Folding mechanism and folding method

Abstract

The present invention provides a flipping and folding mechanism and a folding method, and relates to the technical field of flexible member folding. The flipping and folding mechanism provided by the present invention comprises: a first clamping and flipping component and a second clamping and flipping component located downstream of the first clamping and flipping component; the flipping and folding mechanism has a docking state and a folding state; in the docking state, the first clamping and flipping component is opposite to the second clamping and flipping component, and the folded flexible member extending from the first clamping and flipping component to the second clamping and flipping component is flattened; in the folding state, the first clamping and flipping component is folded relative to the second clamping and flipping component, and the folded flexible member is bent. The folding method clamps the first folding segment and the second folding segment one by one through the first clamping and flipping component and the second clamping and flipping component, so as to avoid the first folding segment and the second folding segment from being scattered during the folding process.

Description

Technical Field

[0001] The present invention relates to the technical field of flexible component folding, and in particular to a flip folding mechanism and a folding method. Background Art

[0002] During the folding process of the flexible parts, in order to facilitate the storage of the folded material bundles, in actual production, efforts are made to increase the number of folding times of the flexible parts to improve the compactness of the material bundles. Figure 3 , the handle of the packaging bag can be folded to form the second bending portion 421, and the second bending portion 421 is bent to the bottom of the second flat portion 422 to form the second folding section 420, and then the single-layer first folding section 410 is folded to the bottom of the second folding section 420, so as to achieve a three-layer folding operation. If a four-layer folding is to be performed, it is usually necessary to form the folded first bending portion 411 and the first flat portion 412 of the first folding section 410, and then bend the second folding section 420 to the bottom of the first folding section 410. In the process of bending the first folding section 410 to the bottom of the second folding section 420, it is first necessary to operate the second clamping and flipping assembly 200 to release the second folding section 420, thereby allowing the second folding section 420 to droop naturally, and then push the second folding section 420 to fold to the bottom of the first folding section 410 through the second clamping and flipping assembly 200, or, the first folding section 410 is raised through the first clamping and flipping assembly 100, and the second folding section 420 is folded under its own gravity and fits onto the first folding section 410.

[0003] However, during the four-layer folding process, if the second folding section 420 is released and allowed to droop naturally, there is a high probability that the second bent portion 421 formed at the handle of the packaging bag will scatter relative to the second flat portion 422, thus causing the folding to be interrupted and requiring the machine to be shut down for rework. Summary of the invention

[0004] The object of the present invention is to provide a flipping and folding mechanism and a folding method to alleviate the technical problem of scattering of flexible parts during folding in the prior art.

[0005] In a first aspect, the present invention provides a flipping and folding mechanism, comprising: a first clamping and flipping assembly and a second clamping and flipping assembly located downstream of the first clamping and flipping assembly;

[0006] The flipping and folding mechanism has a docking state and a folding state;

[0007] In the docking state, the first clamping and flipping assembly is opposite to the second clamping and flipping assembly, and the folded flexible member extending from the first clamping and flipping assembly to the second clamping and flipping assembly is flattened;

[0008] In the folding state, the first clamping and flipping components are folded relative to the second clamping and flipping components, and the folded flexible member is bent.

[0009] In combination with the first aspect, the present invention provides a first possible implementation manner of the first aspect, wherein the first clamping and flipping assembly comprises: a first clamping member and a first flipping driving member, the first clamping member being drivingly connected to the first flipping driving member;

[0010] The second clamping and flipping assembly comprises: a second clamping member and a second flipping driving member, wherein the second clamping member is drivingly connected to the second flipping driving member;

[0011] The first clamping member has a first sideline, the second clamping member has a second sideline, and the first sideline is parallel to the second sideline;

[0012] When switching from the docking state to the folded state, the folded flexible member is bent along a fold line parallel to the first edge line.

[0013] In combination with the first possible implementation manner of the first aspect, the present invention provides a second possible implementation manner of the first aspect, wherein the first clamping member has a first alignment plane, and the second clamping member has a second alignment plane;

[0014] In the docking state, the first alignment plane is flattened relative to the second alignment plane;

[0015] In the folded state, the first alignment plane is in contact with the second alignment plane.

