EP1974883B1 - 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 PDF

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Publication number
EP1974883B1
EP1974883B1 EP20080102504 EP08102504A EP1974883B1 EP 1974883 B1 EP1974883 B1 EP 1974883B1 EP 20080102504 EP20080102504 EP 20080102504 EP 08102504 A EP08102504 A EP 08102504A EP 1974883 B1 EP1974883 B1 EP 1974883B1
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EP
European Patent Office
Prior art keywords
casing
casing element
elements
cylindrical
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.)
Not-in-force
Application number
EP20080102504
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German (de)
French (fr)
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EP1974883B8 (en
EP1974883A3 (en
EP1974883A2 (en
Inventor
Alfred Strassmeier
Dr. Christian Hanser
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SOMMER ANLAGENTECHNIK GMBH
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Sommer Anlagentechnik GmbH
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Publication of EP1974883A2 publication Critical patent/EP1974883A2/en
Publication of EP1974883A3 publication Critical patent/EP1974883A3/en
Application granted granted Critical
Publication of EP1974883B1 publication Critical patent/EP1974883B1/en
Publication of EP1974883B8 publication Critical patent/EP1974883B8/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
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • 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
    • 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 with Randabschal profile elements for their positioning on a formwork table according to the preambles of claims 1 and 8 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, precisely positioned 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 closest to the invention is a device with a robot arm on which a cross member is mounted on the two gripping units are mounted horizontally displaceable. Both gripping units have plate-shaped gripping jaws which clamp the shuttering elements from two sides. The gripping units are moved relative to each other to close a Versetzspalt between two formwork elements.
  • the DE 29 30 006 A1 concerns the field of machine tools. It shows and describes a device with a gripping unit for detecting workpieces of different diameters, which are to be supplied to a chuck.
  • 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.
  • 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 magnetic activation also designed as a cylinder head, is arranged, on which the prismatic gripper jaws engage and whose center is spaced from the frontal 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 the 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. Alternatively, 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 the positionally accurate positioning of 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. After being transported to the calculated location on the formwork table 56, the robot 62 sets the profile element 10 on the formwork table 56. 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 fetches another profile element 10 from the magazine and repeats the illustrated cycle 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 for 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 is.
  • 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.

Description

Die Erfindung betrifft ein Verfahren und eine Einrichtung mit Randabschal-Profiletementen zu deren Positionierung auf einem Schalungstisch nach den Oberbegriffen der Patentansprüche 1 bzw. 8.The invention relates to a method and a device with Randabschal profile elements for their positioning on a formwork table according to the preambles of claims 1 and 8 respectively.

Gegenstand des Europäischen Patentes EP 1 179 401 B sind ein Verfahren und eine Einrichtung zur Herstellung von Betonfertigteilen, bei denen ein programmgesteuerter Roboter magnetisch fixierbare Randabschal-Profilelemente mit integrierten Permanentmagnetkörpern aus einem Magazin entnimmt, auf dem Schalungstisch lagegenau absetzt und anschließend die Permanentmagnetkörper aktiviert. Beim Transport der Profilelemente aus dem Magazin zum Schalungstisch ist der Roboter mit einem Greiferkopf mit zwei Greifern ausgerüstet, deren Greifbacken das Profilelement an den beiden Längsseiten umfassen. Zum Aktivieren der Permanentmagnetkörper dient sodann ein Setzwerkzeug, das mittels der Greifer von oben auf entsprechende Druckknöpfe der Permanentmagnetkörper drückt, so dass diese und damit auch die Profilelemente auf dem Schalungstisch magnetisch fixiert werden.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, precisely positioned on the shuttering table and then activates the permanent magnet bodies. 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.

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 were made to design the robot head so that the tolerances of the formwork, the robot and the shuttering 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.

Gegenstand der DE 101 16 230 C1 die der Erfindung am nächsten kommt, ist eine Vorrichtung mit einem Roboterarm, an dem ein Querträger angebracht ist, auf dem zwei Greifeinheiten horizontal verschieblich gelagert sind. Beide Greifeinheiten haben plattenförmige Greifbacken, welche die Schalungselemente von zwei Seiten einklemmen. Die Greifeinheiten werden relativ zueinander verfahren, um einen Versetzspalt zwischen zwei Schalungselementen zu schließen.Subject of the DE 101 16 230 C1 The closest to the invention is a device with a robot arm on which a cross member is mounted on the two gripping units are mounted horizontally displaceable. Both gripping units have plate-shaped gripping jaws which clamp the shuttering elements from two sides. The gripping units are moved relative to each other to close a Versetzspalt between two formwork elements.

