded object and release the folded object on a plane formed by the first folding board and the second folding board in an unfolded state.
The device according to claim 19, wherein the grasping mechanism includes a plurality of grasping units arranged in a distributed manner, wherein the multiple grasping units include one or more combinations of the following items: Needle suction cups, electrostatic suction cups and pneumatic grippers.