Abstract
The invention relates to a handling device for handling a frame formwork element with a formwork panel and a circumferential support frame on the rear of the formwork panel, having: a handling head with a holding unit for holding the frame formwork element, a movement unit for moving the handling head, the handling unit of the handling head being designed to hold the frame formwork element in both a horizontal and an upright position.
Claims
1. Handling device for handling a frame formwork element with a formwork panel and a circumferential support frame at the rear side of the formwork panel, comprising: a handling head with a holding unit for holding the frame formwork element, a movement unit for moving the handling head, wherein the holding unit of the handling head is furthermore configured to hold the frame formwork element both in a lying position and in an upright position.
2. Handling device according to claim 1, wherein the holding unit of the handling head is configured to grip the circumferential support frame at the rear side of the formwork panel.
3. Handling device according to claim 1, wherein the holding unit comprises at least one first guide bar for connection on the outside to a longitudinal frame part of the circumferential support frame of the frame formwork element and/or at least one second guide bar for connection on the outside to a cross frame part of the circumferential support frame of the frame formwork element.
4. Handling device according to claim 3, wherein the holding unit comprises two first guide bars for connection on the outside to the longitudinal frame parts of the circumferential support frame of the frame formwork element and/or two second guide bars for connection on the outside to the cross frame parts of the circumferential support frame of the frame formwork element.
5. Handling device according to claim 1, wherein the holding unit comprises a locking part for locking with a longitudinal or cross frame parts of the circumferential support frames of the frame formwork element.
6. Handling device according to claim 5, wherein the locking part is designed to engage behind an inwardly directed projection of the longitudinal or cross frame parts of the circumferential support frame.
7. Handling device according to claim 6, wherein a locking drive is provided for moving the locking part.
8. Handling device according to claim 1, wherein the movement unit comprises a swivel joint for rotating the handling head about an axis extending substantially perpendicular to the main plane of the formwork panel.
9. Handling device according to claim 1, wherein the movement unit comprises a handling arm for lifting the handling head and/or pivoting the handling head about at least one horizontal pivot axis.
10. Handling device according to claim 1, wherein the handling head comprises a bearing frame, wherein the holding frame is movable in at least one direction.
11. Handling device according to claim 10, wherein a displacement drive is provided for displacing the holding frame relative to the bearing frame of the handling head.
12. Handling device according to claim 1, wherein the movement unit is arranged on a vehicle.
13. Handling device according to claim 1, wherein the handling head comprises a sensor device for detecting an intended position of use of the frame formwork element.
14. Handling device according to claim 13, wherein the sensor device is designed to detect a trigger element on the column head when the frame formwork element is lowered into the shuttering position on the column head.
15. Handling device according to claim 13, wherein the sensor device is provided at a corner region of the handling head.
16. Handling device according to claim 14, wherein the sensor device comprises a push-button element for actuation by the release element on the column head in the shuttering position lowered onto the column head.
17. A handling system, comprising: A handling device according to claim 1, a frame formwork element, which is detachably connected to the handling head of the handling device.
18. Handling system according to claim 17, further comprising: a formwork supports with a column head for connection to the frame formwork element configured as a ceiling formwork element.
19. A method of handling a frame formwork element, comprising the steps of: providing a handling device according to claim 1, provisioning the frame formwork element in a waiting position detached from the handling device, connecting the handling head of the handling device to the frame formwork element in the waiting position, and lifting the frame formwork element from the waiting position using the handling device.
20. Method according to claim 19, wherein the frame formwork element is aligned substantially vertically in the waiting position.
21. Method according to claim 19, wherein the frame formwork element is moved with the handling device from the waiting position to a substantially horizontal position of use.
Description
BRIEF DESCRIPTION OF THE FIGURES
[0051] FIG. 1 shows a handling device according to the invention, with which a frame formwork element for a ceiling formwork can be picked up from an upright waiting position.
[0052] FIGS. 2 to 7 show the procedure for hanging the frame formwork element in the formwork supports using the handling device of FIG. 1.
[0053] FIG. 8 shows a detailed view of the frame formwork element shortly before reaching the intended shuttering position.
[0054] FIG. 9 and FIG. 10 each show a detail of the frame formwork element in the installed state on the formwork supports, whereby the formwork panel of the frame formwork element is omitted for the sake of clarity.
[0055] FIG. 11 and FIG. 12 show the frame formwork element together with the formwork panel in the shuttering position.
[0056] FIG. 13 and FIG. 14 show the frame formwork element without formwork panel in the shuttering position.
[0057] FIG. 15 show a handling head of the handling device for picking up and moving the frame formwork element.
