Handling device and handling system for frame formwork elements

Abstract

The utility model relates to a handling device and a handling system for frame formwork elements for handling frame formwork elements (2) having a formwork panel (20) and a circumferential support frame (19) on the rear side of the formwork panel (20), comprising: a handling head (3) having a holding unit (4) for holding the frame formwork elements (2); a moving unit (5) for moving the handling head (3), the handling unit (4) of the handling head (3) being designed to hold the frame formwork element (2) in a horizontal position and in an upright position.

Description

Technical Field

[0001] The invention relates to a handling device for handling, in particular for moving and / or laying, frame formwork elements having formwork panels and a circumferential support frame located behind the formwork panels, the handling device comprising:

[0002] a handling head having a holding unit for holding frame formwork elements, and

[0003] A moving unit for moving the handling head.

[0004] Furthermore, the invention relates to a handling system having a handling device and a frame formwork element, in particular a ceiling formwork element.

[0005] Finally, the invention relates to a method for handling frame formwork elements having a formwork panel and a circumferential support frame located behind the formwork panel. Background Art

[0006] As described in DE 19602981 A1, the erection and cladding of concrete ceilings are still performed manually. However, this requires a significant amount of labor. Furthermore, the size and weight of the cladding are limited. Against this backdrop, DE 19602981 A1 proposes a device for facilitating the installation and removal of ceiling formwork elements. Each ceiling formwork element consists of a support frame and a formwork panel connected to the support frame. The device includes a bracket with horizontal support plates for individual formwork panels. The bracket can be raised and lowered vertically using a scissor-type lifting mechanism. Furthermore, the bracket can be moved horizontally as needed to facilitate handling of the formwork panels during erection and cladding. Horizontal positioning strips are provided on the support plates to determine the support position of the ceiling formwork element on the support plates and to serve as a stop against adjacent, already installed ceiling formwork elements. Furthermore, a gripper is attached to the support plates to grasp and remove the formwork panels from the ceiling formwork.

[0007] However, a disadvantage is that the ceiling formwork elements must first be manually moved to a horizontal position on the brackets before the lifting mechanism can be activated to lift them vertically into the working position. This means that erecting the formwork remains very complex and labor-intensive. Although the brackets have clamps, these, combined with the fixing strips, are only suitable for securing the ceiling formwork elements in a horizontal position on the brackets or for removing them from their horizontal working position. Because the horizontal brackets are combined with the vertical lifting mechanism, tilt compensation during ceiling formwork assembly is also impossible. Furthermore, this prior art technology is limited to mounting the ceiling formwork elements directly above the equipment. It is not possible to arrange cantilevered ceiling formwork elements.

[0008] DE 102 12 206 353 A1, DE 29 51 084 U1 and EP 0 105 504 A1 illustrate further developments of the state of the art, but do not give any indication in an obvious manner how to overcome the limitations of DE 196 02 981 A1. SUMMARY

[0009] In contrast, the object of the present application is to alleviate or eliminate at least some of the disadvantages of the state of the art. In particular, the present application aims at a greater degree of automation of the handling of frame template elements and at opening up new applications.

[0010] This object is solved by the handling device, the handling system and the method according to the present application.

[0011] In the handling device according to the present application, the holding unit of the handling head is configured to hold the frame template element in a lying and in an upright position.

[0012] Thus, the holding unit according to the present application is not only suitable for holding or fixing the frame template element in a lying position, in particular a horizontal position, but also for holding or fixing the frame template element in an upright position, in particular a vertical position, so that the frame template element can be lifted from the storage surface in the upright position and moved in the upright position lifted from the storage surface. Advantageously, a higher degree of automation than in the state of the art can be achieved. Furthermore, new applications can be opened up. It is particularly advantageous that the frame template element can be picked up from the storage surface, e.g. from the floor, by the handling device in the upright position, i.e. in particular when the template panels are aligned vertically. In particular, this enables a series of frame template elements to be placed upright next to each other on the storage surface in a space-saving manner. The frontmost frame template element in the upright position can then be picked up using the handling device. Once the frame template element is fixed to the handling head in the upright position, the frame template element can be lifted and moved to the place of use by means of the at least one drive of the movement unit. This is particularly advantageous if the movement unit is designed to transfer the handling head from the upright position into the horizontal position. This allows the frame template element fixed to the handling head in the upright position to be brought into the horizontal position by means of the movement unit for casting ceiling elements when used as a ceiling template element. Thus, in a particularly preferred application, the frame template element can be picked up from an upright waiting position, lifted and rotated into a horizontal position of use without manual intervention.

