EP2176011B1 - Hemming apparatus and hemming method - Google Patents

Description

The invention relates to a folding device and a folding method with the features in the preamble of the device main claim, 1 (see, for example JP-A-02070325 ) and a method for folding workpieces.

From practice folding devices are known in stationary form with several fixedly arranged on a folding bed driven folding steels. Such folding devices are complex and flexible.

Furthermore, robotic folding devices are known from practice in which a manipulator, in particular a multi-axis articulated-arm robot, guides a roller-folding head in relation to the workpiece fixed on the folding bed. Robotic folding devices offer greater flexibility, but on the other hand, they have problems at the corners of the folding path. This can e.g. Edge corners of workpieces, in particular door corners, flap corners or the like., To be. On the other hand, corner areas are also formed on so-called character lines, in which the folding path extends transversely across a bend, a bead, or the like. In these corner areas to be followed with the Rollfalzkopf rabbets has tight curves. In order to be able to track these paths with the roller-folding head, the robot must brake sharply, whereby the calculation effort for the determination and control of the movement path of the robot also increases greatly.

It is an object of the present invention to provide a better folding technique.

The invention solves this problem with the features in the device main claim, 1 and in the method claim 13th

The combination of a Manipulatorfalzvorrichtung and at least one separate Eckfalzvorrichtung has the advantage that the folding process can be performed flexibly and with very short processing times. Along the straight or less curved folding paths, the folding operation can be carried out by the manipulator with its folding tool with high precision and speed. In the corner areas, which also include the corners or creases on character lines, the corner folding devices can work faster and more precisely. These preferred stationary Eckenfalzvorrichtungen can also bend the folds better and more precisely in the desired shape and position by their transversely or obliquely to the folding course directed feed movements. The required process times in the corner areas can also be much shorter.

The manipulator can skip or omit these corner areas with lifted folding tool and then continue its folding process again. As a result, it loses little time in the corner areas, so that the manipulator folding process can take place in the shortest possible time. Alternatively, mixed forms are possible, especially in multi-stage folding processes. In this case, one or more forming and folding steps can be carried out in the said corner regions of the Eckenfalzvorrichtung, while the manipulator also performs one or more forming and folding steps, for example, the last folding step of the flat bending. This can be a forming and folding step that can be performed by the manipulator at a relatively high web speed and with little loss of time. The mixed form, on the other hand, simplifies the construction of the corner folding device, which can be designed to be correspondingly simpler and requires a smaller tool and drive expenditure.

With the claimed folding device optimal forming and folding qualities can be achieved in conjunction with short process times. In addition, the construction cost can be kept small. On the other hand, the flexibility can be high due to the extensive use of manipulators.

In order to be able to optimally coordinate the different folding processes, it is recommended to use a mechanical coupling of the manipulator and the one or more corner folding devices. These can each have their own controls and signal technology coupled. More favorable is a common control, in particular an integration of the Eckenfalzvorrichtung (s) in a manipulator or robot control. There are different possibilities for influencing taxation. The corner folding device may be controlled in response to the movements and / or the folding functions of the manipulator. In this way, a sequential control can be realized by the Eckfalzvorrichtung receives a start signal when reaching a preprogrammed path position of the manipulator. On the other hand, with the manipulator-guided folding tool, the flange can be bent in the corner area and slightly preformed, which facilitates the function of the corner folding device. Furthermore, it is possible, especially in multi-stage folding processes, to control the corner folding device and the manipulator in mutual dependence. This is particularly advantageous for the aforementioned mixing operation.

The folding tool for the manipulator can be designed as desired. A roller folding head with several folding rollers has the advantage that multiple folding steps can be performed with a tool. Here it is Further advantageous to arrange the folding rollers on different sides of the Rollfalzkopfs and to have only one folding roller in engagement. This optimizes the folding process and allows roll-folding up to the end of the folding path provided for this purpose. This is also beneficial for cooperation with a corner folding device to achieve a harmonious fold.

