A folding device

Abstract

The present invention discloses a folding device, comprising a hooking mechanism, a pressing mechanism, a flanging mechanism and a hammering mechanism, wherein the hooking mechanism is used to hook up the outer edge of the fabric to be folded, so that the edge of the fabric to be folded is tilted upward; the pressing mechanism is used to press the inner edge of the fabric to be folded, and define the folding line of the fabric to be folded; the flanging mechanism is used to fold the upwardly tilted edge of the fabric to be folded inward from the folding line to form a folded edge; the hammering mechanism is used to hammer the inwardly folded edge of the fabric to be folded, so that the folded edge of the fabric to be folded is tightly bonded. The folding device decomposes the entire folding process into four automatic processes of hooking, pressing, flanging and hammering, which greatly improves the folding efficiency and folding accuracy.

Description

Technical Field

[0001] The invention relates to the field of mechanical automation, and in particular to a folding device. Background Art

[0002] The folding machine is a special sewing equipment for folding the edge of leather or clothing to be processed. The existing folding machines are all semi-automatic, and the folding efficiency and folding accuracy are very low. Summary of the invention

[0003] In order to solve the above-mentioned deficiencies of the prior art, the invention provides a folding device, which decomposes the entire folding process into four automatic processes of hooking, pressing, flanging and hammering, thereby greatly improving the folding efficiency and folding accuracy.

[0004] The technical problem to be solved by the invention is achieved through the following technical solutions:

[0005] A folding device includes a hooking mechanism, a pressing mechanism, a flanging mechanism and a hammering mechanism, wherein:

[0006] The edge hooking mechanism is used to extend into the outer bottom of the edge of the fabric to be folded, so that the edge of the fabric to be folded is tilted upward;

[0007] The edge pressing mechanism is used to press the inner side of the edge of the fabric to be folded to define the folding line of the fabric to be folded;

[0008] The flanging mechanism is used to fold the upwardly raised edge of the fabric to be folded inward from the folding line to form a folded edge;

[0009] The edge hammering mechanism is used for hammering the inwardly folded edge of the fabric to be folded so that the folded edge of the fabric to be folded is tightly bonded.

[0010] Furthermore, the edge hooking mechanism includes an edge hooking head and an edge hooking driving assembly, and the edge hooking driving assembly is connected to the edge hooking head to drive the edge hooking head to hook the outer side of the edge of the fabric to be folded.

[0011] Furthermore, the edge hook driving assembly includes a first Z-axis moving assembly and a Z-axis rotating assembly, wherein the first Z-axis moving assembly is used to drive the edge hook head to translate along the Z-axis, and the Z-axis rotating assembly is used to drive the edge hook head to rotate around the Z-axis, and the Z-axis is perpendicular to the plane where the fabric to be folded is located.

[0012] Furthermore, the edge hooking drive assembly is also connected to the edge pressing mechanism, the edge flanging mechanism and the edge hammering mechanism to drive the edge pressing mechanism, the edge flanging mechanism and the edge hammering mechanism to move synchronously with the edge hooking head.

[0013] Furthermore, the edge pressing mechanism includes an edge pressing head and an edge pressing drive assembly, and the edge pressing drive assembly is connected to the edge pressing head to drive the edge pressing head to press the inner side of the edge of the fabric to be folded.

[0014] Furthermore, the edge pressing drive assembly includes a second Z-axis moving assembly, and the second Z-axis moving assembly is used to drive the edge pressing head to translate along the Z-axis, and the Z-axis is perpendicular to the plane where the fabric to be folded is located.

[0015] Furthermore, the flanging mechanism comprises a flanging claw and a flanging drive mechanism, and the flanging drive mechanism is connected to the flanging claw to drive the flanging claw to fold the upwardly raised edge of the fabric to be folded inward.

[0016] Furthermore, the flanging mechanism includes a third Z-axis moving component and a swinging component, the third Z-axis moving component is used to drive the flanging claw to translate along the Z-axis, and the swinging component is used to drive the flanging claw to swing inward and outward along the flanging direction, and the Z-axis is perpendicular to the plane where the fabric to be folded is located.

