EP0674069B1 - Arrangement and method for realising building constructions using masonry blocks and/or shutterings - Google Patents

Abstract

The assembly device uses a computer(11)-controlled handling device for placing the modular building components in position, using transport carriages (35, 45) with controlled grippers, displaced along a rail system with rail sections (25, 26) extending parallel to the building external and internal walls (1, 3). The building components are brought to the required assembly height via a height adjustment device, for raising the rails and rail sections and hence the transport carriages.

Description

The invention relates to an apparatus and a method for manufacturing of buildings using masonry and / or Formwork existing components according to the generic term of Claim 1 and 19 respectively.

The construction of houses is not least due to the high Percentage of manual work to be done before and after everything also costly.

There are various attempts and methods to create of a building faster and, if possible, can also be carried out more cost-effectively. Especially in Reinforced concrete construction, skeleton concrete construction as well as in the construction of Prefabricated houses can sometimes save time and money will be realized.

The construction of high-rise buildings is particularly and expensive. This also because with increasing Number of floors the total effort to create of each additional floor is more time and labor intensive will (not least because of the increasingly wider Path of the building materials to be brought to the relevant floor).

In Japan in particular, it has already been proposed High-rise buildings faster, cheaper and with fewer people to build using such large objects created by computers and robots. Contrary to usual habits are the attic created at ground level. It later serves as a fully computerized Factory to continue building the building. In the attic are z. B. welding machines, the individual Carry out construction work, remote-controlled overhead cranes or an elevator to transport construction equipment and materials.

As soon as a floor is finished, the top floor rises the pillars are hydraulically high. Then starts the shell of the next lower floor. This The process is then repeated floor by floor. It deals in principle a "building from top to bottom system".

From "Patents abstracts of Japan", M-1349, January 6, 1993 Vol. 17 / No. 5 is also largely a device automatic production of structures with a Many floors became known. Outside of the building carriers are provided here, between which a kind of horizontal support arrangement is anchored to which a robot arrangement with a gripper arm can be moved longitudinally is. Pre-made and large dimensions are used Wall parts individually to their respective installation position brought. After completion of a floor the support columns by placing another support column section extended upwards and the horizontal support arrangement placed in a higher position.

From the magazine DE-Z "Brick and Tile Industry International", Issue 11/93, pages 685 - 690 is entitled "Wo the robot is swinging the trowel "a manufacturing process described by walls, in which the construction plan in its relevant parts are recorded with the aid of computers. The construction plan and the walls are automatically rasterized in grids, each size and shape of each corresponding components, namely the bricks, divided. The bricks are then computer-aided in the correct position by a transport and conveying device positioned. However, this is the case the automatic creation of brick wall sections, which are bricked up in a hall. The so Prefabricated wall parts must then be completed first brought to the building site, then to be assembled on site to form an overall structure.

Another device for making walls Masonry has become known from DE-A-37 22 244. It this is preferably a computer-assisted one controlled wall vending machine, which on a floor track is guided and movable. The wall automaton is movable along the wall to be bricked up with several and possibly different ones Stones, which can then be moved in height in the vending machine and in the correct position via a gripper device be lowered. The wall automaton can also be used be equipped with a mortar discharge device, which ensures that the individual bricks can be placed in the mortar bed in question.

Such a wall automaton is particularly of its constructive side complex and expensive. In front but everything can be done using such Wall machines only reduce the construction time of a building to a limited extent, there, similar to manual masonry work, Stone by stone must be placed one after the other.

A generic device and a method for Production of the facades and inner walls of a building is known from DE-A-16 84 406. Revealed this prior publication a movable sheeting device, with which the components consisting of stones can be positioned and installed in the correct position.

According to this prior publication, there is an assembly scaffold provided, which in total on two running on the floor parallel rails can be moved to a first built section of wall adjoining others To be able to build sections of the wall.

There are at least three on such a scaffolding A lower and an upper rail are provided on all sides. On these superimposed rails are on one page according to the previous publication of the mounting frame a movable frame, namely also around the corners of the assembly scaffolding. Any supporting frame carries you in height, i.e. vertically movable Carriage, on each of which a gripper arrangement sits.

Finally, there is also a supply warehouse on the scaffolding provided in the manner of a protruding wire cage, into which each gripper assembly move, the Grab the required blocks and then to the installation position can move.

The gripper assemblies are thus vertical on the support frame movable, the support frame itself on the assembly scaffold stuck rails are moved horizontally can. In this respect it is a sponsor, to Stones in a vertical surface adjacent to the side wall of the assembly tower at any position, accordingly the building regulations to be able to position.

Because the assembly scaffold is specified in certain dimensions is ultimately the dimensions of the building.

The entire construction of such a scaffolding is however comparatively high. In addition, the variability in terms of different construction projects only limited, since an assembly tower is otherwise for each specific building project can be reassembled ought to.