[0058] FIG. 16 and FIG. 17 show the handling head of the handling device from below, to which the frame formwork element is attached.
DETAILED DESCRIPTION
[0059] FIG. 1 shows a handling device 1 for handling or moving a frame formwork element 2, with which a ceiling or wall element can be concreted. The handling device 1 comprises a handling head 3 with a holding unit 4, on which the frame formwork element 2 can be reversibly detached, i.e. without damage and repeatedly. In addition, the handling device 1 comprises a movement unit 5 for moving the handling head 3 either with or without the frame formwork element 2. The movement unit 5 is arranged on a vehicle 6, which can travel in all directions on a floor 7. In the embodiment shown, the vehicle 6 comprises two wheels 8 and two drive and steering wheels 9. The movement unit 5 comprises a handling arm 10 for moving the handling head 3. In the embodiment shown, the handling arm 10 comprises a first arm part 11, which can be telescoped in the embodiment shown, and a second arm part 12. The handling head 3 is connected to the first arm part 11 of the handling arm 10 via a first horizontal pivot axis 13. Furthermore, the first 11 and the second arm part 12 are connected to each other via a second horizontal pivot axis 14. The second arm part 12 is mounted on a base, in this case on the vehicle 6, so that it can pivot about a third horizontal pivot axis. As can be seen from FIG. 2 and FIG. 3, the handling head 3 can be swivelled about the first horizontal pivot axis 13 with the aid of a first drive 15. In addition, a second drive 16 is provided for swivelling the first arm part 11 relative to the second arm part 12. A third drive 17 is provided for swivelling the second arm part 12 towards the base, in this case the vehicle 6.
[0060] An inner part 49 can be extended from the outer part 50 of the first arm part 11 by means of a telescoping drive 48. The handling head 3 is mounted on the inner part 49 of the first arm part 11.
[0061] As can be seen in FIG. 16 and FIG. 17, the handling head 3 is rotatable about a longitudinal axis 11A extending perpendicular to the main plane of extension of the frame formwork element 2 via a turntables 18. In a preferred embodiment, the frame formwork element 2 can be manually rotated about the longitudinal axis 11A on the handling head 3. In a particularly preferred embodiment, the frame formwork element 2 can be rotated about the longitudinal axis 11A on the handling head 3 by means of a rotary drive.
[0062] In the embodiment shown, the handling head 3 comprises a bearing frame 51, which is connected to the first arm part 11, and a holding frame 52, on which the holding unit 4 is provided. The bearing frame 51 comprises an upper part 53 and a lower part 54, wherein the holding frame 52 is displaceably guided between the upper part 53 and the lower part 54 of the bearing frame 51 in all directions parallel to the main plane of extension of the handling head 3 (and thus also in all directions parallel to the main plane of extension of a formwork panel 20 of the frame formwork element 2). With the aid of a displacement drive 30, the holding frame 52 can be displaced in a straight line relative to the bearing frame 51 in order to enable installation of the frame formwork element 2 in a ceiling formwork 34. In the embodiment shown, the displacement drive 30 comprises a single drive, here in particular a hydraulic cylinder-piston drive (for example the right-hand cylinder-piston arrangement in FIG. 15), which can be actuated to displace the holding frame 52 relative to the bearing frame 51. However, a further cylinder-piston arrangement (for example the left cylinder-piston arrangement in FIG. 15) can be provided between the holding frame 52 and the bearing frame 51, which is not actuated and can be extended or pushed in passively.
[0063] As can be seen in particular from FIG. 16, a stop device is provided for limiting the movement of the holding frame 52 relative to the bearing frame 51. In the embodiment shown, the stop device comprises a stop element 55 on the bearing frame 51 and a recess 56 on the holding frame 52 forming a limiting space for the stop element 55. The stop element 55 is freely displaceable within the recess 56. The border of the recess 56 limits the movement of the stop element 55.
[0064] The movement unit 5 thus enables the handling head 3 together with the frame formwork element 2 to be swivelled about the first pivot axis 13, the first holding arm 11 to be swivelled about the second pivot axis 14, the second holding arm 12 to be swivelled about the third pivot axis, an extension of the inner part from the first arm part 11 along the longitudinal axis 11A to lift the frame formwork element 2, a rotation of the handling head 3 about the longitudinal axis 11A and a displacement of the holding frame 52 relative to the bearing frame 51 of the handling head 3.
