EP1179401A2 - Method and device for making concrete products - Google Patents

Method and device for making concrete products Download PDF

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Publication number
EP1179401A2
EP1179401A2 EP01112543A EP01112543A EP1179401A2 EP 1179401 A2 EP1179401 A2 EP 1179401A2 EP 01112543 A EP01112543 A EP 01112543A EP 01112543 A EP01112543 A EP 01112543A EP 1179401 A2 EP1179401 A2 EP 1179401A2
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EP
European Patent Office
Prior art keywords
release
permanent magnet
robot
head
profile
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.)
Granted
Application number
EP01112543A
Other languages
German (de)
French (fr)
Other versions
EP1179401A3 (en
EP1179401B1 (en
Inventor
Alfred Strassmeier
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.)
SOMMER ANLAGENTECHNIK GMBH
Original Assignee
Sommer Anlagentechnik GmbH
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Application filed by Sommer Anlagentechnik GmbH filed Critical Sommer Anlagentechnik GmbH
Publication of EP1179401A2 publication Critical patent/EP1179401A2/en
Publication of EP1179401A3 publication Critical patent/EP1179401A3/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B7/00—Moulds; Cores; Mandrels
    • B28B7/0002—Auxiliary parts or elements of the mould
    • B28B7/0014—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps
    • B28B7/0017—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps for attaching mould walls on mould tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B7/00—Moulds; Cores; Mandrels
    • B28B7/0002—Auxiliary parts or elements of the mould
    • B28B7/0014—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps
    • B28B7/002—Fastening means for mould parts, e.g. for attaching mould walls on mould tables; Mould clamps using magnets

Definitions

  • the invention relates to a method for producing Precast concrete parts on at least one formwork table and one Establishment for carrying out this procedure.
  • EP-B 530 504 relates to a device and a Process for the production of concrete parts, using a robot initially from a temporary storage permanent magnet body removed and positioned on a circuit table, then U-shaped Profile elements from another cache remove and via two permanent magnet bodies discontinued. After a review and correction of the location of the Profile elements and after inserting reinforcement parts in the formed part is poured into the concrete part.
  • the invention has for its object an improved Procedures and a suitable facility available in which the set-up times are significantly reduced can and a handling of the edge formwork profile elements is significantly simplified.
  • this Object achieved by the use at least a program-controlled robot on the formwork table magnetically fixable edge shuttering profile elements with takes integrated permanent magnet bodies from a magazine, on the formwork table and then the Permanent magnet body activated.
  • this or one additional robot unlocks the permanent magnet body that Profile elements from the formwork table and this after a Cleaning returns to the magazine. So it is possible not only the formwork, but also the formwork after the Automate casting completely.
  • the gripper head designed so that it Profile elements, the setting tool or a release tool.
  • This solution includes both an embodiment in which the Depending on the procedure, the gripper head the profile elements and then seized the setting tool, as well as one Embodiment in which the setting tool is an integral part of the Gripper head is.
  • FIG. 1 shows a perspective view of one end of a Edge shuttering profile element 10 according to German patent application No. 100 02 993.0.
  • the profile element 10 consists of a Profile body 12, the different according to the example of Figure 2 Can have lengths.
  • a permanent magnet body 14 is attached, one in the middle cylindrical bolt 16 protrudes through an opening in the Top 24 of the profile body 12 protrudes upwards and on has a trigger head 18 at its upper end.
  • the permanent magnet body 14 down can be pressed to fix the magnet Profile element 10 on a formwork table 20 (see FIG. 3) bring about.
  • two spring elements 22 looking forward to both sides of the bolt 16 on both Permanent magnet body 14 and attached to the profile body 12 are.
  • the release head 18 is used to release the permanent magnet body 14 raised, the spring elements 22 thereby relieving themselves act supportive.
  • FIG. 3 to 5 show a device for the production of Precast concrete parts according to the invention.
  • This facility exists of two mutually parallel side walls 32, on which one Bridge 34 is movably mounted in the X direction (see FIG. 5).
  • a motor 36 which has two half shafts 38, serves as the drive Drives gears 40, which each engage one on the Side walls 32 are attached rack 42.
  • a cat 44 can be moved on the bridge 34 in the Y direction stored, the one in the Z-direction lifting and lifting lowerable robot 48 takes.
  • About the slewing ring 44 can Robot about its vertical axis of rotation 50 (see FIGS. 6 to 10) be pivoted.
  • Figure 2 is in the Y direction between the formwork table 20 and the magazine 30 a cleaning system 52 for used Recognize profile elements 10. It is also shown that the Magazine 30 stands on a trestle 54, under which a formwork table 20 is kept in reserve.
  • Figures 6 and 7 show the lower end of the robot 48, the is designed as a gripper head 56.
  • the gripper head 56 has two grippers 58 each with two gripping jaws 60 which can be moved relative to one another two gripping jaws 60 are used here to grasp one Profile element 10 with integrated permanent magnet body 14, the profile body 12 on both side legs Has centering recesses 62, in which centering projections 64 the engage both gripper jaws 60.
  • Each of the two grippers 58 has two lifting cylinders 66 and is in vertical guides 68 stored.
  • the lifting cylinders 66 of a gripper 68 can be used independently controlled by those of the other gripper 58, so that As indicated in Figure 7, two profile elements 10 or others Fixing elements or recess bodies for window openings, Installation parts etc. can be manipulated independently of one another can.
  • Each gripper 58 has a limit switch 70 which is in contact with the top 24 of the profile element 10, the drive of Lift cylinder 66 switches off when lowering.
  • a centering pin 72 is attached to the gripper 58, which in a recess on the top 24 of the profile element 10 intervenes.
  • FIG. 7 shows that 58 between the two grippers an oil spray nozzle 74 is arranged.
  • the program-controlled robot 48 removes the data from FIGS a setpoint entered with respect to lengths and Heights of the profile elements 10 the corresponding profile elements from the magazine 30 and transferred them by shifting them in X and Y direction and possibly by pivoting about the axis of rotation 50 the exactly predetermined space on the formwork table 20.
  • the permanent magnet body 14 must be activated become.
  • the Gripping jaws 60 a setting tool 76. This consists of a Beam 78, which is gripped by the two grippers 58 at the same time and from which a print head 80 protrudes downwards in the middle.
  • the setting tool 76 can also be in one of the grippers 58 or in another gripper can be integrated, for example between the two grippers 58 shown in FIG. 8 is arranged controllable independently of these, for example instead of the oil spray nozzle 74 shown there.
  • the Figures 10 to 12 show a possibility according to which the Robot 48 for the unlocking process with a release tool 82 is equipped. This has a release element in the form of a ramp-shaped fork 84 (see FIG. 11), which under the Trigger head 18 can be pushed and this raises it. In this way, the permanent magnet body 14 with Support raised by the spring elements 22 and in the held in a raised position so that the profile element 10 to the side can be removed.
  • FIG. 11 shows that in the area of the gripper body 56 in a horizontal guide 86 two slides 88 in opposite directions are movable relative to each other, each one Release tool 82 carries. If the two release tools 82 in Are moved in the direction of the axis of rotation 50, engage ramp-shaped forks 84 under the two release heads 18 so that the profile elements 10 by lifting the Permanent magnet body 14 are unlocked. In this position hold the two forks 84 the profile element 10 during the subsequent onward transport to the cleaning system 52 or in magazine 30.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
  • Moulds, Cores, Or Mandrels (AREA)
  • Manipulator (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Press-Shaping Or Shaping Using Conveyers (AREA)