A plant for the production of structures is fundamental also known from DE-A-21 08 482. It this is a fixed on four feet Device, each with two vertical posts one in Height adjustable horizontal rail wear that parallel are arranged to each other, and on which a cross bridge is longitudinally movable. On the cross bridge itself is a gripper arrangement movable. The gripper arrangement can be rotated and adjusted in height, so that this device represents an X-Y-Z conveyor which each took a stone and below the Device can be positioned at a certain point can.

These are devices such as those on the principle than movable lifting tools, i.e. Crane facilities in industrial buildings are known to single objects from any X-Y-Z position to one to move to another X-Y-Z position.

In contrast, it is an object of the present invention starting from the generic state of the art significantly simplified device for an associated method to create structures, which can work with computer support, and is extremely simple is constructed.

The object is achieved with respect to the device corresponding to that in claim 1 and with respect to the method solved according to the features specified in claim 19. Advantageous embodiments are in the subclaims specified.

According to the invention it is provided that the along a rail-bound path system movable transport trolley by means of a provided height adjustment device to the increasing height can be adjusted, i.e. updated can be, the rail-bound path system such is designed so that the required over the gripping arrangement Components of a separate from the device Provision warehouse for the one to be created Movable section and positionable there in the correct position are and / or that the rail-bound route system switches and subsequent branches includes what the Transport trolleys can be moved to the different construction stages are.

With the present device, not only individual Components, usually brick or brick, in the correct position be positioned, but it will also be the required components from a supply position their respective installation position. First of all, that a large number of transport vehicles at the same time Can be traversed, the result is significant advantage that by means of computer-aided working device a variety of components, i.e. in usually building blocks at the same time or in the correct position at short intervals can be installed. This allows, for example, in usual brick construction a relevant in a very short time Floor and ultimately build an entire building.

In a preferred embodiment of the invention used so many trolleys that during one Work step, for example the entire level surface, i.e. an entire row of stones of the walls to be created can be placed once. Basically is possible but of course also a successive brickwork the stones until one next row is complete is created.

Preferred by one on or in the house area at least in the alternative provided storage or intermediate storage the relevant components in a transport system move the respective floor to be built. There will be the same or a separate additional funding and / or transport system the individual components required, especially bricks, exactly at the position transported according to the computer-aided control device is or will be predetermined. If, for example another row per base completely positioned components, especially bricks, moved down and in with even pressure pressed the mortar bed. After completing this process the same begins for the next row of stones.

In one embodiment of the invention are specific Holding and gripping devices for gripping and moving of stones provided, which are designed so that they prefers self-alignment and adjustment of a each on a lower brick or section of wall lighten the stone to be positioned while doing so again preferred those that protrude laterally over a mortar bed Mortar residues are removed automatically.

The above-mentioned simultaneous setting of a complete Stone row for all external and internal walls offers in one preferred embodiment of the invention another significant advantage. This makes it possible that the individual transport machines, also known as construction machines or gripper car only with a gripper device must be provided. In other words, one must special raising and lowering device on the individual Transport or grab car to be placed on the relevant one Position should not be provided. After all grab cars with those needed for a next row of stones Stones can be moved in their respective location namely via a corresponding height adjustment device the rail system and thus the transport and grab wagons lowered together by a corresponding stroke become. Through this lowering movement, all stones can be together in the correct position on a lower row of stones or on a cellar or ceiling floor. After that all grippers are opened and by lifting the rail-bound Lifting system all gripper carriages raised again, who then move back to the warehouse can be.

After the completion of each row of walls, the Lifting device by the height of the bricked stones extended to the next row of stones to be able to brick up. The height adjustment device can deviate from this but also be designed so that they a height adjustment compared to the taken even non-height adjustable support and support devices of the rails.

In a preferred embodiment of the invention is in the conveyor system is a device for applying the horizontal mortar bed and - if necessary - for installation of the mortar between the vertical joints integrated. This conveyor system can also be used separately be provided.

Once an entire floor has been bricked up, the entire lifting device with the corresponding rail system mined and dismantled and in a next higher one too rebuilt brick wall. About a corresponding one Complementing the route and transport system is always ensured that from the mentioned starting or intermediate storage (preferably on the lowest floor of the house or outside of the building to be built) the required Components in the next to be installed Floor transported and positioned there in the correct position and can be installed.

With the system according to the invention, however, equally move formwork and position it correctly, to after positioning the appropriate one Pour formwork using in-situ concrete to be able to.