[0013] For the present disclosure, indications of position and orientation, e.g. "horizontal", "vertical", "up", "down", refer to the intended use of the handling device on a flat, horizontal ground surface.

[0014] When picking up the framework template element in the upright position, when rotating the framework template element from the upright position to the horizontal position, in particular when stripping the template, the framework template element is subjected to high loads. In order to be able to withstand these forces, in a preferred embodiment the holding unit of the handling head is designed to clamp the circumferential support frame, which is arranged on the rear side of the template panel, preferably on at least two lateral sides of the circumferential support frame, in particular also on at least one longitudinal side of the circumferential support frame.

[0015] Thus, in this embodiment the circumferential support frame of the framework template element advantageously serves as the point of action of the holding unit of the handling head. This means that even large forces can be safely transmitted without damaging the framework template element or the handling head.

[0016] It is particularly advantageous if the holding unit engages at least one of the two opposite longitudinal sides and at least one of the two opposite lateral sides of the framework template element. It is particularly advantageous for a narrow design of the handling head if the holding unit engages on one of the two longitudinal sides of the circumferential support frame of the framework template element, but not on the other of the two longitudinal sides.

[0017] Preferably, the holding unit is designed for a form-fitting connection to at least one of the two opposite longitudinal sides and / or at least one of the two opposite lateral sides of the circumferential support frame of the framework template element.

[0018] In order to fix the framework template element to the handling head or to align the framework template element with an already installed framework template element, it is advantageous if the holding unit comprises at least one first guide rod for externally connecting to a longitudinal frame part of the circumferential support frame of the framework template element and / or at least one second guide rod for externally connecting to a lateral frame part of the circumferential support frame of the framework template element. The first guide rod and / or the second guide rod is preferably a flat part, in particular a plate, which lies on the outside of the longitudinal or lateral frame part along the main plane of the flat part.

[0019] In a preferred embodiment, the first guide rod or the second guide rod is essentially flush with the longitudinal or lateral edge of the support frame around the template panel, which is offset outwardly relative to the outside of the longitudinal or lateral frame part. This makes it easier to pick up the framework template element from the rear. In addition, the first guide rod or the second guide rod can be used to align the framework template element with an already installed framework template element during assembly. To this end, the first guide rod or the second guide rod can be attached to the longitudinal or lateral edge of the already installed framework template element before the framework template element to be installed is brought into the position of use, in particular before it is lowered, during assembly.

[0020] In a preferred embodiment, the holding unit comprises two first guide bars for externally connecting to longitudinal frame parts of the circumferential support frame of the framework formwork element and / or two second guide bars for externally connecting to transverse frame parts of the circumferential support frame of the framework formwork element to frame the framework formwork element or to align with an already installed framework formwork element. Preferably, the two first guide bars are spaced apart from each other by more than half the longitudinal extension of the longitudinal frame parts (relative to their side edges facing each other).

[0021] In a particularly preferred embodiment, the holding unit has locking parts, in particular locking pins or locking strips, for locking with longitudinal or transverse frame parts of the circumferential support frame of the framework formwork element. In the locked state, the locking parts prevent the framework formwork element from being lifted off the handling head. Preferably, at least two locking parts are provided for locking with at least two opposite transverse or longitudinal frame parts. At least four locking parts can be provided for locking with two transverse frame parts and two longitudinal frame parts.

[0022] Preferably, the support frame is held externally by at least one first or second guide bar and internally by at least one locking part.

[0023] Preferably, the locking parts are designed to engage behind inwardly pointing protrusions of the longitudinal or transverse frame parts of the circumferential support frame, in particular at the end regions facing away from the formwork panel. Alternatively, the locking parts can be arranged in locking openings of the longitudinal or transverse frame parts in the locked state.

[0024] To secure the framework formwork element to the handling head, a locking drive, for example a hydraulic drive, is preferably provided for moving the locking parts and / or the first and / or second guide bars.

[0025] In a preferred embodiment, the locking parts are preloaded with a spring in the direction of the locked position. The locking drive can be used to move the locking parts into the released position against the force of the spring.

