EP2241528B1 - Device and Method for moving finished concrete components - Google Patents

Description

The invention relates to a lifting device and a method for moving precast concrete elements provided with holding elements with this lifting device, which has at least one vertically movable holding device.

For the lifting of precast concrete components, from which protrude sustainable structures that are suitable as holding elements, various methods have been used. This lifting is essentially a vertical movement for demoulding the prefabricated concrete components of ceilings and double wall upper shells, wherein the retaining elements are usually designed as so-called lattice girder structures which are used as reinforcing element. At the time of removal from the pallet form these lattice girder structures protrude from the already solidified precast concrete component so far that they can be detected with appropriate holding devices.

The simplest method is to use an existing crane to attach the holding devices to the lattice girders, which are either longitudinal or transverse to the concrete element, and to demould the precast concrete element from the crane up out of the pallet form.

Another way to lift concrete precast components is to use a so-called lifting beam, which serves for stabilizing attachment. In general, such a lifting beam is struck against an existing hall crane and has a larger number of hooks, the longitudinal and transverse positions with respect to the precast concrete component can be variably arranged. They must be manually aligned by an operator for the respective precast concrete component and, for example, attached to the lattice girder structures. For the alignment of the hook, for example, standard stops are attached to short chains. But it is also possible to use solid running stop means, which are mounted pivotably about a horizontal axis. This defines the Lifting Traverse the horizontal axis by the vertical axis is perpendicular to the lift-off. For the positioning of the stop means, so for example the hook, roller chain systems or linear guide systems are used longitudinally and transversely to the precast concrete element. If the lifting beam is not needed, it can be decoupled from the hall crane, which is then available for other tasks. A great danger in the movement of a precast concrete component with such a holder is given that transverse and longitudinal movements of the precast concrete component, possibly together with a lifting beam, can sway through the free suspension on the crane. This instability can lead to destructive loosening of the connection with the prefabricated concrete component and thus also poses a risk to persons.

The DE 36 39 651 A1 shows a lift-off device for large workpieces which can be attached to a crane. On a support frame whose vertical extent is adjustable with a hoist, a plurality of horizontally arranged Abhebebalken are connected to which in turn designed as hooks holding devices are arranged. The hooks themselves are freely swinging about two mutually perpendicular horizontal axes and thus can be pivoted for engagement with the holding elements of the workpiece about these horizontal axes.

Although this document no longer has the disadvantage that the stability of the position of the lifted precast concrete components for the subsequent movement may not be sufficient, since the lifting beam disclosed therein is firmly connected by a shearing system with the hoist and is additionally supported by laterally arranged support , As a result, the fastening system essentially allows only a movement in the stroke direction, so that the longitudinal and transverse stability of the lifted prefabricated concrete component is considerably improved for a subsequent movement, in particular towards a stacking position. The in the DE 36 39 651 A1 However, the disclosed solution has the disadvantage that the engagement of the hook-shaped holding devices in the lattice structure on the workpiece is tedious and time-consuming, since the grid elements are not always arranged to fit the tilting movement of the hooks, which may not some of the hooks Lattice girders can be connected, which in turn can affect the stability of the support of the workpiece, especially during movement.

The DE 84 35 102 U1 shows a Krangehänge for demoulding ceiling elements made of concrete, wherein in the transverse direction extending, mutually parallel support arms are connected in pairs and moved together by a circulating traction means, each support arm is connected to one of the opposite strands of the traction means. The support arms have einhakbare stop means, which are arranged symmetrically to a center of gravity of the crane hanger and are moved together with the pairs movable support arms. An independent movement of the hook-shaped stop means on the individual support arms is not or only in the longitudinal direction of the support arms possible, so that the attachment of the hook-shaped stop means may be cumbersome and complicated at irregularly mounted holding elements on the ceiling elements.

The US 2008/0006806 A1 shows a support arm which serves to transport elongated objects and is arranged for this purpose on the crane arms of a crane. The support arm has hook-shaped holding elements and clip-shaped holding elements, wherein the hook-shaped holding elements are rotatable about a vertical axis. An insert for moving provided with holding elements precast concrete components with a lifting device is not provided.

The increasing demand for an assembly-compliant supply of the construction sites without internal and / or external intermediate storage of precast concrete components has led to a paradigm shift in the production processes, which is characterized by an increasing degree of automation and a significant expansion of flexibility. It is no longer the maximum utilization of the pallet shape that is decisive, but a just-in-time production, which focuses on the laying plan of the construction site. This trend inevitably leads to a decrease in pallet utilization and to a much higher variety of concrete prefabricated component occupancy from pallet form to pallet form, in particular in a pallet circulation system, since the prefabricated concrete components are now produced directly one after the other in the correct stacking order. The resulting decrease in production output is due to a significant reduction in the cycle times of Pallet shape compensated to pallet shape. Such a pallet circulation system is for example in the Austrian patent application A 758/2008 described.