Abstract

The method involves using at least one program-controlled robot (48) that takes profile elements with integral permanent magnetic bodies from a magazine (30) for magnetically fixing onto a casing table (20), sets them accurately on the casing table and finally activates the permanent magnetic bodies. The robot activates the magnetic bodies with the aid of a vertically movable setting tool. An Independent claim is also included for an arrangement for implementing the method.

Description

Die Erfindung betrifft ein Verfahren zur Herstellung von Betonfertigteilen auf mindestens einem Schalungstisch sowie eine Einrichtung zur Durchführung dieses Verfahrens.The invention relates to a method for producing Precast concrete parts on at least one formwork table and one Establishment for carrying out this procedure.

Gegenstand der EP-B 530 504 sind eine Einrichtung und ein Verfahren für die Herstellung von Betonteilen, wobei ein Roboter zunächst aus einem Zwischenspeicher Permanentmagnetkörper entnimmt und auf einem Schaltungstisch positioniert, um dann U-förmige Profilelemente aus einem anderen Zwischenspeicher zu entnehmen und über jeweils zwei Permanentmagnetkörper abzusetzen. Nach einer Überprüfung und Korrektur der Lage der Profilelemente und nach dem Einbringen von Armierungsteilen in die gebildete Form wird das Betonteil gegossen.EP-B 530 504 relates to a device and a Process for the production of concrete parts, using a robot initially from a temporary storage permanent magnet body removed and positioned on a circuit table, then U-shaped Profile elements from another cache remove and via two permanent magnet bodies discontinued. After a review and correction of the location of the Profile elements and after inserting reinforcement parts in the formed part is poured into the concrete part.

Der Erfindung liegt die Aufgabe zugrunde, ein verbessertes Verfahren und eine hierfür geeignete Einrichtung zur Verfügung zu stellen, bei denen die Rüstzeiten erheblich reduziert werden können und eine Handhabung der Randabschal-Profilelemente merklich vereinfacht wird.The invention has for its object an improved Procedures and a suitable facility available in which the set-up times are significantly reduced can and a handling of the edge formwork profile elements is significantly simplified.

