EP1974883A2 - Method and device for placing shuttering elements on a moulding table - Google Patents
Method and device for placing shuttering elements on a moulding table Download PDFInfo
- Publication number
- EP1974883A2 EP1974883A2 EP08102504A EP08102504A EP1974883A2 EP 1974883 A2 EP1974883 A2 EP 1974883A2 EP 08102504 A EP08102504 A EP 08102504A EP 08102504 A EP08102504 A EP 08102504A EP 1974883 A2 EP1974883 A2 EP 1974883A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- profile element
- profile
- gripper
- permanent magnet
- head
- 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
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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
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/002—Magnetic work holders
-
- 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
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- 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 and a device for positioning Randabschal profile elements on a formwork table according to the preambles of claims 1 and 2 respectively.
- Subject of the European patent EP 1 179 401 B are a method and a device for producing precast concrete parts, in which a program-controlled robot removes magnetically fixable edge shutter profile elements with integrated permanent magnet bodies from a magazine, places them precisely in position on the shuttering table and then activates the permanent magnet bodies.
- the robot When transporting the profile elements from the magazine to the formwork table, the robot is equipped with a gripper head with two grippers whose gripping jaws comprise the profile element on the two longitudinal sides.
- To activate the permanent magnet body is then a setting tool which presses by means of the gripper from above on corresponding push buttons of the permanent magnet body, so that these and thus the profile elements are magnetically fixed on the formwork table.
- edge shutter profile elements can not be installed consecutively without gaps because the formwork tables in use as well as the formwork itself have tolerances that the robot can not compensate. This results in the need to settle the profile elements on the gap, ie with a Versetzspalt, which has the disadvantage that occurs during casting Betonschlemme in the Versetzspalte. This leads to unsightly edge formations of the finished concrete element and difficulties in cleaning the formwork.
- the invention has for its object to provide a system - method and device - available that allows a gap-free positioning of Abschalimplantation within minimal cycle times with minimal design effort for the robot head while ensuring proper longitudinal alignment of the Abschalimplantation, which is essential especially for long Abschalimplantationn is, in which already a small angular deviation has a negative effect on the line orientation of the formwork.
- An essential feature of the device according to the invention is that the cylinder heads of the profile elements are detected by prismatic gripper jaws, which protrude from the top of the profile element. This is a centering available because the prism gripper perform both a longitudinal positioning and a transverse positioning of the Abschaliata. Since in development of the invention, each profile element has two cylinder heads and the distance of the grippers corresponds to the distance between the cylinder heads, can be achieved with one and the same tool on the cylinder head a positionally accurate, rotational angle free positioning of the shuttering elements in gap-free contraction of the formwork.
- a cylindrical pushbutton for magnet activation also designed as a cylinder head, is arranged, on which the prismatic gripper jaws engage and whose center is at a distance from the front end of the profiled element, which corresponds to half the distance between the two central cylinder heads.
- a Randabschal profile element 10 can be seen, which consists of a cross-sectionally U-shaped profile body 12, of which a side wall 14, as the FIGS. 10 and 11 clearly show up a supernatant 16 has. This results in one in the FIGS. 1 and 3 drawn total height h.
- the profile body 12 different lengths 1 (see. FIG. 7 ), for example 800, 1000, 1500, 2000 or 3000 millimeters.
- FIGS. 10 and 11 show, in each case accommodated a permanent magnet body 18, from the center of an actuating rod 20 projects, which merges over the top 22 of the profile body 12 in a push button 24.
- the permanent magnet body 18 is made of the in FIG. 10 shown, raised position in the locked position of FIG. 11 pressed, in which he rests on a formwork table 56. In this way, the edge shutter profile element 10 is locked on the formwork table 56 by magnetic fixation.
- buttons 24 are mushroom-shaped, so that a not further shown, for example, fork-shaped unlocking tool can be applied.
- Essential for the invention is the fact that in all Randabschal profile elements 10 of different length 1, the distance a of the center of the cylindrical push buttons 24 from the adjacent front end 28 of the profile body 12 is equal. In the example, this distance a is preferably 150 millimeters.