The entire system can be designed so that under Use of appropriate sensors and monitoring devices etc. automatic constant monitoring such that even at not 100% exactly parallel to the wall section to be created Rail and transport system for the gripper carts a corresponding adjustment takes place in such a way that the walls run exactly according to the given plan. However, a type of "electronic" is preferred Batter board ". This can preferably be used on the Corners of the building to be created include. When assembling the appropriate one The transport system required for the floor is e.g. first a calibration with respect to the preferably to the Cornerstones of a building attached electronic DF points carried out, so that even in the case of a more or less divergent course of the rail-bound Systems for the transport and gripper devices to the course of the walls to be created by the computer-aided Tax system recorded and corresponding Corrections can be taken into account automatically. With in other words, in a not exactly parallel course a rail section to the one to be created Wall section not a mistake when building the wall in question caused by the corresponding corrections by Use of the electronic DF system mentioned, that is a kind of "electronic batter board" can always be taken into account and the walls can be built to plan.

The gripper and transport trolleys are controlled computer-aided, preferably via a computer-aided Control device.

A construction object to be realized is preferred, for example a house in whole or in part, i.e. in particular the outer and inner walls according to the worked out Architect's plan of a computer or computer aided Systems in a lattice or grid work of individual components, e.g. Stone formats and stone sizes divided. This grid system can be used to build and Computer-aided progress of the construction project, define and / or carry out. The determination of the grid system can also the required joint material, for example in the form of cement and mortar.

In other words, the grid or lattice system is preferred according to the blocks used, block formats etc. designed or implemented depending on it. Preference is given to those used Components, i.e. especially building blocks, all needed Measured dimensions entered or entered beforehand, in particular the size of the individual stone formats, their Positioning etc. The same applies to the intended one Joint thickness, etc. Since planning, recording and later implementation of all other dimensions, openings and other details are included in the plan the possibility of computer-aided control, Process control and implementation of the construction project.

Figur 1 :

eine schematische Draufsicht auf einen Grundriß eines unteren Stockwerkes eines zu bauenden Hauses mit schematisch gezeigtem Förder- und Transportsystem;

Figur 2 :

eine schematische auszugsweise Seitendarstellung durch die erfindungsgemäße Förder- und Bauvorrichtung;

Figur 3 :

eine schematische ausschnittsweise Vertikalschnittdarstellung durch eine Stütze für die Transport- und Bauvorrichtung;

Figur 4 :

eine zu Figur 3 entsprechende auszugsweise Vertikalschnittdarstellung eines abgewandelten Ausführungsbeispieles;

Figur 5 :

eine schematische Darstellung zur automatischen Erstellung eines Mörtelbettes;

Figur 6 :

eine um 90° zu Figur 5 gezeigte Darstellung zur Erstellung eines Mörtelbettes;

Figur 7 :

eine schematische vertikale Querschnittsdarstellung quer zur Wandlängsrichtung zur Verdeutlichung einer Greifervorrichtung zum Transportieren und lagerichtigen Positionieren eines Mauersteines; und

Figur 8 :

eine Greiferanordnung in Seitenansicht mit einem darüber gehaltenen Baustein.

Further advantages, details and features of the invention result from the exemplary embodiment shown in the drawings. The individual shows:

Figure 1:

is a schematic plan view of a floor plan of a lower floor of a house to be built with a schematically shown conveyor and transport system;

Figure 2:

a schematic partial representation of the page through the conveyor and construction device according to the invention;

Figure 3:

is a schematic fragmentary vertical sectional view through a support for the transport and construction device;

Figure 4:

a partial vertical sectional view corresponding to FIG. 3 of a modified exemplary embodiment;

Figure 5:

a schematic representation of the automatic creation of a mortar bed;

Figure 6:

a view shown by 90 ° to Figure 5 for creating a mortar bed;

Figure 7:

is a schematic vertical cross-sectional view transversely to the longitudinal direction of the wall to illustrate a gripper device for transporting and correctly positioning a brick; and

Figure 8:

a gripper assembly in side view with a block held above.

In Figure 1 is a schematic floor plan to be built House rendered. It comprises four outer walls 1 and several Inner walls 3. In the outer and inner walls 1, 3 are Breakthroughs for windows 5 and doors 7 are shown.

In the following it is assumed that, for example the basement is finished, including 1 and the floor area performing basement ceiling 9.

At least for the construction of the next floor To be able to carry out largely automatically is also a control device shown schematically in Figure 1 11 provided, which is usually a central Processor unit (CPU) comprises. In other words, includes the control device 11 a computer or computer-based Plant for controlling the sequence and construction process. The control device 11 does not necessarily have to be only from a microprocessor-based system consist. It is also possible to use several more or less independent or side-by-side control devices, which, for example, also in one shared network can be connected. Separate preferably networked control devices can in particular also in those mentioned below the individual bricks or formworks moving and correctly positioned transport trolleys etc. integrated be provided.

There is also a first transport or conveying device 13 provided about what the individual components required 51 from a supply warehouse 15, that is to say a charging station 15 to a second transport or conveyor 17 are movable. Between the first and second Transport or conveyor 13, 17 may be more suitable Location, preferably in the area of the building to be built Floor, especially within the outer walls 4 a Transfer station between the first and second transport and conveyor are provided. But is possible just as that the first and second conveyor as uniform conveyor is formed, then the so-called. First transport and conveyor device 13 den first part 13 of a continuous conveyor system for the method the required components to the respective floor and a second part 17 structured and divided is.