From this the consequence derives that for demolding, i. Shuttering required time must be drastically shortened, the shape and position of the precast concrete components of pallet form to pallet shape may differ significantly. The previously used, in particular visual and manual, demolding operations, i. Demoulding the Betonfertigibauteile no longer meet these requirements.

The object of the invention is therefore to avoid the above-mentioned disadvantages and to provide an alternative method for moving precast concrete components available, in which the holding devices can be brought in a technically simple and fast manner with the holding elements of the precast concrete element engaged On differently oriented holding elements can be considered.

This is achieved by a lifting device with the features of claim 1.

Due to the different forms of precast concrete components and due to inaccuracies in arranging the holding elements in precast concrete components, in particular, if these are designed as reinforcing elements, the holding elements may have different orientations. The retaining elements stand out of the precast concrete components. In the hitherto used hooks, which have to be tilted about a horizontal axis in order to engage with the holding elements, this different alignment of the holding elements leads to problems, so that an intervention is not always possible. By now the at least one holding device is brought by a rotation or pivoting about a vertical axis with the holding element into engagement, the alignment of the holding elements with respect to the longitudinal and transverse direction of the precast concrete component no more consideration must be taken, as by such rotational movements to a vertical axis arbitrarily aligned holding elements are detected, as long as they are within reach of the holding device.

In particular, the lifting device according to the invention or the method according to the invention makes it possible to grasp the prefabricated concrete component with only one movement of the holding device.

Further advantageous embodiments of the invention are defined in the dependent claims.

The invention relates to a lifting device for moving precast concrete elements provided with holding elements comprising at least one vertically movable holding device, wherein the holding device can be brought into engagement with the holding element by rotation or pivoting about a vertical axis.

The invention has a support frame, wherein the support frame has at least one lift bar, wherein the at least one holding device is rotatably mounted on the lift bar and additionally or alternatively at least parts of the lift bar are rotatably formed. The support frame further has a hoist with which the lift bar is vertically movable, whereby the vertical movability of the holding device is ensured.

It is furthermore particularly preferred if the lifting device has a motor drive device, from which the holding device can be rotated or swiveled. By such a drive device, in particular the automation idea can be taken into account. After many activities during the production of precast concrete components, especially in a Pallettenformumlaufanlage already fully automatic and no longer manually performed, it is also in the demoulding and lifting the precast concrete components faced with the task of accelerating these processes and an alternative to manual demoulding and a lifting, wherein the holding device is manually connected to the holding element to create.

It may further be provided that the at least one holding device is or can be fixed in a rotated or pivoted position. By such a fixation or locking in a twisted or pivoted position, after the holding device has been brought into engagement with the holding element, with the vertical movement, ie with the lifting of the precast concrete component the vertical movement, ie started with the lifting of the precast concrete component. In this case, the fixation can be realized for example with a mechanical locking element or by the drive device.

It may also be advantageous that the support frame comprises a support frame and a lift-off, wherein the Abhebalken is mounted on the Abhebetraverse and Abhebetraverse is vertically movable from the hoist. As a support frame is, for example, a running frame of a hall crane or a standard crane or connected to a crane frame member. The hoist itself can be designed as a scissors or telescope system, which connects the lift-off traverse with the support frame. In particular, the lifting bar may be formed in one or more parts, wherein the lifting bar may have separately rotatable sections, whereby the holding device with transverse holding elements is particularly easy to bring into engagement and also several small precast concrete components that have been produced together on a pallet form, can be detected ,

A hoist with a scissor or telescope system can generally serve for the vertical movement of the lifting beam or the lifting beam.

It is particularly advantageous when the lift bar and / or the holding devices are movable by motor, which in turn can be taken into account the automation idea.

In a particularly preferred embodiment of the invention, several lift-off bars are arranged on the support frame, preferably on the lift-off traverse, the lift-off bars being horizontally spaced apart from one another. It is particularly preferred if the lift-off beams are aligned substantially parallel to one another. In this case, at least one retaining device is arranged on a plurality of the lifting beams, preferably on all. As a result, the expansion of the precast concrete component in a horizontal direction perpendicular to the lifting beam can be taken into account, whereby the stability during movement even with precast concrete components, which have a large extent in this direction, guaranteed.
It is also advantageous, even if in the horizontal direction perpendicular thereto, ie in the longitudinal direction of the lifting bar precautions are taken for increased stability, so that even in this direction large prefabricated concrete components are stable to move. For this purpose, it is provided that a plurality of holding devices are arranged at least on one of the lifting beams.

If a plurality of lifting bars and / or holding devices are present, it is preferably provided that their movements can be carried out independently of one another. This concerns in particular the turning or. Verschwenkbewegungen several existing holding devices, each independently with the Retaining elements can be brought into engagement. Nevertheless, it is also conceivable to turn all or more of the holding devices together or pivot.