[0016] In combination with the first possible implementation manner of the first aspect, the present invention provides a third possible implementation manner of the first aspect, wherein the first flip driving member includes: a swing power element, a swing arm, a flip arm and an arm frame;

[0017] The arm support is provided with an arc guide groove and a linear guide groove, and the arc guide groove is communicated with the linear guide groove;

[0018] The swing arm is rotatably connected to the arm frame, the swing power element is transmission-connected to the swing arm, the rotation axis of the swing arm is located at the concave side of the circular arc guide groove, and the rotation axis of the swing arm is located between the circular arc guide groove and the linear guide groove;

[0019] The first clamping member is provided with a sliding shaft portion, and the sliding shaft portion is inserted into the linear guide groove;

[0020] One end of the flip arm is connected to the sliding shaft portion, and the other end of the flip arm is provided with a sliding portion, which is slidably connected to the swing arm along the extension direction of the swing arm, and the sliding portion reciprocates between the circular arc guide groove and the linear guide groove.

[0021] In combination with the first aspect, the present invention provides a fourth possible implementation of the first aspect, wherein the flipping and folding mechanism further includes a material clamping and bundling assembly;

[0022] The material clamping and bundling assembly comprises: a material clamp and a bundling device;

[0023] In the folded state, the folded flexible member is inserted into the material clip;

[0024] The bundling device is used for bundling the folded flexible member clamped by the material clamp.

[0025] In a second aspect, the folding method provided by the present invention comprises the following steps:

[0026] Controlling the first clamping and flipping assembly to clamp the first folded section of the folded flexible member;

[0027] Controlling the first clamping and flipping assembly and the second clamping and flipping assembly to clamp the first folding section and the second folding section of the folded flexible member in a one-to-one correspondence;

[0028] Make the first clamping and flipping assembly face each other with the second clamping and flipping assembly so as to flatten the first folding section relative to the second folding section;

[0029] The first clamping and flipping assembly and the second clamping and flipping assembly are controlled to be folded relative to each other, and the first folding section is folded relative to the second folding section to form a bundle of materials to be bundled.

[0030] In combination with the second aspect, the present invention provides a first possible implementation of the second aspect, wherein the step of controlling the second clamping and flipping assembly to clamp the second folded segment of the folded flexible member comprises:

[0031] The second folding section is clamped by the second clamping and flipping assembly, and the folded flexible member that is not clamped is unfolded and droops naturally;

[0032] The action of the second clamping and flipping assembly is controlled, and the folded flexible member is pushed and inserted into the clamping area of ​​the first clamping and flipping assembly through the second side line of the second clamping and flipping assembly, and the folded flexible member not clamped by the second clamping and flipping assembly is clamped by the first clamping and flipping assembly to form the first folded section.

[0033] In combination with the second aspect, the present invention provides a second possible implementation manner of the second aspect, wherein the step of making the first clamping and flipping assembly face each other with the second clamping and flipping assembly so as to flatten the first folding segment relative to the second folding segment comprises:

[0034] Control the first clamping and flipping assembly to keep clamping the first folding section, and control the second clamping and flipping assembly to keep clamping the second folding section, control the second clamping and flipping assembly to move relative to the first clamping and flipping assembly, and make the second edge line of the second clamping and flipping assembly separate from the clamping area of ​​the first clamping and flipping assembly, and the first clamping and flipping assembly and the second clamping and flipping assembly jointly pull the folded flexible member to make the folded flexible member tense;

[0035] Alternatively, the first clamping and flipping assembly is controlled to keep clamping the first folding segment, and the second clamping member of the second clamping and flipping assembly is switched from a clamping state to an open state, and then the second clamping and flipping assembly is controlled to move relative to the first clamping and flipping assembly, and the second side line of the second clamping and flipping assembly is separated from the clamping area of ​​the first clamping and flipping assembly, and then the second clamping member is switched from an open state to a clamping state to clamp the second folding segment.

[0036] In combination with the second aspect, the present invention provides a third possible implementation manner of the second aspect, wherein the step of controlling the first clamping and flipping assembly to fold relative to the second clamping and flipping assembly comprises:

[0037] The first flip driving member and the second flip driving member are controlled to move so that the first clamping member and the second clamping member are flipped, and the angle between the first alignment plane of the first clamping member and the second alignment plane of the second clamping member is gradually reduced until the first alignment plane and the second alignment plane are aligned.

[0038] In combination with the second aspect, the present invention provides a fourth possible implementation of the second aspect, wherein the folding method further includes: controlling the first clamping and flipping assembly to move synchronously with the second clamping and flipping assembly, and inserting the material bundle into the clamping area of ​​the clamping and bundling assembly.