Die DE 29 30 006 A1 betrifft das Gebiet der Werkzeugmaschinen. Sie zeigt und beschreibt eine Vorrichtung mit einer Greifeinheit zum Erfassen von Werkstücken unterschiedlicher Durchmesser, die einem Spannfutter zuzuführen sind.The DE 29 30 006 A1 concerns the field of machine tools. It shows and describes a device with a gripping unit for detecting workpieces of different diameters, which are to be supplied to a chuck.

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.

Die Lösung dieser Aufgabe ergibt sich aus den Merkmalen des Vorrichtungsanspruchs 1 und des Verfahrensanspruchs 8.The solution to this problem results from the features of the device claim 1 and the method claim. 8

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. As 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 magnetic activation, also designed as a cylinder head, is arranged, on which the prismatic gripper jaws engage and whose center is spaced from the frontal 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 grippers 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,
  • Figur 2 eine Draufsicht auf das Profilelement der Figur 1 mit der schematischen Darstellung von zwei Greifzangen mit prismenförmigen Greiferbacken,
  • Figur 3 einen schematischen Querschnitt des Profilelementes der Figur 1 in der Ebene III-III auf einem Stapel identischer Profilelemente in einem Magazin,
  • Figur 4 eine der Figur 2 entsprechende Draufsicht eines Profilelementes größerer Länge,
  • 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 der Figur 8,
  • Figur 10 eine Schnittdarstellung eines Profilelementes in der Ebene der Figur 3 mit der teilweise geschnittenen Darstellung einer Greifzange des Greiferkopfes während des Ausrichtens entsprechend der Situation in Figur 9,
  • Figur 11 eine der Figur 10 entsprechende Darstellung nach dem Ausrichten und während des Verriegelns des Profilelementes auf dem Schalungstisch,
  • Figur 12 eine vergrößerte Schnittdarstellung von zwei prismenförmigen Greiferbacken während des Verriegelungsvorganges mittels des Druckknopfes und
  • Figur 13 eine schematische Draufsicht auf eine abgeänderte Ausführungsform einer prismenförmigen Greiferbacke an einem kurzen Profilelement mit nur einem Zylinderkopf.
Further features and advantages of the invention will become apparent from the following description of an embodiment which is illustrated in the drawing. Show it:
  • 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 of FIG. 1 with the schematic representation of two grippers with prismatic gripper jaws,
  • FIG. 3 a schematic cross section of the profile element of FIG. 1 in level III-III on a stack of identical profile elements in a magazine,
  • FIG. 4 one of the FIG. 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 head FIG. 8 .
  • FIG. 10 a sectional view of a profile element in the plane of FIG. 3 with the partially cut representation of a gripping tongs of the gripper head during the alignment according to the situation in FIG. 9 .
  • FIG. 11 one of the FIG. 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 Figuren 1 bis 3 ist ein Randabschal-Profilelement 10 zu erkennen, das aus einem im Querschnitt U-förmigen Profilkörper 12 besteht, von dem eine Seitenwand 14, wie die Figuren 10 und 11 deutlich zeigen, nach oben einen Überstand 16 hat. Damit ergibt sich eine in den Figuren 1 und 3 eingezeichnete Gesamthöhe h.In the FIGS. 1 to 3 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.

In den Figuren 2, 4, 5 und 6 ist zu erkennen, dass die Profilkörper 12 unterschiedliche Längen 1 (vgl. Figur 7) haben können, beispielsweise 800, 1000, 1500, 2000 oder 3000 Millimeter.In the FIGS. 2, 4, 5 and 6 it can be seen that the profile body 12 different lengths 1 (see. FIG. 7 ), for example 800, 1000, 1500, 2000 or 3000 millimeters.