[0017] Furthermore, the hammering mechanism includes a hammering head and a hammering drive assembly, and the hammering drive assembly is connected to the hammering head to drive the hammering head to hammer the folding edge of the fabric to be folded inward.

[0018] Furthermore, the hammer edge driving assembly includes a fourth Z-axis moving assembly, and the fourth Z-axis moving assembly is used to drive the hammer edge head to translate along the Z-axis, and the Z-axis is perpendicular to the plane where the fabric to be folded is located.

[0019] The invention has the following beneficial effects: the folding device is fully automated. When working, the outer edge of the fabric to be folded is first hooked up by the hooking mechanism, and then the inner edge of the fabric to be folded is pressed by the pressing mechanism. The hooking mechanism and the pressing mechanism jointly limit the folding width of the fabric to be folded. Then, the upwardly raised edge of the fabric to be folded is folded inwardly by the flanging mechanism to form a folded edge. Finally, the inwardly folded edge of the fabric to be folded is hammered by the hammering mechanism to make the folded edge of the fabric to be folded tightly (the edge surface of the fabric to be folded is covered with adhesive), completing the folding process. The entire folding process is decomposed into four automatic processes of hooking, pressing, flanging and hammering, which greatly improves the folding efficiency and folding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the automatic folding machine provided for the invention;

[0021] Figure 2 A schematic diagram of a template moving mechanism in an automatic folding machine provided for the invention;

[0022] Figure 3A schematic diagram of the folding device provided for the invention;

[0023] Figure 4 Another schematic diagram of the folding device provided for the invention;

[0024] Figure 5 An internal schematic diagram of the hemming device provided for the invention;

[0025] Figure 6 Another internal schematic diagram of the folding device provided for the invention;

[0026] Figure 7 A schematic diagram of a rotating main shaft in a folding device provided for the invention;

[0027] Figure 8 A schematic diagram of the edge hooking mechanism and the edge pressing mechanism in the edge folding device provided by the invention;

[0028] Fig. 9 A schematic diagram of a flanging mechanism in a folding device provided for the invention;

[0029] Fig.10 Another schematic diagram of the flanging mechanism in the folding device provided by the invention;

[0030] Fig.11 A schematic diagram of a hammer edge mechanism in a folding device provided for the invention;

[0031] Fig.12 A top view of the hemming head, hemming press head, hemming claw and hemming hammer head in the hemming device provided for the invention;

[0032] Fig.13 A schematic diagram of the coordination of the hemming head and the hemming pressing head in the hemming device provided by the invention;

[0033] Fig.14 A flowchart of the steps of the automatic folding method provided by the invention;

[0034] Fig.15 A working principle diagram of the automatic folding machine provided for the invention. DETAILED DESCRIPTION

[0035] The invention is described in detail below with reference to the accompanying drawings and embodiments.

[0036] Embodiment 1

[0037] like Figure 3-6 As shown, a folding device includes a hooking mechanism 1, a pressing mechanism 2, a flanging mechanism 3 and a hammering mechanism 4, wherein:

[0038] The edge hooking mechanism 1 is used to extend into the outer bottom of the edge of the fabric to be folded, so that the edge of the fabric to be folded is tilted upward;

[0039] The edge pressing mechanism 2 is used to press the inner side of the edge of the fabric to be folded to define the folding line of the fabric to be folded;

[0040] The flanging mechanism 3 is used to fold the upwardly raised edge of the fabric to be folded inward from the folding line to form a folded edge;

[0041] The edge hammering mechanism 4 is used for hammering the inwardly folded edge of the fabric to be folded so that the folded edge of the fabric to be folded is tightly bonded.

[0042] The folding device is fully automated. When working, the outer edge of the fabric to be folded is first hooked up by the hooking mechanism 1, and then the inner edge of the fabric to be folded is pressed by the pressing mechanism 2. The hooking mechanism 1 and the pressing mechanism 2 jointly define the folding width of the fabric to be folded. Then, the upwardly raised edge of the fabric to be folded is folded inwardly to form a folded edge by the flanging mechanism 3. Finally, the inwardly folded edge of the fabric to be folded is hammered by the hammering mechanism 4 to make the folded edge stick together (the edge surface of the fabric to be folded is coated with adhesive), completing the folding process. The entire folding process is decomposed into four automatic processes of hooking, pressing, flanging and hammering, which greatly improves the folding efficiency and folding accuracy.