[0039] The embodiments of the present invention bring about the following beneficial effects: a first clamping and flipping assembly and a second clamping and flipping assembly located downstream of the first clamping and flipping assembly are adopted; under the condition that the flipping and folding mechanism has a docking state and a folding state, in the docking state the first clamping and flipping assembly is opposite to the second clamping and flipping assembly, and the folded flexible member extending from the first clamping and flipping assembly to the second clamping and flipping assembly is flattened; in the folding state, the first clamping and flipping assembly is folded relative to the second clamping and flipping assembly, and the folded flexible member is bent; the first folding segment and the second folding segment are clamped one by one by the first clamping and flipping assembly and the second clamping and flipping assembly can prevent the first folding segment and the second folding segment from being scattered during the folding process.

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related technologies, the drawings required for use in the specific embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 Schematic diagram of the flipping and folding mechanism and the folded flexible member provided in the embodiment of the present invention Figure 1 ;

[0043] Figure 2 Schematic diagram of the flipping and folding mechanism and the folded flexible member provided in the embodiment of the present invention Figure 2 ;

[0044] Figure 3 Schematic diagram of the flipping and folding mechanism and the folded flexible member provided in the embodiment of the present invention Figure 3 ;

[0045] Figure 4 A schematic diagram of a first clamping and flipping assembly of a flipping and folding mechanism provided by an embodiment of the present invention;

[0046] Figure 5 A schematic diagram of a second clamping and flipping assembly of the flipping and folding mechanism provided by an embodiment of the present invention;

[0047] Figure 6 A schematic diagram of a flipping and folding mechanism provided in an embodiment of the present invention.

[0048] Icons: 100-first clamping and flipping assembly; 101-first edge line; 102-first alignment plane; 110-first clamping member; 111-first lower clamping plate; 112-first pressing member; 1101-sliding shaft; 120-first flipping driving member; 121-swinging power element; 122-swinging arm; 123-flipping arm; 1231-sliding part; 124-arm frame; 1241-arc guide groove; 1242-linear guide groove; 200-second clamping and flipping assembly; 2 01-second edge line; 202-second alignment plane; 210-second clamping member; 211-second lower clamping plate; 212-second pressing member; 220-second turning drive member; 300-material clamping and bundling assembly; 310-material clamp; 320-bundling device; 400-folded flexible member; 410-first folding section; 411-first bending portion; 412-first flat portion; 420-second folding section; 421-second bending portion; 422-second flat portion; 500-material bundle. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Physical quantities in formulas, if not separately marked, should be understood as basic quantities of the base units of the International System of Units, or derived quantities derived from the basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the flipping and folding mechanism provided by the embodiment of the present invention includes: a first clamping and flipping component 100 and a second clamping and flipping component 200 located downstream of the first clamping and flipping component 100; the flipping and folding mechanism has a docking state and a folding state; in the docking state, the first clamping and flipping component 100 is opposite to the second clamping and flipping component 200, and the folded flexible member 400 extending from the first clamping and flipping component 100 to the second clamping and flipping component 200 is flattened; in the folding state, the first clamping and flipping component 100 is folded relative to the second clamping and flipping component 200, and the folded flexible member 400 is bent.

[0053] Specifically, when the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 are opposite to each other, the clamping area of ​​the first clamping and flipping assembly 100 and the clamping area opening of the second clamping and flipping assembly 200 are opposite to each other and are in a relatively flattened state. When the second clamping and flipping assembly 200 clamps the second folding segment 420 and the first clamping and flipping assembly 100 clamps the first folding segment 410, the first folding segment 410 is flattened relative to the second folding segment 420 in the docking state. When the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 are folded relative to each other, the folded flexible member 400 is bent along the bisector between the first folding segment 410 and the second folding segment 420, and the first folding segment 410 and the second folding segment 420 are approximately symmetrical relative to the bisector, so that the edges and corners of the folded first folding segment 410 and the second folding segment 420 are nearly aligned.