Bei einem Verfahren der eingangs umrissenen Gattung wird diese Aufgabe erfindungsgemäß gelöst durch die Verwendung wenigstens eines programmgesteuerten Roboters, der auf dem Schalungstisch magnetisch fixierbare Randabschal-Profilelemente mit integrierten Permanentmagnetkörpern aus einem Magazin entnimmt, auf dem Schalungstisch lagegenau absetzt und anschließend die Permanentmagentkörper aktiviert.In a method of the type outlined at the beginning, this Object achieved by the use at least a program-controlled robot on the formwork table magnetically fixable edge shuttering profile elements with takes integrated permanent magnet bodies from a magazine, on the formwork table and then the Permanent magnet body activated.

Bei diesen Randabschal-Profilelementen ist das Magnet- und Verspannsystem in den Profilelementen integriert, so daß ein leicht und rasch handhabbares System mit großer Präzision und Arbeitssicherheit zur Verfüung steht (vgl. deutsche Patentanmeldung 100 02 993.0). Das erfindunggemäß arbeitende Verfahren macht von diesen Profilelementen Gebrauch, wobei der programmgesteuerte Roboter Transport und Positionierung der Profilelemente sowie die anschließende Aktivierung der Permanentmagnetkörper übernimmt.With these edge formwork profile elements, the magnet and Bracing system integrated in the profile elements, so that a easy and quick to handle system with great precision and Occupational safety is available (see German Patent application 100 02 993.0). The working according to the invention The method makes use of these profile elements, the program controlled robot transport and positioning of the Profile elements and the subsequent activation of the Permanent magnet body takes over.

In Weiterbildung der Erfindung ist vorgesehen, daß nach dem Gießen und der Aushärtung der Betonfertigteile dieser oder ein zusätzlicher Roboter die Permanentmagnetkörper entriegelt, die Profilelemente vom Schalungstisch abhebt und diese nach einer Reinigung wieder dem Magazin zuführt. Damit ist es möglich, nicht nur die Schalung, sondern auch die Entschalung nach dem Gießen vollständig zu automatisieren.In a development of the invention it is provided that according to the Pouring and curing the precast concrete this or one additional robot unlocks the permanent magnet body that Profile elements from the formwork table and this after a Cleaning returns to the magazine. So it is possible not only the formwork, but also the formwork after the Automate casting completely.

Bei der Einrichtung zur Durchführung des Verfahrens mit mindestens einem Schalungstisch und wenigstens einem programmgesteuerten Roboter mit einem um eine vertikale Drehachse schwenkbaren Greiferkopf zum Erfassung von auf dem Schalungstisch magnetisch fixierbaren Profilelementen ist erfindungsgemäß der Greiferkopf so ausgebildet, daß er die Profilelemente, das Setzwerkzeug oder ein Lösewerkzeug aufnimmt. Diese Lösung beinhaltet sowohl eine Ausführungsform, bei der der Greiferkopf je nach Verfahrensablauf die Profilelemente und anschließend das Setzwerkzeug erfaßt, als auch eine Ausführungsform, bei der das Setzwerkzeug integraler Bestand des Greiferkopfes ist. At the facility to carry out the procedure with at least one formwork table and at least one programmable robot with one around a vertical Rotary axis swiveling gripper head for gripping on the Formwork table is magnetically fixable profile elements According to the invention, the gripper head designed so that it Profile elements, the setting tool or a release tool. This solution includes both an embodiment in which the Depending on the procedure, the gripper head the profile elements and then seized the setting tool, as well as one Embodiment in which the setting tool is an integral part of the Gripper head is.

Weitere Merkmale und Vorteile der Erfindung ergeben sich aus den Patentansprüchen und aus der folgenden Beschreibung eines Ausführungsbeispiels, das in der Zeichnung dargestellt ist. Es zeigen:

Figur 1
eine perspektivische Schemadarstellung eines Endes eines Randabschal-Profilelementes mit integriertem Permanentmagnetkörper,
Figur 2
die Unteransicht von vier Profilelementen unterschiedlicher Länge,
Figur 3
einen Querschnitt durch eine Einrichtung gemäß der Erfindung,
Figur 4
die Längsansicht der Einrichtung gemäß Figur 3,
Figur 5
eine Draufsicht auf die Einrichtung der Figuren 3 und 4,
Figur 6
in vergrößertem Maßstab die Ansicht eines Roboters im Bereich des Greiferkopfes beim Erfassen eines Profilelementes,
Figur 7
die Ansicht des Greiferkopfes mit unabhängig voneinander ansteuerbaren Greifern in Richtung des Pfeiles VII der Figur 6,
Figur 8
eine der Figur 7 entsprechende Darstellung des Roboters mit Greifern nach Aufnahme eines Setzwerkzeuges,
Figur 9
die um 90° gedrehte Ansicht des Greiferkopfes in Richtung des Pfeiles IX der Figur 8,
Figur 10
eine der Figur 3 entsprechende Ansicht der Einrichtung mit Roboter beim Entriegeln der Permanentmagnetköper nach dem Gießen und Aushärten eines Betonfertigteils,
Figur 11
in vergrößertem Maßstab die schematische Ansicht des Lösewerkzeugs in Richtung des Pfeiles XI der Figur 10 und
Figur 12
eine Draufsicht auf das Lösewerkzeug der Figur 11.
Further features and advantages of the invention emerge from the patent claims and from the following description of an exemplary embodiment which is illustrated in the drawing. Show it:
Figure 1
2 shows a perspective schematic representation of one end of an edge shuttering profile element with an integrated permanent magnet body,
Figure 2
the bottom view of four profile elements of different lengths,
Figure 3
a cross section through a device according to the invention,
Figure 4
3 shows the longitudinal view of the device according to FIG. 3,
Figure 5
3 shows a plan view of the device of FIGS. 3 and 4,
Figure 6
on an enlarged scale the view of a robot in the area of the gripper head when gripping a profile element,
Figure 7
the view of the gripper head with grippers that can be controlled independently of one another in the direction of arrow VII in FIG. 6,
Figure 8
7 shows a representation of the robot with grippers corresponding to FIG. 7 after receiving a setting tool,
Figure 9
the view rotated by 90 ° of the gripper head in the direction of arrow IX of Figure 8,
Figure 10
3 shows a view of the device with a robot corresponding to FIG. 3 when the permanent magnet body is unlocked after the casting and hardening of a precast concrete part,
Figure 11
on a larger scale, the schematic view of the release tool in the direction of arrow XI of Figures 10 and
Figure 12
a plan view of the release tool of Figure 11.

Figur 1 zeigt in perspektivischer Darstellung ein Ende eines Randabschal-Profilelementes 10 gemäß deutscher Patentanmeldung Nr. 100 02 993.0. Das Profilelement 10 besteht aus einem Profilkörper 12, der gemäß Beispiel der Figur 2 unterschiedliche Längen haben kann. In beiden Endbereichen des Profilkörpers 12 ist ein Permanentmagnetkörper 14 angebracht, von dem mittig ein zylindrischer Bolzen 16 absteht, der durch eine Öffnung in der Oberseite 24 des Profilköpers 12 nach oben vorsteht und an seinem oberen Ende einen Auslösekopf 18 hat. Über diesen Auslösekopf 18 kann der Permanentmagnetkörper 14 nach unten gedrückt werden, um eine magnetische Fixierung des Profilelementes 10 auf einem Schalungstisch 20 (vgl. Figur 3) herbeizuführen. Bei diesem Vorgang werden zwei Federelemente 22 gespannt, die zu beiden Seiten des Bolzens 16 sowohl am Permanentmagnetkörper 14 als auch am Profilkörper 12 befestigt sind.Figure 1 shows a perspective view of one end of a Edge shuttering profile element 10 according to German patent application No. 100 02 993.0. The profile element 10 consists of a Profile body 12, the different according to the example of Figure 2 Can have lengths. In both end regions of the profile body 12 a permanent magnet body 14 is attached, one in the middle cylindrical bolt 16 protrudes through an opening in the Top 24 of the profile body 12 protrudes upwards and on has a trigger head 18 at its upper end. About this Trigger head 18, the permanent magnet body 14 down can be pressed to fix the magnet Profile element 10 on a formwork table 20 (see FIG. 3) bring about. In this process, two spring elements 22 looking forward to both sides of the bolt 16 on both Permanent magnet body 14 and attached to the profile body 12 are.

Zum Lösen des Permanentmagnetkörpers 14 wird der Auslösekopf 18 angehoben, wobei die sich dabei entlastenden Federelemente 22 unterstützend wirken.The release head 18 is used to release the permanent magnet body 14 raised, the spring elements 22 thereby relieving themselves act supportive.

In Figur 2 ist zu erkennen, daß die hier U-förmigen Profilkörper 12 jedes Profilelementes 10 im Bereich der waagrechten Oberseite 24 eine Aussparung 26 haben, die als Führung beim Einordnen der Profilelemente 10 zwischen senkrechten Gitterstäben 28 eines in Figur 3 gezeigten Magazins 30 für die Profilelemente 10 dienen.In Figure 2 it can be seen that the U-shaped profile body here 12 of each profile element 10 in the area of the horizontal top 24 have a recess 26 which serves as a guide when arranging the Profile elements 10 between vertical bars 28 one in Figure 3 shown magazine 30 serve for the profile elements 10.