[0026] To be able to place the framework formwork element in the desired position of use, it is advantageous if the movement unit comprises a pivot joint for rotating the handling head about an axis extending substantially perpendicular to the main plane of the formwork panel.

[0027] Furthermore, the mobile unit preferably comprises a handling arm for lifting the handling head and / or for rotating the handling head about at least one horizontal rotation axis. Preferably, the handling head is connected to the free end of the operating arm by means of a first horizontal pivot axis. The handling head can be rotated about the first horizontal pivot axis by means of a first drive. Furthermore, the handling arm can comprise a first arm part and a second arm part, which are connected to each other by means of a second horizontal pivot axis. The first arm part can be rotated relative to the second arm part about the second horizontal pivot axis by means of a second drive. Preferably, the second arm part is pivotably mounted on the base about a third horizontal pivot axis. The first and / or the second arm part can be telescopic in order to adjust the insertion height. For a telescopic design, the first arm part can comprise an outer part and an inner or extension part, whereby the inner part can be extended from the outer part using a telescopic drive.

[0028] In a preferred embodiment, the handling head comprises a carrier frame, which is preferably connected to the handling arm, in particular to the first arm part of the handling arm, and a holding frame with holding units, wherein the holding frame is movable in at least one direction, preferably in all directions, parallel to the main extension plane of the frame template element fixed on the handling head.

[0029] Preferably, a stop device is provided to limit the movement of the holding frame relative to the carrier frame. The stop device can comprise a stop element on the carrier frame and a recess on the holding frame. The stop element is movable within the recess. The boundary around the recess limits the movement of the stop element. The boundary preferably comprises a semicircular, in particular a quarter circular, edge and / or at least one straight edge, in particular two straight edges extending at right angles to each other.

[0030] In a preferred embodiment, a displacement drive, for example a hydraulic drive, is provided for displacing the holding frame relative to the carrier frame of the handling head. Preferably, the displacement drive is arranged to move the holding frame linearly in a direction parallel to the main extension plane. The frame template element is preferably aligned on the handling head by hitting the already installed frame template element, which is achieved by the free movement of the frame template element in all directions parallel to the main extension plane. In a preferred embodiment, the displacement drive comprises a single drive, in particular a single hydraulic drive, which can be controlled to displace the holding frame relative to the carrier frame. In this embodiment, a further, but non-driven, cylinder-piston device can also be provided between the holding frame and the carrier frame. With this additional cylinder-piston device a guidance can be achieved. In comparison to the prior art, in which two separate drives are provided to displace in two orthogonal axes, a significant simplification can be achieved with the single drive.

[0031] The above-mentioned embodiments can also be provided independently of the above-mentioned holding unit embodiments. Thus, the present disclosure also relates to a handling device for handling, in particular for moving and / or laying out a formwork element having a formwork panel and a circumferential support frame located at the rear side of the formwork panel, the handling device comprising:

[0032] a handling head having a holding unit for holding the formwork element, and

[0033] a movement unit for moving the handling head,

[0034] wherein the handling head comprises a carrying frame, which is preferably connected to the handling arm, in particular to a first arm part of the handling arm, and a holding frame having the holding unit, wherein the holding frame is movable, preferably in all directions, in at least one direction parallel to the main extension plane of the formwork element. In this handling device, the above-mentioned stop device and / or the above-mentioned displacement drive are preferably provided.

[0035] For bringing the formwork element to a position of use or storage, the movement unit is preferably arranged on a vehicle, in particular a vehicle having wheels. In a particularly preferred embodiment, the wheels of the vehicle can be rotated by 90° for lateral travel.

[0036] In a particularly preferred embodiment, the handling head comprises a sensor device for detecting an intended position of use of the formwork element, in particular a standing formwork position lowered onto a column head.

[0037] In a preferred application, the sensor device is configured to detect a triggering element on the column head when the formwork element is lowered into the standing formwork position on the column head.

[0038] Since up to four formwork elements can usually be arranged at the corners of a formwork support, it is advantageous if the sensor device is provided in the corner region of the handling head. In use, the sensor device is preferably arranged adjacent to a corner of the circumferential support frame, at which the transverse and longitudinal frame parts meet.

[0039] For reliable detection of the standing formwork position, the sensor device is in a preferred embodiment configured to detect the triggering element non-contactingly, for example optically, inductively or capacitively. Alternatively, the sensor device comprises a pushbutton element for actuation by a release element on the column head when lowered into the standing formwork position on the column head.