[0054] See also Figure 3 The first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 can respectively clamp the first folding section 410 and the second folding section 420 of the folded flexible member 400. In the clamping state, the first folding section 410 is located on the first lower clamping plate 111, and the second folding section 420 is located on the second lower clamping plate 211. The first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 are folded relative to each other, and the first lower clamping plate 111 forms an angle relative to the second lower clamping plate 211. Under the condition that the second folding section 420 is attached to the second lower clamping plate 211 and the first folding section 410 is attached to the first lower clamping plate 111, an angle is formed between the first folding section 410 and the second folding section 420, and the angle gradually decreases, and finally the folding is completed.

[0055] In an embodiment of the present invention, the first clamping and flipping assembly 100 includes: a first clamping member 110 and a first flipping driving member 120, and the first clamping member 110 is transmission-connected to the first flipping driving member 120; the second clamping and flipping assembly 200 includes: a second clamping member 210 and a second flipping driving member 220, and the second clamping member 210 is transmission-connected to the second flipping driving member 220; the first clamping member 110 has a first side line 101, the second clamping member 210 has a second side line 201, and the first side line 101 is parallel to the second side line 201; when switching from the docking state to the folding state, the folded flexible member 400 is bent along a crease parallel to the first side line 101.

[0056] The first clamping member 110 includes: a first lower clamping plate 111 and a first pressing member 112. The first pressing member 112 can be driven and moved by a cylinder, so as to change the distance between the first lower clamping plate 111 and the first pressing member 112, and a clamping area is formed between the first lower clamping plate 111 and the first pressing member 112. The second clamping member 210 includes: a second lower clamping plate 211 and a second pressing member 212. The second pressing member 212 can be driven and moved by a cylinder, so as to change the distance between the second lower clamping plate 211 and the second pressing member 212, and a clamping area is formed between the second lower clamping plate 211 and the second pressing member 212. The sideline of the first lower clamping plate 111 close to the second clamping and flipping assembly 200 is used as the first sideline 101, and the sideline of the second lower clamping plate 211 close to the first clamping and flipping assembly 100 is used as the second sideline 201. The first sideline 101 is parallel to the second sideline 201. Before folding, the first lower clamp plate 111 abuts against the second lower clamp plate 211, and the first side line 101 is aligned with the second side line 201; or, the first lower clamp plate 111 is spaced a short distance from the second lower clamp plate 211, and the folded flexible member 400 is bent along the crease between the first side line 101 and the second side line 201.

[0057] The first clamping member 110 and the second clamping member 210 can also adopt a method in which the first clamping arm and the second clamping arm are hinged, and the angle between the first clamping arm and the second clamping arm is expanded or reduced by a servo motor or a cylinder, thereby forming an openable and closable clamping area between the first clamping arm and the second clamping arm.

[0058] like Figure 3 , Figure 4 and Figure 5 As shown, the first clamping member 110 has a first alignment plane 102, and the second clamping member 210 has a second alignment plane 202; in the docking state, the first alignment plane 102 is flattened relative to the second alignment plane 202; in the folded state, the first alignment plane 102 and the second alignment plane 202 are in contact.

[0059] When the first alignment plane 102 is set on the bottom surface of the first lower clamp plate 111 and the second alignment plane 202 is set on the bottom surface of the second lower clamp plate 211, the docking state is switched to the folding state, the first clamping member 110 and the second clamping member 210 are folded upward, and the folding mark of the folded flexible member 400 is located above the first side line 101 and the second side line 201.

[0060] When the first alignment plane 102 is set on the top surface of the first clamping member 112 and the second alignment plane 202 is set on the top surface of the second clamping member 212, the docking state is switched to the folding state, the first clamping member 110 and the second clamping member 210 are folded downward, and the folding mark of the folded flexible member 400 is located below the first side line 101 and the second side line 201.

[0061] When the first alignment plane 102 is aligned with the second alignment plane 202 , the first folding section 410 and the second folding section 420 are folded 180 degrees relative to each other from the flat state, so that the first folding section 410 and the second folding section 420 are folded to an overlapping state.

[0062] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the first flip driving member 120 includes: a swing power element 121, a swing arm 122, a flip arm 123 and an arm frame 124; the arm frame 124 is provided with an arc guide groove 1241 and a linear guide groove 1242, and the arc guide groove 1241 is connected with the linear guide groove 1242; the swing arm 122 is rotatably connected to the arm frame 124, the swing power element 121 is transmission-connected to the swing arm 122, the rotation axis of the swing arm 122 is located at the concave side of the arc guide groove 1241, and the rotation axis of the swing arm 122 is located at Between the circular guide groove 1241 and the linear guide groove 1242; the first clamping member 110 is provided with a sliding shaft portion 1101, and the sliding shaft portion 1101 is inserted in the linear guide groove 1242; one end of the flip arm 123 is connected to the sliding shaft portion 1101, and the other end of the flip arm 123 is provided with a sliding portion 1231, the sliding portion 1231 is slidably connected to the swing arm 122 along the extension direction of the swing arm 122, and the sliding portion 1231 slides back and forth between the circular guide groove 1241 and the linear guide groove 1242.