In Figure 2 is a one in a schematic representation Part of the transport and conveyor 17 representing Height-adjustable support and support structure shown.

This preferably comprises parallel to the walls to be bricked 1, 3 beams or support columns that can be anchored to the floor 9 21. These are preferably hydraulically retractable and extendable. For this purpose, the support columns 21 can be designed telescopically be so that the top of each one of the deepest Position in a sufficient maximum extended position can be moved, which preferably at least the should correspond to normal room heights.

The corresponding are then on the extendable support top 23 Guide rail sections 25 of the load and / or guide rails or tracks 26 of the transport and Conveyor 17 anchored and held and over the height-adjustable support and support device 19 in the Movable height.

In the exemplary embodiment shown there is the conveyor system from a rail-bound path system, i.e. a railbound Transport and conveyor system. The transport and conveying paths are shown schematically in FIG. 1. They then run parallel to the outer walls, branches 31 are also provided via switches 29 are then preferably parallel to the inside of the Building provided interior walls 3 run.

In other words, through the rails 26 and Rail sections 25 formed conveyor and transport routes including the conveying and secondary transport routes or branches 31 each essentially parallel to the building walls arranged.

In the exemplary embodiment shown, the Throughput capacity selected a circulating conveyor system. For this purpose, the first transport and conveying device 13 comprises or the so-called first part 13 of the total common Transport and conveyor device 13, 17 a two ways 33, 34 extensive lead section between the staging area 15 and the actual floor.

On the rail-bound path system, i.e. the transport routes including branch 31 then run individual Transport trolley 35 with an integrated integrated seat Gripper assembly 37. Come for the gripper assembly 37 all conceivable and suitable constructions in Consideration. So mechanically working in particular Gripper arms are used, for example in pairs are arranged on a gripper carriage and for gripping of a stone towards each other or to let go again are movable away from each other to a certain extent. It is also possible to use so-called suction pads, the ones to be moved under the generation of negative pressure Components, i.e. especially hold bricks.

For example, a dolly 35 becomes a staging area 15 procedure to build a new one Charging module, namely by means of a gripper arrangement 37. The computer 11 is then controlled by the control device the carts 35 along the pillar 39 on the a path or rail-bound feed path 33 to Move the relevant floor. The computer takes over the entire control of the trolley 35 and controls not only the trolley 35, but also those mentioned Switch 29 (the control lines, the transmitter systems Control by means of transmitters, the drive device for Movements of the carts 35 etc. are not shown in the figures shown).

In the exemplary embodiment shown, for example Transport trolleys 35 'are moved to position 43, wherein after receiving the signal "loading" after loading the Transport carriage 35 'in the staging area 15 after this corresponding control of the switch 29 'along the arrow 39 'is moved to position 43.

Before the stones 51 are deposited, masonry mortar is already in place been applied (Figure 5, 6). For example done on separate mortar wagons 45 that for example, a hose end 47 with a hose 49 move its open position to the desired position, to get what you need at the desired points Apply mortar bed.

In other words, the so-called mortar wagons 45 with the hose 49, i.e. at least with the hose end 47 attached to a sprayer, i.e. on a mortar preparation device, is connected via a Bottom plate, i.e. the floor or the ceiling 9 and after placing the components 51, here the stones 51 over move the respective row of stones. At this The mortar is used to move the mortar evenly applied.

This is preferably done using one in FIG. 5 and 6 schematically shown mortar application head 53 which the hose end 47 is anchored, the mortar application head 53 about the mortar truck carrying him 45 along the transport routes and branches 27, 31 is proceeded. From the drawings according to FIGS. 5 and 6 it can also be seen that the mortar application head 53 one on the opposite side boundary planes brick wall 1, 3 a kind of spatula protruding laterally 55 (Figure 6), whereby a kind of chamber is formed is that by the side spatula 55 and the Top of the previously bricked up row of stones (or a floor ceiling) and the underside of the mortar application head 53 is formed. This ensures and ensures that the mortar bed 57 always the same height and has the same compression and also not laterally can drip down. After applying the mortar bed the hose becomes mechanical by moving the concrete wagon further 45 transported away. The possibly for this provided mortar car 55 can u. U. also on so-called "Branch lines" 59 can be parked in order to subsequently Space for the further movement of the trolleys 35 and correct positioning of a next component 51 to accomplish. These branch lines 59 are also again Accessible via switches 29.

Should stones 51 be used, which are also vertical Need grouting, so the mortar hose system mentioned to the electronically determined and positions monitored the mortar between the stones press. If necessary, this can be done by placing on the side a mortar head or from above forth (as shown in Figures 5 and 6, preferred here spatulas protruding laterally are used, the height of which is at least approximately the same as the height of the masonry Stones corresponds).