[0040] The system according to the invention comprises a handling device according to one of the above-mentioned embodiments and a formwork element, in particular a ceiling formwork element, which is detachably connected to the handling head of the handling device.

[0041] Furthermore, the system can comprise a formwork support with a stud for connecting to a frame form element configured as a ceiling form element.

[0042] In the method for handling a frame form element according to the invention, at least the following steps are performed:

[0043] providing a handling device according to one of the embodiments described above,

[0044] providing the frame form element in a waiting position separate from the handling device,

[0045] connecting the handling head of the handling device to the frame form element in the waiting position, and

[0046] lifting the frame form element from the waiting position using the handling device.

[0047] In a preferred embodiment, the form panels of the frame form element are aligned substantially vertically in the waiting position. In this case, the frame form element can be arranged standing, i.e. with the longitudinal frame parts aligned vertically, or arranged lying, i.e. with the longitudinal frame parts aligned horizontally. Furthermore, the holding unit can also be configured to pick up the frame form element from a horizontal waiting position on a storage surface.

[0048] The frame form element can then be moved from the waiting position to a use position, preferably a substantially horizontal use position, using the handling device. BRIEF DESCRIPTION OF DRAWINGS

[0049] The application will be further described with respect to the embodiments illustrated in the drawings.

[0050] Figure 1 A handling device according to the invention is shown with which a frame form element for a ceiling formwork can be picked up from an upright waiting position.

[0051] Figures 2 to 7 The process of suspending a frame form element in a formwork support using the handling device of Figure 1 is shown.

[0052] Figure 8 A detailed view of a frame form element shortly before reaching the intended formwork position is shown.

[0053] Figure 9 and Figure 10 Detailed views of a frame form element in installed state on a formwork support are shown, respectively, wherein the form panels of the frame form element are omitted for clarity.

[0054] Figure 11 and Figure 12A frame formwork element together with a formwork panel in a standing formwork position is shown.

[0055] Figure 13 and Figure 14 A frame formwork element without a formwork panel in a standing formwork position is shown.

[0056] Figure 15 A handling head of a handling device for picking up and moving a frame formwork element is shown.

[0057] Figure 16 and Figure 17 A handling head of a handling device is shown from below, to which a frame formwork element is attached. DETAILED DESCRIPTION

[0058] Figure 1 A handling device 1 for handling or moving a frame formwork element 2 is shown, with which ceiling or wall elements can be cast. The handling device 1 comprises a handling head 3 with a holding unit 4, on which the frame formwork element 2 can be reversibly detached, i.e. without damage and repeatedly. Furthermore, the handling device 1 comprises a movement unit 5 for moving the handling head 3 with or without the frame formwork element 2. The movement unit 5 is arranged on a vehicle 6, which can be driven on a floor 7 in all directions. In the shown embodiment, the vehicle 6 comprises two wheels 8 and two drive and steering wheels 9. The movement unit 5 comprises a handling arm 10 for moving the handling head 3. In the shown embodiment, the handling arm 10 comprises a first arm part 11, which is telescopable in the shown embodiment, and a second arm part 12. The handling head 3 is connected to the first arm part 11 of the handling arm 10 by means of a first horizontal pivot axis 13. Furthermore, the first arm part 11 and the second arm part 12 are connected to each other by means of a second horizontal pivot axis 14. The second arm part 12 is mounted on a base, in this case on the vehicle 6, such that it can be pivoted about a third horizontal pivot axis. From Figure 2 and Figure 3 It can be seen that the handling head 3 can be rotated about the first horizontal pivot axis 13 by means of a first drive 15. Furthermore, a second drive 16 is also provided for rotating the first arm part 11 relative to the second arm part 12. A third drive 17 is also provided for rotating the second arm part 12 towards the base, in this case the vehicle 6.

[0059] The inner part 49 can be extended from the outer part 50 of the first arm part 11 by means of a telescopic drive 48. The handling head 3 is mounted on the inner part 49 of the first arm part 11.

[0060] From Figure 16 and Figure 17It can be seen that the handling head 3 is rotatable by the carousel 18 about a longitudinal axis 11A extending perpendicular to the main extension plane of the frame form element 2. In a preferred embodiment, the frame form element 2 is manually rotatable about the longitudinal axis 11A on the handling head 3. In a particularly preferred embodiment, the frame form element 2 is rotatable by a rotary drive about the longitudinal axis 11A on the handling head 3.