In beiden Endbereichen des Profilkörpers 12 ist, wie die Figuren 10 und 11 zeigen, jeweils ein Permanentmagnetkörper 18 untergebracht, von dem mittig eine Betätigungsstange 20 absteht, die über der Oberseite 22 des Profilkörpers 12 in einen Druckknopf 24 übergeht. Durch Niederdrücken des Druckknopfes 24 mittels eines nachstehend noch erläuterten Setzwerkzeuges 26 wird der Permanentmagnetkörper 18 aus der in Figur 10 gezeigten, angehobenen Position in die Verriegelungsstellung der Figur 11 gedrückt, in der er auf einem Schalungstisch 56 aufliegt. Auf diese Weise wird das Randabschal-Profilelement 10 auf dem Schalungstisch 56 durch magnetische Fixierung verriegelt.In both end portions of the profile body 12 is how the 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. By depressing the push button 24 by means of a setting tool 26 which will be explained later, the permanent magnet body 18 is made of the in FIG. 10 shown, raised position in the locked position of the 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.

In Figur 1 ist angedeutet, dass die Druckknöpfe 24 pilzförmig ausgebildet sind, so dass ein nicht weiter dargestelltes, beispielsweise gabelförmiges Entriegelungswerkzeug angesetzt werden kann.In FIG. 1 is indicated that the push buttons 24 are mushroom-shaped, so that a not further shown, for example, fork-shaped unlocking tool can be applied.

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 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.

Auf der Oberseite 22 jedes Profilkörpers 12 sind ferner, wie die Figuren 1 bis 7 zeigen, zwischen den beiden zylinderförmigen Druckknöpfen 24 zwei Zylinderköpfe 30 befestigt. Die Zylinderköpfe 30 sind zu den beiden Druckknöpfen 24, wie aus Figur 7 hervorgeht, in der Längsachse des Profilkörpers 12 ausgerichtet. Sie haben denselben Durchmesser wie die beiden pilzförmigen Druckknöpfe 24 und haben zur Quermittelachse des Profilkörpers 12 jeweils einen Abstand a. Damit ist im zusammengezogenen Zustand von zwei aneinander angrenzenden Profilelementen 10, d. h. nach Ausschalten der Lücke (Versetzspalt s) zwischen beiden, der Abstand 2a der beiden Zylinderköpfe 30 gleich dem Abstand zwischen den beiden Druckknöpfen 24 an den aneinander stoßenden Enden der Randabschal-Profilelemente 10.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. Thus, in the contracted state of two adjoining profile elements 10, ie after switching off the gap (Versetzspalt s) between the two, 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

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. Figur 3), der durch eine präzise angebrachte Bohrung in der Oberseite 22 des Profilkörpers 12 hindurchgreift; danach werden die Zylinderköpfe 30 auf der Oberseite 22 des Profilkörpers 12 befestigt, beispielsweise durch Schweißen.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.

In den Figuren 3 und 7 ist angedeutet, dass unterhalb jedes Zylinderkopfes 30 im Profilkörper 12 ein Quersteg 34 befestigt ist, der bündig mit der Unterseite des unten offenen Profilkörpers 12 abschließt. Da die Höhe der Zylinderköpfe 30 der Höhe des Überstandes 16 entspricht, können damit die Profilelemente 10 gemäß Figur 3 kippfrei gestapelt werden. Alternativ können sich die zylindrischen Füße 32 der Zylinderköpfe 30 bis zur Unterseite des Profilkörpers 12 erstrecken, so daß sie anstelle der Querstege 34 als Stapelelemente dienen.In the FIGS. 3 and 7 is indicated that below 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. Alternatively, 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.

Die Figuren 8, 10 und 11 zeigen das untere Ende eines programmgesteuerten Roboters 62, das als Greiferkopf 36 ausgebildet ist. Gemäß Figur 8 trägt der Greiferkopf 36 zwei Greifzangen 38, die an einer gemeinsamen Tragplatte 40 befestigt sind. Die Tragplatte 40 ist an zwei senkrechten Stangen 42 befestigt, die in zwei Vertikalführungen 44 gelagert sind. Ein in den Figuren nicht gezeigter Hubzylinder dient zum Anheben und Absenken des Greiferkopfes 36. 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 Figuren 7 und 9 sowie 12 zu erkennen.The FIGS. 8 . 10 and 11 show the lower end of a program-controlled robot 62, which is designed as a gripper head 36. According to FIG. 8 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.