With the above-mentioned embodiments, therefore, if the concrete precast component over a large area along the longitudinal and transverse direction holding elements are arranged, a stable movement can be ensured by holding devices with over the horizontal extent of the precast concrete component distributed holding elements are engaged. It is particularly advantageous if the lift bar in the horizontal direction and / or the holding device along the lifting bar is movable so that the center of gravity of the concrete precast element to be moved can be considered and the holding devices can be moved to the corresponding positions of the holding element or the holding elements ,

In a particularly preferred embodiment of the invention, the holding device has a hook, which has a hook tip, which can be brought into engagement with the holding element. In this case, the hook may be formed substantially L-shaped. By the rotation or pivoting of the hook connected to the holding device and optionally a subsequent vertical movement of the holding device, the hook tip, so for example the cantilevered part of the L-shaped part, with the holding element, so for example the transverse or longitudinal wire of a lattice girder structure in engagement brought, whereby during the subsequent vertical movement of the lifting device, a positive connection is generated. By turning the hook, the gripping of arbitrary angular positions and progressions of the holding elements, that is, for example, the reinforcing elements of the precast concrete component, based on the longitudinal and transverse directions of the pallet shape or the precast concrete component allows.

It can also be provided that the at least one holding device has two hooks, the hook tips are aligned opposite, so that the holding device is designed as a kind of double hooks. This makes it possible, with a rotation or pivoting of the holding device, a simultaneous molding and traction to capture and secure the precast concrete element for a stable movement to allow.

In a particularly preferred embodiment of the invention, the holding device itself has one, preferably two, double hooks, which have or have in each case two oppositely oriented hook tips, so that this double hook is substantially T-shaped, optionally with angled tips. As a result, in particular the direction of rotation of the holding device for engaging in the holding elements does not matter, whereby the lifting process can be further accelerated. By the two oppositely oriented hook tips cross and longitudinal wire can be taken with a hook, in particular, reinforcing elements with different strength wires of the lattice girder structure can be taken.

In one embodiment of the invention, the drive device has a cylinder which is connected to the holding device and designed such that a linear movement of the cylinder or a piston arranged in the cylinder is converted into a pivoting or rotary movement of the holding device. As a result, the holding devices can be designed to save space.

In a particularly preferred embodiment of the invention, the lifting device has a control device, from which the movements of the lifting device can be controlled. These movements of the lifting device include the rotation or pivoting of the holding device and the horizontal movements of the holding device and / or the lifting bar. It can also be provided that the control device comprises a master computer. Furthermore, CAD data of the precast concrete components can be present or measured, with which the control device determines the center of gravity of the precast concrete component and the position of the lattice girders and detects therefrom the points of engagement of the holding devices which are ideal for the stability of the movement. It can further be provided a scanning device, with which the holding elements can be detected, so that the calculated ideal engagement points of the holding device compared with the actual existing holding elements and thereby the optimal actual engagement points of the holding devices can be determined.
In any case, serving as holding elements reinforcing elements of the precast concrete component can be arbitrary be taut, it being preferred that these reinforcing elements are aligned in the longitudinal and transverse direction of the precast concrete element. Characterized in that the holding device can be brought into engagement with the holding elements by a rotation, always a fast and automatic lift-off process can be achieved.

The control device, in particular if a master computer is present, may further comprise an electronic memory in which the laying plan is stored, so that the concrete prefabricated component can be automatically deposited in a stacking position in the course of further movement at a previously calculated position in an order corresponding to the laying plan , It is also the position of the precast concrete components based on a reference point of the pallet shape during transport to the stack arbitrarily, preferably automatically changed. In particular, several precast concrete components can be demoulded simultaneously, i. be turned off.

In a particularly preferred embodiment of the invention, the motor drive device has a sensor with which an engagement of the holding device with a holding element can be detected. This may be, for example, a pressure sensor, which then strikes when a further rotation or pivoting of the holding device is no longer possible because of an existing engagement. By such sensors, a secure gripping of the retaining element can be monitored by the holding device.

In a further preferred embodiment, the lifting device can also have a device with which the vertical distance of the holding device to the surface of the precast concrete component is measured. If, during a vertical movement of the holding device, this distance falls below a certain value, the hoist, for example, can be switched off. Thereby, the holding device can be positioned at the corresponding holding elements and then brought into engagement by a rotation or pivoting of the holding devices about a vertical axis. In this case, the corresponding choice of the holding elements can depend on the center of gravity of the precast concrete component, wherein this center of gravity and the position of the optimal holding elements for a stable movement can be determined from the CAD data.