In order to optimize the folding processes and the processing times, it is also advantageous to provide a roller drive with which to drive the engaged folding roller with a speed matched to the feed movement effected by the manipulator. The bending and rolling behavior is thereby improved and can be optimally adapted to the respective process requirements. The roller drive can act on one or more folding rollers and can also be included in the common control.

The corner folding device can be optimally adapted to the respective process requirements due to its limited field of application. In particular, it is possible to make do with only one drive and only one Falzbackenart, with a multi-axis feed movement of the folding jaw (s) can be achieved by a suitable actuator.

In the subclaims further advantageous embodiments of the invention are given.

Figur 1:

eine Falzeinrichtung mit einem Manipulator mit Falzwerkzeug sowie mehreren stationären Eckenfalzvorrichtungen und einer gemeinsamen Steuerung in Seitenansicht,

Figur 2:

eine vergrößerte Draufsicht auf ein Werkstück mit mehreren Eckenfalzvorrichtungen und Spannern,

Figur 3:

eine Seitenansicht der Anordnung von Figur 2,

Figur 4 bis 6:

einen Rollenfalzkopf in verschiedenen Ansichten,

Figur 7:

eine teilweise geschnittene Seitenansicht einer ersten Variante einer Eckenfalzvorrichtung in Seitenansicht,

Figur 8:

eine Draufsicht gemäß Pfeil VIII von Figur 7,

Figur 9 bis 11:

Ablaufschritte für den Falzprozess der Eckenfalzvorrichtung,

Figur 12 und 13:

eine Variante einer Eckenfalzvorrichtung in Ruhe- und Falzstellung,

Figur 14:

eine Türe mit unterschiedlichen Eckbereichen in Seitenansicht,

Figur 15:

eine abgebrochene Draufsicht auf eine Türe mit verschiedenen Eckbereichen und

Figur 16 und 17:

zwei Flanschvarianten mit verschiedenen Falzbacken entsprechend Schnitten XVI-XVI und XVII-XVII von Figur 15.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

FIG. 1:

a folding device with a manipulator with folding tool and a plurality of stationary Eckenfalzvorrichtungen and a common control in side view,

FIG. 2:

an enlarged plan view of a workpiece with multiple Eckenfalzvorrichtungen and tensioners,

FIG. 3:

a side view of the arrangement of FIG. 2 .

FIGS. 4 to 6:

a roller folding head in different views,

FIG. 7:

a partially sectioned side view of a first variant of a Eckfalzvorrichtung in side view,

FIG. 8:

a plan view according to arrow VIII of FIG. 7 .

FIGS. 9 to 11:

Sequence steps for the folding process of the corner folding device,

FIGS. 12 and 13:

a variant of a Eckenfalzvorrichtung in rest and folding position,

FIG. 14:

a door with different corner areas in side view,

FIG. 15:

a broken plan view of a door with different corner areas and

FIGS. 16 and 17:

two flanged variants with different rebates corresponding to sections XVI-XVI and XVII-XVII of FIG. 15 ,

The invention relates to a folding device (1) for workpieces (7) and a folding method.

The folding device (1) consists according to FIG. 1 from one or more Manipulatorfalzeinrichtungen with a manipulator (2) and a folding tool (5) and one or more Eckenfalzvorrichtungen (10). With the folding device (1), a workpiece (7) is processed, which rests, for example, on a formally adapted folding bed (9) and with one or more tensioners (38) is fixed there falzgerecht.

The workpiece (7) may be one or more parts. The workpiece (7) can be of any type. Preferably, it is body components of body shells, such as doors, roof parts with sliding roof cutouts or the like. The workpieces (7) may be made of any materials, especially steel, aluminum or other metals or composite materials. Figure 1 to 3 . 14 and 15 show different variants of vehicle doors.