[0043] like Figure 3 As shown, the edge hooking mechanism 1 includes an edge hooking head 11 and an edge hooking driving assembly, and the edge hooking driving assembly is connected to the edge hooking head 11 to drive the edge hooking head 11 to hook the outer side of the edge of the fabric to be folded.

[0044] At work, if Fig.13 As shown, the edge hook driving assembly drives the edge hook head 11 to extend into the outer bottom of the edge of the fabric to be folded, and presses against the edge of the fabric to be folded to make it curl upward. Therefore, the side of the edge hook head 11 opposite to the fabric to be folded is a concave arc surface, so that the edge of the fabric to be folded can curl upward along the concave arc surface of the edge hook head 11.

[0045] The edge hook driving assembly includes a first Z-axis moving assembly 6 and a Z-axis rotating assembly 5. The first Z-axis moving assembly 6 is used to drive the edge hook head 11 to translate along the Z-axis. The Z-axis rotating assembly 5 is used to drive the edge hook head 11 to rotate around the Z-axis, and the Z-axis is perpendicular to the plane where the fabric to be folded is located.

[0046] In a specific implementation, the first Z-axis moving component 6 is connected to the output end of the Z-axis rotating component 5, and is driven by the Z-axis rotating component 5 to rotate around the Z-axis. The edge hooking mechanism 1 is arranged on the first Z-axis moving component 6, and is driven by the first Z-axis moving component 6 to translate along the Z-axis and rotate around the Z-axis together with the first Z-axis moving component 6; or, the Z-axis rotating component 5 is arranged on the first Z-axis moving component 6, and is driven by the first Z-axis moving component 6 to translate along the Z-axis. The edge hooking mechanism 1 is connected to the output end of the Z-axis rotating component 5, and is driven by the Z-axis rotating component 5 to rotate around the Z-axis and translate along the Z-axis together with the Z-axis rotating component 5.

[0047] In this embodiment, the Z-axis rotating assembly 5 is arranged on the first Z-axis moving assembly 6, and the edge hooking mechanism 1 is connected to the output end of the Z-axis rotating assembly 5. The first Z-axis moving assembly 6 uses a cylinder to drive the Z-axis rotating assembly 5 to translate on the guide rail, and the Z-axis rotating assembly 5 uses a motor to be connected to the edge hooking mechanism 1 through a transmission belt.

[0048] Before the fabric to be folded begins to be folded, the edge hook head 11 extends into the outer bottom of the edge of the fabric to be folded by coordinating translation along the Z axis and rotation around the Z axis, and in the process of folding each point on the edge of the fabric to be folded, only the edge pressing mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 repeat the corresponding steps, and the edge hook head 11 is always located at the outer bottom of the edge of the fabric to be folded and does not leave, and only rotates according to the edge contour of the fabric to be folded to adjust the edge hook angle until the entire edge of the fabric to be folded is completed.

[0049] In this embodiment, the first Z-axis moving component 6 is coordinated with a cylinder and a slide rail, the Z-axis rotating component 5 is coordinated with a motor and a rotating belt, the hook head 11 is directly connected to the output end of the Z-axis rotating component 5, and the Z-axis rotating component 5 is arranged on the first Z-axis moving component 6.