In the case of vertical grouting can also be preferred so-called blocks 51 with one in the upper front Mortar pocket provided in the area can be used which is then filled with mortar accordingly. This can over the mortar head or discharge nozzle of the mortaring device respectively.

A row is thus connected via the control device Bricks set, after the correct positioning for example the stone 51 'mentioned above by the trolley 35 'at point 43 of the trolley 35 in plan view in the exemplary embodiment shown counterclockwise over the following switches and path sections and the later return path 34 in turn is returned to the loading point 15.

The structure described also shows that at the same time a plurality of such trolleys 35 in a row about the mentioned transport and conveyor 13 can be moved so that in short succession on top of each other in different places one stone 51 next to the other in continuous rows can be bricked up. Be between the dolly then move the mortar wagons 45 as required.

As soon as a circulating level is fully walled up again, the height-adjustable are controlled by the control device 11 Support and support devices 19 with the extendable support columns 21 operated so that the entire Move the system up by the height of a row of bricks becomes.

Deviating from the embodiment shown, the mentioned transport routes 27 including the branches 31 also directly above a wall 1 to be bricked up, 3 run. The gripper assemblies must, as in described embodiment also, the possibility have a stone 51 to be transported from the car Move relatively far to the side and / or in height can be that he the location of the rail-bound conveyor system to be brought into its walling position can.

The embodiment explained above was for explains the case that the wall to be bricked in several places Outer and / or inner walls offset from each other at the same time several transport cars 35 to one concerned Position and then over the on the Transport routes 35 provided gripper assemblies the Bricks 51 deposited at a location provided for them and be bricked up in the correct position. In other words are thus at different points by correct positioning Position another brick 51 the one in question Rows bricked continuously. Deviating from this however, preferably provided that so many at the same time Transport trolleys 35 along the transport rails 25, 27 in so closely followed that a complete closed row of walls for everyone using this method exterior and / or interior walls to be created automatically is set. In other words, the length is one Trolleys are usually shorter than the length of one concerned brick, so a complete row Bricks can be placed at the same time. this has the further advantage that the individual trolleys 35th not with a single lifting device for them assigned gripper device must be provided. Because after the stones to be bricked 51 and thus the them carrying trolleys on the entire rail system more or less parallel to the walls to be bricked are positioned, the height-adjustable carrying and Support structure 19, i.e. the support columns 21 in height be lowered together so that all to be bricked up Stones 51 walled and set in the correct position become. Then the grippers and the height-adjustable ones open Support columns 19 are raised again, so that all transportable grippers can be moved back to the warehouse can to transport further bricks 15.

Based on Figures 3 and 4 it is shown that and how the Support columns 21 in a suitable manner in the respective floor ceiling 9 can be anchored.

For the basement, it is conceivable that before the Base plate a kind of "sleeve" 61, as shown in Figure 3 is in the base plate, i.e. the concrete floor slab 9 ', is poured and fixed in it. In this, with one Internally threaded sleeve 61 can then the mentioned Support columns and supports 21 screwed in with their external thread become.

In the case of floor ceilings 9 "(Figure 4) must then to the Position points for the support columns provided according to the plan Holes 63 can be left out, as shown schematically in FIG 4 is shown. Through these holes you can then with the help a kind of "ceiling flange" 65 with central tube holder the mounting sleeves 61 with their internal thread the support column 21 are anchored and screwed onto it, until the flange on the top of the ceiling 9 " lies on. From the basement you can then use the thread section protruding downward from the upper ceiling wall a counter screw flange 61a can be screwed tight.

In addition, the support columns can also be used if necessary via cross supports on a floor or on a floor ceiling, but especially on the one that was already bricked up Section of a wall can also be anchored to to increase the tilt stability. These are cross braces also releasable.

With reference to Figures 7 and 8 is the one on a schematic Transport trolley 35 shown with movable gripper assembly 37. This usually includes two opposite and embracing the stone 51 to be installed from above Clamping arms 71. These can according to the cross-sectional view of Figure 7 apart and again towards each other be traversed until two internal, opposite Clamping jaws 73 under tension on the opposite Side surfaces of a brick 51 to be moved lie on.

The clamping arms 71 are of all different dimensions components used and to be transported, in particular Blocks sufficiently far apart and again movable towards each other.

In the embodiment shown, the opposite are Clamping arms 71 designed so that they approx. 10 cm after below over the lower limit of the one to be placed above Tower 51 above. The ends of these gripper arms are slightly bent inwards and have a clear distance that is at least slightly larger than the thickness of the bricks used. When pressing down the stone 51 these clamping arms 71 overlap the one below Brick. When setting down and pressing down the brick the previously applied mortar bed (which has a width extension that in the Is usually less than the thickness of the bricks) the pressing pressure flattened, leaving excess mortar mass laterally beyond the side boundary of the stones protruding outside is pressed. After the least minor Moving the clamping arms 71 and the Release of the previously held brick 51 is at Pulling up the gripper arms 71 automatically the essential Part of the over the wall edge to the outside when lowering the stones 51 squeezed out mortar mass through the spatula-shaped clamping arm ends 75 of the clamping arms 71 automatically taken up and if necessary with the next Lift off the gripper arm on the top of the bricked one Stones 51 deposited by automatic sliding down.

