EP1974883B1 - Procédé et dispositif de positionnement d'éléments de coffrage de bordure sur une table de moulage - Google Patents

Procédé et dispositif de positionnement d'éléments de coffrage de bordure sur une table de moulage 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
Authority
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
Other languages
German (de)
English (en)
Other versions
EP1974883A3 (fr
EP1974883A2 (fr
EP1974883B8 (fr
Inventor
Alfred Strassmeier
Dr. Christian Hanser
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SOMMER ANLAGENTECHNIK GMBH
Original Assignee
Sommer Anlagentechnik GmbH
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Publication date
Application filed by Sommer Anlagentechnik GmbH filed Critical Sommer Anlagentechnik GmbH
Publication of EP1974883A2 publication Critical patent/EP1974883A2/fr
Publication of EP1974883A3 publication Critical patent/EP1974883A3/fr
Application granted granted Critical
Publication of EP1974883B1 publication Critical patent/EP1974883B1/fr
Publication of EP1974883B8 publication Critical patent/EP1974883B8/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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.

Claims (8)

  1. Dispositif apte à positionner avec précision des éléments profilés de coffrage de bordure (10) sur une table de moulage (56) pour la production d'éléments en béton, comprenant des éléments profilés de coffrage de bordure (10) avec aimants permanents intégrés (18) chacun apte à être activé par un bouton-poussoir cylindrique (24), et un robot programmable (62) muni d'une tête de préhension (36) avec deux grappins (38) pour saisir et déposer un élément de coffrage (10) et muni d'un outil de pose intégré (26) pour enfoncer et de cette manière activer l'aimant permanent correspondent (18), caractérisé par le fait que chaque grappin (38) est composé de deux mâchoires prismatiques de prise (46) pour saisir de manière centrée au moins une tête cylindrique (30) en saillie sur la face supérieure (22) des éléments de coffrage (10) et que la distance (a) entre le centre des boutons-poussoirs cylindriques (24) et l'extrémité frontale (28) voisine est constante pour tous les éléments de coffrage (10).
  2. Dispositif selon la revendication 1, caractérisé par le fait que chaque élément de coffrage (10) est muni de deux têtes cylindriques (30) et que la distance (2a) entre les grappins (38) correspond à la distance des têtes cylindriques (30).
  3. Dispositif selon la revendication 2, caractérisé par le fait que sur les deux côtés des têtes cylindriques (30) fixées à distance (2a) entre elles au milieu de l'élément de coffrage (10) est monté un bouton-poussoir cylindrique (24) en forme de tête cylindrique (30) et apte à être saisi par un des grappins (38), la distance (a) entre le centre du bouton-poussoir (24) et la voisine extrémité frontale (28) de l'élément de coffrage (24) étant égale à la moitié de la distance (2a) entre les deux têtes cylindriques (30) fixées au milieu de l'élément de coffrage (10).
  4. Dispositif selon une des revendications précédentes, caractérisé par le fait que dans le logement prismatique (50) des mâchoires de prise (46) est formée une surface supérieure de butée (52) constituant une partie de l'outil de pose (26).
  5. Dispositif selon la revendication 4, caractérisé par le fait que la surface de butée (52) est recouverte d'une couche d'appui élastique (54).
  6. Dispositif selon une des revendications précédentes, caractérisé par le fait que la distance entre les grappins (38) est réglable.
  7. Dispositif selon la revendication 1, caractérisé par le fait qu'en cas d'un élément de coffrage (10) muni d'une seule tête cylindrique (30) celle-ci est positionnée entre deux butées parallélépipédiques (58) en saillie sur la face supérieure (22) de l'élément de coffrage (10), et que chaque mâchoire prismatique de prise (46) présente deux épaulements latéraux (60) en ligne aptes à centrer l'installation contre les butées parallélépipédiques opposés (58).
  8. Procédé pour positionner avec précision des éléments profilés de coffrage de bordure (10) ayant des aimants permanents intégrés (18) sur une table de moulage (56) pour la production d'éléments en béton, utilisant un dispositif avec un robot (62) selon une des revendications précédentes, comprenant les étapes suivantes :
    a) déposer et positionner de manière connue un premier élément profilé de coffrage (10) au moyen de la tête de préhension (36),
    b) fixer d'abord seulement une première extrémité de l'élément de coffrage (10) en activant l'aimant permanent (18) situé à cet endroit au moyen de l'outil de pose (26),
    c) déposer un second élément de coffrage (10) au moyen de la tête de préhension (36) de sorte qu'il reste un interstice (fente de déplacement s) vers la seconde extrémité du permier élément de coffrage (10),
    d) aligner avec précision le premier élément de coffrage (10) au moyen de la tête de préhension (36) laquelle le fait pivoter autour de la première extrémité déjà fixée et porte simultanément la première extrémité du second élément de coffrage (10) dans une position alignée au premier élément de coffrage (10) en tirant le second élément de coffrage (10) contre le premier élément de coffrage (10) sens interstice (s),
    e) fixer simultanément la seconde extrémité du premier élément de coffrage (10) et la première extrémité du second élément de coffrage (10) en activant au moyen de l'outil de pose (26) les aimants permanents (18) situés à cet endroit,
    f) répéter les étapes c, d, e pour les éléments de coffrage (10) qui suivent.
EP20080102504 2007-03-24 2008-03-11 Procédé et dispositif de positionnement d'éléments de coffrage de bordure sur une table de moulage Not-in-force EP1974883B8 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200710014254 DE102007014254A1 (de) 2007-03-24 2007-03-24 Verfahren und Einrichtung zum Positionieren von Randabschal-Profilelementen auf einem Schalungstisch