- each profile body 12 On the top 22 of each profile body 12 are also how the FIGS. 1 to 7 show, between the two cylindrical push buttons 24 two cylinder heads 30 are attached.
- the cylinder heads 30 are to the two push buttons 24, as shown FIG. 7 emerges aligned in the longitudinal axis of the profile body 12. They have the same diameter as the two mushroom-shaped push buttons 24 and have the transverse center axis of the profile body 12 each a distance a.
- the distance 2a of the two cylinder heads 30 equal to the distance between the two push buttons 24 at the abutting ends of Randabschal profile elements 10th
- the cylinder heads 30 In order to ensure a centric attachment of the cylinder heads 30 on the upper side 22 of the profile body 12, they are provided with a cylindrical foot 32 (see. FIG. 3 ), which engages through a precisely mounted hole in the top 22 of the profile body 12; Thereafter, the cylinder heads 30 are mounted on the upper side 22 of the profile body 12, for example by welding.
- each cylinder head 30 in the profile body 12 a transverse web 34 is fixed, which is flush with the bottom of the bottom open profile body 12. Since the height of the cylinder heads 30 corresponds to the height of the projection 16, so that the profile elements 10 according to FIG. 3 stacked without tilting. alternative for example, the cylindrical feet 32 of the cylinder heads 30 may extend to the underside of the profile body 12, so that they serve as stacking elements instead of the transverse webs 34.
- FIGS. 8 . 10 and 11 show the lower end of a program-controlled robot 62, which is designed as a gripper head 36.
- the gripper head 36 carries two gripping tongs 38, which are fastened to a common support plate 40.
- the support plate 40 is attached to two vertical rods 42 which are mounted in two vertical guides 44.
- a not shown in the figures lifting cylinder is used to raise and lower the gripper head 36th
- Each grasping forceps 38 consists of two prismatic gripper jaws 46, which are movable relative to each other by means of a drive not shown.
- the prism shape of the gripper jaws 46 is particularly in the FIGS. 7 and 9 as well as 12 to recognize.
- FIG. 8 shows that between the two grippers 38 on the support plate 40, a Plotterdüse or ⁇ lsprühdüse 48 is attached.
- the two gripping tongs 38 can be movably mounted in accordance with the double arrow in order to be able to adjust the mutual distance 2a if necessary.
- each of the two gripper jaws 46 of a gripping tongs 38 has a prismatic seat recess 50 which is bounded above by a horizontal pressure surface 52.
- This pressure surface 52 consists of an elastic pressure pad 54 and is part of the setting tool 26 for depressing a push button 24, whereby the associated permanent magnet body 18 is pressed against the formwork table 56.
- the method for positionally positioning the edge shutter profile elements 10 of a formwork on the formwork table 56 is carried out in the following manner.
- the robot 62 With the aid of its gripper head 36, removes a profile element 10 of the required length 1 from a magazine ( FIG. 3 ), wherein the two gripper tongs 38 with their prismatic gripper jaws 46 frictionally engage the two cylinder heads 30 on the upper side 22 of the profiled body 12.
- the robot 62 sets the profile element 10 on the formwork table 56 from. After opening the two grippers 38 of the gripper head 36 - in the example of FIG. 7 to the left - proceeding, so that in the FIGS. 8 and 9 right gripper 38 over the in FIG. 7 left push button 24 is located.
- the gripper head 36 is then lowered in the direction of the profile body 12, whereupon the two prismatic gripper jaws 46 enclose the push button 24 and thereby precisely align the end of the profile element 10 located there. Thereafter, the two gripper jaws 46 are again depressurized and lowered again, so that their pressure pads 54 (see. FIG. 12 ) Press the push button 24 down and thus fix this first end of the profile element 10 by means of the underlying permanent magnet body 18 on the formwork table 56.
- the robot then removes another profile element 10 from the magazine and sets it in accordance with FIG FIGS. 7 and 9 leaving a gap (offset gap s) following the first profile element 10 from.