Die Figuren 3 bis 5 zeigen eine Einrichtung zur Herstellung von Betonfertigteilen gemäß der Erfindung. Diese Einrichtung besteht aus zwei zueinander parallelen Seitenwänden 32, auf denen eine Brücke 34 in X-Richtung (vgl. Figur 5) verfahrbar gelagert ist. Als Antrieb dient ein Motor 36, der über zwei Halbwellen 38 Zahnräder 40 antreibt, die in Eingriff mit jeweils einer auf den Seitenwänden 32 angebrachten Zahnstange 42 sind.Figures 3 to 5 show a device for the production of Precast concrete parts according to the invention. This facility exists of two mutually parallel side walls 32, on which one Bridge 34 is movably mounted in the X direction (see FIG. 5). A motor 36, which has two half shafts 38, serves as the drive Drives gears 40, which each engage one on the Side walls 32 are attached rack 42.

Auf der Brücke 34 ist in Y-Richtung verfahrbar eine Katze 44 gelagert, die in einem Drehkranz 46 einen in Z-Richtung heb- und senkbaren Roboter 48 aufnimmt. Über den Drehkranz 44 kann der Roboter um seine vertikale Drehachse 50 (vgl. Figuren 6 bis 10) geschwenkt werden. A cat 44 can be moved on the bridge 34 in the Y direction stored, the one in the Z-direction lifting and lifting lowerable robot 48 takes. About the slewing ring 44 can Robot about its vertical axis of rotation 50 (see FIGS. 6 to 10) be pivoted.

In Figur 2 ist in Y-Richtung zwischen dem Schalungstisch 20 und dem Magazin 30 eine Reinigungsanlage 52 für benutzte Profilelemente 10 zu erkennen. Ferner ist dargestellt, daß das Magazin 30 auf einem Bock 54 steht, unter dem ein Schalungstisch 20 in Reserve bereitgehalten wird.In Figure 2 is in the Y direction between the formwork table 20 and the magazine 30 a cleaning system 52 for used Recognize profile elements 10. It is also shown that the Magazine 30 stands on a trestle 54, under which a formwork table 20 is kept in reserve.

Die Figuren 6 und 7 zeigen das untere Ende des Roboters 48, das als Greiferkopf 56 ausgebildet ist. Gemäß Figur 7 trägt bei diesem Ausführungsbeispiel der Greiferkopf 56 zwei Greifer 58 mit jeweils zwei gegeneinander verfahrbaren Greifbacken 60. Die beiden Greifbacken 60 dienen hier zum Erfassen eines Profilelementes 10 mit integriertem Permanentmagnetkörper 14, wobei der Profilkörper 12 an beiden Seitenschenkeln Zentrierausnehmungen 62 hat, in welche Zentriervorsprünge 64 der beiden Greifbacken 60 eingreifen. Jeder der beiden Greifer 58 hat zwei Hubzylinder 66 und ist in Vertikalführungen 68 gelagert. Die Hubzylinder 66 eines Greifers 68 können unabhängig von denen des anderen Greifers 58 angesteuert werden, so daß, wie in Figur 7 angedeutet, zwei Profilelemente 10 oder andere Fixierelemente bzw. Aussparungskörper für Fensteröffnungen, Einbauteile etc. unabhängig voneinander manipuliert werden können.Figures 6 and 7 show the lower end of the robot 48, the is designed as a gripper head 56. According to Figure 7 contributes In this embodiment, the gripper head 56 has two grippers 58 each with two gripping jaws 60 which can be moved relative to one another two gripping jaws 60 are used here to grasp one Profile element 10 with integrated permanent magnet body 14, the profile body 12 on both side legs Has centering recesses 62, in which centering projections 64 the engage both gripper jaws 60. Each of the two grippers 58 has two lifting cylinders 66 and is in vertical guides 68 stored. The lifting cylinders 66 of a gripper 68 can be used independently controlled by those of the other gripper 58, so that As indicated in Figure 7, two profile elements 10 or others Fixing elements or recess bodies for window openings, Installation parts etc. can be manipulated independently of one another can.

Jeder Greifer 58 hat einen Endschalter 70, der bei der Berührung mit der Oberseite 24 des Profilelementes 10 den Antrieb des Hubzylinders 66 beim Absenken abschaltet. Neben dem Endschalter 70 ist am Greifer 58 ein Zentrierstift 72 angebracht, der in eine Aussparung an der Oberseite 24 des Profilelementes 10 eingreift.Each gripper 58 has a limit switch 70 which is in contact with the top 24 of the profile element 10, the drive of Lift cylinder 66 switches off when lowering. Next to the limit switch 70 a centering pin 72 is attached to the gripper 58, which in a recess on the top 24 of the profile element 10 intervenes.