The workpiece (7) comprises in the usual way one or more folding flanges (39) which extend along a closed or interrupted folding path (40) on the workpiece (7), in particular on the outer edge and edges of cutouts, and which are in or several folding steps are bent and folded transversely to its longitudinal extent. The folding angles can be any size and, for example, between 30 ° and 180 °. When folding can according to FIGS. 16 and 17 an initially projecting flange (39) may be bent over an inserted inner plate and clamp this. At the folding site, an adhesive can be previously introduced and placed on the outside of a seal on the outside.

The workpiece (7) has straight or weakly curved sections of the flange profile or the folding path (40). In addition, there are also one or more corner areas (8), in which the folding path (40) is strongly curved and has a small radius of curvature. This can, for example, in the plan view of FIG. 2 and 15 be shown edge corners (8) of a vehicle door. In these corner regions (8), the fold path changes its orientation, remaining essentially within the same plane.

On the other hand, there are corner regions (8) on so-called character lines of a workpiece (7). This may be, for example, longitudinal creases in the outer surface of a vehicle door, which express themselves on the upright door edges and the local folding path (40) as buckle or bead-shaped deformation with a narrow radius of curvature. FIG. 14 shows on the outside of the door such a bead-like character line (8).

The folding device (1) has one or more manipulators (2). These have several axes of motion and are e.g. designed as articulated arm robot with six or more axes. They carry on their arm or boom a multi-axis manipulator or robot hand (3), e.g. has three orthogonal axes. A folding tool (5) is fastened to the robot hand (3) and is guided by the manipulator (2) along the folding path (40) on the workpiece (7). For this purpose, the robot (2) tracks a path programmed and stored in its control (4). The folding tool (5) can be designed in any suitable manner. Preferably, it is a Rollfalzkopf (6). Alternatively, other folding tools (5) are possible.

Rollfalzsysteme be designed for example, for web speeds up to about 500 mm / sec or more. These speeds can be on even or only weak be moved curved Falzbahnabschnitten. The folding can be done in several rounds, wherein the fold or flange (39) is bent and folded at different angles. This is common, for example, at a flange opening angle of about 105 ° or more. Increasing the web speed can lead to increased return behavior of the flanges (39), which may be only partially compensated by an increased folding pressure or forming angle. If the robot (2) in all corners (8) would have to take over all the folding steps, this would lead to relatively long process times. If only short cycle times are specified, a pure roll folding process can only be carried out by using several folding robots in the given cycle time.

For the critical corner areas (8), in which the path curvature is too small and the robot (2) is braked too much, a corner folding device (10) is used. This can take a lowered rest position under the fold edge and thereby does not hinder the robot (2) and its folding tool (5). The corner folding device (10) is equipped with its own drive (26) and can thereby move independently of the robot kinematics.

The manipulator (2) and the Eckenfalzvorrichtung (10) are tax technically coupled. This can be realized in various ways, eg by own controls and their signal-technical coupling. In the embodiment shown, the manipulator (2) and the drive (26) of the corner folding device (10) have a common control. For this purpose, the corner folding device (10) is preferably connected to the manipulator or robot controller (4) as an additional axis. If there are several corner folding devices (10), these can be used individually or together to the robot controller (4). be connected. Furthermore, the following explained roller drive (18) of the Rollfalzkopfs (6) also be connected to the robot controller (4).

The one or more corner folding device (s) (10) may be controlled depending on the movements of the manipulator or robot (2). For this purpose, e.g. a start signal is issued by the robot controller (4) as soon as the manipulator (2) reaches a predetermined position on the tracked fold track. Here, e.g. the following corner region (8) following in the direction of travel of the web is folded before the seaming tool (5) reaches this area.

Alternatively, the corner folding device (s) (10) may be timed and relatively independently controlled by the manipulator movements. For this purpose, e.g. all or some corner areas (8) are folded after the beginning of the folding process, while the manipulator (2) the folding tool (5) over a straight or slightly curved Falzbahnabschnitt leads.