- the two gripping tongs 38 are now opened, whereby the cylinder heads 30 used for the transport are free;
- the gripper head 36 can now be moved over the gap between the two profile elements 10 and lowered so that the two prismatic gripper jaws 46 of the left gripping pliers 38 in the figures sit positionally accurate on the right push button 24 of the left profile element 10. Then the two grippers 38 are closed, the in FIG.
- the two grippers 38 are switched back and depressurized so that their pressure pads 54 move the two push buttons 24 at the same time down and thus lock the abutting ends of the two profile elements 10 on the formwork table 56 magnetically.
- the robot 62 After opening the two gripping tongs 38, the robot 62 brings another profile element 10 from the magazine and repeats the cycle described for positionally accurate positioning and locking.
- the invention thus provides a system in which both the positioning and the locking of the profile elements 10 are performed by the gripper jaws 46. These are designed for this purpose as a prism gripper with pressure pad 54 so that they form a tool in itself, which serves both as a transport and positioning as well as setting tool. As explained, the prism grippers align the profile elements 10 not only in the longitudinal direction but also in the transverse direction. It is essential that with each profile element 10 regardless of its length 1 of the distance 2a between two cylinder heads 30 twice the distance a each cylindrical push button 24 from the front end 28 of the profile element 10.
- FIG. 13 shows a short profile element 10 with only one centrally located cylinder head 30, which is located centrally between two stop blocks 58, which also project from the top 22 of the profile body 12.
- each prism-shaped gripper jaw 46 (FIG. FIG. 13 shows, for reasons of simplification, only one gripper jaw 46) two mutually aligned projections 60 which project from the gripper jaw 46 to both sides.
- the prismatic seat recess 50 of the gripper jaw 46 detects the cylinder head 30, while the two projections 60 come to rest against the two stop blocks 58 and thus ensure a longitudinal alignment of the profile element 10.
- a further advantage is the fact that only on the top 22 of each formwork element 10 push buttons 24 and cylinder heads 30 protrude, which simplifies the cleaning of the formwork element. Used scrapers or brushes can be switched hinged to bridge the push buttons 24 and cylinder heads 30.
- Another advantage stems from the fact that according to FIG. 3 the height of the cylinder heads 30 of the height of the projections 16 (see. FIG. 11 ) corresponds. This allows a tilt-free stacking of the profile elements 10 in a magazine, in which the transverse webs 34 and the inside of the profile element 10 downwardly extended feet 32 of the cylinder heads Support 30 on the respective underlying cylinder head 30. This has the additional advantage that when a pressure is exerted on the magazine from above, the stacked profile elements 10 are not impaired or tilted in their position.
Abstract
Description
Die Erfindung betrifft ein Verfahren und eine Einrichtung zum Positionieren von Randabschal-Profilelementen auf einem Schalungstisch nach den Oberbegriffen der Patentansprüche 1 bzw. 2.The invention relates to a method and a device for positioning Randabschal profile elements on a formwork table according to the preambles of
Gegenstand des Europäischen Patentes
In der Praxis hat sich herausgestellt, dass die Randabschal-Profilelemente nicht lückenlos hintereinander verlegt werden können, weil die im Einsatz befindlichen Schalungstische sowie die Schalungen selbst Toleranzen aufweisen, die der Roboter nicht ausgleichen kann. Daraus ergibt sich die Notwendigkeit, die Profilelemente auf Lücke abzusetzen, d. h. mit einem Versetzspalt, was den Nachteil hat, dass beim Gießen Betonschlemme in die Versetzspalte eintritt. Das führt zu unschönen Kantenausbildungen des fertigen Betonelementes und zu Schwierigkeiten beim Reinigen der Schalungen.In practice, it has been found that the edge shutter profile elements can not be installed consecutively without gaps because the formwork tables in use as well as the formwork itself have tolerances that the robot can not compensate. This results in the need to settle the profile elements on the gap, ie with a Versetzspalt, which has the disadvantage that occurs during casting Betonschlemme in the Versetzspalte. This leads to unsightly edge formations of the finished concrete element and difficulties in cleaning the formwork.