[0063] Specifically, the swinging power element 121 adopts a servo motor, a stepping motor or a reduction motor, and drives the swing arm 122 to swing back and forth through belt drive or gear drive. During the swinging process of the swing arm 122, the swing arm 122 drives the sliding part 1231, and then the sliding part 1231 slides along the circular arc guide groove 1241 and the linear guide groove 1242. The sliding part 1231 can adopt a shaft rod or a guide wheel installed on the flip arm 123. It is preferred to adopt a guide wheel to slide along the circular arc guide groove 1241 and the linear guide groove 1242 to reduce friction resistance. When the sliding part 1231 slides along the circular arc guide groove 1241, the sliding part 1231 drives the flip arm 123 to flip and move, and the flip arm 123 drives the sliding shaft part 1101 to slide along the linear guide groove 1242. During this process, the sliding shaft part 1101 is subjected to the torsion force of the flip arm 123, and then the first clamping member 110 is rotated around the axis of the sliding shaft part 1101, thereby realizing the flipping action of the first clamping member 110.

[0064] It should be noted that multiple first clamping members 110 can share a sliding shaft portion 1101, and both ends of the sliding shaft portion 1101 are respectively equipped with arm brackets 124, and a swing arm 122 and a flip arm 123 are respectively installed on each arm bracket 124, and a swing power element 121 is used to drive the swing arm 122, thereby providing power for the flipping and movement of the first clamping member 110.

[0065] In addition, the second flip driving member 220 can adopt the same structure as the first flip driving member 120, and the first flip driving member 120 is mirror-symmetrical to the second flip driving member 220. Moreover, the first flip driving member 120 and the second flip driving member 220 can be installed on the translation slide rail, and when the first flip driving member 120 and the second flip driving member 220 drive the first clamping member 110 and the second clamping member 210 to flip one by one to bend the folded flexible member 400, the first flip driving member 120 and the second flip driving member 220 are driven to approach each other through the translation driving device, so that the first alignment plane 102 can be attached to the second alignment plane 202.

[0066] Furthermore, the first flip driving member 120 and the second flip driving member 220 may also be mechanical arms, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5As shown, in the embodiment where the second flip driving member 220 adopts a multi-section mechanical arm, the second flip driving member 220 includes: a frame, a first arm section 221, a second arm section 222 and a third arm section 223, one end of the first arm section 221 is hinged to the frame, the other end of the first arm section 221 is hinged to the second arm section 222, the second arm section 222 is hinged to the third arm section 223, and the second clamping member 210 is installed on the third arm section 223. Each hinge point adopts a stepper motor or a servo motor as a driving device, so as to adjust the swing angle of the two mutually hinged devices, and the second clamping member 210 can be adjusted to flip and move through the swinging motion of each joint of the multi-section mechanical arm, and the second clamping member 210 can be synchronized with the first clamping member 110 under the condition of a preset motion trajectory.

[0067] When the sliding part 1231 slides along the linear guide groove 1242, the sliding part 1231 drives the flip arm 123 to flip and move, and the flip arm 123 drives the sliding shaft part 1101 to slide along the linear guide groove 1242, and the first clamping member 110 moves along the extension direction of the linear guide groove 1242. In the process that the sliding part 1231 slides from the arc guide groove 1241 to the linear guide groove 1242, the first clamping member 110 flips, and the folded flexible member 400 is folded under the condition that the first clamping member 110 and the second clamping flip assembly 200 flip together. When the sliding part 1231 slides into the linear guide groove 1242, the folded flexible member 400 is folded. Subsequently, the sliding part 1231 slides along the linear guide groove 1242, and drives the sliding shaft part 1101 to slide along the linear guide groove 1242 through the flip arm 123, so that the folded flexible member 400 can be pushed to the next process along the extension direction of the linear guide groove 1242.