[0061] In the embodiment shown, the handling head 3 comprises a carrier frame 51 connected with the first arm part 11 and a holding frame 52 on which the holding unit 4 is arranged. The carrier frame 51 comprises an upper part 53 and a lower part 54, wherein the holding frame 52 is displaceably guided between the upper part 53 and the lower part 54 of the carrier frame 51 in all directions parallel to the main extension plane of the handling head 3, thus also parallel to the main extension plane of the form panel 20 of the frame form element 2. By means of a displacement drive 30, the holding frame 52 can be displaced relative to the carrier frame 51 in a straight line in order to be able to mount the frame form element 2 in the ceiling formwork 34. In the embodiment shown, the displacement drive 30 comprises a single drive, here in particular a hydraulic cylinder piston drive (for example the right-hand cylinder piston device in Figure 15 ), which can be actuated to displace the holding frame 52 relative to the carrier frame 51. However, a further cylinder piston device (for example the left-hand cylinder piston device in Figure 15 ) can be provided between the holding frame 52 and the carrier frame 51, which is not actuated and can be passively extended or pushed in.

[0062] As can be seen in particular from Figure 16 , a stop device is provided for limiting the movement of the holding frame 52 relative to the carrier frame 51. In the embodiment shown, the stop device comprises a stop element 55 on the carrier frame 51 and a recess 56 on the holding frame 52, which forms a limiting space for the stop element 55. The stop element 55 is freely displaceable within the recess 56. The boundaries of the recess 56 limit the movement of the stop element 55.

[0063] The movement unit 5 thus enables the handling head 3 together with the frame form element 2 to be rotated about the first pivot axis 13, the first holding arm 11 to be rotated about the second pivot axis 14, the second holding arm 12 to be rotated about the third pivot axis, the inner part to be extended from the first arm part 11 along the longitudinal axis 11A to lift the frame form element 2, the handling head 3 to be rotated about the longitudinal axis 11A, and the holding frame 52 to be displaced relative to the carrier frame 51 of the handling head 3.

[0064] Especially from Figures 11 to 14As can be seen, the framework formwork element 2 comprises a circumferential support framework 19, i.e. extending on all sides, which supports a formwork panel 20 which is substantially rectangular in plan view and has a flat, concrete-facing butt surface 21. The circumferential support framework 19 comprises two longitudinal framework parts 22 which form the longer sides, i.e. the longitudinal sides of the circumferential support framework 19, and two transverse framework parts 23 which extend at right angles thereto and form the shorter sides, i.e. the transverse sides of the circumferential support framework 19. The longitudinal framework parts 22 are connected to one another by transverse members 24 between the transverse framework parts 23. The transverse members 24 extend parallel to the transverse framework parts 23.

[0065] In order to be able to move the framework formwork element 2 with the above-mentioned degrees of freedom, the holding unit 4 is designed to hold or fix the framework formwork element 2 in an upright, vertical position (see Figure 1 ), a horizontal position (see, for example Figure 4 ) and any intermediate position inclined between the horizontal and upright positions. To this end, the holding unit 4 on the handling or holding head 3 can grip the circumferential support framework 19 on one longitudinal side and one transverse side of the framework formwork element 2.

[0066] In the embodiment shown (in Figure 15 ), the holding unit 4 comprises at least one first guide rod 25, in this case two first guide rods 25, for arrangement outside one longitudinal framework part 22 of the circumferential support framework 19 of the framework formwork element 2, and at least one second guide rod 26, in this case two second guide rods 26, for arrangement outside one transverse framework part 23 of the circumferential support framework 19 of the framework formwork element 2.

[0067] Furthermore, in the embodiment shown, the holding unit 4 comprises at least one holding pin 46, preferably a plurality of holding pins 46, adjacent to the first guide rod 25, wherein the longitudinal framework part 22 of the framework formwork element 2 is held between the first guide rod 25 and the holding pin 46.

[0068] Furthermore, the holding unit 4 comprises at least one locking part, here a locking pin 27, for engaging behind a protrusion 29 (see, for example Figure 13 and Figure 14 ) of the transverse framework part 23. By means of a locking drive 47, the locking part can be transferred from a retracted, release position to an advanced, locking position in which the framework formwork element 2 is fixed against being lifted in a direction perpendicular to the main extension plane of the handling head 3. In the embodiment shown, two locking pins 27 are provided for locking two opposite transverse framework parts 23 of the framework formwork element 2, each of which is actuated by a locking drive 47.