It can be provided that this device for distance measurement as a probe element of the lifting device, which is preferably spring-loaded, is formed. Further, it may be provided that the probe element comprises an adjustable plunger device, wherein a sensor which is actuated by the probe element, preferably via the plunger device, detects the distance and deactivated, for example, falls below a certain limit distance the hoist. The probe element strikes against the surface of the precast concrete component or on the holding element.

The invention further relates to a lift-off traverse of a lifting device, which is designed as described above and is used in particular in a pallet circulation system for the production of precast concrete components. Such a pallet circulation system comprises several stations in the sense of a production line, wherein one of these stations is designed as a lift-off, takes place at the means of the lifting beam according to the invention, the demoulding and lifting of the finished precast concrete component. Subsequently, the precast concrete element is transported to a stacking position.

The invention further relates to a gantry crane with a lifting device, which is designed as stated above. Such a gantry crane can also be used in pallet circulation systems for the production of precast concrete components.

• Horizontale und/oder vertikale Bewegung der wenigstens einen Halteeinrichtung zu einer vorgesehenen Entnahmeposition des Betonfertigbauteiles, bis die Halteeinrichtung in einem vertikalen vorgegebenen Abstand oberhalb des Betonfertigbauteiles positioniert ist,
• Drehung bzw. Verschwenkung der wenigstens einen Halteeinrichtung, bis diese mit dem Halteelement in Eingriff gebracht worden ist,
• Anheben der wenigstens einen Halteeinrichtung mit daran befestigtem Betonfertigbauteil, und
• Transport und Ablegen des Betonfertigbauteiles zu bzw. auf einer vorgesehenen Stapelposition.

In a preferred embodiment, the method according to the invention for the movement of precast concrete elements provided with holding elements comprises the steps:

• Horizontal and / or vertical movement of the at least one holding device to an intended removal position of the precast concrete component until the holding device is positioned at a vertical predetermined distance above the precast concrete component,
• Rotation or pivoting of the at least one retaining device until it has been brought into engagement with the retaining element,
• Lifting the at least one holding device with attached concrete precast component, and
• Transport and removal of the precast concrete component to or on a designated stacking position.

In this case, the removal position of the precast concrete component in step a) means a point of the horizontally arranged surface of the precast concrete component in the immediate vicinity of a holding element, this point can be defined by XY coordinates and wherein the X and Y axis of the longitudinal or transverse direction of the precast concrete component or a coordinate system which is intended in the pallet form. It can further be provided that the position of the holding elements, ie the XY coordinates have been determined by a scanning device and transmitted to a control device. If step a) is carried out automatically, which is preferred, these data can control the movement of the holding device. To get to the respective XY coordinates, horizontal movements of the holding device may be necessary. Additionally or alternatively, a vertical movement of the holding device may be necessary up to a certain distance above the precast concrete component. It may be provided that the device for distance measurement, for example, a probe element by means of the relayed via a plunger device to a sensor movements of the probe element, the vertical movement of the holding device stops as soon as a certain limit of this distance is exceeded.

Additionally or alternatively, it can be provided that these steps b), c) or d) is or will be carried out at least partially automatically, preferably robot-controlled. It is particularly preferred if all steps a) to d) are performed automatically, preferably robot-controlled. In step b) can be provided that a drive device automatically stops the rotation or pivoting of the holding device or the support frame as soon as a sensor of the drive device detects an engagement of the holding device with the holding element. It can also be provided that the drive device, the rotation or pivoting of the holding device or the support frame, for example, the lift bar, changes as soon after a rotation or pivoting by a certain predetermined angle no engagement of the holding device is detected with the holding elements.

In step d), it can further be provided that the depositing position, ie the stacking position, is determined as a function of previously laid concrete precast components, so that, for example, a plurality of precast concrete components can be positioned next to one another on a particularly large prefabricated concrete component.

Fig. 1

eine schematische Vorderansicht einer erfindungsgemäßen Hebevorrichtung, wobei die Abhebebalken und die Abhebetraverse über der Palettenform abgesenkt sind, um das Betonfertigbauteil zu entformen,

Fig. 2

eine schematische Vorderansicht einer erfindungsgemäßen Hebevorrichtung mit entformtem Betonfertigbauteil und angehobenem Abhebebalken und angehobener Abhebetraverse,

Fig. 3a und 3b

eine schematische Seitenansicht der erfindungsgemäßen Hebevorrichtung mit zwei verschiedenen Anordnungen von horizontal beabstandeten Abhebebalken in angehobener und abgesenkter Position,

Fig. 4a bis 4c

eine schematische Querschnittsdarstellung einer erfindungsgemäßen Halteeinrichtung und eine schematische Darstellung des Eingriffs einer erfindungsgemäßen Halteeinrichtung in zwei senkrecht zueinander angeordneten Halteelementen,

Fig. 5

eine Vorderansicht eines Doppelhakens der Halteeinrichtung, und

Fig. 6a und 6b

eine schematische Darstellung, wie die erfindungsgemäße Halteeinrichtung mit einem als Draht ausgebildeten Halteelement in Eingriff gebracht wird.