Figur 7 zeigt schließlich, daß zwischen den beiden Greifern 58 eine Ölsprühdüse 74 angeordnet ist.Finally, FIG. 7 shows that 58 between the two grippers an oil spray nozzle 74 is arranged.

Der programmgesteuerte Roboter 48 entnimmt entsprechend den in eine Steuerung eingegebenen Sollwerten bezüglich Längen und Höhen der Profilelemente 10 die entsprechenden Profilelemente aus dem Magazin 30 und überführt sie durch Verschiebung in X-und Y-Richtung und ggf. durch Schwenkung um die Drehachse 50 an den genau vorbestimmten Platz auf dem Schalungstisch 20. Nachdem alle Profilelemente 10 auf diese Weise gesetzt worden sind und dadurch die gewünschte Kontur des zu gießenden Betonfertigteils definiert ist, müssen die Permanentmagnetkörper 14 aktiviert werden. Hierzu erfassen gemäß den Figuren 8 und 9 die Greifbacken 60 ein Setzwerkzeug 76. Dieses besteht aus einem Balken 78, der von den beiden Greifern 58 gleichzeitig erfaßt wird und von dem mittig ein Druckkopf 80 nach unten absteht. Jedesmal dann, wenn sich der Druckkopf 80 genau über einem Auslösekopf 18 eines Profilelementes 10 befindet, wird das Setzwerkzeug 76 durch die Hubzylinder 66 abgesenkt, wodurch der Auslösekopf 18 den Permanentmagnetkörper 14 innerhalb des Profilelementes 10 nach unten und auf den Schalungstisch 20 drückt. Auf diese Weise wird jedes Profilelement 10 über seine beiden Permanentmagnetkörper 14 lagegenau auf dem Schalungstisch 20 fixiert.The program-controlled robot 48 removes the data from FIGS a setpoint entered with respect to lengths and Heights of the profile elements 10 the corresponding profile elements from the magazine 30 and transferred them by shifting them in X and Y direction and possibly by pivoting about the axis of rotation 50 the exactly predetermined space on the formwork table 20. After all profile elements 10 have been set in this way and thereby the desired contour of the precast concrete to be cast is defined, the permanent magnet body 14 must be activated become. For this purpose, according to FIGS. 8 and 9, the Gripping jaws 60 a setting tool 76. This consists of a Beam 78, which is gripped by the two grippers 58 at the same time and from which a print head 80 protrudes downwards in the middle. Every time the print head 80 is exactly over one Release head 18 of a profile element 10 is located Setting tool 76 lowered by the lifting cylinder 66, whereby the Trigger head 18 the permanent magnet body 14 within the Profile element 10 down and on the formwork table 20th suppressed. In this way, each profile element 10 is over its two permanent magnet bodies 14 are positioned precisely on the formwork table 20 fixed.

Das Setzwerkzeug 76 kann auch in einem der Greifer 58 oder in einem weiteren Greifer integriert sein, der beispielsweise zwischen den beiden in Figur 8 dargestellten Greifern 58 unabhängig von diesen ansteuerbar angeordnet ist, beispielsweise an Stelle der dort gezeigten Ölsprühdüse 74.The setting tool 76 can also be in one of the grippers 58 or in another gripper can be integrated, for example between the two grippers 58 shown in FIG. 8 is arranged controllable independently of these, for example instead of the oil spray nozzle 74 shown there.

Nach dem Gießen und der Aushärtung der Betonfertigteile erfolgt das Entschalen. Auch dieser Vorgang kann mit Hilfe eines gleichen oder ähnlichen Roboters 48 durchgeführt werden. Die Figuren 10 bis 12 zeigen eine Möglichkeit, gemäß welcher der Roboter 48 für den Entriegelungsvorgang mit einem Lösewerkzeug 82 bestückt wird. Dieses hat ein Löseelement in Form einer rampenförmigen Gabel 84 (vgl. Figur 11), die unter den Auslösekopf 18 geschoben werden kann und diesen dabei anhebt. Auf diese Weise wird der Permanentmagnetkörper 14 mit Unterstützung durch die Federelemente 22 angehoben und in der angehobenen Lage gehalten, so daß das Profilelement 10 zur Seite hin abgenommen werden kann.After pouring and hardening of the precast concrete parts the stripping. This process can also be done with the help of a same or similar robot 48 are performed. The Figures 10 to 12 show a possibility according to which the Robot 48 for the unlocking process with a release tool 82 is equipped. This has a release element in the form of a ramp-shaped fork 84 (see FIG. 11), which under the Trigger head 18 can be pushed and this raises it. In this way, the permanent magnet body 14 with Support raised by the spring elements 22 and in the held in a raised position so that the profile element 10 to the side can be removed.