[0050] like Figure 5 and 6As shown, the edge pressing mechanism 2 includes an edge pressing head 21 and an edge pressing driving assembly, the edge pressing driving assembly is connected to the edge pressing head 21 to drive the edge pressing head 21 to press the inner side of the edge of the fabric to be folded; the edge pressing driving assembly includes a second Z-axis moving assembly, the second Z-axis moving assembly is used to drive the edge pressing head 21 to translate along the Z-axis. The flanging mechanism 3 includes a flanging claw 31 and a flanging driving mechanism, the flanging driving mechanism is connected to the flanging claw 31 to drive the flanging claw 31 to fold the upwardly raised edge of the fabric to be folded inward; the flanging mechanism 3 includes a third Z-axis moving assembly and a swinging assembly, the third Z-axis moving assembly is used to drive the flanging claw 31 to translate along the Z-axis, and the swinging assembly is used to drive the flanging claw 31 to swing inward and outward along the flanging direction. The hammer edge mechanism 4 includes a hammer edge head 41 and a hammer edge driving assembly, and the hammer edge driving assembly is connected to the hammer edge head 41 to drive the hammer edge head 41 to hammer the folded edge of the fabric to be folded inward; the hammer edge driving assembly includes a fourth Z-axis moving assembly, and the fourth Z-axis moving assembly is used to drive the hammer edge head 41 to translate along the Z axis.

[0051] The edge pressing mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 can be driven by different rotating components respectively to rotate around the Z axis, but preferably, as in the present embodiment, the Z-axis rotating component 5 of the edge hooking mechanism 1 is shared, so that the edge pressing mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 can rotate synchronously with the edge hooking head 11.

[0052] In this embodiment, the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 are simultaneously connected to the Z-axis rotating assembly 5, so that when the hook head 11 rotates, the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 can follow the synchronous rotation; further, the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 are also simultaneously connected to the first Z-axis moving assembly 6, so that when the hook head 11 translates along the Z axis, the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 can follow the synchronous translation; that is, the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 are simultaneously connected to the hook driving assembly, so that when the hook head 11 moves (translates along the Z axis and rotates around the Z axis), the edge holding mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 can follow the synchronous movement.

[0053] Specifically, the folding device includes an assembly bracket 7, and the hook head 11, the edge pressing mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 are all assembled on the assembly bracket 7. The output end of the hook driving mechanism is connected to the assembly bracket 7, and the assembly bracket 7 is driven to translate and rotate, thereby driving the hook head 11, the edge pressing mechanism 2, the flanging mechanism 3 and the hammering mechanism 4 to translate and rotate synchronously.

[0054] In this embodiment, the assembly bracket 7 is an assembly box, and the second Z-axis moving assembly, the third Z-axis moving assembly, the fourth Z-axis moving assembly and the swing assembly are all accommodated in the assembly box.

[0055] The second Z-axis moving assembly, the third Z-axis moving assembly, the swing assembly and the fourth Z-axis moving assembly can be driven by different driving sources respectively, but preferably, they are driven by the same driving source (driving motor 9) as in the present embodiment.

[0056] In this embodiment, Figure 8 As shown, the second Z-axis moving assembly includes a first cam 22, a first driven rocker arm 23 and a first moving member 24. The first driven rocker arm 23 swings in response to the first cam 22. The first driven rocker arm 23 is also rotatably connected to the first moving member 24 to drive the first moving member 24 to translate when swinging. The pressing head 21 is arranged on the first moving member 24 and translates together with the first moving member 24.

[0057] The first moving member 24 is connected to a fixed member (assembly bracket 7) through a first return spring 25, so that the second Z-axis moving assembly is reset by the elastic force of the first return spring 25 after the driving force is removed.

[0058] like Fig. 9 and 10 As shown, the third Z-axis moving assembly includes a second cam 32, a second driven rocker arm 33 and a second moving member 34. The second driven rocker arm 33 swings in response to the second cam 32, and the second driven rocker arm 33 is also rotatably connected to the second moving member 34 to drive the second moving member 34 to translate when swinging; the swinging assembly includes a third cam 35 and a third driven rocker arm 36. The third driven rocker arm 36 swings in response to the third cam 35, and the third driven rocker arm 36 is also rotatably connected to the second moving member 34 and translates together with the second moving member 34. The flanging claw 31 is arranged on the third driven rocker arm 36, and swings and translates together with the third driven rocker arm 36.

