EP0187326B1 - Manipulator and method for moving parts from a base to their fitting position - Google Patents

Description

The invention relates to a manipulator for moving large panels and / or other parts lying on a base, preferably produced there, with a mast which can be tilted about at least one axis on the base and which has a winch for winding and unwinding a rope from carries a pulley, and with at least one fastening means which can be fastened to the large board and / or the part to be erected above the axis, so that the large board and / or the part to be erected can be erected by rotating the winch, the pulley unit having at least one upper one , Mounted on the mast roller and at least one lower roller, which is suspended in a loose rope loop and on which the fastening means for the large board and / or the part to be erected is mounted, and a method which can be carried out by means of such a manipulator for moving on a Underlying, preferably made there large panel n and / or other finished parts.

A manipulator of the above type is shown in AU-B-488 362, in which a tilting moment acts on the mast during the erection process, which is particularly difficult to control at the start of the erection process and permanently exerts a bending moment on the mast. It is therefore difficult to pick up longer parts inasmuch as high bending moments occur in the sheet due to the manipulator acting only at one point on the sheets, which could cause damage.

Furthermore, AU-B-497 442 discloses a method for erecting a house by erecting large panels erected as outer walls of the house in a horizontal position on a support.

The invention has for its object to develop a manipulator of the type mentioned in such a way that no bending moments act on the mast and long parts can be safely lifted. This object is solved by the subject matter of claim 1. A further development of this manipulator according to claim 2 makes it possible in a simple manner to lift loads located directly next to an already erected large board.

The invention is further based on the object of proposing a method with which, with the aid of the manipulator according to the invention, the large panels and other finished parts to be assembled into a building can easily be brought into their installation position. The last-mentioned object is achieved according to the invention by the subject matter of claim 3. A preferred development of the method is the subject of dependent claim 4.

Figur 1

einen Aufrichtmanipulator nach dem Stand der Technik,

Figur 2a

den Aufrichtvorgang eines Wandteiles sowie die erste Phase bei der Montage eines Deckenteiles,

Figur 2b

weitere Phasen des Deckenmontagevorganges,

Figur 3

ein Detail aus Fig. 2b,

Figur 4a

und 4b

ein Zusatzteil,

Figur 5

einen mehrhakigen Manipulator,

Figur 6

das Aufsetzen des Zusatzteiles auf den Mast,

Figur 7

und 8

Einzelheiten der mastseitigen Teilekante,

Figur 9

die perspektivische Darstellung eines Zusatzteiles,

Figur 10

die Seitenansicht eines auf eine Großtafel aufgesetzten Zusatzteiles,

Figur 11

die Vorderansicht des Zusatzteiles aus Figur 10,

Figur 12

und 13

einen ausziehbaren Manipulator, und

Figur 14

bis 16

verschiedene Montagevorgänge.

Details of the invention emerge from the description in which some exemplary embodiments are discussed with reference to the drawings. It shows:

Figure 1

an erection manipulator according to the prior art,

Figure 2a

the erection process of a wall part and the first phase when installing a ceiling part,

Figure 2b

further phases of the ceiling installation process,

Figure 3

a detail from Fig. 2b,

Figure 4a

and 4b

an additional part,

Figure 5

a multi-hook manipulator,

Figure 6

placing the additional part on the mast,

Figure 7

and 8

Details of the mast-side part edge,

Figure 9

the perspective view of an additional part,

Figure 10

the side view of an additional part placed on a large board,

Figure 11

the front view of the additional part from Figure 10,

Figure 12

and 13

a pull-out manipulator, and

Figure 14

until 16

different assembly processes.

FIG. 1 shows a known manipulator 1 for erecting parts made lying flat. It consists of a mast 19, which can be made from a one-piece square tube or from a length-adjustable formwork support. He also has an upper roller 2, over which a rope 5 runs, on which a hook 3 is attached. You can pull the rope 5 with a winch 4.

According to DIN 1045, wall and ceiling parts should be connected approximately every 2 m. From this, as well as from the consideration of not making the assembly reinforcement stronger than the ring anchor reinforcement that is necessary anyway, there are reasonable mast spacings of 2 m.