Further details and advantages of the present invention will be explained in more detail below with reference to the description of the figures with reference to the drawings. It shows:

Fig. 1

1 is a schematic front view of a lifting device according to the invention, wherein the lifting bar and the lifting beam are lowered above the pallet mold in order to demould the precast concrete component,

Fig. 2

a schematic front view of a lifting device according to the invention with demoulded precast concrete element and raised lifting beam and raised lifting beam,

Fig. 3a and 3b

a schematic side view of the lifting device according to the invention with two different arrangements of horizontally spaced Abhebebalken in the raised and lowered position,

Fig. 4a to 4c

2 a schematic cross-sectional view of a holding device according to the invention and a schematic illustration of the engagement of a holding device according to the invention in two holding elements arranged perpendicular to one another,

Fig. 5

a front view of a double hook of the holding device, and

Fig. 6a and 6b

a schematic representation of how the holding device according to the invention is brought into engagement with a designed as a wire holding element.

In Fig. 1 is a schematic front view of a lifting device according to the invention shown with a support frame, wherein the support frame comprises an individual driving frame or a standard crane 1, on which in a conventional manner, a shearing system 2 for lifting the precast concrete element 19 is attached. The scissors system 2 carries a lifting crosshead 3 and is supported by cable systems 23 in order to have the necessary rigidity, so that the precast concrete component 19 can be demolded from the pallet mold 6 and lifted in the direction of the arrow H. For this purpose, a hoist 4 is arranged on the standard crane 1, from which the lifting crosshead 3 is vertically movable. Instead of the traveling frame or the standard crane 1 is in principle any support frame possible, on the means for height adjustment, such as a scissors or telescope system and a hoist 4 is arranged. On the vertically movable Abhebetraverse 3 are arranged in the horizontal direction bar-shaped and spaced from each other Abhebebalken 5 by connecting elements 26, wherein the longitudinal direction of these lifting beams is preferably aligned parallel to the longitudinal direction of the pallet 6 and the precast concrete element 19. This longitudinal direction lies in the plane of the drawing shown, while the transverse direction is perpendicular thereto, also in the horizontal direction, is arranged. The lift-off bars 5 are motorized in this horizontal, perpendicular to the longitudinal direction of the lift bar 5 transverse direction, individually and independently movable. For reasons of clarity, the drive device for this movement, as well as the exact mechanical details, for example, of the hoist 4 or the cable system 23 is not shown. Such components are known per se in the prior art. For all driving devices known means, such as electric motors, are used in the prior art. Due to the traversing movements in the transverse direction of the individual lifting beams 5, the entire width, which expands in a direction perpendicular to the drawing plane, of the pallet mold 6 or of the precast concrete component 19 can be covered. The prefabricated concrete component 19 is shown broken away, so that both the bottom cast-in concrete concreted in the concrete as well as from the precast concrete member 19 projecting upper chords of the lattice girder structure 21 can be seen. The upper and lower straps are formed by longitudinal wires 20 'which run along the longitudinal direction of the lifting bar 5, between which are perpendicularly arranged transverse wires 20 ", which are connected to the longitudinal wires 20', for example welded.

On the holders 7, a rotatably mounted holding device 8 is arranged in each case, which can be rotated by a drive device about a vertical axis. On the holding device 8, two double hooks 10, 11 are fixed, each having oppositely directed hook tips 12, 13 and 14, 15 have. Between the double hooks 10, 11 is a vertically movable, attached to the holding device 8 and spring-loaded probe element 16. About an adjustable plunger 17, a movement of the probe element 16 can actuate a sensor 18 integrated in the holding device 8. In order to achieve sufficient positioning accuracy even with repeated movements, all drives are provided with the necessary reference sensors. Such sensors are are known per se in the prior art and are therefore not explained in detail. In particular, a sensor may be provided which detects a resistance to the rotation of the holding device. This resistance is built up when the holding device 8 comes into engagement with one of the holding elements 20. It can also be provided a sensor which measures the angle of rotation of the holding device 8.

At each of the movable lift-off beams is at least one or more preferably motorized, individually and independently of one another in the longitudinal direction of the lift-off beam 5, i. in the direction of the double arrow L, movable brackets 7 attached so that these brackets 7 can cover a large longitudinal region of the lifting bar 5. For rotation of the holding device 8 about a vertical axis A is in each case a drive device 9 is present, in which a linear movement of a piston 25 into a cylinder 24, or out of this, is converted into a rotational movement of the holding device 8.