Further, it is possible to control the corner folding device (s) (10) depending on the folding functions of the manipulator (2) and the roll folding process. For this purpose, e.g. the roller hemming head (6) is moved from the manipulator (2) to the edge of a corner area (8) and into the vicinity or into the effective area of the corner folding device (10), e.g. in the first folding step, the flange (39) protruding transversely or obliquely from the workpiece (7) is bent and pre-bent in the edge-side effective region of the corner folding device (10).

The manipulator (2) lifts at the one or more said corner areas (8) and the Eckfalzvorrichtungen (10) his folding tool (5) from the folding path and passes over the corner region (8) without contact of the floating folding tool (5) to the flange and to the hinge. He skips or passes over the corner area (8) and can thus move at a higher line speed. Subsequently, the manipulator (2) lowers the folding tool (5) again and brings it into contact with the folding path and the flange to continue its Roboterfalzprozesses. The robot folding process can thereby be interrupted at the corner regions (8).

This lifting off at one or more corner areas (8) or character lines of the workpiece (7) can take place in a multi-stage folding or folding process at each folding step.

Alternatively, in a mixing operation, it is possible to carry out only one or more of the folding steps of a multi-stage folding process by the corner folding device (10) arranged on the corner region (8) and one or more of the remaining folding steps by the robot folding and the manipulator to effect the folding tool (5).

In this case, the corner folding device (10) can act in the step sequence before the subsequent robot folding. It is also possible to interchange the sequence or alternate action.

For example, in the case of sharp corners with folding flanges possibly overlapped or compressed, the first and optionally second folding step may be from the corner folding device (10) and the third or optionally a further or another folding step, eg finish folding, by the manipulator (2) and Folding tool (5) are performed. In such a robot folding in the corner region (8) then the Eckenfalzvorrichtung (10) remains outside function. In such an embodiment and in particular in these or other multi-stage folding processes, the Eckenfalzvorrichtung (10) and the manipulator (2) are controlled in mutual dependence.

FIGS. 4 to 6 show the folding tool (5) and the Rollfalzkopf (6) in different views. It consists of an elongated frame (11) and one or more, eg three folding rollers (15,16,17). The frame (11) has a column (14) with the roller assembly at the lower end and a connecting plate (12) at the upper end for connection to the robot hand (3). The frame (11) is guided by the robot (2) and aligned and pressed against the workpiece (7) and the folding path oriented and pressed. For this purpose, the frame (11) is aligned with its longitudinal axis usually normal to the folding path and the folding flange. The orientation can also be oblique.

The folding tool (5) is resiliently connected to the manipulator (2). As a result, the folding force can be applied selectively and also acts in case of tolerance or due to other reasons existing web deviations of the folding tool (5) relative to the folding path. In the embodiment shown of FIG. 5 a prestressed spring (13) is arranged between the column (14) and the connection plate (12). The programmed path of the manipulator (2) runs parallel and small piece below the actual folding path on the workpiece (7), so that the spring (13) is always tensioned with attached folding tool (5) and the folding force is substantially constant accordingly.

At the lower end of the column (14) and at the receiving head there, the three folding rollers (15,16,17) are arranged on different sides of the column circumference. The folding rollers (15,16,17) have different shell contours and cause correspondingly different bending and folding angles when pressed against the folding path and the flange. The orientation of the folding tool (5) by the robot (2) can be adjusted accordingly.

The three folding rollers (15,16,17) project laterally beyond the contour of the column (14) and the receiving head and are rotatably mounted. They can be brought into position to the workpiece (7) by a rotation of the robot hand (3). The seaming roller (17) can be used for the first folding step and for pre-bending the flange. The folding roller (15) is used for folding and the folding roller (16) for Fertigfalzen and depression of the flange. The folding rollers (15, 16) can be arranged coaxially and on opposite column sides. The folding roller (17) may have an oblique and upward rotational axis. At the front end of the column (14) a removable positioning mandrel (24) for setting up and teaching the folding tool (5) may be arranged.

