EP0536600B1 - Dispositif pour la fabrication d'armatures - Google Patents

Dispositif pour la fabrication d'armatures Download PDF

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Publication number
EP0536600B1
EP0536600B1 EP92116346A EP92116346A EP0536600B1 EP 0536600 B1 EP0536600 B1 EP 0536600B1 EP 92116346 A EP92116346 A EP 92116346A EP 92116346 A EP92116346 A EP 92116346A EP 0536600 B1 EP0536600 B1 EP 0536600B1
Authority
EP
European Patent Office
Prior art keywords
lattice
reinforcing rods
lattice girder
magazine
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP92116346A
Other languages
German (de)
English (en)
Other versions
EP0536600A1 (fr
Inventor
Wolfgang Reymann
Franz Filzmoser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FILZMOSER MASCHINENBAU GESELLSCHAFT M.B.H.
Original Assignee
Wolfgang Reymann
Franz Filzmoser
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE19914133589 external-priority patent/DE4133589A1/de
Application filed by Wolfgang Reymann, Franz Filzmoser filed Critical Wolfgang Reymann
Publication of EP0536600A1 publication Critical patent/EP0536600A1/fr
Application granted granted Critical
Publication of EP0536600B1 publication Critical patent/EP0536600B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/20—Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network

Definitions

  • the invention relates to a device for creating reinforcements for plate-shaped precast concrete parts, with molds that can be set up on movable pallets, for receiving the reinforcements in the form of reinforcing bars and lattice girders and the cast-in concrete, with a preparation machine for the reinforcing bars and with a production machine for the lattice girders, with a rod run-off track and a lattice girder run-off track, which are arranged opposite each other and connect to the preparation machine or the production machine, with an inclined lattice girder magazine provided with actuatable pawls, with two inserting robots slidably provided between the bar run-off track and the lattice girder magazine, with double grippers for the reinforcing bars and the lattice girders at the ends of the robot arms, and with a clip-on device for spacers to be clamped at intervals on a part of the reinforcing bars.
  • the device is used in the factory production of plate-shaped components made of reinforced concrete, in particular ceilings of different dimensions for buildings of any kind.
  • DE 36 15 460 discloses a device for producing reinforcements from reinforced concrete slabs intended for building purposes without the use of manual labor.
  • the device described there has found its way into practice and has proven itself in various places, but it has been found that its conception is complex with regard to one or the other unit and in particular its speed of operation leaves nothing to be desired.
  • the insert robots are industrial machines with six degrees of freedom, which perform linear movements, that the industrial robots as tool assemblies each carry two pairs of double grippers arranged side by side, that the two double grippers can rotate at least one of the industrial machines around a vertical axis, that the push-on device for the spacers is arranged between the preparation machine for the reinforcement bars and the bar runway, that in addition to the bar runway, an inclined bar intermediate buffer is provided for the reinforcement bars, and that at the end of the lattice girder magazine there is a multiple positioning device for the lattice girders .
  • the straightening and cutting device provided for the cross bars of the reinforcement, as well as the associated cross bar runway and the cross bar magazine, are completely omitted in the known device, as a result of which considerable savings are achieved in the production of the new device.
  • the cross bars are created together with the longitudinal bars by the same preparation machine, and the cross bars are placed by the rotatably arranged double grippers of the industrial machines with linear axes.
  • a rationalization of the workflow is achieved by switching on the bar buffer for the reinforcing bars, which enables the preparation machine to produce several reinforcing bars in stock when the industrial machines temporarily take a long time to insert.
  • a horizontally displaceable multiple removal carriage with at least two removal recesses open at the top for the reinforcement bars is arranged on the side of the intermediate bar buffer.
  • This removal carriage enables two reinforcement bars to be picked up, moved and placed together in the mold at the same time by the industrial automation, which considerably shortens the creation times for some types of reinforcement.
  • the bar intermediate buffer for the reinforcing bars has rows of pivotable drop flaps.