Zur Vermeidung der oben aufgezeigten Nachteile wurden daher Überlegungen angestellt, den Roboterkopf so auszubilden, dass die Toleranzen der Schalungen, des Roboters und des Schalungstisches ausgeglichen werden können und gleichzeitig die Möglichkeit besteht, die Profilelemente vor der endgültigen Positionierung spaltfrei zusammenzuziehen. Die entsprechenden Lösungsansätze führten bisher zu modifizierten Roboterköpfen mit mehreren, voneinander unabhängigen und zeitlich versetzt zu aktivierenden Betätigungseinheiten, durch die einerseits die Taktzeiten beim Verlegen der Abschalelemente erheblich vergrößert und andererseits das Gewicht und der Bauraum des Roboterkopfes erhöht wurden.To avoid the above-mentioned disadvantages, therefore, considerations have been made to design the robot head so that the tolerances of the formwork, the robot and the formwork table can be compensated and at the same time there is the possibility to contract the profile elements without gaps before the final positioning. The corresponding approaches have so far led to modified robot heads with several independent and temporally offset to activate actuators, on the one hand significantly increases the cycle times when laying the Abschalelemente and on the other hand, the weight and space of the robot head were increased.
Der Erfindung liegt die Aufgabe zugrunde, ein System - Verfahren und Einrichtung - zur Verfügung zu stellen, das eine spaltfreie Positionierung der Abschalelemente innerhalb kürzester Taktzeiten mit geringstem Konstruktionsaufwand für den Roboterkopf erlaubt und gleichzeitig eine einwandfreie Längsausrichtung der Abschalelemente gewährleistet, was insbesondere bei langen Abschalelementen wesentlich ist, bei denen sich schon eine geringe Winkelabweichung negativ auf die Linienausrichtung der Schalung auswirkt.The invention has for its object to provide a system - method and device - available that allows a gap-free positioning of Abschalelemente within minimal cycle times with minimal design effort for the robot head while ensuring proper longitudinal alignment of the Abschalelemente, which is essential especially for long Abschalelementen is, in which already a small angular deviation has a negative effect on the line orientation of the formwork.
Zur Lösung dieser Aufgabe besteht das Verfahren nach dem Oberbegriff des Patentanspruchs 1 aus den folgenden Schritten:
- a) Absetzen und Positionieren eines ersten Profilelementes mittels des Greiferkopfes,
- b) Fixieren nur eines ersten Endes des Profilelementes mittels Aktivierung des dort angeordneten Permanentmagnetkörpers durch das Setzwerkzeug,
- c) Absetzen eines zweiten Profilelementes durch den Greiferkopf unter Freilassung einer Lücke (Versetzspalt) zum zweiten Ende des ersten Profilelementes,
- d) lagegenaues Ausrichten des ersten Profilelementes mittels des Greiferkopfes, der dieses um das erste, fixierte Ende schwenkt und gleichzeitig das erste Ende des zweiten Profilelementes in eine zum ersten Profilelement fluchtende Stellung bringt und dabei das zweite Profilelement spaltfrei gegen das erste Profilelement zieht,
- e) gleichzeitiges Fixieren des zweiten Endes des ersten Profilelementes und des ersten Endes des zweiten Profilelementes mittels Aktivierung der dort angeordneten Permanentmagnetkörper durch das Setzwerkzeug,
- f) Wiederholen der Schritte c, d, e für weitere Profilelemente.
- a) settling and positioning of a first profile element by means of the gripper head,
- b) fixing only a first end of the profile element by means of activation of the permanent magnet body arranged there by the setting tool,
- c) depositing a second profile element through the gripper head, leaving a gap (displacement gap) to the second end of the first profile element,
- d) precise alignment of the first profile element by means of the gripper head, which pivots this about the first, fixed end and simultaneously brings the first end of the second profile element in a position aligned with the first profile element and thereby pulls the second profile element gap-free against the first profile element,
- e) simultaneous fixing of the second end of the first profile element and the first end of the second profile element by activation of the there arranged permanent magnet body by the setting tool,
- f) repeating steps c, d, e for further profile elements.