• Der Standardkran 1, der in einer Richtung senkrecht zur Zeichenebene der Fig. 1 bewegbar ist (in Richtung des Doppelpfeiles Q der Fig. 3), bewegt die Hebevorrichtung mit Hilfe einer Positionserfassung auf die vorgesehene Entnahmeposition des Betonfertigbauteils 19, wie in Fig. 1 dargestellt. Dabei hängt diese Position davon ab, wo auf der Palettenform 6 das Betonfertigbauteil 19 erzeugt wurde, sowie gegebenenfalls auch vom Schwerpunkt des Betonfertigbauteils 19. In dargestellten Fall ist die Entnahmeposition zentrisch über der Palettenform 6. Alle Halterungen 7 befinden sich bereits auf einer gewissen Längsposition entlang des Abhebebalkens 5. Ebenso sind die hier nicht dargestellten, hinter dem Abhebebalken 5 angeordneten Abhebebalken auf einer gewissen Position in Querrichtung des Betonfertigbauteils 19. Durch diese Längs- und Querpositionen sind die horizontalen Entnahmepositionen der Halteinrichtungen 8 festgelegt, wobei diese Positionen aus den CAD-Daten des Betonfertigbauteils 19 stammen können und von einer Steuereinrichtung übermittelt worden sein. Üblicherweise fährt dazu zunächst die Hebevorrichtung immer dieselbe Position (z.B. symmetrisch zur darunterliegenden Palettenform 6) an, worauf dann die Abhebebalken 5 und die Halteeinrichtungen 8 an die spezifischen Entnahmepositionen bewegt werden. Generell kann dieser Vorgang aber auch umgekehrt durchgeführt werden, wobei zu beachten ist, dass mehrere erfindungsgemäße Hebevorrichtungen vorhanden sind, die gegebenenfalls kollidieren könnten und daher entsprechend zu kontrollieren sind.

An embodiment of the method according to the invention will now be described below:

• The standard crane 1, which is in a direction perpendicular to the plane of the drawing Fig. 1 is movable (in the direction of the double arrow Q the Fig. 3 ), the lifting device moves by means of a position detection on the intended removal position of the precast concrete component 19, as in Fig. 1 shown. In this case, this position depends on where on the pallet mold 6, the precast concrete element 19 was generated, and optionally also the center of gravity of the precast concrete element 19. In the case shown, the removal position is centered on the pallet form 6. All brackets 7 are already along a certain longitudinal position Likewise, the lifting beams, not shown here, arranged behind the lifting bar 5, are at a certain position in the transverse direction of the precast concrete element 19. These horizontal and transverse positions define the horizontal removal positions of the holding devices 8, these positions being determined from the CAD data of the precast concrete component 19 may have come and have been transmitted by a control device. Usually, the lifting device always first moves to the same position (eg symmetrically to the underlying pallet form 6), whereupon the lifting bars 5 and the holding devices 8 are then moved to the specific removal positions. In general, however, this process can also be carried out the other way round It should be noted that there are several lifting devices according to the invention which could possibly collide and therefore have to be controlled accordingly.

The hoist 4 lowers the Abhebetraverse 3 in overdrive in the direction of pallet form 6, ie against the arrow H. From a certain predetermined position above the pallet 6, the lift-off 3 is switched to creep to approach the precast concrete 19 slower. With this slow speed, the holding devices 8, with their integrated feeler elements 16, rest on the holding elements 20 running longitudinally and / or transversely beneath them, which are designed in the form of reinforcing elements. The forwarded via the plunger device 17 to the integrated sensor 18 movement of the probe element 16 switches the hoist 4 Abhebetraverse 3 at the exact height position above the precast concrete element 19 from. This situation is in Fig. 1 shown.

Subsequently, the holding devices 8 are rotated by the respectively associated drive devices 9 about a vertical axis A until, depending on the position of the holding element 20, ie a transverse or longitudinal wire 20 ', 20 "of the lattice girder structure 21, which serves as a reinforcing element, either between the hook tips 12 and 13 or between the hook tips 14 and 15 of the two double hooks 10 and 11 is clamped, whereby the holding device 8 is brought into engagement with the holding elements 20. Also with this rotation of the holding device 8 can take over the CAD data of the current precast concrete component 19, which have been transmitted by a control device, can be used to set the angle of rotation or the direction of rotation, but it can also be provided that the drive device 9 initially selects any desired direction of rotation, it also being possible to provide that, up to a certain extent Angle no intervention has occurred, a reversal of Drehrichtu ng takes place.