  • the angle of rotation of the two double grippers will be at least ninety degrees, which enables the longitudinal bars to be placed crosswise and at right angles on the transverse bars without any problems; lattice girders can also be inserted into the mold in the transverse direction if necessary.
  • a simple, reliable construction for the multiple installation device is obtained if it has L-shaped stands in cross section, which can be pivoted by means of a rotary shaft lying parallel to the lattice girder runway.
  • the device is explained in detail below in a preferred embodiment and with reference to the accompanying drawing.
  • the drawing shows the device in a plan view, in a schematic and simplified representation.
  • the device shown in the drawing for producing the reinforcements for plate-shaped precast concrete parts intended for building purposes essentially consists of a pallet 1, a preparation machine 2, a production machine 3, a rod runway 4, a lattice girder runway 5, a rod intermediate buffer 6, a lattice girder Magazine 7, two industrial automats 8 and 9, a multiple removal carriage 10, a plug-on device 11 and a multiple setting device 12. All of these units are centrally controlled by means of an electronic data processing system and actuated electrically or oil-hydraulically.
  • the flat pallet 1 which is rectangular in plan, can be moved mechanically through the device in the direction of arrow 14 on a track consisting of two rails 13 and laid on the floor between and below the preparation machine 2 and the production machine 3 and the other units.
  • a likewise rectangular, low shape 15 is set up on the pallet 1.
  • on the pallet 1 there is a reinforcement consisting of reinforcing bars, namely transverse bars 16 lying transversely and underneath and longitudinal bars 17 lying above them at right angles and lattice girders 18 arranged between them.
  • the transverse bars 16 carry spacers 19 made of plastic, which are spaced at intervals ensure the cross bars 16 from the pallet surface.
  • the cross bars 16, the longitudinal bars 17 and the lattice girders 18 consist of round wires or strips of structural steel.
  • the pallet 1 with the mold 15 that has been set up and contains the complete reinforcement for a plate-shaped precast concrete element is moved to a production facility (not shown) adjacent to the device, where the concrete is poured in.
  • the pallet 1 is then shaken and measures are taken to accelerate the setting of the concrete.
  • the preparation machine 2 for the reinforcing bars 16, 17 stands next to and above the track of the pallet 1 and them lies with its working direction parallel to the rails 13.
  • This preparation machine 2 is commercially available, its mode of operation and its function are generally known and therefore do not require any further explanation. With their help, both the cross bars 16 and the longitudinal bars 17 are straightened, cut and, if necessary, also bent, they are output at the end of the preparation machine 2.
  • two rotatable unwinding reels 20 are provided, on which various rings 21 of a round wire 22 are placed, the diameter of which can be between five and twelve millimeters. The round wire 22 is fed to the preparation machine 2.
  • the production machine 3 for producing the lattice girders 18 is also a commercially available and known device, which — opposite the preparation machine 2 — is arranged next to and somewhat above the rail 13. At the beginning of this production machine 3 there are four unwinding reels 23 with rings 24 of round wires and rings 25 of strips made of structural steel. In the production machine 3, both the round wires and the strips are straightened, bent, cut and automatically welded together to form lattice girders 18, which are finally ejected.
  • the arrows 26 and 27 illustrate the working direction of the preparation machine 2 and the production machine 3.
  • the bar runway 4 which adjoins the preparation machine 2 for the reinforcement bars 16 and 17 in the working direction, is located at the side of the preparation machine 2 and above the rails 13. It is essentially a flat, long and narrow table made of steel, which can be channel-shaped.
  • the rod runway 4 carries two terminal pivots 28, by means of which it is arranged such that it can be tilted transversely to its longitudinal direction with the aid of a correspondingly controlled, hydraulic tilting device, not shown, in the form of a hydraulic cylinder.
  • the lattice girder runway 5 is connected in the working direction 27 to the production machine 3 for producing the lattice girders 18. It consists of a low, flat channel which can be tilted transversely to its longitudinal direction about two pins 29 provided at its ends by means of a tilting device (not shown) controlled in the predetermined cycle.