[0068] like Figure 1 and Figure 6 As shown, the flipping and folding mechanism also includes a material clamping and bundling assembly 300; the material clamping and bundling assembly 300 includes: a material clamp 310 and a bundling device 320; in the folded state, the folded flexible member 400 is inserted into the material clamp 310; the bundling device 320 is used to bundle the folded flexible member 400 clamped by the material clamp 310.

[0069] Specifically, the bundling device 320 adopts a tether-type bundling machine, or the bundling device 320 includes a rubber band stretcher, which can push the folded flexible member 400 to the clamping area of ​​the material clamp 310 along the extension direction of the linear guide groove 1242. After the material clamp 310 clamps the folded flexible member 400, the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 return to their positions respectively, and then the bundling device 320 bundles the folded flexible member 400 clamped by the material clamp 310. The bundled folded flexible member 400 forms a material bundle 500, and the material bundle 500 can fall to the unloading area after the material clamp 310 is released.

[0070] like Figure 3 , Figure 4 and Figure 5 As shown, the folding method provided by the embodiment of the present invention includes the following steps: controlling the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 to clamp the first folding segment 410 and the second folding segment 420 of the folded flexible member 400 in a one-to-one correspondence; making the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 opposite to each other so that the first folding segment 410 is flattened relative to the second folding segment 420; controlling the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 to fold relative to each other, and making the first folding segment 410 fold relative to the second folding segment 420 to form a material bundle 500.

[0071] The folding method in this embodiment adopts the above-mentioned flipping and folding mechanism, and the first folding section 410 is clamped by the first clamping and flipping assembly 100, and the second folding section 420 is clamped by the second clamping and flipping assembly 200. Subsequently, in the step of making the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 face each other, the second clamping and flipping assembly 200 is controlled to be flat relative to the first clamping and flipping assembly 100, and the folded flexible member 400 located between the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 is pulled straight, thereby making the first flattened portion 412 flattened relative to the second flattened portion 422, thereby avoiding wrinkles in the folded flexible member 400. Then, the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 are controlled to be folded relative to each other, and the first folding section 410 is folded relative to the second folding section 420 to form a bundle 500 to be bundled. During the folding process, the first folding section 410 and the second folding section 420 are both clamped, which can prevent the first bending portion 411 and the second bending portion 421 from falling off.

[0072] In the embodiment of the present invention, the steps of controlling the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 to clamp the first folding segment 410 and the second folding segment 420 of the folded flexible member 400 in a one-to-one correspondence include:

[0073] See also Figure 1 , clamp the second folding section 420 by the second clamping and flipping assembly 200, and make the un-clamped folded flexible member 400 unfold and droop naturally;

[0074] See also Figure 2 and Figure 5 , control the action of the second clamping and flipping component 200, push the folded flexible member 400 to be inserted into the clamping area of ​​the first clamping and flipping component 100 through the second side line 201 of the second clamping and flipping component 200, and make the folded flexible member 400 not clamped by the second clamping and flipping component 200 be clamped by the first clamping and flipping component 100 to form a first folded section 410.

[0075] Further, the step of making the first clamping and flipping assembly 100 face the second clamping and flipping assembly 200 so as to flatten the first folding section 410 relative to the second folding section 420 includes:

[0076] The first clamping and flipping assembly 100 is controlled to keep clamping the first folding section 410, and the second clamping and flipping assembly 200 is controlled to keep clamping the second folding section 420, and the second clamping and flipping assembly 200 is controlled to move relative to the first clamping and flipping assembly 100, and the second edge line 201 of the second clamping and flipping assembly 200 is separated from the clamping area of ​​the first clamping and flipping assembly 100, and the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 jointly pull the folded flexible member 400 to make the folded flexible member 400 tight;

[0077] Alternatively, the first clamping and flipping assembly 100 is controlled to maintain clamping the first folding segment 410, and the second clamping member 210 of the second clamping and flipping assembly 200 is switched from a clamping state to an open state, and then the second clamping and flipping assembly 200 is controlled to move relative to the first clamping and flipping assembly 100, and the second side line 201 of the second clamping and flipping assembly 200 is separated from the clamping area of ​​the first clamping and flipping assembly 100, and then the second clamping member 210 is switched from an open state to a clamping state to clamp the second folding segment 420.