Die erfindungsgemäß vorgesehene Einrichtung zum lagegenauen Positionieren der Abschalelemente, mit der das Verfahren der Erfindung durchgeführt werden kann, hat die Merkmale des Patentanspruchs 2; die davon abhängigen Unteransprüche betreffen vorteilhafte Weiterbildungen dieser Einrichtung.The inventively provided device for positionally accurate positioning of the Abschalelemente, with which the method of the invention can be carried out, has the features of
Ein wesentliches Merkmal der Einrichtung gemäß der Erfindung besteht darin, dass die Zylinderköpfe der Profilelemente durch prismenförmige Greiferbacken erfasst werden, die von der Oberseite des Profilelementes abstehen. Damit steht ein Zentriersystem zur Verfügung, weil die Prismengreifer sowohl eine Längspositionierung als auch eine Querpositionierung der Abschalelemente durchführen. Da in Weiterbildung der Erfindung jedes Profilelement zwei Zylinderköpfe hat und der Abstand der Greifzangen dem Abstand der Zylinderköpfe entspricht, kann mit ein und demselben Werkzeug am Zylinderkopf eine lagegenaue, drehwinkelfreie Positionierung der Abschalelemente beim spaltfreien Zusammenziehen der Schalungen erreicht werden.An essential feature of the device according to the invention is that the cylinder heads of the profile elements are detected by prismatic gripper jaws, which protrude from the top of the profile element. This is a centering available because the prism gripper perform both a longitudinal positioning and a transverse positioning of the Abschalelemente. Since in development of the invention, each profile element has two cylinder heads and the distance of the grippers corresponds to the distance between the cylinder heads, can be achieved with one and the same tool on the cylinder head a positionally accurate, rotational angle free positioning of the shuttering elements in gap-free contraction of the formwork.
Es ist von besonderem Vorteil, wenn zu beiden Seiten der mittig auf dem Profilelement angebrachten Zylinderköpfe je ein ebenfalls als Zylinderkopf ausgebildeter, zylindrischer Druckknopf für die Magnetaktivierung angeordnet ist, an dem die prismenförmigen Greiferbacken angreifen und dessen Zentrum vom stirnseitigen Ende des Profilelementes einen Abstand hat, der dem halben Abstand zwischen den beiden mittigen Zylinderköpfen entspricht. Mit einem derart genormten System werden die Abschalelemente mittels der beiden Greifzangen des Greiferkopfes an den Zylinderköpfen erfasst, um sie von einem Magazin zu entnehmen und auf dem Schalungstisch abzusetzen, worauf dieselben Greifzangen mit ihren prismenförmigen Greiferbacken dann an den Druckknöpfen der jeweils aufeinander folgenden Profilelemente angreifen, um diese spaltfrei und verdrehwinkelfrei exakt zueinander auszurichten und zugleich auch magnetisch zu fixieren.It is particularly advantageous if on both sides of the cylinder heads mounted centrally on the profiled element, a cylindrical pushbutton for magnet activation, also designed as a cylinder head, is arranged, on which the prismatic gripper jaws engage and whose center is at a distance from the front end of the profiled element, which corresponds to half the distance between the two central cylinder heads. With such a standardized system, the Abschalelemente be detected by the two gripping pliers of the gripper head on the cylinder heads to remove them from a magazine and settle on the formwork table, whereupon the same grippers with their prismatic gripper jaws then attack the snaps of each successive profile elements, to align these gap-free and angle of rotation free exactly to each other and at the same time to fix magnetically.