The Rollfalzkopf (6) may have a roller drive (18) for one or more of its folding rollers (15,16,17). This roller drive (18) has independent inventive significance and can also be used in other folding devices, which are e.g. are pure robotic folding means and have no Eckfalzvorrichtungen (10).

The roller drive (18) is controllable and can be connected in the aforementioned manner with the robot controller (4). He drives the currently engaged folding roller (15,16,17) with a matched speed to the folding process. In this case, the circumferential speed of the folding roller (15, 16, 17) at the pressure point can correspond to the guiding and path speed of the robot (2) along the traced folding path. Alternatively, speeds may vary up or down. By the driven folding roller (15,16,17) the forming process is supported, which is especially advantageous at high web speeds. The roller drive (18) also cooperates advantageously with the spring (13). The drive torque can be adapted to the spring force or spring preload.

This support of the forming process is given in an existing or at least approximate coincidence of the peripheral speed and the guide and orbit speed according to the embodiment. The aforementioned speed deviations can have various technical effects. If the roller peripheral speed e.g. greater than the guide and web speed, if necessary, the fold material can be pulled under the fold roller (15,16,17) stronger, which can lead to increased plastic deformation. Conversely, a relative reduction in roller peripheral speed can result in some sort of upsetting effect, which may be advantageous for some folder applications.

The roller drive (18) has a controllable and to the controller (4) connectable motor (19) and a drive (20) for transmitting the driving force to one or more folding rollers (15,16,17). The motor (19) may be a controllable and controllable electric motor with a reduction gear. The shoot (20) may e.g. be designed as a belt drive, rope drive or chain drive. He can e.g. be arranged on the outside of the frame (11) and adjusted if necessary and re-tensioned.

The shown drive (20) has a pinion (21) connected to the motor (19) and a revolving drive element (23), eg a belt, a rope, a chain or the like, which is connected to a drive wheel (22) at the bottom End of the column (14) is engaged. The pinion (21) and the drive wheel (22) may have the same or different diameters, which also different Get translations. The drive wheel (22) can be arranged coaxially with the folding rollers (15,16).

The drive (20) can also be designed constructively in other ways, in particular as a toothed gear transmission, which, for has two bevel gear pairings and a connecting shaft as a driving element (23). The drive (20) can also be arranged within the frame (11).

As FIG. 5 illustrates all three rollers (15,16,22) can be arranged on a common axis and rotatably mounted in the receiving head of the column (14) about an axis directed transversely to the column longitudinal axis. The output axis of the motor (19) and the pinion (21) is aligned parallel to this axis.

FIGS. 7 to 13 illustrate different designs of a Eckenfalzvorrichtung (10), each having a drive (26), for example a cylinder (27), at least one folding jaw (25) and an actuating drive (28) for generating a multi-axis feed movement of the folding jaw (s) (25) only one drive (26). The folding jaws (25) and the adjusting drives (28) are designed differently in the two variants.

In the embodiment of FIGS. 7 to 11 the corner folding device (10) has a slide or a head part (29), which is guided in a height-adjustable manner on a guide (31) connected to the folding bed (9). At the upper end of the guide there is a stop (32). The drive (26) is arranged below the carriage (29) and pushes it with its extendible piston and possibly a connecting rod to the actuator (28) along the guide (31) up and down. The one or more folding jaws (25) are displaceably guided on the top side of the carriage (29) on a jaw guide (30) transversely to the drive and guide axis and are of Actuator (28) shifted depending on the drive position.

The actuator (28) has a link mechanism (33), here eg a toggle mechanism, with an intermediate link (34). The intermediate link (34) is pivotally connected at one end to the piston rod or a connecting rod and connected at the other end to the middle toggle joint. This consists in the lowered starting position of FIG. 7 a lateral offset of the joints, wherein the hinge to the piston rod closer to the folding bed (9) is arranged as the middle toggle joint. In this arrangement, the link mechanism (33) causes a restoring force on the folding jaw (s) (25).