[0059] The second moving member 34 is connected to a fixed member (assembly bracket 7) through a second return spring 37, so that the third Z-axis moving assembly is reset by the elastic force of the second return spring 37 after the driving force is removed. The third driven swing arm 36 is connected to the second moving member 34 through a third return spring (not shown in the figure), so that the swing assembly is reset by the elastic force of the third return spring after the driving force is removed.

[0060] like Fig.11As shown, the fourth Z-axis moving assembly includes a fourth cam 42, a fourth driven rocker arm 43, a fourth moving member 44 and a fifth driven rocker arm 45. The fourth driven rocker arm 43 acts on the fourth cam 42 to swing. The fourth driven rocker arm 43 is also rotatably connected to the fourth moving member 44 to drive the fourth moving member 44 to translate when swinging. The fourth moving member 44 is also rotatably connected to the fifth driven rocker arm 45 to drive the fifth driven rocker arm 45 to swing when translate. The hammer edge head 41 is rotatably connected to the fifth driven rocker arm 45 to drive the fifth driven rocker arm 45 to translate when swinging.

[0061] The hammer head 41 is connected to a fixing member (assembly bracket 7) through a fourth reset spring 46, so that the fourth Z-axis moving assembly can be reset by the elastic force of the fourth reset spring 46 after the driving force is removed.

[0062] Among them, Figure 7 As shown, the first cam 22 , the second cam 32 , the third cam 35 and the fourth cam 42 are sequentially sleeved on the same rotating main shaft 8 , and are connected to the same driving source (driving motor 9 ) through the rotating main shaft 8 .

[0063] The position of the edge hooking head 11 is lower than the edge pressing head 21 so that when the edge is hooked, the fabric to be folded can enter the gap between the edge hooking head 11 and the edge pressing head 21.

[0064] At the same time, since the distance between the edge hooking head 11 and the edge pressing head 21 along the folding width is small, it is not convenient for the material to be folded to enter during the edge hooking. Fig.12 As shown, the bottom of the edge hook head 11 extends outward on the adjacent two sides to form an extension portion 1101, and the extension portion 1101 and the side of the edge hook head 11 are transitioned through the concave arc surface; the edge pressing head 21 is located on one side of the extension portion 1101, and when hooking, the side of the extension portion 1101 that is not opposite to the edge pressing head 21 (and at the same time opposite to the flanging claw 31 of the flanging mechanism 3) extends into the outer bottom of the edge of the fabric A to be folded, and then the edge hook head 11, the edge pressing head 21, the flanging claw 31 and the hammer head 41 rotate synchronously to turn the side of the extension portion 1101 opposite to the edge pressing head 21 into the outer bottom of the edge of the fabric to be folded (as shown in FIG. Fig.11 as shown).

[0065] The flanging claw 31 and the hammer head 41 are both located on the same side of the hook head 11 and the press head 21 (opposite to the side of the extension portion 1101 for the fabric to be folded to initially enter), and the flanging claw 31 is located between the hammer head 41 and the hook head 11 and the press head 21.

[0066] Embodiment 2

[0067] like Figure 1 and 15 As shown, an automatic folding machine includes a work surface 101 and the folding device and template moving mechanism 10 of the first embodiment arranged on the work surface 101, wherein:

[0068] The template moving mechanism 10 is used to drive the fabric template 11 holding the fabric to be folded 12 to move on the XY plane so that the folding device can fold the fabric. The XY plane is parallel to the plane where the fabric to be folded 12 is located.

[0069] The automatic folding machine drives the to-be-folded fabric 12 to translate along the X-axis and along the Y-axis through the template moving mechanism 10, and then cooperates with the translation along the Z-axis and the rotation around the Z-axis of the folding device, so as to realize multi-axis positioning of the edge trajectory of the to-be-folded fabric 12, thereby greatly improving the accuracy of folding positioning. The operator only needs to replace the to-be-folded fabric 12 in the fabric template 11 after completing the folding, which not only improves the folding efficiency, but also improves the safety of use.