Vor allem Figur 11 zeigt, daß im Bereich des Greiferkörpers 56 in einer Horizontalführung 86 zwei Schlitten 88 gegenläufig zueinander verfahrbar gelagert sind, von denen jeder ein Lösewerkzeug 82 trägt. Wenn die beiden Lösewerkzeuge 82 in Richtung auf die Drehachse 50 verfahren werden, greifen die rampenförmig geformten Gabeln 84 unter die beiden Auslöseköpfe 18, so daß die Profilelemente 10 durch Anheben der Permanentmagnetkörper 14 entriegelt werden. In dieser Stellung halten die beiden Gabeln 84 das Profilelement 10 während des anschließenden Weitertransportes zur Reinigungsanlage 52 bzw. in das Magazin 30.In particular, FIG. 11 shows that in the area of the gripper body 56 in a horizontal guide 86 two slides 88 in opposite directions are movable relative to each other, each one Release tool 82 carries. If the two release tools 82 in Are moved in the direction of the axis of rotation 50, engage ramp-shaped forks 84 under the two release heads 18 so that the profile elements 10 by lifting the Permanent magnet body 14 are unlocked. In this position hold the two forks 84 the profile element 10 during the subsequent onward transport to the cleaning system 52 or in magazine 30.

Claims (12)

Verfahren zur Herstellung von Betonfertigteilen auf mindestens einem Schalungstisch, gekennzeichnet durch die Verwendung wenigstens eines programmgesteuerten Roboters (48), der auf dem Schalungstisch (20) magnetisch fixierbare Randabschal-Profilelemente (10) mit integrierten Permanentmagnetkörpern (14) aus einem Magazin (30) entnimmt, auf dem Schalungstisch (20) lagegenau absetzt und anschließend die Permanentmagnetkörper (14) aktiviert.Method for producing prefabricated concrete parts on at least one formwork table, characterized by the use of at least one program-controlled robot (48) which removes edge shuttering profile elements (10) with integrated permanent magnet bodies (14) which are magnetically fixable on the formwork table (20) from a magazine (30) , settled on the formwork table (20) and then activated the permanent magnet body (14). Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß der Roboter (48) die Permanentmagnetkörper (14) mit Hilfe eines vertikal verschiebbaren Setzwerkzeuges (76) aktiviert, das dabei gegen einen von der Oberseite (24) des Profilelementes (10) abstehenden Auslösekopf (18) drückt, der den Permanentmagnetkörper (14) im Profilelement (10) zur Anlage an die Oberseite des Schalungstisches (20) bringt.Method according to Claim 1, characterized in that the robot (48) activates the permanent magnet bodies (14) with the aid of a vertically displaceable setting tool (76), which in this case counteracts a release head (18) protruding from the upper side (24) of the profile element (10). presses, which brings the permanent magnet body (14) in the profile element (10) into contact with the top of the formwork table (20). Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß der Roboter (48) nach dem lagegenauen Absetzen aller benötigten Profilelemente (10) das Setzwerkzeug (76) erfaßt oder in Einsatz bringt und alle Permanentmagnetkörper (14) aktiviert.Method according to claim 2, characterized in that the robot (48) detects or sets the setting tool (76) after the precise positioning of all required profile elements (10) and activates all permanent magnet bodies (14). Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß nach dem Gießen und der Aushärtung der Betonfertigteile der Roboter (48) die Permanentmagnetkörper (14) entriegelt, die Profilelemente (10) vom Schalungstisch (20) abhebt und diese nach einer Reinigung wieder im Magazin (30) einordnet.Method according to claim 1, characterized in that after the casting and hardening of the precast concrete parts, the robot (48) unlocks the permanent magnet bodies (14), lifts the profile elements (10) from the formwork table (20) and, after cleaning, they are returned to the magazine (30 ) classifies. Verfahren nach Anspruch 4, dadurch gekennzeichnet, daß der Roboter (48) für den Entriegelungsvorgang mit einem Lösewerkzeug (82) bestückt wird, das einen von der Oberseite (24) des Profilelementes (10) abstehenden und mit dem Permanentmagnetkörper (14) verbundenen Auslösekopf (18) anhebt, wodurch der Permanentmagnetkörper (14) in dem Profilelement (10) von der Oberseite des Schalungstisches (20) angehoben wird.Method according to Claim 4, characterized in that the robot (48) is equipped with a release tool (82) for the unlocking process, said release tool (82) projecting from the upper side (24) of the profile element (10) and connected to the permanent magnet body (14) 18), whereby the permanent magnet body (14) in the profile element (10) is raised from the top of the formwork table (20). Verfahren nach Anspruch 5, dadurch gekennzeichnet, daß das Löseerkzeug (82) anschließend auch den Abtransport der Profilelemente (10) durchführt.A method according to claim 5, characterized in that the release tool (82) then also carries out the removal of the profile elements (10). Einrichtung zur Durchführung des Verfahrens nach einem der vorhergehenden Ansprüche mit mindestens einem Schalungstisch und wenigstens einem programmgesteuerten Roboter mit einem um eine vertikale Drehachse schwenkbaren Greiferkopf zum Erfassen von auf dem Schalungstisch magnetisch fixierbaren Randabschal-Profilelementen, dadurch gekennzeichnet, daß der Greiferkopf (56) so ausgebildet ist, daß er die Profilelemente (10), das Setzwerkzeug (76) oder das Lösewerkzeug (82) aufnimmt.Device for carrying out the method according to one of the preceding claims with at least one formwork table and at least one program-controlled robot with a gripper head which can be pivoted about a vertical axis of rotation for gripping edge shuttering profile elements which can be magnetically fixed on the formwork table, characterized in that the gripper head (56) is designed in this way is that it receives the profile elements (10), the setting tool (76) or the release tool (82). Einrichtung nach Anspruch 7, dadurch gekennzeichnet, daß das Setzwerkzeug (76) aus einem vom Greiferkopf (56) erfaßbaren Balken (78) besteht, von dem mindestens ein Druckkopf (80) zum Betätigen des Auslösekopfes (18) absteht.Device according to claim 7, characterized in that the setting tool (76) consists of a bar (78) which can be gripped by the gripper head (56) and from which at least one print head (80) for actuating the release head (18) protrudes. Einrichtung nach Anspruch 8, dadurch gekennzeichnet, daß der Greiferkopf (56) zwei Greifer (58) zum gleichzeitigen Erfassen eines Profilelementes (10) oder des Balkens (78) des Setzwerkzeuges (76) trägt.Device according to claim 8, characterized in that the gripper head (56) carries two grippers (58) for simultaneously gripping a profile element (10) or the bar (78) of the setting tool (76). Einrichtung nach Anspruch 6, dadurch gekennzeichnet, daß das Lösewerkzeug (82) ein unter den Auslösekopf (18) verschiebbares und diesen anhebbares Löseelement hat.Device according to claim 6, characterized in that the release tool (82) has a release element which can be displaced under the release head (18) and which can be raised. Einrichtung nach Anspruch 10, dadurch gekennzeichnet, daß das Löseelement als rampenförmige Gabel (84) ausgebildet ist.Device according to claim 10, characterized in that the release element is designed as a ramp-shaped fork (84). Einrichtung nach Anspruch 10 oder 11, dadurch gekennzeichnet, daß der Greiferkopf (56) zwei gegenläufig verfahrbare Greifer (58) hat, von denen jeder ein Löseelement zum Entriegeln des Auslösekopfes (18) aufnimmt.Device according to claim 10 or 11, characterized in that the gripper head (56) has two grippers (58) which can be moved in opposite directions, each of which receives a release element for unlocking the release head (18).
EP01112543A 2000-08-09 2001-05-23 Method and device for making concrete products Revoked EP1179401B1 (en)