[0065] As can be seen in particular from FIGS. 11 to 14, the frame formwork element 2 comprises a circumferential support frame 19, i.e. extending on all sides, which supports a formwork panel 20 which is substantially rectangular in plan view and has a flat scarf surface 21 facing the concrete. The circumferential support frame 19 comprises two longitudinal frame parts 22, which form the longer sides, i.e. the longitudinal sides of the circumferential support frame 19, and two cross frame parts 23 extending at right angles thereto, which form the shorter sides, i.e. the cross sides of the circumferential support frame 19. The longitudinal frame parts 22 are connected to each other via cross members 24 between the cross frame parts 23. The cross members 24 extend parallel to the cross frame parts 23.
[0066] In order to be able to move the frame formwork element 2 with the degrees of freedom described above, the holding unit 4 is designed to hold or fix the frame formwork element 2 in an upright, vertical position (cf. FIG. 1), in a horizontal position (cf. e.g. FIG. 4) and in any inclined intermediate position between the horizontal and the upright position. For this purpose, the holding unit 4 on the handling or holding head 3 can be used to grip the circumferential support frames 19 on one of the longitudinal sides and on one of the transverse sides of the frame formwork element 2.
[0067] In the embodiment shown (FIG. 15), the holding unit 4 comprises at least one first guide bar 25, in this case two first guide bars 25, for arrangement on the outside of one of the longitudinal frame parts 22 of the circumferential support frame 19 of the frame formwork element 2 and at least one second guide bar 26, in this case two second guide bars 26, for arrangement on the outside of one of the cross frame parts 23 of the circumferential support frame 19 of the frame formwork element 2.
[0068] In addition, in the embodiment shown, the holding unit 4 comprises at least one holding pin 46, preferably several holding pins 46, adjacent to the first guide bars 25, wherein the longitudinal frame parts 22 of the frame formwork element 2 is held between the first guide bars 25 and the holding pins 46.
[0069] In addition, the holding unit 4 comprises at least one locking part, here a locking pins 27, for engaging behind the projection 29 (see e.g. FIG. 13 and FIG. 14) of the cross frame parts 23. With the aid of a locking drive 47, the locking part can be transferred from a retracted, released position into an advanced, locked position, in which the frame formwork element 2 is secured against being lifted off in a direction perpendicular to the main plane of extension of the handling head 3. In the embodiment shown, two locking pins 27 are provided for locking with both opposite cross frame parts 23 of the frame formwork element 2, which are each actuated by a locking drive 47.
[0070] The first guide bars 25 and second guide bars 26 are stationary on the frame formwork element 2 during the movement of the locking part.
[0071] In a preferred application, the handling device 1 can be used to assemble a ceiling formwork 34 from several frame formwork elements 2. Of course, the handling device 1 can also be used to dismantle the ceiling formwork 34 after the ceiling has been concreted.
[0072] As shown in FIG. 1, the frame formwork elements 2 can be placed in an upright position (on edge or on edge, depending on the design) directly next to each other on the floor 7. The handling head 3 is moved to the foremost frame formwork element 2. The holding unit 4 is then connected to the circumferential support frames 19 of the frame formwork element 2. For this purpose, the first guide bars 25 are attached to the outside of the longitudinal frame parts 22 and the second guide bars 26 are attached to the outside of the cross frame parts 23. The locking pins 27 are initially in a retracted position. The locking drive 47 is then actuated, whereby the locking pins 27 are moved outwards to such an extent that the locking pins pass over the inwardly projecting projections 29 of the cross frame parts 23. As a result, the frame formwork element 2 is held in an upright position on the handling head 3 and thus secured against unintentional movement in all directions.
[0073] According to FIG. 2, the frame formwork element 2 is lifted off the floor 7. In the example shown, the frame formwork element 2 remains in the upright position for the time being due to a corresponding swivelling of the handling head 3 about the first pivot axis 13, so that the frame formwork element 2 is lifted in the vertical direction.
[0074] According to FIG. 3, the frame formwork element 2 is tilted about the first pivot axis 13 by actuating the first drive 15. Furthermore, the handling device 1 can be moved from the storage location for the frame formwork elements 2 to the place of use by moving the vehicle 6 on the floor.
[0075] According to FIG. 4, the handling device 1 is located in the immediate vicinity of the ceiling formwork 34, which is formed by an array of frame formwork elements 2, which are supported in a horizontal arrangement next to each other on vertically aligned formwork supports 35. To lift the frame formwork element on the handling device 1, the second drive 16 is actuated, whereby the toggle lever formed by the first 11 and second arm part 12 of the handling arm 10 is transferred to a more extended position. The frame formwork element 2 can be continuously moved from the initially vertical to the horizontal position.