[0070] like Figure 2 As shown, the template moving mechanism 10 includes a template connecting component 110, an X-axis moving component 120 and a Y-axis moving component 130, wherein:

[0071] The template connection component 110 is used to connect with the fabric template 11;

[0072] The X-axis moving component 120 is used to drive the template connecting component 110 to translate along the X-axis;

[0073] The Y-axis moving component 130 is used to drive the template connecting component 110 to translate along the Y-axis;

[0074] The X-axis is perpendicular to the Y-axis.

[0075] In a specific implementation, the X-axis moving component 120 is arranged on the Y-axis moving component 130, and is driven by the Y-axis moving component 130 to translate along the Y-axis, and the template connecting component 110 is arranged on the X-axis moving component 120, and is driven by the X-axis moving component 120 to translate along the X-axis and translate along the Y-axis together with the X-axis moving component 120; or, the Y-axis moving component 130 is arranged on the X-axis moving component 120, and is driven by the X-axis moving component 120 to translate along the X-axis, and the template connecting component 110 is arranged on the Y-axis moving component 130, and is driven by the Y-axis moving component 120 to translate along the Y-axis and translate along the X-axis together with the Y-axis moving component 120.

[0076] In this embodiment, the X-axis moving assembly 120 is arranged on the Y-axis moving assembly 130, and the template connecting assembly 110 is arranged on the X-axis moving assembly 120. The X-axis moving assembly 120 uses a cylinder to drive the Y-axis moving assembly 130 to translate on the guide rail, and the Y-axis moving assembly 130 uses a cylinder to drive the template connecting assembly 110 to translate on the guide rail.

[0077] The template connection assembly 110 includes a snap-in groove 111, at least one rotatable snap-in block 112 and at least one snap-in drive assembly 113. The snap-in groove 111 is used to snap-in with one side of the fabric template 11. The snap-in drive assembly 113 is used to drive the corresponding snap-in block 112 to rotate, so that the corresponding snap-in block 11 can tighten or loosen the fabric template 11 located in the snap-in groove 111 by rotating.

[0078] In this embodiment, the clamping drive assembly 113 uses a cylinder to drive the clamping block 112 to rotate.

[0079] The automatic folding machine also includes a control host 13 arranged on the work surface 101, which is communicatively connected with each mechanism in the folding device and the template moving mechanism 10, and is used to control each mechanism in the folding device and the template moving mechanism 10.

[0080] Embodiment 3

[0081] like Fig.14 and 15 As shown, a folding method can be applied to the automatic folding machine described in the second embodiment, comprising the following steps:

[0082] Step 1: The control host 13 obtains the template data of the to-be-folded fabric 12 .

[0083] In this step 1, in the template data of the material to be folded 12, the edge trajectory of the material to be folded 12 is decomposed into multiple folding points, each folding point corresponds to a point in the coordinate system, expressed as (x, y, β), x is the value of each folding point on the X-axis, y is the value of each folding point on the Y-axis, and β is the rotation angle of each folding point around the Z-axis.

[0084] The template data of the to-be-folded fabric 12 has been pre-imported and stored in the control host 13 .

[0085] Step 3: The template moving mechanism 10 drives the fabric to be folded 12 to translate on the XY plane according to the template data of the fabric to be folded 12, so as to position each folding point on the edge trajectory of the fabric to be folded 12 to a predetermined point in turn, and the folding device folds the folding points located at the predetermined points in turn.

[0086] In step 3, the template moving mechanism 10 translates the to-be-folded material 12 on the XY plane according to the x value and y value of each folding point. When the folding device folds the folding points located at the predetermined points, the steps are as follows:

[0087] Step 3.1: The folding device rotates according to the template data of the folding point located at the predetermined point.

[0088] In this step, the hemming drive mechanism drives the hemming head 11, the hemming head 21, the flanging claw 31 and the hammer head 41 to rotate synchronously through the β value of the hemming point.

[0089] Step 3.2: The edge pressing mechanism 2 presses the inner side of the edge of the folding point located at a predetermined point to define the folding line position of the folding point.

[0090] In this embodiment, step 3.2 corresponds to a rotation angle of 0-45° for the rotating main shaft 8, and the first cam 22 interacts with the first driven rocker arm 23 to cause the pressing head 21 to translate toward the fabric to be folded 12 to press the inner side of the edge of the folding point located at the predetermined point.