In order to manage fewer parts when erecting long parts, it is desirable to have manipulators that are equipped with at least two hooks. Figure 5 shows a variant with two hooks 33a and 33b. It has two upper rollers 2a, 2b and two lower rollers 15a, 15b. The rope 5 now runs from the winch 4 in succession over the upper roller 2a, the roller 15b, the upper roller 2b (FIG. 6), and the roller 15a to a fastening hook 43, which can also be designed as a thimble and fastened to the upper mast end is. A pulley system with two upper and two lower rollers is obtained, the lower rollers being dissolved. The number of rolls can of course be increased in order to use even more hooks.

The mast 19 is inserted into a distributor foot 30, which in turn is placed on a support beam 31 (FIG. 7). The support beam 31 lies with the interposition of a soft cushion 32 on the base plate 8. It meets the structural requirements if it is 1.5 m long.

By means of spacers 34 (FIG. 8) it can be ensured that the tip of the mast 19 or the distributor foot 30 and the points of engagement of the hooks 33a and 33b are equidistant from the part to be erected. This avoids the tilting moments that occur at the start of the erection process with the individual manipulator. An advantage of the multi-hook manipulator is that the mast and hook can be far apart.

The erection process known per se is sketched on the left in FIG. 2a for erecting a wall part 6. The wall part and the support do not slide apart during the process if the coefficient of friction between the part and the base is greater than 0.23 and between the cushion 32 and the base is greater than 0.7 (theoretical values). Of course, you will still take safety precautions.

Figures 2a and 2b show wall parts 6 and ceiling parts 7, which were cast and erected one after the other on a base plate 8, namely first the outer walls 6a and the transverse walls, not shown, then the ceiling parts 7 and 7a, lastly the central longitudinal wall 6b. The walls are already connected to each other so that they stand securely. If you only want to work on the base plate 8, you need five work cycles to complete all parts of a floor. When using cement of the strength classes Z45F and Z55, you need 3 days for each cycle. If you use thick large-area switchboards as a release agent, you can also nest so that all parts of a floor are manufactured in one cycle. This is also advantageous in the cold.

For final assembly, the ceiling part 7 is lowered with the aid of the manipulators 1 into the position shown in dashed lines (FIG. 2a) and leaned against commercially available inclined supports 9. Devices, which can be formed by a screw connection 44 according to FIG. 3, ensure that the part does not slip away. If the part is a plate beam, the inclined support 9 can engage in the throat 13 with a correspondingly shaped head.

According to FIG. 2b, the manipulators 1 provided with additional devices 14 are now placed on the walls 6a, 6b. Since the foot 30 would interfere, it is removed. In the case of the individual manipulator, the rope 5 is placed around a lower roller 15, which engages with a hook 16 on extensions of the lower edge 12 of the ceiling part 7. The hook 3 of the rope 5 is fastened to the upper edge 24 of the additional part 14 (FIGS. 4a and 4b). By turning the winch 4, the ceiling part 7 is now raised. The inclined support 9 moves with the upper edge of the part 7 towards the wall 6b. This is shortly before reaching the installation position (dashed line in Figure 2b) Cover part 7 by the support dimension on the wall 6a over the wall 6b.

If the opposite ceiling part 7a is already installed, the inclined support 9 is adjusted so that the part 7 can slide over the part 7a. Otherwise, the manipulators 1 are placed on blocks 17, which are somewhat thinner than the ceiling part 7. Before the installation position is reached, the upper edge 18 of the ceiling raises the manipulator somewhat and the blocks can be removed. During the lifting, the part 7 exerts a horizontal force against the wall 6a. This is taken up by slide strips, not shown, which are attached to the ends of the ceiling part 7.

There are different embodiments for the additional part 14. FIGS. 4a and 4b show one possibility for a single manipulator. The additional part 14 consists of two irons 22 which are connected at the bottom by a foot 23 and at the top by a cross connection 24. The part 14 is rigidly connected to the mast 19 by pushing it with elongated holes 25 over the shaft 20 of the upper roller 2 projecting for this purpose and pushing a bolt 21 through holes 26 in the iron 22 and in the mast 19 and using suitable ones Devices locked. The foot 23 has a soft cushion 27, preferably made of structural rubber, which is attached so that the load is transferred to the inside of the wall 6a. The wall 6a has recesses at the contact point, which ensure that the foot is not pinched. Together with corresponding recesses in the ceiling part, they will later be used for the transmission of thrust.