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DE10038757 2000-08-09
DE10038757A DE10038757B4 (en) 2000-08-09 2000-08-09 Process for producing precast concrete parts

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EP2527119A2 (en) 2011-05-25 2012-11-28 Elematic Oy Ab Method for disengaging the fastening magnet of a dismountable sidewall element by a side robot, and a side robot
CN102992030A (en) * 2011-09-09 2013-03-27 中国国际海运集装箱(集团)股份有限公司 Automatic feeding system of container panel
BE1028897B1 (en) * 2020-12-15 2022-07-19 Eeckhout & Dochters Bvba PROCEDURE AND EQUIPMENT FOR THE PRODUCTION OF WIDE FLOOR SHEETS

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EP2527119A2 (en) 2011-05-25 2012-11-28 Elematic Oy Ab Method for disengaging the fastening magnet of a dismountable sidewall element by a side robot, and a side robot
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CN102992030B (en) * 2011-09-09 2015-04-29 中国国际海运集装箱(集团)股份有限公司 Automatic feeding system of container panel
BE1028897B1 (en) * 2020-12-15 2022-07-19 Eeckhout & Dochters Bvba PROCEDURE AND EQUIPMENT FOR THE PRODUCTION OF WIDE FLOOR SHEETS

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EP1179401A3 (en) 2003-05-21
DE50109531D1 (en) 2006-05-24
DE10038757B4 (en) 2012-10-18
DE10038757A1 (en) 2002-02-21
ATE323573T1 (en) 2006-05-15
EP1179401B1 (en) 2006-04-19
ES2261295T3 (en) 2006-11-16

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