[0091] Preferably, in step 3.2, the hammering mechanism 44 hammers the folded edge corresponding to the previous folding point to make the folded edge of the previous folding point stick together.

[0092] In this embodiment, when the rotation angle of the rotating main shaft 8 is 0-45°, the fourth cam 42 interacts with the fourth driven rocker arm to cause the hammer head 41 to translate toward the fabric to be folded 12 to hammer the fold corresponding to the previous folding point.

[0093] Step 3.3: The flanging mechanism 3 folds the upwardly raised edge of the folding point located at the predetermined point inward from the folding line to form a folded edge.

[0094] In this embodiment, the step 3.2 corresponds to a rotation angle of 45-110° for the rotating spindle 8. When the rotating spindle 8 rotates to 45-70°, the second cam 32 interacts with the second driven rocker arm 33 to cause the flanging claw 31 to translate toward the fabric to be folded 12 to approach the folding point at the predetermined point. When the rotating spindle 8 rotates to 70-110°, the flanging claw 31 stops approaching the fabric to be folded 12, and the third cam 35 interacts with the third driven rocker arm 36 to cause the flanging claw 31 to swing inward to fold the upward-curved edge of the folding point at the predetermined point inward.

[0095] The folding method further comprises, after step 3.3:

[0096] Step 3.4: The flanging mechanism 3 presses the inwardly folded edge at a predetermined point.

[0097] In this embodiment, step 3.4 corresponds to a rotation angle of 110-135° for the rotating spindle 8, and the second cam 32 and the second driven rocker arm 33 continue to interact with each other, so that the flanging claw 31 continues to translate toward the fabric to be folded 12 to press the inwardly folded edge at the predetermined point.

[0098] The second cam 32 has an equal-sized convex arc edge, and the distances from each circumferential point on the equal-sized convex arc edge to the center of the rotating main shaft 8 are equal, so that when the second cam 32 acts on the second driven rocker arm 33 through the equal-sized convex arc edge, the flanging claw 31 stops at a certain descending height to swing.

[0099] The folding method further comprises, after step 3.4:

[0100] Step 3.5: The flanging mechanism 3, the edge pressing mechanism 2 and the hammering mechanism 4 are reset in sequence.

[0101] In this embodiment, step 3.5 corresponds to a rotation angle of 135-225° for the rotating main shaft 8, the first driven rocker arm 23 is disconnected from the first cam 22, and is reset by the first return spring 25, the second driven rocker arm 33 is disconnected from the second cam 32, and is reset by the second return spring 37, the third driven rocker arm 36 is disconnected from the third cam 35, and is reset by the third return spring, the fourth driven rocker arm 43 is disconnected from the fourth cam 42, and is reset by the fourth return spring 46.

[0102] In this embodiment, when the rotation angle of the rotating main shaft 8 is 225-360°, a gap state is formed between the folding device (not folding) and the work surface, and the template moving mechanism 10 drives the material 12 to be folded to translate so as to position the next folding point at a predetermined point.

[0103] Between step 1 and step 3, it also includes:

[0104] Step 2: The template moving mechanism 10 drives the fabric to be folded 12 to translate on the XY plane according to the template data of the fabric to be folded 12, so as to position the predetermined starting position for folding the fabric to be folded 12 to a predetermined point, so that the edge hooking mechanism 1 extends from the predetermined starting position to the outer bottom of the edge of the fabric to be folded 12, so that the edge of the fabric to be folded 12 is curled upward.

[0105] In step 2, the template data of the material to be folded 12 includes a predetermined starting position and a predetermined ending position for folding, and the folding trajectory of the material to be folded 12 is from the predetermined starting position to the predetermined ending position. The predetermined starting position and the predetermined ending position can also be expressed as (x, y, β), with corresponding x values, y values, and β values.