  • Each lattice girder 18 has a triangular cross section and consists of an upper chord 30, two lower chords 31 and two rows of strut-like, angularly arranged lattice bars 32, which connect the upper chord to the lower chords and the lower chords to one another.
  • the rod intermediate buffer 6 for the reinforcement rods 16 and 17 consists essentially of four parallel beams 33 which are inclined downwards in the direction of the track of the pallet 1, in the upper side of which three pivotable drop flaps 34 are provided one behind the other. These drop flaps 34 are actuated in a controlled manner by the transverse shafts 35 connecting the beams 33 and lying transversely to them, their free, hook-shaped ends being lowered below the surface of the beams.
  • Each reinforcing bar 16, 17 created by the preparation machine 2 and ejected onto the bar runway 4 is thrown off by tilting the bar runway 4 onto the bar intermediate buffer 6 and remains there - held by the uppermost group of four of the trap flaps 34.
  • the group of four is pivoted so that the reinforcing bar 16, 17 held by it slides downwards until the next, projecting group of four stops it. In this way, the reinforcement bars 16, 17 are passed down to the edge of the bar intermediate buffer 6, from where they are passed on to the multiple removal carriage 10.
  • the lattice girder magazine 7 is constructed similarly to the rod intermediate buffer 6 and has three parallel girders 36 which are inclined downwards.
  • the lattice girder magazine 7 In each of these Carrier 36 are arranged three rows of pawls 37 one behind the other, which protrude with their locking lugs over the top of the carrier 36.
  • Three pawls 37, each at the same height, are connected to each other transversely to the supports 36 by rotatably mounted cross bars 38, the ends of which are inserted on one side of the lattice support magazine 7 into an electrically controlled, mechanical actuating device 39, which is parallel to the outermost support 36 lies.
  • a corresponding actuating device rotates the cross shaft 35 of the rod runway 4.
  • Each lattice girder 18 assembled in the production machine 3 and pushed onto the lattice girder runway 5 by it is thrown off by tipping onto the lattice girder magazine 7 and remains there initially - held by the top three rows of pawls 37, tilted to the side and lying on top with its upper flange 30 and a lower flange 31 - hang.
  • the actuating device 39 is started, which pivots the top transverse row of the pawls 37, so that the lattice girder 18 in question slides downwards in the direction of the rails 13 until the next three rows of the pawls 37 engage it stops. In this way, the lattice girders 18 are passed down, where the bottom lattice girder 18 comes to rest on the multiple erection device 12, from which it is erected in the next working cycle so that its upper chord 30 points upwards.
  • the two industrial machines 8 and 9 of the same design are commercially available robots with linear axes, that is to say those with six degrees of freedom, which are capable of carrying out linear movements. A more detailed description of these electrically controlled machines is unnecessary.
  • One of the two industrial machines 9 is only indicated with dashed lines in the drawing.
  • the industrial machines 8 and 9 are each on two parallel, horizontal cross members 40 across the track of the pallet 1 in Movable in the direction of arrow 41, and two parallel, horizontal longitudinal members 42 permit movement in accordance with the two arrows 43 in the longitudinal direction, that is to say parallel to the rails 13.
  • Both industrial machines 8 and 9, which are arranged above the units described so far, can, depending on their Control with each other or independently of each other to put cross bars 16, longitudinal bars 17 and lattice girder 18 into action.
  • Each double gripper 45 or 46 has a right and a left, pliers-like, mechanically operable mouth 47 or 48, the opening of which is suitable for gripping a reinforcing bar 16 or 17 or the upper chord 30 of a lattice girder 18.
  • the two double grippers 45 and 46 are able to grip two reinforcing bars 16 and 17 with their four jaws 47, 48 at the same time; the industrial machine 8 or 9 in question then moves these two reinforcing bars 16 and 17 together over the pallet 1 and at the same time places them at the intended position in the mold 15. To shorten the distances, the pallet 1 can be moved at the same time.
  • the two double grippers 45 and 46 are arranged on the arm 44 so as to be rotatable about a vertical axis 49; the angle of rotation 50 is ninety degrees. This allows reinforcing bars 16, 17 to be inserted both longitudinally and transversely into the form 15 and placed on the pallet 1.
  • the multiple removal carriage 10 is arranged on the longitudinal side of the rod intermediate buffer 6 opposite the rod runway 4.