FIGS. 9 to 11 illustrate a folding process in three steps. At rest from FIG. 9 is the carriage (29) opposite the folding bed (9) and arranged thereon and with one or more tensioners (38) fixed workpiece (7) (not shown) lowered. The folding jaw (s) (25) is in its retracted position. Upon actuation of the corner folding device (10), the drive (26) pushes the carriage (29) with the folding jaw (s) (25) at rest up to the stop (32). The further carriage movement is thereby inhibited and the continued drive movement causes a pivoting of the toggle mechanism (33), whereby the folding jaw (s) (25) connected to the right toggle lever joint in the drawings is displaced horizontally and towards the rebate bed (9) and the flange (FIG. not shown) bends. The folding jaw (s) (25) may have a one-stage or multi-stage shaping for performing one or more folding steps. When retracting the drive (26), the toggle mechanism (33) pulls the folding jaw (s) (25) back into the rest position and lowers the carriage (29) again.

In the variant of FIGS. 12 and 13 performs the single or multiple existing folding jaw (25) from a lifting and pivoting movement, with a curved pivot lever guide (36) serves as a jaw guide (30). The drive (26) is also connected here to a slide (29) which can be moved along a guide (31) on the folding bed (9) up to a stop (32). The continued drive movement leads to the actuation of the actuator (28), which is designed here as a pivot lever drive (35). The piston rod is pivotally connected at the upper end to a handle link (37), which in turn is connected to the folding jaw (s) (25) and moves with continued drive movement along the curved bed guide (36) curved to the folding bed (9). As a result, the folding jaw (s) (25) is first lifted a bit to above the folding bed (9) and then swung in an arc on the workpiece (7) and the pre-bent flange. The folding jaw (s) (25) can in this case have a projecting nose or pressure bar which presses from above onto the flange after an approximately 90 ° turn.

FIG. 15 shows a detail of a workpiece (7), here a door, which corner regions (8) with different degrees of curvature of the Flanschverlaufs or Falzbahn (40). In this case, the protruding flanges (39) may have different opening angles with respect to the main plane of the one or more sheets or of the folded bed below. At the lower corner area (8) in FIG. 15 to which the section view in FIG. 17 is shown, the flange opening angle is about 140 °. The folding jaw (25) of the Eckenfalzvorrichtung (10) in this case has a substantially vertical effective edge, which forms an angle of approximately 45 ° with the obliquely outwardly projecting flange. In such a flange geometry, the flange (39) is usually bent in three or more steps and brought in parallel position to the base plate. Here you can with two different folding jaws (25) or a multi-stage folding jaw (25) two bending steps are performed, with which the flange opening angle is brought to eg 90 ° or less. The Eckfalzvorrichtung (10) can cause the complete bending of the flange (39). Alternatively, it can pre-bend the flange (39), for example to the said flange opening angle of less than 90 °, wherein subsequently guided by the manipulator folding tool (5) of the flange (39) in the corner region (8) and is folded.

The upper corner area (8) of FIG. 15 has according to the associated sectional view of FIG. 16 a flange (39) with a smaller flange opening angle of eg 95 °. The folding jaw (25) for this purpose has a corresponding obliquely inclined forward folding surface, which in turn may include an angle of approximately 45 ° with the flange (39). These angles can also vary. With this folding jaw (25), the flange (39) is bent to an opening angle of about 50 °. Again, the Eckenfalzvorrichtung (10) with a second folding jaw (25) or a multi-stage folding jaw (25) perform the Fertigfalzen. Alternatively, a Fertigfalzen by the manipulator (2) and its folding tool (5) is possible.