Publications (4)

Publication Number Publication Date
EP1974883A2 EP1974883A2 (fr) 2008-10-01
EP1974883A3 EP1974883A3 (fr) 2010-09-01
EP1974883B1 true EP1974883B1 (fr) 2012-06-27
EP1974883B8 EP1974883B8 (fr) 2012-09-26

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Application Number Title Priority Date Filing Date
EP20080102504 Not-in-force EP1974883B8 (fr) 2007-03-24 2008-03-11 Procédé et dispositif de positionnement d'éléments de coffrage de bordure sur une table de moulage

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EP (1) EP1974883B8 (fr)
DE (1) DE102007014254A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018171893A1 (fr) 2017-03-24 2018-09-27 Sommer Anlagentechnik Gmbh Dispositif pour fixer des éléments de paroi en béton dans un coffrage
EP3939759A1 (fr) 2020-07-17 2022-01-19 Sommer Anlagentechnik GmbH Dispositif de maintien permettant de fixer des composants en béton dans un moule

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2411511T5 (es) * 2007-07-17 2018-01-19 Progress Maschinen & Automation Ag Procedimiento para la selección de perfiles de encofrado para la fabricación de un encofrado para un componente prefabricado de hormigón y encofrado correspondiente
DE102008054710B9 (de) 2008-12-16 2012-08-16 Sommer Anlagentechnik Gmbh Randabschalungsvorrichtung
DE102010006367B4 (de) * 2010-01-29 2011-09-01 Weckenmann Anlagentechnik Gmbh & Co. Kg Schalungssystem zur Herstellung von Beton-Fertigteilen
FI124469B (fi) 2011-05-25 2014-09-15 Elematic Oy Ab Menetelmä irrotettavan laitayksikön kiinnitysmagneetin irrottamiseksi laitarobotilla sekä laitarobotti

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2930006A1 (de) 1979-07-24 1981-02-12 Gildemeister Ag Werkstueckbeschickungsvorrichtung mit beweglichkeit fuer fluchtausgleich
DE10038757B4 (de) 2000-08-09 2012-10-18 Sommer Anlagentechnik Gmbh Verfahren zur Herstellung von Betonfertigteilen
DE10116230C1 (de) 2001-04-02 2003-06-18 Weckenmann Anlagentechnik Gmbh Verfahren und Vorrichtung zur Herstellung von Betonfertigteilen
DE10304622B3 (de) * 2003-02-05 2004-12-02 Beton Kemmler Gmbh & Co. Kg Verfahren zum Errichten einer Schalung für Betonteile

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018171893A1 (fr) 2017-03-24 2018-09-27 Sommer Anlagentechnik Gmbh Dispositif pour fixer des éléments de paroi en béton dans un coffrage
EP3939759A1 (fr) 2020-07-17 2022-01-19 Sommer Anlagentechnik GmbH Dispositif de maintien permettant de fixer des composants en béton dans un moule

Also Published As

Publication number Publication date
DE102007014254A1 (de) 2008-09-25
EP1974883A3 (fr) 2010-09-01
EP1974883A2 (fr) 2008-10-01
EP1974883B8 (fr) 2012-09-26

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