  • One slide part 51 each is arranged below the end of one of the bars 33 of the rod intermediate buffer 6 and the four slide parts 51 are jointly longitudinally displaceable in the direction of arrow 52 by means of a shifting device, not shown, which engages on a connecting rail 53, to which all four slide parts 51 are fastened.
  • Each of the slide parts 51 of the multiple removal carriage 10 has two parallel, groove-shaped removal recesses 54 on its upper side, which serve to receive the reinforcing bars 16, 17. With the multiple removal carriage 10, the reinforcement bars 16, 17 coming from the bar buffer 6 are offered to the two industrial machines 8 and 9 for removal.
  • the multiple removal carriage 10 is initially in its rear position facing the rod intermediate buffer 6 and the front of the two removal recesses 54 of each slide part 51 are approximately below the free ends of the bars 33 of the rod intermediate buffer 6. As soon as the bottom row of four of the trap flaps 34 releases a reinforcement bar 16, 17, it falls into the removal recess 54 which is open at the top. The multiple removal carriage 10 then shifts forward by approximately the distance between the two removal recesses 54, so that the rear of the two removal Recesses 54 is now below the bar 33 and the next reinforcing bar 16, 17 can fall into it.
  • the drawing shows how two cross bars 16 equipped with spacers 19 are in the removal recesses 54 of two slide parts 51 ready to be gripped by the two double grippers 45 and 46 of one of the two industrial machines 8, which are at a distance from the removal recesses 54 .
  • the plug-on device 11 for the spacers 19 contains a commercially known, known vibrating conveyor 55, into which the disk-shaped spacers 19 are entered, one of which is shown in plan view on an enlarged scale in the interior of the vibrating conveyor 55.
  • the spacer 19 has a circular central opening which merges into a slightly conically opening slot.
  • the Spacers 19 pass from a helical, slightly rising path into a horizontal shaft 56, the end of which stands in front of the exit of the preparation machine 2 for the reinforcing bars 16, 17.
  • a (not shown) vertically moving stamp which is shifted by a controlled actuating device, pushes a spacer 19 from the shaft 56 onto a cross bar 16 at certain time intervals, while one is ejected from the preparation machine 2 and placed on the bar runway 4 .
  • This slip-on device 11 is thus between the preparation machine 2 and the rod runway 4.
  • the slip-on device 11 is controlled such that spacers 19 are only plugged onto reinforcing bars 16 provided as cross bars - on longitudinal bars 17, however, only when required.
  • the multiple installation device 12 has a total of three L-shaped stands 57 in cross section, which can be pivoted with the aid of a rotary shaft 58, to which they are fastened, which lie parallel to the lattice girder runway 5. If the lowest lattice girder 18 lying on the lattice girder runway 5 is released from the bottom three rows of pawls 37, it slips onto the three stands 57 provided at the end of the girder 36.
  • the correspondingly actuated rotary shaft 58 pivots the stand 57 horizontally, so that the lattice girder 18 erected in this way with its two lower chords 31 stands on the long L-legs of the stand 57 and is gripped by two jaws 47, 48 of a double gripper 45 and 46, lifted and positioned in the Form 15 is placed on the reinforcing bars 16, 17.
  • the pallet 1 with the arranged shape 15 is moved on the rails 13 into the working area of the two industrial machines 8, 9.
  • the preparation machine 2 are first the cross bars 16 are created, provided with spacers 19 by the plug-on device 11 and conveyed from the bar runway 4 onto the bar intermediate buffer 6. This transfers the cross bars 16 clocked to the multiple removal carriage 10, from where they are picked up in pairs by the two double grippers 45 and 46.
  • the industrial machine 8 or 9 in question then travels and rotates the crossbars 16 simultaneously or shortly thereafter by ninety degrees and, as intended, drops them on the pallet 1.
  • the industrial machine 8, 9 can also stand still and move the pallet 1. The same applies to the longitudinal bars produced in the preparation machine 2, which are placed at right angles on the cross bars 16 without a spacer 19.
  • the production machine 3 has created one or more lattice girders 18, which are fed to the lattice girder runway 5 and set up individually by the multiple installation device 12.
  • the form 15 contains the entire reinforcement intended for the precast concrete element, whereupon the pallet 1 leaves the device and is driven to where the already prepared concrete is poured, which then undergoes compaction by shaking and finally a rest period - also with Warming - preserves for setting.