[0076] According to FIG. 5A, the frame formwork element 2 is first lifted with the handling device 1 beyond the final position of use, cf. the neighbouring, already installed frame formwork elements 2.
[0077] According to FIG. 5B, the frame formwork element 2 (shown here in plan view) is aligned with the neighbouring frame formwork elements 2 already installed. For this purpose, the framework formwork element 2 can be moved with the displacement drive 30. The first 25 and second guide bars 26 serve as attachment points on the already installed frame formwork elements. When the first 25 or second guide bars 26 strike the already assembled frame formwork elements 2, the frame formwork element 2 is rotated into the correct position, see arrow 36, and displaced, see arrow 37 or arrow 38.
[0078] According to FIG. 6, the frame formwork element 2 is lowered into the use position. The corners on one longitudinal side of the circumferential support frame 19 are connected to (at least) two formwork supports 35.
[0079] According to FIG. 7, the corners on the other long side of the frame formwork element 2 are supported with one or two further formwork supports 35. The handling head 3 can then be released from the frame formwork element 2. To do this, the locking or holding pins 27 are retracted before the handling head 3 can be removed from the frame formwork element 2.
[0080] FIG. 8 shows in detail the lowering of the frame formwork element 2 into the use position. The formwork supports comprise a column head 39 at the upper end, on which, in the version shown, four attachment elements 40 are provided for attaching the frame formwork element 2 and, in the version shown, also four hook elements 41 for hooking with a pin 42 on the frame formwork element 2, with which a lift-out protection, i.e. a protection against vertical lifting of the frame formwork element in the use position, for example due to wind loads, is achieved.
[0081] FIG. 8 also shows that the first guide bars 25 and the second guide bars 26 serve as attachment points on the already assembled frame formwork element 2. As a result, the frame formwork element 2 is guided on the already assembled frame formwork element 2 when it is lowered into the column head 39.
[0082] In the design shown (see FIG. 10), the handling head 3 comprises a sensor device 44 at a corner area, with which the intended position of use of the frame formwork element 2, in this case the shuttering position fully lowered onto the formwork supports 2, is recognised. The sensor device 44 is designed for sensory detection of a trigger element on the column head 39 when the frame formwork element 2 is lowered into the shuttering position on the column head 39. The upright attachment element 40 of the column head 39 is preferably provided as the trigger element. In the embodiment shown, the sensor device 44 comprises a sensor element 45, which is used for contactless detection of the trigger element, in this case the attachment element 40, when the lowered shuttering position is reached. Alternatively, the sensor device 44 can also comprise a push-button element, which is pressed by the trigger element. The actuation of the sensor element 45 by the triggering or attachment element 40 is detected and signalled to a control unit, which records the intended installation of frame formwork element 2.
[0083] Furthermore, the sensor device is part of a control device that shows a user on a screen which frame formwork element 2 is to be installed next, and in particular at which position. A formwork plan is preferably stored in the control unit for this purpose. The control electronics can thus be used to continuously monitor the progress of the installation of the ceiling formwork 34 in order to provide the user with assistance for the next work step.
Reference Number List
[0084] 1 handling device [0085] 2 frame formwork element [0086] 3 handling head [0087] 4 holding unit [0088] 5 movement unit [0089] 6 vehicle [0090] 7 floor [0091] 8 wheels [0092] 9 drive and steering wheels [0093] 10 handling arm [0094] 11 first arm part [0095] 12 second arm part [0096] 13 first pivot axis [0097] 14 second pivot axis [0098] 15 first drive [0099] 16 second drive [0100] 17 third drive [0101] 18 turntable [0102] 19 support frame [0103] 20 formwork panel [0104] 21 formwork surface [0105] 22 longitudinal frame parts [0106] 23 cross frame parts [0107] 24 cross member [0108] 25 first guide bar [0109] 26 second guide bar [0110] 27 locking pin [0111] 29 projection [0112] 30 displacement drive [0113] 32 edge [0114] 34 ceiling formwork [0115] 35 formwork supports [0116] 36 arrow [0117] 37 arrow [0118] 38 arrow [0119] 39 column head [0120] 40 attachment elements [0121] 41 hook elements [0122] 42 pin [0123] 43 edge [0124] 44 sensor device [0125] 45 sensor element [0126] 46 holding pin [0127] 47 locking drive [0128] 48 telescoping drive [0129] 49 inner part of the first arm part [0130] 50 outer part of the first arm part [0131] 51 bearing frame [0132] 52 holding frame [0133] 53 upper part of the holding frame [0134] 54 lower part of the holding frame [0135] 55 stop element [0136] 56 recess