The distance between the irons 22 is chosen so that the lower roller 15 fits in together with its suspension device. This ensures that the ceiling part 7 can overshoot somewhat when it is over the top of the wall 6a slips. You can also use a brake pad 28, which causes the ceiling part 7 to start up on a slope when it swings. The ceiling part 7 is now raised a little further. The brake pad 28 is removed. Adhesive mortar is introduced. The exact adjustment of the horizontal position is possible without great effort (for example by lifting the lower edge of the mast 19).

Now let the ceiling part 7 on the wall 6a and connect both. After the ceiling part 7 is secured in this way, it can be lowered onto the wall 6b by turning the threads of the inclined supports 9.

The additional part 14a according to Figures 9 to 11 represents a possibility of ceiling mounting with a two-hook manipulator la. In principle, it is similar to part 14, except that the vertical bars 22a and 22b are further apart, above by an approximately 1.5 m long Cross connection 24a are connected and have individual feet 23a and 23b. Furthermore, the part 14a has a deflection 25 and rollers 26, 27 and 28. The rope 5 runs from the fastening hook 43 via the deflection 25, the rollers 15a, 26, 27, 15b, 28 and 2a to the winch 4.

The erection process can take place in the form already described. According to FIG. 9, horizontal movements of the already raised ceiling part 7 are also possible by lifting the lower end of the mast 19a. In a similar way, the ceiling installation is possible in a manner not shown, even with the pulley broken.

If the space is limited, especially when erecting partitions with the ceiling already installed, a manipulator is advantageous, which extends telescopically when erecting. Figure 12 shows the principle of operation of a possible embodiment of a single-hook Pull-out manipulator. The mast consists of nested parts 19d and 19e. The inner mast 19e has an upper and lower roller 2e, 2f. The outer mast 19d carries the upper roller 2d and the winch 4. The rope 5 runs from the winch 4 over the rollers 2d, 2f and 2e to the hook 3. As soon as the hook 3 reaches the roller 2e, the inner mast 19e begins to push yourself out. A stop 39 ensures that the guidance takes place with the least possible play.

The diagram of a two-hook pull-out manipulator is shown in FIG. 13. The rope 5 runs successively from the winch 4 over the rollers 2m, 2k, 2h, 15b, 2i, 15a, 2g and 2e to a fastening 38 located on the outer mast 19d. The rollers 2e, 2k, 2g, 2i, 2h are firmly connected to the inner mast 19e. Gradual inclination of the rope reduces the vertical component of the force on the rollers 15a and 15b. When it has dropped to half the rope force, the inner mast begins to slide out. Shortly before the end of the erection process, the inner mast 19e is prevented from being pushed out further by, for example, pushes a pin through one of the holes 37. This two-hook pull-out manipulator is a bit more complicated to set up, but it can be used more universally. Only one such manipulator is required for assembly operations according to FIG.

A pull-out manipulator can also be an advantage when assembling wider parts, such as complete floor ceilings and wall parts spanning several storeys, since the buckling length is initially relatively small and the load becomes ever smaller with longer pull-out lengths.

The above-described embodiments of the manipulator are primarily suitable for smaller manipulators, which a man preferably uses Hand winch are operated and with which you can assemble parts of a maximum of about 3 m width and any length. If you want to install one-piece floor ceilings and / or multi-storey wall parts, you need larger manipulators, which in turn require handling mechanisms. For example, you could use a small construction crane to move a large manipulator with more than two hooks and use the same crane as a winch. In order to prevent multi-storey walls from breaking up, rigid supports must be put on and connected to the walls.

Figure 14 shows a variant of a two-story assembly process:
the two-storey walls 6d, 6e have cutouts 40 as a ceiling support at half height. The two floor ceilings 7d, 7e are first produced on the base plate, then erected and tilted back into the drawn position for final assembly, where they are held by the inclined supports 9d and 9e. The final assembly is as described. First, the upper ceiling 7e is installed. It contains sufficiently large cutouts through which the hooks can be passed in order to also mount the ceiling 7d.

Figure 15 shows a further variant in use in a three-storey installation:
here twice as many manipulators but no inclined supports are required. They are placed so that hooks hang down on both walls. The masts are screwed together for safety. The ceiling parts are made on top of each other on the base plate. On one side they protrude through recesses 41 on the bottom edge of the wall. For final assembly, the ceiling parts are first raised on one side so that they fit diagonally between the walls. Then can be lifted on both sides and eventually. be assembled.