[0078] The second sideline 201 is parallel to the first sideline 101 of the first clamping and flipping assembly 100. In order to smoothly pull the second lower clamping plate 211 out of the clamping area of ​​the first clamping member 110, a second through slot opposite to the first pressing member 112 is provided on the second lower clamping plate 211. After the second sideline 201 is separated from the clamping area of ​​the first clamping and flipping assembly 100, the folded flexible member 400 should be pulled and tensioned by the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200, so that the first flattened portion 412 is flattened relative to the second flattened portion 422.

[0079] like Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the step of controlling the relative folding of the first clamping and flipping components 100 and the second clamping and flipping components 200 includes: controlling the first flipping driving member 120 and the second flipping driving member 220 to act synchronously, so that the first clamping member 110 and the second clamping member 210 are flipped synchronously, and the angle between the first alignment plane 102 of the first clamping member 110 and the second alignment plane 202 of the second clamping member 210 is gradually reduced until the first alignment plane 102 and the second alignment plane 202 are aligned, and when the first alignment plane 102 and the second alignment plane 202 are aligned, the first folding section 410 and the second folding section 420 are completely folded. In addition, the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 can be controlled to move in steps, so that the first clamping member 110 and the second clamping member 210 are flipped successively. After one of the first clamping member 110 and the second clamping member 210 is flipped, the other is controlled to flip until the first alignment plane 102 and the second alignment plane 202 are aligned.

[0080] The folding method of this embodiment further includes: controlling the first clamping and flipping assembly 100 and the second clamping and flipping assembly 200 to move synchronously, and inserting the material bundle 500 into the clamping area of ​​the material clamping and bundling assembly 300 . Among them, the second through groove on the second lower clamping plate 211 is opposite to the clamping claw on one side of the material clamp 310, and the first lower clamping plate 111 is provided with a first through groove opposite to the clamping claw on the other side of the material clamp 310. When the first alignment plane 102 and the second alignment plane 202 are in contact with each other, the first clamping member 110 and the second clamping member 210 jointly insert the material bundle 500 to be bundled into the clamping area of ​​the material clamp 310. When the material clamp 310 clamps the material bundle 500, the first clamping member 110 avoids the clamping claw on one side of the material clamp 310 through the first through groove, and the second clamping member 210 avoids the clamping claw on the other side of the material clamp 310 through the second through groove, thereby preventing the first clamping member 110 and the second clamping member 210 from being clamped by the material clamp 310. After the material clamp 310 clamps the material bundle 500, the first clamping member 110 and the second clamping member 210 can both return to their positions.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flipping and folding mechanism, characterized in that: include: A first clamping and flipping assembly (100) and a second clamping and flipping assembly (200) located downstream of the first clamping and flipping assembly (100); The flipping and folding mechanism has a docking state and a folding state; In the docking state, the first clamping and flipping assembly (100) is opposite to the second clamping and flipping assembly (200), and the folded flexible member (400) extending from the first clamping and flipping assembly (100) to the second clamping and flipping assembly (200) is flattened; In the folded state, the first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) are folded relative to each other, and the folded flexible member (400) is bent; The first clamping and flipping assembly (100) comprises: a first clamping member (110) and a first flipping driving member (120), wherein the first clamping member (110) is drivingly connected to the first flipping driving member (120); The first flip driving member (120) comprises: a swinging power element (121), a swing arm (122), a flip arm (123) and an arm frame (124); The arm support (124) is provided with a circular arc guide groove (1241) and a linear guide groove (1242), and the circular arc guide groove (1241) is connected to the linear guide groove (1242); The swing arm (122) is rotatably connected to the arm frame (124), the swing power element (121) is transmission-connected to the swing arm (122), the rotation axis of the swing arm (122) is located on the concave side of the circular arc guide groove (1241), and the rotation axis of the swing arm (122) is located between the circular arc guide groove (1241) and the linear guide groove (1242); The first clamping member (110) is provided with a sliding shaft portion (1101), and the sliding shaft portion (1101) is inserted into the linear guide groove (1242); One end of the flip arm (123) is connected to the sliding shaft portion (1101), and the other end of the flip arm (123) is provided with a sliding portion (1231). The sliding portion (1231) is slidably connected to the swing arm (122) along the extension direction of the swing arm (122), and the sliding portion (1231) reciprocates between the circular arc guide groove (1241) and the linear guide groove (1242).