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der folgenden Beschreibung eines Ausführungsbeispiels, das in der Zeichnung dargestellt ist. Es zeigen:
-
Figur 1 eine Seitenansicht eines Randabschal-Profilelementes mit zwei mittigen Zylinderköpfen und zwei äußeren, ebenfalls zylindrischen Druckknöpfen für die Magnetbetätigung, -
eine Draufsicht auf das Profilelement derFigur 2Figur 1 mit der schematischen Darstellung von zwei Greifzangen mit prismenförmigen Greiferbacken, -
Figur 3 einen schematischen Querschnitt des Profilelementes derFigur 1 in der Ebene III-III auf einem Stapel identischer Profilelemente in einem Magazin, -
Figur 4 eine der entsprechende Draufsicht eines Profilelementes größerer Länge,Figur 2 -
Figuren 5 und 6 Draufsichten auf Profilelemente nochmals vergrößerter Längen, -
Figur 7 eine schematische Draufsicht auf zwei hintereinander positionierte Profilelemente mit dazwischen liegendem Versetzspalt während des Zusammenziehens durch zwei prismenförmige Greifzangen, -
Figur 8 die teilweise geschnittene Seitenansicht eines Greiferkopfes eines Roboters mit zwei erfindungsgemäß ausgebildeten Greifzangen, -
Figur 9 eine Draufsicht auf die Enden von zwei aneinander stoßenden Profilelementen während des Zusammenziehens durch die beiden Greifzangen des Greiferkopfes derFigur 8 , -
eine Schnittdarstellung eines Profilelementes in der Ebene derFigur 10Figur 3 mit der teilweise geschnittenen Darstellung einer Greifzange des Greiferkopfes während des Ausrichtens entsprechend der Situation inFigur 9 , -
Figur 11 eine der entsprechende Darstellung nach dem Ausrichten und während des Verriegelns des Profilelementes auf dem Schalungstisch,Figur 10 -
eine vergrößerte Schnittdarstellung von zwei prismenförmigen Greiferbacken während des Verriegelungsvorganges mittels des Druckknopfes undFigur 12 -
Figur 13 eine schematische Draufsicht auf eine abgeänderte Ausführungsform einer prismenförmigen Greiferbacke an einem kurzen Profilelement mit nur einem Zylinderkopf.
-
FIG. 1 a side view of a Randabschal profile element with two central cylinder heads and two outer, also cylindrical snaps for the magnetic actuation, -
FIG. 2 a plan view of the profile element ofFIG. 1 with the schematic representation of two grippers with prismatic gripper jaws, -
FIG. 3 a schematic cross section of the profile element ofFIG. 1 in level III-III on a stack of identical profile elements in a magazine, -
FIG. 4 one of theFIG. 2 corresponding plan view of a profile element of greater length, -
FIGS. 5 and 6 Plan views of profile elements of further enlarged lengths, -
FIG. 7 a schematic plan view of two successively positioned profile elements with intermediate Versetzspalt during contraction by two prism-shaped tongs, -
FIG. 8 the partially sectioned side view of a gripper head of a robot with two gripping tongs formed according to the invention, -
FIG. 9 a plan view of the ends of two abutting profile elements during the contraction by the two gripper tongs of the gripper headFIG. 8 . -
FIG. 10 a sectional view of a profile element in the plane ofFIG. 3 with the partially cut representation of a gripping tongs of the gripper head during the alignment according to the situation inFIG. 9 . -
FIG. 11 one of theFIG. 10 corresponding representation after alignment and during locking of the profile element on the formwork table, -
FIG. 12 an enlarged sectional view of two prismatic gripper jaws during the locking process by means of the push button and -
FIG. 13 a schematic plan view of a modified embodiment of a prismatic gripper jaw on a short profile element with only one cylinder head.
In den
In den
In beiden Endbereichen des Profilkörpers 12 ist, wie die
In
Für die Erfindung wesentlich ist die Tatsache, dass bei allen Randabschal-Profilelementen 10 unterschiedlicher Länge 1 der Abstand a des Zentrums der zylinderförmigen Druckknöpfe 24 vom benachbarten stirnseitigen Ende 28 des Profilkörpers 12 gleich ist. Im Beispiel beträgt dieser Abstand a vorzugsweise 150 Millimeter.Essential for the invention is the fact that in all Randabschal
Auf der Oberseite 22 jedes Profilkörpers 12 sind ferner, wie die
Um eine zentrische Befestigung der Zylinderköpfe 30 auf der Oberseite 22 des Profilkörpers 12 zu gewährleisten, sind diese mit einem zylindrischen Fuß 32 versehen (vgl.