FIG. 16 finally shows a combination of the assembly methods according to FIGS. 2a, 2b and 15 for a floor and a complete ceiling part 7k:
the ceiling part 7k is first raised to the inclined position and supported with inclined supports 9. Then the other side is raised in a known manner. This last variant has the advantages that one has more planning freedom, can manufacture the ceiling and the surrounding walls on top of one another and assemble them in one operation, and can adjust the length of the mast 19 to the maximum wall height. When mounting on the ceiling, the mast has an extension 42. The higher ceiling weight is absorbed by designing the rollers 15a, 15b, 26, 27 shown in FIG. 11 as double rollers and doubling the lifting force by the pulley thus formed. During the lifting into the inclined position, the ceiling part 7k must be pushed towards the wall 6k, for example by means of winches and crowbars.

When mounting floor ceilings, the additional part 14 is advantageous, but not absolutely necessary. In particular, in cases where there is no bearing on a wall, you can lift directly with the manipulator. The ceiling part can be connected to the end walls by welding on suitable steel inserts. However, conventional supports can also be achieved by initially producing and erecting only one end wall and first lowering the ceiling part onto the longitudinal wall 6a during assembly so that low frictional forces occur. In this position, you can slide it horizontally over the front wall and only then completely lower it. The second bulkhead will be manufactured and erected later together with the inner walls.

Claims (4)

1. A manipulator for moving large panels and/or curved parts which rest on a base and are preferably fabricated thereon, said manipulator comprising a mast (19) placed on the base with its foot end tiltable about at least one axis, said mast carrying a winch (4) for taking up and unwinding a cable (5) from a pulley block (2a, 2b, 15a, 15b), and comprising at least one fastening means (33a, 33b) attachable above said axis to the large panel and/or the part (6a, 6b, 7) to be erected so as to allow the large panel and/or the part to be erected to be raised by operating the winch, said pulley block including at least an upper pulley (2a, 2b) supported on the mast and at least a lower pulley (15a, 15b) which is suspended in a free cable loop and on which the fastening means for the large panel and/or the part to be erected is mounted,
   characterized
   in that at least two lower pulleys (15a, 15b) are provided, each including a fastening means (33a, 33b) and in that at the outer edge of the large panel or the part, on the side disposed towards the mast, spacer means (34) are provided on both sides of the mast (19), which spacer means maintain the point of application of force of the fastening means (33a, 33b) in a plane extending parallel to the direction of force through said tilting axis of the mast.
2. The manipulator of claim 1,
   characterized
   in that a supplementary part (14) is attachable to the upper end of the mast (19) and defines a region (22) extending substantially normal to the mast (19) for being placed on an already erected large panel or an already erected part, said supplementary part (14a) being in the form of a transverse yoke (24a) which carries at its outer ends reversing pulleys (26, 27, 28) for the cable loops and has at least two feet (23a, 23b) projecting from the transverse yoke (24a) and extending substantially vertically in respect of the yoke and in respect of the mast (19) such that by means of the winch (4) the manipulator, being placed with the feet (23a, 23b) on the surface of an already erected large panel or an already erected part, can lift loads directly at the side of the erected large panel or the erected part.
3. A method for moving large panels and/or curved prefabricated parts which rest on a base and are preferably fabricated thereon into their fitting position as floor slabs by means of manipulators according to claim 2,
   characterized
   in that a large panel or a part serving as floor slab is brought into a substantially vertical position by circular movement about a lateral edge adjacent to an already erected large panel serving as outer wall and is subsequently lowered and placed on a customary oblique support, and in that the large panel or the part is subsequently brought into its fitting position by lifting it approximately vertically along the lateral wall and, if appropriate, by a final horizontal shift.
4. The method of claim 3 for assembling three outer walls and the floor slab of a storey,
   characterized
   in that the floor slab, two opposite outer walls and a third outer wall are superposed in a stack on the base in this order, one of the opposite outer walls being formed with recesses in its lower portion, which recesses engage into corresponding recesses in the floor slab lying underneath, in that the outer walls are erected and connected with each other and in that, subsequently, the floor slab is mounted, by a horizontal movement directed vertically in respect of the mast, such that it is also supported on the third outer wall.

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