[0069] During the movement of the locking means, the first guide rod 25 and the second guide rod 26 are fixed to the frame formwork element 2 .

[0070] In a preferred application, the handling device 1 can be used to assemble a ceiling formwork 34 from several frame formwork elements 2. Of course, the handling device 1 can also be used to dismantle the ceiling formwork 34 after the ceiling has been poured.

[0071] like Figure 1 As shown, the frame formwork elements 2 can be placed next to each other on the floor 7 in an upright position (vertically or horizontally, depending on the design). The handling head 3 is moved to the frontmost frame formwork element 2. The holding unit 4 is then connected to the circumferential support frame 19 of the frame formwork element 2. To this end, the first guide rods 25 are attached to the outer sides of the longitudinal frame parts 22, and the second guide rods 26 are attached to the outer sides of the transverse frame parts 23. The locking pins 27 are initially in the retracted position. The locking drive 47 is then actuated, thereby moving the locking pins 27 outward until they pass over the inwardly projecting protrusions 29 of the transverse frame parts 23. The frame formwork elements 2 are thus held in an upright position on the handling head 3 and secured against accidental movement in all directions.

[0072] according to Figure 2 , the frame formwork element 2 is lifted off the floor 7. In the example shown, the frame formwork element 2 is temporarily held in an upright position due to a corresponding rotation of the handling head 3 about the first pivot axis 13, whereby the frame formwork element 2 is lifted in a vertical direction.

[0073] according to Figure 3 By actuating the first drive 15, the frame formwork element 2 is tilted about the first pivot axis 13. Furthermore, the handling device 1 can be moved from the storage position of the frame formwork element 2 to the use position by moving the vehicle 6 on the floor.

[0074] according to Figure 4 The handling device 1 is located in the immediate vicinity of a ceiling formwork 34, which is formed by a series of frame formwork elements 2, which are supported next to each other in a horizontal arrangement on vertically aligned formwork supports 35. To lift the frame formwork elements onto the handling device 1, the second drive 16 is actuated, whereby the toggle lever formed by the first arm part 11 and the second arm part 12 of the handling arm 10 is moved into a more extended position. The frame formwork elements 2 can be continuously moved from their initial vertical position to a horizontal position.

[0075] according to Figure 5A Firstly, the frame formwork element 2 is lifted out of the final use position using the handling device 1 , with reference to the adjacent, already installed frame formwork elements 2 .

[0076] according to Figure 5B, the frame formwork element 2 (here shown in plan view) is aligned with the already installed adjacent frame formwork element 2. For this, the frame formwork element 2 can be moved by means of the displacement drive 30. The first guide rod 25 and the second guide rod 26 serve as attachment points on the already installed frame formwork element. When the first guide rod 25 or the second guide rod 26 hits the already assembled frame formwork element 2, the frame formwork element 2 is rotated into the correct position, see arrow 36, and displaced, see arrow 37 or arrow 38.

[0077] According to Figure 6 , the frame formwork element 2 is lowered into the position of use. The corner on one longitudinal side of the circumferential support frame 19 is connected to (at least) two formwork supports 35.

[0078] According to Figure 7 , the corner on the other long side of the frame formwork element 2 is supported by one or two further formwork supports 35. The handling head 3 can then be released from the frame formwork element 2. For this, the locking or retaining pin 27 is retracted before the handling head 3 can be removed from the frame formwork element 2.

[0079] Figure 8 The lowering of the frame formwork element 2 into the position of use is shown in detail. The formwork support comprises a post head 39 at the upper end, on which, in the version shown, four attachment elements 40 for attaching the frame formwork element 2 are provided, on which, in the version shown, four hook elements 41 for hooking on the frame formwork element 2 by means of pins 42 are also provided, so that a lifting protection is achieved, i.e. a prevention of a vertical lifting of the frame formwork element, for example due to wind loads, in the position of use.

[0080] Figure 8 It is also shown that the first guide rod 25 and the second guide rod 26 serve as attachment points on the already assembled frame formwork element 2. Thus, when the frame formwork element 2 is lowered into the post head 39, the frame formwork element 2 is guided on the already assembled frame formwork element 2.