After all or a certain number of the holding devices 8 have detected their engagement position or their Verriegeiungspositionen via the corresponding sensors, the hoist 4 begins to demould the precast concrete 19 at creep, ie to demould by the lifting beam 3 vertically upwards, in the direction of the arrow H is moved. Subsequently, the standard crane 1 moves in the direction (double arrow Q in Fig. 3 ) a stacking pallet 22, in the before demoulded precast concrete components 19 may have been unloaded. This situation is schematic in Fig.2 shown. The prefabricated concrete element 19 is again partial
shown broken. By various position detecting means, the lifting device can store the attached concrete precast member 19 to the stacking position, which has been previously calculated. In the in Fig. 2 Due to the horizontal mobility of the lift bar 5 and the brackets 7, it is possible during the movement of the standard crane 1 from the removal to the stacking position by synchronous movement of the respective associated drives the demoulded precast concrete component 19 stored in its position with respect to the pallet shape 6 and the associated reference point on the stack pallet 22 store. As a result, for example, several small precast concrete components 19 can be stored at the same level within the stack, if a larger Betonfertigibauteil is below or should be placed on it.

After discontinuation of the precast concrete component 19 on the stack pallet 22, which in turn is detectable by actuation of the probe element 16, the holding devices 8 are rotated by the drive devices 9 to the Entriegelposition of the double hooks 10 and 11. After all the drive devices 9 have transmitted their unlocking position to a control device via the corresponding sensor, the lifting mechanism 4 starts the lifting beam 3 at creep speed from the precast concrete component 19, which now also lies on the stack, by moving the lifting beam 3 in the direction of the arrow H. becomes.

After the proper release of the lifting crosshead 3 from the precast concrete component 19, the standard crane 1 moves again to the removal position, as in Fig. 1 shown. The adoption of the CAD data set for the next precast concrete component allows an evaluation and calculation of the engagement points for the holding device 8, ie the double hooks 10 and 11, on a new precast concrete component 19 depending on its center of gravity and the position of its holding elements 20. The location of these holding elements 20th can also be detected by a scanning device. This results in the current necessary positions of the holding devices 8. After these positions by the drives of the drive beams 5 and the Mounts 7 are taken, then a stable movement in the direction of the double arrow Q of the standard crane 1 is guaranteed.

In the Fig. 3a is a schematic side view of the lifting device according to the invention shown, with just a precast concrete element 19 is removed from the pallet mold 6. The lifting crosshead 3 has therefore been lowered by means of the hoist 4, which is arranged on the standard crane 1, together with the shearing system 2 to the removal position, against the arrow H direction. In this side view, it can be seen that three lift-off bars 5 are horizontally spaced apart and have been brought into engagement with those holding elements 20 via holding devices 8 arranged on the lift-off bar 5, so that a stable movement of the precast concrete element 19 is achieved depending on the center of gravity of the precast concrete element 19 can yield to its stacking position. The lifting beams 5 are individually and independently in the direction of the double arrow Q, which characterizes the transverse direction of the precast concrete element 19, movable.

In the schematic side view of Fig. 3b It can be seen how the lifting device according to the invention deposits another precast concrete component 19 on an already existing stack on a stack pallet 22, after the further precast concrete component has been moved from its removal position through the standard crane in the direction of the double arrow Q to the stacking position. Again, the horizontally spaced Abhebebalken 5 can be seen. Each of the lift-off bar 5 has at least one holding device 8 mounted rotatably on it. In this case, the center of gravity of the precast concrete component 19 is such that the lifting beams 5 are divided evenly in the transverse direction of the lifting crosspiece 3.

In the Fig. 4a is a schematic cross-sectional view of a holding device 8 is shown, on which a holder 7 is arranged, which is mounted on a lift bar 5, wherein the holder 7 along the longitudinal direction of the lift bar 5 is moved by a motor. The drive device for this longitudinal movement is not shown. It is used for this per se in the art known means. On the holder 7, a holding device 8 is rotatably supported about a vertical axis A, wherein a drive device 9, which has a cylinder 24 with a piston 25, for rotation of the holding device 8 is used. The holding device 8 has two double hooks 10 and 11. Between these double hooks 10 and 11 is a Probe element 16 and an adjustable ram device 17 which transmits the movements of the probe element 16, in the case of a striking on a surface, to an integrated sensor 18. The probe element 16 thus serves to detect the stop during the vertical movement of the holding device 8 with a holding element 20. By a movement of the piston 25 into the cylinder 24 or out of the cylinder 24, the holding device 8 is rotated about the vertical axis A.

In the Fig. 4b schematically illustrates the situation in which the piston 25 is extended far out of the cylinder 24, whereby the holding device 8 is rotated to a certain angle of rotation. As a result, the holding device 8 is in engagement with a transverse wire 20 "of a lattice girder structure, that is to say of a reinforcing element The holding element 20 thus consists of transverse wires 20" and longitudinal wires 20 'arranged perpendicularly thereto. The transverse wire 20 "is clamped between the oppositely directed hook tips 15 and 14 of the various double hooks 10 and 11 and thereby in a frictional connection with the holding device 8.