Figur 8 zeigt, dass zwischen den beiden Greifzangen 38 an der Tragplatte 40 eine Plotterdüse oder Ölsprühdüse 48 befestigt ist. FIG. 8 shows that between the two grippers 38 on the support plate 40, a Plotterdüse or Ölsprühdüse 48 is attached.

Gemäß einer nicht gezeigten Variante der Figur 8 können die beiden Greifzangen 38 entsprechend dem Doppelpfeil verfahrbar gelagert sein, um den gegenseitigen Abstand 2a bei Bedarf einstellen zu können.According to a variant of the not shown FIG. 8 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.

In Figur 12 ist zu erkennen, dass jede der beiden Greiferbacken 46 einer Greifzange 38 eine prismatische Sitzausnehmung 50 hat, die nach oben durch eine horizontale Druckfläche 52 begrenzt ist. Diese Druckfläche 52 besteht aus einer elastischen Druckauflage 54 und ist Teil des Setzwerkzeuges 26 zum Niederdrücken eines Druckknopfes 24, wodurch der zugeordnete Permanentmagnetkörper 18 gegen den Schalungstisch 56 gedrückt wird.In FIG. 12 It can be seen that 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.

Das Verfahren zur lagegenauen Positionierung der Randabschal-Profilelemente 10 einer Schalung auf dem Schalungstisch 56 wird in der folgenden Weise durchgeführt.The method for the positionally accurate positioning of the edge shutter profile elements 10 of a formwork on the formwork table 56 is carried out in the following manner.

Zunächst entnimmt der Roboter 62 mit Hilfe seines Greiferkopfes 36 ein Profilelement 10 der erforderlichen Länge 1 aus einem Magazin (Figur 3), wobei die beiden Greifzangen 38 mit ihren prismatischen Greiferbacken 46 die beiden Zylinderköpfe 30 an der Oberseite 22 des Profilkörpers 12 kraftschlüssig erfassen. Nach dem Transport zu der errechneten Stelle auf dem Schalungstisch 56 setzt der Roboter 62 das Profilelement 10 auf dem Schalungstisch 56 ab. Nach dem Öffnen der beiden Greifzangen 38 wird der Greiferkopf 36 - im Beispiel der Figur 7 nach links - verfahren, so dass die in den Figuren 8 und 9 rechte Greifzange 38 über dem in Figur 7 linken Druckknopf 24 liegt. Der Greiferkopf 36 wird sodann in Richtung auf den Profilkörper 12 abgesenkt, worauf die beiden prismatischen Greiferbacken 46 den Druckknopf 24 umschließen und dabei das dort befindliche Ende des Profilelementes 10 präzise ausrichten. Danach werden die beiden Greiferbacken 46 wieder drucklos geschaltet und nochmals abgesenkt, so dass ihre Druckauflagen 54 (vgl. Figur 12) den Druckknopf 24 nach unten drücken und damit dieses erste Ende des Profilelementes 10 mittels des darunter liegenden Permanentmagnetkörpers 18 auf dem Schalungstisch 56 fixieren.First of all, 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. After being transported to the calculated location on the formwork table 56, the robot 62 sets the profile element 10 on the formwork table 56. 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.

