Folding Device

Abstract

Disclosed is a folding device, comprising: a first folding part, configured to fold, for a first time in a first direction, a folded object in half; a second folding part, configured to fold for a second time in a second direction in half, the folded object that has been folded in half for the first time, wherein the first direction is opposite to the second direction; a third folding part, configured to fold, for a third time in a third direction, one end of the folded object that has been folded in half for the second time, wherein the third direction is perpendicular to the second direction; a fourth folding part, configured to fold, for a fourth time in a fourth direction, the other end of the folded object that has been folded in half for the second time, where the fourth direction is opposite to the third direction.

What is claimed is: 
     
         1 . A folding device, comprising:
 a first folding part, configured to fold, for a first time in a first direction, a folded object in half;   a second folding part, configured to fold for a second time in a second direction in half, the folded object that has been folded in half for the first time, wherein the first direction is opposite to the second direction;   a third folding part, configured to fold, for a third time in a third direction, one end of the folded object that has been folded in half for the second time, wherein the third direction is perpendicular to the second direction;   a fourth folding part, configured to fold, for a fourth time in a fourth direction, the other end of the folded object that has been folded in half for the second time, where the fourth direction is opposite to the third direction; and   a transfer part, configured to transfer, in a direction from the third folding part to the fourth folding part, the folded object that has been folded for the fourth time to the fourth folding part;   wherein the fourth folding part is further configured to fold, for a fifth time in the fourth direction, the folded object in half after the folded object that has been folded for the fourth time is transported by the transfer part to the fourth folding part.   
     
     
         2 . The folding device of  claim 1 , wherein the first folding part comprises a first folding axis and a first folding plate folded along the first folding axis;
 the second folding part comprises a second folding axis and a second folding plate folded along the second folding axis;   the third folding part comprises a third folding axis and a third folding plate folded along the third folding axis; and   the fourth folding part comprises a fourth folding axis and a fourth folding plate folded along the fourth folding axis;   wherein the first folding axis is parallel to the second folding axis; the third folding axis and the fourth folding axis are located between the first folding axis and the second folding axis, and both are perpendicular to the first folding axis.   
     
     
         3 . The folding device of  claim 2 , wherein a surface of the second folding plate comprises:
 a first crease pressing block disposed, in a direction perpendicular to the second folding axis, correspondingly with the third folding axis, and a second crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with the fourth folding axis; and/or   a third crease pressing block disposed, in the direction perpendicular to the second folding axis, correspondingly with a center line of a gap between the third folding axis and the fourth folding axis.   
     
     
         4 . The folding device of  claim 3 , wherein the surface of the second folding plate comprises a plurality of the first crease pressing blocks, and a connection line of the plurality of the first crease pressing blocks is parallel to the axis of the third folding axis;
 the surface of the second folding plate comprises a plurality of the second crease pressing blocks, and a connection line of the plurality of the second crease pressing blocks is parallel to the axis of the fourth folding axis;   the surface of the second folding plate comprises a plurality of the third crease pressing blocks, and a connection line of the plurality of third crease pressing blocks is parallel to a center line of a gap between the third folding axis and the fourth folding axis.   
     
     
         5 . The folding device of  claim 3 , wherein the first crease pressing block and/or the second crease pressing block and/or the third crease pressing block are elongated blocks, and a cross-section of the elongated block comprises a triangular head. 
     
     
         6 . The folding device of  claim 2 , wherein the folded object is square, a width of the first folding plate in a direction perpendicular to the first folding axis is half of a width of the folded object, a width of the second folding plate in a direction perpendicular to the second folding axis is a quarter of the width of the folded object, a width of the third folding plate in a direction perpendicular to the third folding axis is a quarter of the width of the folded object, and a width of the fourth folding plate in a direction perpendicular to the fourth folding axis is a quarter of the width of the folded object;
 Wherein a spacing between the first folding axis and the second folding axis is a quarter of the width of the folded object, a spacing between the third folding axis and the fourth folding axis is half of the width of the folded object.   
     
     
         7 . The folding device of  claim 6 , further comprising:
 a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part respectively;   wherein the controller is configured to control, by sending a control command, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete a transfer;   wherein the controller is further configured to control the transfer part to transfer the center line, parallel to the fourth folding axis, of the folded object that has been folded for the fourth time to a position above the fourth folding axis.   
     