As can be seen from the description of the automatic manufacturing device and the corresponding manufacturing process results are precisely and target-oriented on the computer the bricks 51 bricked up. Here is the use additional sensors or other monitoring devices not required to depend on the progress of the Monitor construction project and take the next steps automatically and initiate programmatically. Still can but to achieve functional safety and also to adapt remaining dimensional inaccuracies through the use of sensors, monitoring devices etc. partly a self-regulating adaptation to each next to carry out the next Step be provided. In addition, if necessary manual interventions are also made, also via the control device 11. In other words purposeful and conscious of the otherwise automatic or largely automatic construction processes the operating personnel of the control device targeted Control steps are carried out.

After one floor is completely built and one The next floor ceiling has moved in (e.g. concrete ceiling built is), the explained transport and conveying device dismantled in the pre-built floor and in the next next floor to be built being constructed. The first transport and conveyor facility or the first part of the uniform transport and Conveying device 13, which leads to the loading point 15, is extended accordingly, with the funding route preferred inside the house, for example stairwell, in the new floor is moved.

To set up and dismantle the transport and conveyor system 13 simple and easy for the respective floor level design, the entire system is designed so that it is in many individual parts disassembled and thus easily in one Floor can be transported to the next floor.

Since all corner points of the The outer wall is fixed automatically also all other position points for the next floors. In other words, those explained in Figure 4 Recesses 63 in plan view always on the same Job - if the house plan so provides - anchored to enable correct position assignment.

But if the positioning differs from floor to floor of the tied off lines and rails 25, 26 and the switch 29 can over a previously made Measurement and calibration an appropriate correction factor or a correction variable and automatically working control system can be entered. The so Correction values determined ensure that even at At least slightly in plan view from floor to floor different installation of the path-dependent conveyor lines the stones to be installed exactly in the top view same aligned vertical plane to the previously bricked lower rows of stones can be made.

Deviating and in addition to this, a so-called electronic "batter board" may be provided.

As is known, a "battering frame" is the delimitation and limitation of the construction project to be realized using cords. By suitable measurement and calibration devices become the floor plan of the building modeled using the cords.

When using the control device automatically workable construction projects can now be at ground level or preferred after completion of a floor at the height of the highest floor ceiling an electronic bearing system is provided at a suitable location be. For this purpose, such an electronic one is shown schematically in FIG "Schnurpeil-scaffold" 79 drawn, which preferably sensors that can be installed in the corners of the house or probes 81. These are each used suitable measuring devices positioned exactly so that floor by floor again a correct position Coordination of the bearing points 83 achieved becomes. These provide the calibration and reference points to the masonry in the correct position on each floor create, even if the transport and Conveyor paths 25, 27 are not completely exactly parallel to the walled walls. By using the bearing of the electronic batter board and Verification based on the newly installed on each floor Transport or conveyor route can deviate between the conveyor line and the bearing points 83 or the exact one Course of the conveyor line related to the electronic DF system recognized and in the computer and control system be taken into account. The individual gripper carts then always controlled in such a way that also to the walled Walls with slightly inclined transport routes a corresponding compensation when operating the gripper arms installed along the transport route are taken into account is so that the walls to be bricked up exactly on the previously calculated position.

It is also noted that more appropriate Place in the automatic transport and conveyor system e.g. a cutting machine and other processing machines can be provided, if necessary, by means of these machines to process the required components accordingly. In other words, the ones needed Components, in particular stones, by means of the transport car to the relevant processing machines, cutting machine etc., stored there and through these machines preferably automatically by the control device 11 processed in a controlled manner, for example cut off, cut to length etc. Then the concerned pre-processed Stones, as explained above, computer-controlled in the correct position positioned at the place intended for them and installed.

The exemplary embodiment is explained on the basis of building blocks 51 been made using a mortar bed were placed on top of each other. In many cases it can also such a mortar bed can be dispensed with. Especially with very precise porous stones, these can be used without any connection means or for example by comparative thin adhesive layers are placed on top of each other. The automatic system explained is in these Cases equally applicable.

Likewise, the conveyor system explained can also be designed in this way be that in addition to the explained different Stone formats also formwork elements, for example (Light) metal, can be transported. These formwork systems are - like the stones - to the previously determined Positioned and fixed there. First, as usual, the outer formwork transports, then - as usual - the irons are laid and then the inner formwork is opened in the same way brought the predetermined place. After mechanical fixation the formwork elements are made by hand or, if possible, also by mechanics the formwork elements stiffened both internally and externally. Also in this embodiment are for mechanical Formwork for making the concrete walls the walls, as with the bricks, too, in a corresponding latticework divided so that the computer-aided size-dependent The appropriate automated screening Control is feasible. The grid can doing this depending on the different size of the together connectable components also different sized grids have, both in length, height as well as in the width of the components to be installed, different formwork to be used.