In den
Die
Jede Greifzange 38 besteht aus zwei prismenförmigen Greiferbacken 46, die mittels eines nicht weiter gezeigten Antriebes gegeneinander verfahrbar sind. Die Prismenform der Greiferbacken 46 ist besonders in den
Gemäß einer nicht gezeigten Variante der
In
Das Verfahren zur lagegenauen Positionierung der Randabschal-Profilelemente 10 einer Schalung auf dem Schalungstisch 56 wird in der folgenden Weise durchgeführt.The method for positionally positioning the edge
Zunächst entnimmt der Roboter 62 mit Hilfe seines Greiferkopfes 36 ein Profilelement 10 der erforderlichen Länge 1 aus einem Magazin (
In der beschriebenen Weise entnimmt sodann der Roboter ein weiteres Profilelement 10 aus dem Magazin und setzt dieses gemäß den
Im anschließenden Schritt werden die beiden Greifzangen 38 wieder drucklos geschaltet und abgesenkt, so dass ihre Druckauflagen 54 die beiden Druckknöpfe 24 zugleich nach unten verschieben und damit die aneinander anstoßenden Enden der beiden Profilelemente 10 auf dem Schalungstisch 56 magnetisch verriegeln.In the subsequent step, the two
Nach Öffnen der beiden Greifzangen 38 holt der Roboter 62 ein weiteres Profilelement 10 aus dem Magazin und wiederholt den erläuterten Zyklus zum lagegenauen Positionieren und Verriegeln.After opening the two
Mit der Erfindung steht somit ein System zur Verfügung, bei dem sowohl die Positionierung als auch die Verriegelung der Profilelemente 10 von den Greiferbacken 46 durchgeführt werden. Diese sind hierzu als Prismengreifer mit Druckauflage 54 ausgeführt, so dass sie in sich ein Werkzeug bilden, das sowohl als Transport- und Positionierelement als auch als Setzwerkzeug dient. Wie erläutert, richten die Prismengreifer die Profilelemente 10 nicht nur in Längsrichtung, sondern auch in Querrichtung aus. Dabei ist es wesentlich, dass bei jedem Profilelement 10 unabhängig von seiner Länge 1 der Abstand 2a zwischen zwei Zylinderköpfen 30 dem doppelten Abstand a jedes ebenfalls zylindrischen Druckknopfes 24 vom stirnseitigen Ende 28 des Profilelementes 10 ist.The invention thus provides a system in which both the positioning and the locking of the
Neben den ausführlich erörterten Vorzügen der Erfindung ist ein weiterer Vorteil darin zu sehen, dass lediglich auf der Oberseite 22 jedes Schalungselementes 10 Druckknöpfe 24 bzw. Zylinderköpfe 30 vorstehen, was die Reinigung des Schalungselementes vereinfacht. Hierzu eingesetzte Schaber oder Bürsten können klappbar geschaltet werden, um die Druckknöpfe 24 und Zylinderköpfe 30 zu überbrücken.In addition to the advantages of the invention discussed in detail, a further advantage is the fact that only on the top 22 of each
Ein weiterer Vorteil ergibt sich aus der Tatsache, dass gemäß
Claims (8)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE200710014254 DE102007014254A1 (en) | 2007-03-24 | 2007-03-24 | Method and device for positioning edge shutter profile elements on a formwork table |
Publications (4)
Publication Number | Publication Date |
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EP1974883A2 true EP1974883A2 (en) | 2008-10-01 |
EP1974883A3 EP1974883A3 (en) | 2010-09-01 |
EP1974883B1 EP1974883B1 (en) | 2012-06-27 |
EP1974883B8 EP1974883B8 (en) | 2012-09-26 |
Family
ID=39627475
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20080102504 Not-in-force EP1974883B8 (en) | 2007-03-24 | 2008-03-11 | Method and device for placing shuttering elements on a moulding table |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP1974883B8 (en) |
DE (1) | DE102007014254A1 (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2017047A2 (en) * | 2007-07-17 | 2009-01-21 | Progress Maschinen & Automation AG | Formwork for moulding on a mould table a prefabricated concrete element, in particular of rectangular shape |