Modifications of the embodiments shown in various ways. as well as any constructive variants of the folding tool (5) and the Eckenfalzvorrichtung (10) are possible, as far as they fall within the scope of the claims. LIST OF REFERENCE NUMBERS 1 Folding device, Roboterfalzeinrichtung 2 Manipulator, robot 3 Manipulator hand, robotic hand 4 Control, robot control 5 folding tool 6 The roller folding 7 workpiece 8th Corner area, character line 9 folding bed 10 Eckenfalzvorrichtung 11 Frame of Rollfalzkopf 12 connecting plate 13 feather 14 pillar 15 seaming roll 16 seaming roll 17 seaming roll 18 roller drive 19 engine 20 Shoot, belt drive 21 pinion 22 pinion 23 Driving element, belt 24 positioning mandrel 25 seamclosing jaw 26 Drive, folding drive 27 cylinder 28 actuator 29 Sled, headboard 30 jaw guide 31 guide 32 attack 33 Linkage, toggle link 34 intermediate link 35 Pivoting lever drive 36 Pivoting lever guide 37 arm backdrop 38 Stretcher 39 flange 40 Falzbahn

Claims (15)

1. Folding device having at least one multi-axial manipulator (2) which displaces a folding tool (5) in relation to a blank (7), with a corner folding device (10) having its own drive (26) being located in one or more corner regions (8) of the blank (7), characterized in that the manipulator (2) and the corner folding device (10) are interlinked by the control system.
2. Folding device according to Claim 1, characterized in that the corner folding device (10) is controlled in dependence on the motions or in dependence on the folding functions of the manipulator (2).
3. Folding device according to Claim 1 or 2, characterized in that the corner folding device (10) and the manipulator (2) are controlled in mutual dependence in multi-step folding processes.
4. Folding device according to Claim 1, 2 or 3, characterized in that the manipulator (2) and the drive (26) have a common control system or the corner folding device (10) is connected to the manipulator control system (4).
5. Folding device according to one of the preceding claims, characterized in that the folding tool (5) has one or more folding rollers (15, 16, 17).
6. Folding device according to one of the preceding claims, characterized in that folding rollers (15, 16, 17) are located on different sides of a folding tool (5).
7. Folding device according to one of the preceding claims, characterized in that the folding tool (5) has a controlled roller drive (18).
8. Folding device according to one of the preceding claims, characterized in that the roller drive (18) has a motor (19) and a transmission (20), in particular a belt drive.
9. Folding device according to one of the preceding claims, characterized in that the transmission (20) is located on the outside or the inside of a frame (11) of the folding tool (5).
10. Folding device according to one of the preceding claims, characterized in that the folding tool (5) is resiliently (13) connected to the manipulator (2).
11. Folding device according to one of the preceding claims, characterized in that the corner folding device (10) has a controlled drive (26) and an actuator control (28) for the multi-axial positioning of one or more folding jaw(s) (25).
12. Folding device according to one of the preceding claims, characterized in that the drive (26) has a cylinder (27), the actuator control (28) having a slider (29) with a guide rod mechanism (33) or a gate mechanism (35) for the positioning of the folding jaw(s) (25).
13. Method for the folding of blanks (7) by means of a folding device (1) having at least one multi-axial manipulator (2) which displaces a folding tool (5) in relation to a blank (7), one or more corner regions (8) of the blank (7) being at least partially folded by a corner folding device (10) located in said corner regions and having its own drive (26), the manipulator (2) and the corner folding device (10) being interlinked by the control system, the straight or less curved regions of the folding line (40) being folded by the manipulator (2) with the folding tool (5) and the manipulator (2) controlling the corner folding device (10).
14. Method according to Claim 13, characterized in that the corner folding device (10) executes a portion of folding steps of a multi-step folding process in its effective range, the manipulator with the folding tool (5) executing in this effective range one or more other folding steps of the multi-step folding process.
15. Method according to Claim 13 or 14, characterized in that the manipulator with a raised folding tool (5) omits the corner regions or kinks, and subsequently continues its folding process.

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