A formwork element can be one or more Transport trolleys are transported together. With more suitable Construction can be done by one or more transport carts at the same time an inside as well as an outside Formwork element can be transported. As good as but can form external and internal formwork elements Move separate transport trolleys to their installation location become. When pouring in-situ concrete, the positioning can and holding the inner and outer formwork elements also by the gripper device on the transport trolleys yourself. Only in the lower end of the formwork elements would then have to be fixed accordingly be, for example by spacers, the under Circumstances by at least one of the two opposite formwork elements provided opening brought into the formwork space from the outside and then anchored to the opposite formwork elements can be.

Of course, if necessary, the support columns can be used like the conveyor anchored even outside the building and be positioned.

Claims (21)

1. Computer-assisted system for producing structures using prefabricated compound units (51) comprising masonry blocks and/or formwork, having the following features

   a displaceable installation apparatus is provided, and this can correctly position and install the prefabricated compound units (51),

   the installation apparatus can be controlled by means of a computer-assisted control system (11) and is provided with displaceable gripper arrangements (37) for gripping and releasing the prefabricated compound units (51),

   the installation apparatus can be displaced along a rail-mounted track system,

   the rail-mounted track system comprises rails (26) or rail sections (25) which run at least essentially parallel along the building sections (1, 3) which are to be erected,

   the rail-mounted track system can be positioned in accordance with the specifications of the building plans and, in adaptation to the progression of the masonry walls which are to be erected, parallel to said masonry walls,

   a transporting and conveying apparatus (13, 17) is also provided, via which the required prefabricated compound units (51) can be moved to their installation position,

   the transporting and conveying apparatus (13, 17) comprises a multiplicity of transporting carriages (35, 45),

   which can be displaced simultaneously in a controlled manner via the computer-assisted control system (11), and

   controllable gripper arrangements (37) for gripping and releasing the prefabricated compound units (51) are provided on the transporting carriages (35, 45),

   characterized

   in that a height-adjustment apparatus is provided for the purpose of adapting the height of the rails (26) and rail sections (25), and thus of the displaceable transporting carriages (35, 45), to the increasing overall height of the building, and