In Fig. 4c is shown schematically the situation in which the holding device 8 has been rotated by a less large angle of rotation. In this case, the piston 25 is less far than in the situation of Fig. 4b extended out of the cylinder 24. As a result, the holding device 8 is engaged with a longitudinal wire 20 '. The longitudinal wire 20 'is clamped between the oppositely directed hook tips 12 and 13 of the various double hooks 10 and 11 and thereby in a frictional connection with the holding device 8.

In the Fig. 5 a view of a double hook 10 is shown having oppositely directed hook tips 12 and 13. This substantially T-shaped double hook 10 serves to engage in the holding elements 20. It can also be provided here that the hook tips 12 and 13 laterally additionally have angled areas. With the boreholes 27, the double hook 10 can be fastened to the holding device 8.

In the Fig. 6a the situation is schematically shown, which results before a holding device 8, consisting of two identically formed double hooks 10 and 11, with a holding element 20, in this case the longitudinal wire 20 'of a lattice girder structure engages. The viewing direction is here in the direction of the wire. The holding device 8 is rotated by a certain angle with respect to the vertical axis A. Now, if the holding device 8 is rotated about the vertical axis A, so come opposite hook tips 12 and 13 of the two double hooks 10 and 11 with the longitudinal wire 20 'into engagement and clamp it thereby. Upon rotation about the vertical axis in a different direction of rotation, the opposing hook tips 15 and 14 of the two double hooks 10 and 11 engage and thereby clamp the transverse wire 20 ". results in a positive connection. Now, if the holding device 8 is additionally moved vertically, as is the case when lifting the precast concrete element 19, then there is also a positive connection.

Claims (13)

1. A lifting apparatus for moving precast concrete components provided with holding elements, including at least one vertically displaceable holding device (8) and a carrier frame, wherein the carrier frame has at least one lifting beam (5) and wherein the at least one holding device (8) is mounted rotatably to the lifting beam (5) and/or at least portions of the lifting beam (5) are adapted to be rotatable, and wherein the carrier frame has a lift mechanism (4) with which the lifting beam (5) is vertically moveable, characterised in that the holding device (8) can be brought into engagement with the holding element (20) by a rotation or pivotal movement about a vertical axis (A).
2. A lifting apparatus according to claim 1 characterised in that the carrier frame includes a holding frame and a lifting crossbar (3), wherein the lifting crossbar (3) is moveable vertically by the lift mechanism (4).
3. A lifting apparatus according to claim 1 or claim 2 characterised in that a plurality of horizontally spaced lifting beams (5) are arranged on the carrier frame, preferably on the lifting crossbar (3), wherein at least one holding device (8) is arranged on a plurality of the lifting beams (5).
4. A lifting apparatus according to one of claims 1 to 3 characterised in that the lifting beam (5) is moveable horizontally, preferably by motor means, and/or the holding device (8) is moveable along the lifting beam (5), preferably by motor means.
5. A lifting apparatus according to one of claims 1 to 4 characterised in that a plurality of holding devices (8) are arranged on the lifting beam (5).
6. A lifting apparatus according to one of claims 1 to 5 characterised in that the holding device (8) has a hook having a hook tip which can be brought into engagement with the holding element (20).
7. A lifting apparatus according to claim 6 characterised in that the holding device (8) has two hooks whose hook tips are directed in mirror-opposite relationship or has at least one and preferably two double hooks (10, 11) which has or have two respective oppositely directed hook tips (12, 13 and 14, 15).
8. A lifting apparatus according to one of claims 1 to 7 characterised in that the motor drive device (9) provided for rotation of the at least one holding device (8) and/or the rotatable carrier frame includes a sensor with which engagement of the holding device (8) with a holding element (20) is detectable.
9. A lifting apparatus according to one of claims 1 to 8 characterised in that the holding device (8) has a preferably spring-loaded sensing element (16), preferably with an adjustable pushrod device (17).
10. A lifting crossbar of a lifting apparatus according to one of claims 2 to 9 in particular for use in a pallet circulation installation for the production of precast concrete components (19).
11. A gantry crane with a lifting apparatus according to one of claims 1 to 9 in particular for use in a pallet circulation installation for the production of precast concrete components (19).
12. A method of moving precast concrete components having holding elements, with a lifting apparatus according to one of claims 1 to 9, characterised by the following steps:

    a) horizontally and/or vertically moving the at least one holding device (8) to a provided removal position for the precast concrete component (19) until the holding device (8) is positioned at a predetermined vertical spacing above the precast concrete component (19),

    b) rotating or pivoting the at least one holding device (8) until it has been brought into engagement with the holding element (20),

    c) lifting the at least one holding device (8) with a precast concrete component (19) fixed thereto, and

    d) transporting the precast concrete component (19) to and laying it down on a predetermined stacking position.
13. A method according to claim 12 characterised in that at least one of steps a), b), c) or d), preferably all steps, is performed at least partly automatically, preferably in robot-controlled fashion.

Images