In der beschriebenen Weise entnimmt sodann der Roboter ein weiteres Profilelement 10 aus dem Magazin und setzt dieses gemäß den Figuren 7 und 9 unter Freilassung einer Lücke (Versetzspalt s) im Anschluss an das erste Profilelement 10 ab. Die beiden Greifzangen 38 werden nun geöffnet, wodurch die für den Transport benutzten Zylinderköpfe 30 frei sind; der Greiferkopf 36 kann nun über die Lücke zwischen den beiden Profilelementen 10 verfahren und so abgesenkt werden, dass die beiden prismatischen Greiferbacken 46 der in den Figuren linken Greifzange 38 positionsgenau auf dem rechten Druckknopf 24 des linken Profilelementes 10 sitzen. Sodann werden die beiden Greifzangen 38 geschlossen, wobei die in Figur 7 rechten Greiferbacken 46 aufgrund ihrer prismatischen Sitzausnehmung 50 den von ihnen erfassten Druckknopf 24 in Richtung des eingezeichneten Pfeiles nach links ziehen, so dass der Versetzspalt s von etwa zwei bis vier Millimeter auf 0 Millimeter zurückgeführt wird. Bei dieser Operation befindet sich der Greiferkopf 36 des Roboters 62 in der exakt vorberechneten Position für die Randabschalung, so dass im Fall eines Winkelfehlers des bereits gesetzten linken Profilelementes 10 dieses in Richtung der in Figur 7 eingezeichneten Pfeile r exakt ausgerichtet wird, während das anschließende Profilelement 10 spaltfrei anliegt.In the manner described, 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. 7 right gripper jaws 46 due to their prismatic seat recess 50 pull the knob 24 detected by them in the direction of the arrow drawn to the left, so that the displacement gap s of about two to four millimeters is returned to 0 millimeters. In this operation, the gripper head 36 of the robot 62 is in the exact precalculated position for the Randabschalung, so that in the case of an angular error of the already set left profile element 10 of this in the direction of in FIG. 7 drawn arrows r is aligned exactly, while the subsequent profile element 10 rests without a gap.

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 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.

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 gripping tongs 38, the robot 62 fetches another profile element 10 from the magazine and repeats the illustrated cycle for positionally accurate positioning and locking.

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 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 for 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 is.

Figur 13 zeigt ein kurzes Profilelement 10 mit nur einem in der Mitte angeordneten Zylinderkopf 30, der mittig zwischen zwei Anschlagquadern 58 liegt, die ebenfalls von der Oberseite 22 des Profilkörpers 12 abstehen. Um auch ein derartiges Profilelement 10 in Richtung seiner Längsachse ausrichten zu können, hat jede prismenförmige Greiferbacke 46 (Figur 13 zeigt aus Vereinfachungsgründen nur eine Greiferbacke 46) zwei miteinander fluchtende Vorsprünge 60, die von der Greiferbacke 46 zu beiden Seiten hin abstehen. Beim Schließen einer derartigen Greifzange 38 erfasst die prismatische Sitzausnehmung 50 der Greiferbacke 46 den Zylinderkopf 30, während die beiden Vorsprünge 60 zur Anlage an den beiden Anschlagquadern 58 kommen und damit für eine Längsausrichtung des Profilelementes 10 sorgen. 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. In order to be able to align such a profile element 10 in the direction of its longitudinal axis, 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. When closing such a gripping tongs 38, 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.

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 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.

Ein weiterer Vorteil ergibt sich aus der Tatsache, dass gemäß Figur 3 die Höhe der Zylinderköpfe 30 der Höhe der Überstände 16 (vgl. Figur 11) entspricht. Dadurch wird eine kippfreie Stapelung der Profilelemente 10 in einem Magazin ermöglicht, bei der sich die Querstege 34 bzw. die innerhalb des Profilelementes 10 nach unten verlängerten Füße 32 der Zylinderköpfe 30 auf dem jeweils darunter liegenden Zylinderkopf 30 abstützen. Dies hat den zusätzlichen Vorteil, dass bei einer Druckeinwirkung auf das Magazin von oben die gestapelten Profilelemente 10 in ihrer Lage nicht beeinträchtigt oder verkantet werden.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. As a result, a tilt-free stacking of the profile elements 10 in a magazine is made possible, in which the transverse webs 34 or the inside of the profile element 10 downwardly extended feet 32 of the cylinder heads 30 are supported on the respectively 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.

Claims (8)