   in that the rail-mounted track system is configured such that, via the gripper arrangements (37), the required prefabricated compound units (51) can be displaced from a provision store (15), which is separate from the system, to the building section which is to be erected in each case, and can be correctly positioned there, and/or in that the rail-mounted track system comprises diverters (29) and downstream branching portions (31), via which the transporting carriages (35, 45) can be displaced to the various building sections (1, 3).
2. System according to Claim 1, characterized in that, in the region of the building sections (1, 3) which are to be erected, the rail-mounted track system is retained by means of a load-bearing and supporting apparatus (19), and in that, as a function of the building progress, the rails (26) and rail sections (25) in this region can be adjusted in height, and thus advanced up, in relation to the load-bearing and supporting apparatus (19) by means of the height-adjustment apparatus.
3. System according to Claim 1 or 2, characterized in that, in the region of the building sections (1, 3) which are to be erected, the rail-mounted track system is retained by means of a load-bearing and supporting apparatus (19), and in that, in accordance with the building progress, the rails (26) and rail sections (25) in this region can be adjusted in height, and thus advanced up, by the height-adjustable load-bearing and supporting apparatus (19).
4. System according to Claim 3, characterized in that the load-bearing and supporting apparatus (19) has height-adjustable and/or extensible load-bearing members or load-bearing columns (21), via which it is possible to adjust the height of the rails (26) and rail sections (25) in the region of the building sections (1, 3) which are to be erected.
5. System according to Claim 4, characterized in that the load-bearing members or load-bearing columns (21) can be retracted and extended preferably by hydraulic means.
6. System according to one of Claims 3 to 5, characterized in that the load-bearing members or load-bearing columns (21) can be retracted and extended telescopically.
7. System according to one of Claims 1 to 6, characterized in that the transporting carriages (35, 45) and the height-adjustment apparatus for the purpose of adjusting the height of the rails (26) and rail sections (25) in the region of the building sections (1, 3) can be controlled such that a multiplicity of prefabricated compound units (51) can be correctly positioned simultaneously in the relevant building section.
8. System according to Claim 7, characterized in that an entire row of prefabricated compound units, in particular an entire row of masonry blocks, can be correctly positioned simultaneously by means of the transporting carriages (35, 45).
9. System according to one of Claims 1 to 8, characterized in that the operation of correctly positioning the prefabricated compound units (51) can be carried out by joint lowering of the rails (26) and rail sections (25) of the rail-mounted track system in the region of the building sections (1, 3), said rails and rail sections bearing the transporting carriages (35).
10. System according to one of Claims 1 to 9, characterized in that the transporting carriages (35, 45) can be displaced ahead and in circulation along the rail-mounted track system at least in one direction of movement.
11. System according to one of Claims 1 to 10, characterized in that the height-adjustable rails (26) and rail sections (25) in the region of the building sections (1, 3) which are to be erected are arranged essentially parallel and so as to be offset laterally in relation to the inside of the building.
12. System according to one of Claims 1 to 11, characterized in that the height-adjustable rails (26) and rail sections (25) are each arranged above the building sections (1, 3) which are to be erected.
13. System according to one of Claims 1 to 12, characterized in that the load-bearing columns (21) can be anchored on a respective intermediate floor (9) by being screwed into a threaded sleeve (61, 65), it being the case that an appropriate threaded sleeve (61, 65) is cast in the intermediate floor or the cellar floor (9) or can be installed securely, via threaded engagement, by means of a nut-like or flange-like anchorage means which can be screwed in from the top side and/or underside of the intermediate floor.
14. System according to one of Claims 1 to 13, characterized in that mortar carriages (45) can also be displaced along the rail-mounted track system, and these carriages are equipped with a mortar head (53), via which a bed of mortar (57) can be applied before the correct positioning of further structural elements (51) which are to be installed.
15. System according to Claim 14, characterized in that the mortar head (53) of a mortar carriage (45) is connected, or can be connected, to a flexible supply tube (49) which leads to a mortar-charging installation.
16. System according to one of Claims 1 to 15, characterized in that the gripper arrangement (37) of the transporting carriages (35) comprises clamping arms (71) which are located opposite one another and are configured such that they project downwards beyond the bottom boundary of the prefabricated compound unit, in particular building block (51), which is to be placed in position from above in each case.
17. System according to Claim 16, characterized in that the bottom ends of the clamping arms (71) are bent at least slightly inwards and, in this case, still have a clear distance between them which is at least slightly greater than the thickness of the prefabricated compound units (51), in particular masonry blocks, used.
18. System according to one of Claims 1 to 16, characterized in that also provided are electronic batter boards and a corresponding direction-finding system using sensors or probes (81) which can be installed preferably in the corners of the building, as a result of which the rails (26) and rail sections (25) can be moved into precise parallel alignment in relation to the building sections (1, 3) which are to be erected or, in the case of rails (26) and rail sections (25) which do not themselves run fully precisely parallel in relation to the building sections (1, 3) which are to be erected, appropriate corrective advancement of the gripper arrangement (37), which is located on the transporting carriages (35), can be carried out in order to bring about correct positioning of the prefabricated compound units (51).
19. Process for producing structures using prefabricated compound units (51) comprising masonry blocks and/or formwork and using a system according to one of the preceding claims, having the following steps

    the production of the structure is preferably computer-assisted,

    a displaceable installation apparatus correctly positions and installs the prefabricated compound units (51) which are to be installed,

    the prefabricated compound units (51) are gripped and released by means of a gripper arrangement (37) provided on the installation apparatus, it being the case that, by means of the gripper arrangement (37), the required prefabricated compound units (51) are displaced from a provision store (15) to the building section (1, 3) which is to be erected in each case, and correctly positioned there,

    the installation apparatus is displaced along a rail-mounted track system,

    for which purpose rails (26) or rail sections (25) of a rail-mounted track system are positioned at least essentially parallel, along the building sections (1, 3) which are to be erected, in accordance with the specifications of the building plans and, in adaptation to the progression of the masonry walls which are to be erected, parallel to said masonry walls,

    transporting carriages (35, 45) are displaced along the rails (26) and the rail sections (25),

    characterized by the following additional features

    for the purpose of adapting the height to the increasing overall height of the building, the rails (26) and rail sections (25), and thus the displaceable transporting carriages (35, 45), are adjusted in height by means of a height-adjustment apparatus, and

    via the gripper arrangement (37), the required prefabricated compound units (51) are displaced from a provision store (15), which is separate from the system, to the building section which is to be erected in each case, and correctly positioned there, and/or use is made of a rail-mounted track system with diverters (29) and downstream branching portions (31), via which the transporting carriages (35, 45) can be displaced to the various building sections (1, 3).
20. Process according to Claim 19, characterized in that, as a function of the building progress, the rails (26) and the rail sections (25) in the region of the building sections (1, 3) which are to be erected are raised by means of a height-adjustment apparatus, preferably by means of height-extensible load-bearing members and load-bearing columns (21).
21. Process according to Claim 19 or 20, characterized in that, for correctly positioning the prefabricated compound units (51), the rails (26) and rail sections (25), which bear the transporting carriages (35, 45), are lowered by means of the height-adjustment apparatus.

Images