     
         8 . The folding device of  claim 2 , wherein the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate are each provided with a plurality of air holes on their surfaces. 
     
     
         9 . The folding device of  claim 2 , wherein the transfer part comprises a single transfer belt mechanism or a plurality of transfer belt mechanisms arranged side by side in parallel;
 wherein the third folding plate comprises: a plurality of third folding units dispersedly arranged in a gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, 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 plate comprises a plurality of fourth folding units dispersedly arranged in a gap between the single transfer belt mechanism or the plurality of the transfer belt mechanisms, the first folding axis and the second folding axis, wherein each of the fourth folding units is folded along the fourth folding axis.   
     
     
         10 . The folding device of  claim 9 , wherein the third folding part comprises:
 a third rotation drive unit disposed below the third folding axis;   a third rocker fixedly connected to a rotation axis of the third rotation drive unit; and   a third bent connecting rod rotatably connected to the third rocker and the third folding unit, respectively;   wherein the third folding unit comprises a support part and a connection part that are not parallel connected, wherein an end of the support part is connected to the third bent connecting rod, another end of the support part is rotatably connected to the third folding axis through the connection part, and the support part is located below a transfer belt of the transfer belt mechanism in an unfolded state.   
     
     
         11 . The folding device of  claim 9 , wherein the transfer belt mechanism comprises:
 a transfer drive motor;   a transfer wheel set fixedly connected to a rotation axis of the transfer drive motor; and   a transfer belt disposed on transfer wheels of the transfer wheel set.   
     
     
         12 . The folding device of  claim 2 , wherein the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate use one or more combinations of following materials: carbon fiber plate, epoxy resin plate, acrylonitrile/butadiene/styrene copolymer plate and acrylic plate. 
     
     
         13 . The folding device of  claim 2 , wherein a maximum folding angle of the first folding plate, the second folding plate, the third folding plate, and the fourth folding plate ranges from 120° to 180°. 
     
     
         14 . The folding device of  claim 2 , wherein the first folding part further comprises: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; wherein the first drive mechanism comprises:
 a first drive subunit;   a first rocker fixedly connected to a rotation axis of the first drive subunit; and   a first bent connecting rod rotatably connected to the first rocker and the first folding plate respectively.   
     
     
         15 . The folding device of  claim 2 , wherein the first folding part further comprises: a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; wherein the first drive mechanism comprises:
 a first linear drive unit, comprising a second drive subunit, a slider, a linear guide rod and a rotation axis base, wherein the second drive subunit is configured to drive the slider to move along the linear guide rod, and an end of the linear guide rod is rotatably connected to the rotation axis base; and   a fourth connecting rod, wherein an end of the fourth connecting rod is fixedly connected to the first folding axis, and another end is rotatably connected to the slider.   
     
     
         16 . The folding device of  claim 2 , wherein the first folding part further comprises:
 a first drive mechanism, configured to drive the first folding plate to perform folding along the first folding axis; and   a stroke feedback unit, configured to send a stroke feedback signal when the first folding plate is folded to a preset angle or folded back to the initial position.   
     
     
         17 . The folding device of  claim 1 , further comprising:
 a controller, electrically connected to the first folding part, the second folding part, the third folding part, the fourth folding part, and the transfer part, respectively; wherein the controller is configured to control, by sending control commands, the first folding part, the second folding part, the third folding part and the fourth folding part to complete their respective folding actions, and the transfer part to complete a transfer;   wherein the controller is further configured to control the third folding part and the fourth folding part to complete folding for the third time and the fourth time respectively at a same time.   
     
     
         18 . The folding device of  claim 17 , wherein the controller is further configured to control the transfer part to continue transfer the folded object that has been folded in half for the fifth time to a next process position after the folded object is folded in half for the fifth time. 
     
     
         19 . The folding device of  claim 1 , further comprising:
 a grasping mechanism, configured to grasp the folded object and release the folded object on a plane that is formed by the first folding plate and the second folding plate when they are not folded.   
     
     
         20 . The folding device of  claim 19 , wherein the grasping mechanism comprises a plurality of grasping units that are dispersedly arranged, wherein the plurality of grasping units comprise one or more combinations of the following items: a needle chuck, an electrostatic chuck and a pneumatic gripper.