  1. Device adapted to precisely position edge forming profiled casing elements (10) on a casing table (56) for manufacturing concrete products, comprising edge forming profiled casing elements (10) having integrated permanent magnet elements (18) each of which is to be activated by a cylindrical push button (24), and a program-controlled robot (62) provided with a gripper head (36) having two grip pliers (38) for grasping and positioning a casing element (10), and with an integrated setting tool (26) for pressing down the respective push button (24) to activate the corresponding permanent magnet element (18), characterized in that each of said grip pliers (38) is made up of two prismatic clamping jaws (46) for grasping in a self-centered way at least one cylindrical head (30) protruding from the upper side (22) of said casing elements (10), and that the interspace (a) between the centre of the cylindrical push buttons (24) and the adiacent frontal end (28) of the casing element is equidistant for all casing elements (10).
  2. Device according to claim 1, characterized in that each of said profiled casing elements (10) has two cylindrical heads (30), wherein the interspace (2a) between said grip pliers (38) corresponds with the interspace (2a) between said cylindrical heads (30).
  3. Device according to claim 2, characterized in that on both sides of said cylindrical heads (30) positioned in the middle of the profiled casing element (10) and having the distance (2a) between each other, a cylindrical push button (24) acting as a cylindrical head (30) to be grasped by one of said grip pliers (38) is provided, the centre of which has a distance (a) to the frontal end (28) of said casing element (10) that corresponds to half the distance (2a) between both cylindrical heads (30) positioned in the middle of the casing element (10).
  4. Device according to any of the preceding claims, characterized in that within the prismatic seat recess (50) of the clamping jaws (46) an upper pressure area (52) is formed which is part of the setting tool (20).
  5. Device according to claim 4, wherein said pressure area (52) is coated with an elastic layer (54).
  6. Device according to any of the preceding claims, wherein the distance between the grip pliers (38) is adjustable.
  7. Device according to claim 1, characterized in that for profiled casing elements (10) having only one cylindrical head (30) this head is positioned between two stop cubes (58) protruding from the upper side (22) of said casing element (10), and in that each one of said prismatic clamping jaws (46) has two laterally protruding projections (60) in alignment with each other and adapted to provide a centered abutment on the opposing stop cubes (58).
  8. Method for the precise positioning of edge forming profiled casing elements (10) with integrated permanent magnet elements (18) on a casing table (56) for manufacturing concrete products, using a device with a robot (62) according to any of the preceding claims and having the following steps:
    a) depositing and positioning in a per se known manner a first casing element (10) by means of the gripper head (36),
    b) locating in a fixed position only a first end of said casing element (10) by activating the corresponding permanent magnet element (18) through the setting tool (26),
    c) depositing a second casing element (10) by means of said gripper head (36) leaving a gap (s) relative to the second end of said first casing element (10),
    d) precisely aligning said first casing element (10) by means of said gripper head (36) which turns said casing element (10) through its first, already positioned end and which simultaneously brings the first end of the second casing element (10) in an aligned position with the first casing element (10), pulling said second casing element (10) against the first casing element (10) thus eliminating said gap,
    e) simultaneously fixing the second end of said first casing element (10) and the first end of said second casing element (10) by activating the corresponding permanent magnet elements (18) through said setting tool (26),
    f) repeating the steps c, d, e for further casing elements (10).
EP20080102504 2007-03-24 2008-03-11 Method and device for placing shuttering elements on a moulding table Not-in-force EP1974883B8 (en)

Applications Claiming Priority (1)

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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

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EP1974883A3 EP1974883A3 (en) 2010-09-01
EP1974883B1 true EP1974883B1 (en) 2012-06-27
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WO2018171893A1 (en) 2017-03-24 2018-09-27 Sommer Anlagentechnik Gmbh Device for fixing concrete wall elements in a formwork
EP3939759A1 (en) 2020-07-17 2022-01-19 Sommer Anlagentechnik GmbH Holding device for fixing concrete components in a mould

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EP2017047B2 (en) * 2007-07-17 2017-09-27 Progress Maschinen & Automation AG Method for selecting side wall elements for manufacturing a formwork for a prefabricated concrete element and corresponding formwork.
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
FI124469B (en) * 2011-05-25 2014-09-15 Elematic Oy Ab Method of releasing a magnet with an edge robot for attaching a detachable edge unit and edge robot

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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
DE10038757B4 (en) 2000-08-09 2012-10-18 Sommer Anlagentechnik Gmbh Process for producing precast concrete parts
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
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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018171893A1 (en) 2017-03-24 2018-09-27 Sommer Anlagentechnik Gmbh Device for fixing concrete wall elements in a formwork
EP3939759A1 (en) 2020-07-17 2022-01-19 Sommer Anlagentechnik GmbH Holding device for fixing concrete components in a mould

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EP1974883A3 (en) 2010-09-01
EP1974883A2 (en) 2008-10-01
DE102007014254A1 (en) 2008-09-25

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