CN102794818A (en) * | 2011-05-25 | 2012-11-28 | 艾乐迈铁科公司 | Side robot and method for disengaging the fastening magnet of a dismountable sidewall element by the side robot |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008054710B9 (en) | 2008-12-16 | 2012-08-16 | Sommer Anlagentechnik Gmbh | Randabschalungsvorrichtung |
DE102010006367B4 (en) * | 2010-01-29 | 2011-09-01 | Weckenmann Anlagentechnik Gmbh & Co. Kg | Formwork system for the production of prefabricated concrete parts |
WO2018171893A1 (en) | 2017-03-24 | 2018-09-27 | Sommer Anlagentechnik Gmbh | Device for fixing concrete wall elements in a formwork |
EP3939759B1 (en) | 2020-07-17 | 2023-12-20 | Sommer Anlagentechnik GmbH | Holding device for fixing concrete components in a mould |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2930006A1 (en) | 1979-07-24 | 1981-02-12 | Gildemeister Ag | Machine-tool mechanical loading grab - has spring components held rigid during transport and allowing movement during transfer |
DE10116230C1 (en) | 2001-04-02 | 2003-06-18 | Weckenmann Anlagentechnik Gmbh | Manufacture of precast concrete parts, involves using a formwork robot to close gap between two formwork panels |
EP1179401B1 (en) | 2000-08-09 | 2006-04-19 | Sommer Anlagentechnik GmbH | Method and device for making concrete products |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10304622B3 (en) * | 2003-02-05 | 2004-12-02 | Beton Kemmler Gmbh & Co. Kg | Mold erection device for concrete products involves setting elements at preset height above pallet at horizontal spacing from target position and moving them |
-
2007
- 2007-03-24 DE DE200710014254 patent/DE102007014254A1/en not_active Withdrawn
-
2008
- 2008-03-11 EP EP20080102504 patent/EP1974883B8/en not_active Not-in-force
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2930006A1 (en) | 1979-07-24 | 1981-02-12 | Gildemeister Ag | Machine-tool mechanical loading grab - has spring components held rigid during transport and allowing movement during transfer |
EP1179401B1 (en) | 2000-08-09 | 2006-04-19 | Sommer Anlagentechnik GmbH | Method and device for making concrete products |
DE10116230C1 (en) | 2001-04-02 | 2003-06-18 | Weckenmann Anlagentechnik Gmbh | Manufacture of precast concrete parts, involves using a formwork robot to close gap between two formwork panels |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2017047A2 (en) * | 2007-07-17 | 2009-01-21 | Progress Maschinen & Automation AG | Formwork for moulding on a mould table a prefabricated concrete element, in particular of rectangular shape |
EP2017047A3 (en) * | 2007-07-17 | 2011-02-16 | Progress Maschinen & Automation AG | Formwork for moulding on a mould table a prefabricated concrete element, in particular of rectangular shape |
CN102794818A (en) * | 2011-05-25 | 2012-11-28 | 艾乐迈铁科公司 | Side robot and method for disengaging the fastening magnet of a dismountable sidewall element by the side robot |
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 |
EP2527119A3 (en) * | 2011-05-25 | 2014-04-30 | Elematic Oy Ab | Method for disengaging the fastening magnet of a dismountable sidewall element by a side robot, and a side robot |
CN102794818B (en) * | 2011-05-25 | 2015-04-22 | 艾乐迈铁科公司 | Side robot and method for disengaging the fastening magnet of a dismountable sidewall element by the side robot |
Also Published As
Publication number | Publication date |
---|---|
DE102007014254A1 (en) | 2008-09-25 |
EP1974883A3 (en) | 2010-09-01 |
EP1974883B8 (en) | 2012-09-26 |
EP1974883B1 (en) | 2012-06-27 |
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