Claims (5)

  1. Dispositif pour la fabrication d'armatures de composants en béton en forme de dalles, avec
    - des moules (15) ajustables sur des palettes mobiles (1), qui permettent de recevoir les armatures en forme de barres de ferraillage (16, 17) et de poutres en treillis (18), ainsi que le béton coulé,
    - une machine de préparation (2) pour les barres de ferraillage (16, 17),
    - une machine de fabrication (3) pour les poutres en treillis (18),
    - une voie de sortie des barres (4) et une voie de sortie des poutres en treillis (5), disposées en vis-à-vis et faisant suite à la machine de préparation (2) et à la machine de fabrication (3),
    - un magasin de poutres en treillis (7) oblique, muni de cliquets d'arrêt (37) actionnables,
    - deux robots de chargement mobiles (8, 9), prévus entre la voie de sortie des barres (4) et le magasin de poutres en treillis (7),
    - des doubles griffes (45, 46) pour les barres de ferraillage (16, 17) et les poutres en treillis (18) sur les extrémités des bras de robots (44),
    - et avec un dispositif de fixation (11) pour des écarteurs (19), à caler à distance sur une partie des barres de ferraillage (16, 17),
    caractérisé en ce que
    - les robots de chargement sont des automates industriels (8, 9) à six degrés de liberté, qui exécutent des mouvements linéaires,
    - les robots industriels (8, 9) supportent respectivement, en tant que groupe d'outils, deux doubles griffes (45, 46) juxtaposées par paires,
    - les deux doubles griffes (45 et 46) de l'un des automates industriels (8 et/ou 9), au moins, peuvent tourner autour d'un axe vertical (49),
    - le dispositif de fixation (11) pour les écarteurs (19) est disposé entre la machine de préparation (2) pour les barres de ferraillage (16, 17) et la voie de sortie des barres (4),
    - un stock-tampon incliné (6) pour les barres de ferraillage (16, 17) est prévu à côté de la voie de sortie des barres (4),
    - et en ce qu'un dispositif de positionnement multiple (12) pour les poutres en treillis (18) est monté à l'extrémité du magasin de poutres (7).
  2. Dispositif suivant la revendication 1, caractérisé en ce qu'un chariot de reprise multiple (10) mobile à l'horizontale, avec deux cavités de reprise (54), au moins, ouvertes vers le haut, pour les barres de ferraillage (16, 17), est prévu sur le côté du stock-tampon de barres (6).
  3. Dispositif suivant l'une des revendications 1 ou 2, caractérisé en ce que le stock-tampon de barres (6) pour les barres de ferraillage (16, 17) présente des rangées de volets (34) pivotants.
  4. Dispositif suivant l'une quelconque des revendications 1 à 3, caractérisé en ce que l'angle de rotation (50) des deux doubles griffes (45, 46) atteint 90° degrés au moins.
  5. Dispositif suivant la revendication 5, caractérisé en ce que le dispositif de positionnement multiple (12) présente des positionneurs (57) de section transversale en L, qui peuvent pivoter au moyen d'un axe de rotation (58), situé à la parallèle de la voie de sortie des poutres en treillis (5).
EP92116346A 1991-10-10 1992-09-24 Dispositif pour la fabrication d'armatures Expired - Lifetime EP0536600B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4133589 1991-10-10
DE19914133589 DE4133589A1 (de) 1990-10-12 1991-10-10 Vorrichtung zur erstellung von bewehrungen

Publications (2)

Publication Number Publication Date
EP0536600A1 EP0536600A1 (fr) 1993-04-14
EP0536600B1 true EP0536600B1 (fr) 1995-01-11

Family

ID=6442433

Family Applications (1)

Application Number Title Priority Date Filing Date
EP92116346A Expired - Lifetime EP0536600B1 (fr) 1991-10-10 1992-09-24 Dispositif pour la fabrication d'armatures

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EP (1) EP0536600B1 (fr)
AT (1) ATE116882T1 (fr)
DE (1) DE59201190D1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29819262U1 (de) * 1998-04-21 1999-01-21 Knecht Rainer Vorrichtung zur Herstellung von Bewehrungen
AT517912B1 (de) * 2015-10-21 2019-03-15 Hubert Ing Rapperstorfer Fertigungsanlage zum Fertigen von Bewehrungselementen
EP3378605B1 (fr) 2017-03-23 2019-10-30 IPR-Intelligente Peripherien für Roboter GmbH Système de robot avec rail porteur et plate-forme robotique
US11292091B1 (en) 2018-12-21 2022-04-05 Thomas Mills Brown Dowel basket assembly machine

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3615460C1 (de) * 1986-05-07 1987-10-01 Loesch Manfred Dipl Ing Vorrichtung zur Herstellung von Bewehrungen von fuer Bauzwecke vorgesehenen Platten aus Stahlbeton fuer Fertigdecken
DE4031383A1 (de) * 1990-10-04 1992-04-09 Hugo Bittlmayer Vorrichtung zum aufbringen und verbinden von vorgefertigten gittertraegern auf eine auf abstuetzungen ruhende vorgefertigte bewehrungsmatte

Also Published As

Publication number Publication date
EP0536600A1 (fr) 1993-04-14
DE59201190D1 (de) 1995-02-23
ATE116882T1 (de) 1995-01-15

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