2. The flipping and folding mechanism according to claim 1, characterized in that: The second clamping and flipping assembly (200) comprises: a second clamping member (210) and a second flipping driving member (220), wherein the second clamping member (210) is drivingly connected to the second flipping driving member (220); The first clamping member (110) has a first sideline (101), the second clamping member (210) has a second sideline (201), and the first sideline (101) is parallel to the second sideline (201); When switching from the docking state to the folded state, the folded flexible member (400) is bent along a fold line parallel to the first edge line (101).

3. The flipping and folding mechanism according to claim 2, characterized in that: The first clamping member (110) has a first alignment plane (102), and the second clamping member (210) has a second alignment plane (202); In the docking state, the first alignment plane (102) is flattened relative to the second alignment plane (202); In the folded state, the first alignment plane (102) and the second alignment plane (202) are in contact with each other.

4. The flipping and folding mechanism according to claim 1, characterized in that: The flipping and folding mechanism also includes a material clamping and bundling component (300); The material clamping and bundling assembly (300) comprises: a material clamp (310) and a bundling device (320); In the folded state, the folded flexible member (400) is inserted into the material clip (310); The bundling device (320) is used to bundle the folded flexible member (400) clamped by the material clamp (310).

5. A folding method, characterized in that: The folding method adopts the flip folding mechanism according to any one of claims 1 to 4, and comprises the following steps: Controlling the first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) to clamp the first folding section (410) and the second folding section (420) of the folded flexible member (400) in a one-to-one correspondence; The first clamping and flipping assembly (100) is positioned opposite to the second clamping and flipping assembly (200), so that the first folding section (410) is flattened relative to the second folding section (420); The first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) are controlled to be folded relative to each other, and the first folding section (410) is folded relative to the second folding section (420) to form a bundle (500) to be bundled.

6. The folding method according to claim 5, characterized in that: The step of controlling the first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) to clamp the first folding section (410) and the second folding section (420) of the folded flexible member (400) in a one-to-one correspondence includes: The second folding section (420) is clamped by the second clamping and flipping assembly (200), and the folded flexible member (400) that is not clamped is unfolded and droops naturally; The second clamping and flipping assembly (200) is controlled to move, and the folded flexible member (400) is pushed and inserted into the clamping area of ​​the first clamping and flipping assembly (100) through the second side line (201) of the second clamping and flipping assembly (200), and the folded flexible member (400) not clamped by the second clamping and flipping assembly (200) is clamped by the first clamping and flipping assembly (100) to form the first folded section (410).

7. The folding method according to claim 5, characterized in that: The step of making the first clamping and flipping assembly (100) face the second clamping and flipping assembly (200) so as to flatten the first folding section (410) relative to the second folding section (420) comprises: Controlling the first clamping and flipping assembly (100) to keep clamping the first folding section (410), and making the second clamping and flipping assembly (200) keep clamping the second folding section (420), controlling the second clamping and flipping assembly (200) to move relative to the first clamping and flipping assembly (100), and making the second edge line (201) of the second clamping and flipping assembly (200) separate from the clamping area of ​​the first clamping and flipping assembly (100), and the first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) jointly pull the folded flexible member (400) to make the folded flexible member (400) tight; Alternatively, the first clamping and flipping assembly (100) is controlled to maintain clamping the first folding segment (410), and the second clamping member (210) of the second clamping and flipping assembly (200) is switched from a clamping state to an open state, and then the second clamping and flipping assembly (200) is controlled to move relative to the first clamping and flipping assembly (100), and the second side line (201) of the second clamping and flipping assembly (200) is separated from the clamping area of ​​the first clamping and flipping assembly (100), and then the second clamping member (210) is switched from an open state to a clamping state to clamp the second folding segment (420).

8. The folding method according to claim 5, characterized in that: The step of controlling the first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) to be folded relative to each other comprises: The first flip driving member (120) and the second flip driving member (220) are controlled to operate so as to flip the first clamping member (110) and the second clamping member (210), and the angle between the first alignment plane (102) of the first clamping member (110) and the second alignment plane (202) of the second clamping member (210) is gradually reduced until the first alignment plane (102) and the second alignment plane (202) are in contact with each other.

9. The folding method according to claim 5, characterized in that: Also includes: The first clamping and flipping assembly (100) and the second clamping and flipping assembly (200) are controlled to move synchronously, and the material bundle (500) is inserted into the clamping area of ​​the clamping and bundling assembly (300).

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