[0106] The steps for step 2 are as follows:

[0107] The edge hook driving component drives the edge hook head 11 to translate toward the fabric to be folded 12 to reach the lowest point, and then the template moving mechanism 10 drives the fabric to be folded 12 to translate on the XY plane according to the template data of the fabric to be folded 12, so as to position the predetermined starting position of the fabric to be folded 12 to extend into the side of the extension portion 1101 of the edge hook head 11 that is not opposite to the edge pressing head 21 (and at the same time opposite to the flanging claw 31 of the flanging mechanism 3), so that the predetermined starting position of the fabric to be folded 12 interacts with the edge hook head 11 and is tilted upward, and then the edge hook driving component drives the edge hook head 11 and the edge pressing head 21 to rotate synchronously, so as to transfer the predetermined starting position of the fabric to be folded 12 to the side of the extension portion 1101 of the edge hook head 11 that is opposite to the edge pressing head 21, so that the predetermined starting position of the fabric to be folded 12 is positioned into the gap between the edge hook head 11 and the edge pressing head 21.

[0108] During the entire step 3, the hemming mechanism 1 does not leave from the outer bottom of the edge of the fabric to be folded 12, but only rotates according to the β value of each folding point on the fabric to be folded 12 to adjust the hemming angle until the entire edge of the fabric to be folded 12 is folded.

[0109] The above-mentioned embodiments only express the implementation methods of the invention. The description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. Any technical solution obtained in the form of equivalent substitution or equivalent transformation should fall within the protection scope of the invention.

Claims

1. A folding device, characterized in that: It includes hooking mechanism, pressing mechanism, flanging mechanism and hammering mechanism, among which: The edge hooking mechanism is used to extend into the outer bottom of the edge of the fabric to be folded, so that the edge of the fabric to be folded is tilted upward; The edge pressing mechanism is used to press the inner side of the edge of the fabric to be folded to define the folding line of the fabric to be folded; The flanging mechanism is used to fold the upwardly raised edge of the fabric to be folded inward from the folding line to form a folded edge; The edge hammering mechanism is used to hammer the inwardly folded edge of the fabric to be folded so that the folded edge of the fabric to be folded is tightly bonded; The edge hooking mechanism includes an edge hooking head and an edge hooking driving assembly, wherein the edge hooking driving assembly is connected to the edge hooking head to drive the edge hooking head to hook the outer side of the edge of the fabric to be folded; the edge hooking driving assembly includes a first Z-axis moving assembly and a Z-axis rotating assembly, wherein the first Z-axis moving assembly is used to drive the edge hooking head to translate along the Z-axis, and the Z-axis rotating assembly is used to drive the edge hooking head to rotate around the Z-axis; The edge pressing mechanism includes an edge pressing head and an edge pressing driving assembly, wherein the edge pressing driving assembly is connected to the edge pressing head to drive the edge pressing head to press the inner side of the edge of the fabric to be folded; the edge pressing driving assembly includes a second Z-axis moving assembly, and the second Z-axis moving assembly is used to drive the edge pressing head to translate along the Z-axis; The flanging mechanism includes a flanging claw and a flanging driving mechanism, wherein the flanging driving mechanism is connected to the flanging claw to drive the flanging claw to fold the upwardly raised edge of the fabric to be folded inward; the flanging mechanism includes a third Z-axis moving component and a swinging component, wherein the third Z-axis moving component is used to drive the flanging claw to translate along the Z axis, and the swinging component is used to drive the flanging claw to swing inward and outward along the flanging direction; The hammer edge mechanism includes a hammer edge head and a hammer edge driving assembly, wherein the hammer edge driving assembly is connected to the hammer edge head to drive the hammer edge head to hammer the folded edge of the fabric to be folded inward; the hammer edge driving assembly includes a fourth Z-axis moving assembly, wherein the fourth Z-axis moving assembly is used to drive the hammer edge head to translate along the Z axis; The Z axis is perpendicular to the plane where the fabric to be folded is located.

2. The folding device according to claim 1, characterized in that: The edge hooking driving assembly is also connected to the edge pressing mechanism, the edge flanging mechanism and the edge hammering mechanism to drive the edge pressing mechanism, the edge flanging mechanism and the edge hammering mechanism to move synchronously with the edge hooking head.

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