[0081] In the design shown (see Figure 10), the handling head 3 comprises a sensor device 44 in the corner region, with which the intended use position of the frame formwork element 2 can be identified, in this case the standing formwork position fully lowered onto the formwork support 2. The sensor device 44 is designed to sense a triggering element on the post head 39 when the frame formwork element 2 is lowered into the standing formwork position on the post head 39. The upright attachment element 40 of the post head 39 is preferably provided as the triggering element. In the embodiment shown, the sensor device 44 comprises a sensor element 45 for contactless detection of the triggering element, in this case the attachment element 40, when the lowered standing formwork position is reached. Alternatively, the sensor device 44 can also comprise a pushbutton element which is pressed by the triggering element. The actuation of the triggering element or attachment element 40 on the sensor element 45 is detected and transmitted by a signal to the control unit, which records the intended installation of the frame formwork element 2.

[0082] Furthermore, the sensor device is part of a control device which displays to the user on a screen which frame formwork element 2 is to be installed next, in particular in which position. For this purpose, the formwork plan is preferably stored in the control unit. The control electronics can thus be used to continuously monitor the installation progress of the ceiling formwork 34 in order to provide the user with assistance for the next work step.

[0083] List of reference signs:

[0084] 1 handling device

[0085] 2 frame formwork element

[0086] 3 handling head

[0087] 4 holding unit

[0088] 5 movement unit

[0089] 6 vehicle

[0090] 7 floor

[0091] 8 wheel

[0092] 9 drive and steering wheel

[0093] 10 handling arm

[0094] 11 first arm part

[0095] 12 second arm part

[0096] 13 first pivot axis

[0097] 14 second pivot axis

[0098] 15 first drive

[0099] 16 second drive

[0100] 17 third drive

[0101] 18 turntable

[0102] 19 support frame

[0103] 20 template panel

[0104] 21 template surface

[0105] 22 longitudinal frame component

[0106] 23 transverse frame component

[0107] 24 transverse member

[0108] 25 first guide rod

[0109] 26 second guide rod

[0110] 27 locking pin

[0111] 29 protrusion

[0112] 30 displacement drive

[0113] 32 edge

[0114] 34 ceiling template

[0115] 35 template support

[0116] 36 arrow

[0117] 37 arrow

[0118] 38 arrow

[0119] 39 stud

[0120] 40 attachment element

[0121] 41 hook element

[0122] 42 pin

[0123] 43 edge

[0124] 44 sensor device

[0125] 45 sensor element

[0126] 46 retaining pin

[0127] 47 locking drive

[0128] 48 telescoping drive

[0129] 49 inner component of first arm component

[0130] 50 outer component of first arm component

[0131] 51 bearing frame

[0132] 52 holding frame

[0133] 53 upper part of the holding frame

[0134] 54 lower part of the holding frame

[0135] 55 stop element

[0136] 56 recess

Claims

1. A handling device (1) for handling a frame formwork element (2) having a formwork panel (20) and a circumferential support frame (19) located behind the formwork panel (20), the handling device (1) comprising: a handling head (3) having a holding unit (4) for holding the frame formwork element (2), a moving unit (5) for moving the handling head (3), Its characteristics are: The holding unit (4) of the handling head (3) is also configured to hold the frame formwork element (2) in a lying position and an upright position.

2. The transport device (1) according to claim 1, characterized in that The holding unit (4) of the handling head (3) is configured to clamp the circumferential support frame (19) located at the rear side of the formwork panel (20).

3. The transport device (1) according to claim 1 or 2, characterized in that: The holding unit (4) comprises: at least one first guide rod (25) for connecting on the outside to a longitudinal frame part (22) of the circumferential support frame (19) of the frame formwork element (2); and / or at least one second guide rod (26) for connecting on the outside to a transverse frame part (23) of the circumferential support frame (19) of the frame formwork element (2).

4. The transport device (1) according to claim 3, characterized in that The holding unit (4) comprises: two first guide rods (25) for connecting on the outside to the longitudinal frame parts (22) of the circumferential support frame (19) of the frame formwork element (2); and / or two second guide rods (26) for connecting on the outside to the transverse frame parts (23) of the circumferential support frame (19) of the frame formwork element (2).

5. The handling device (1) according to one of claims 1 to 4, characterized in that The holding unit (4) comprises locking components, in particular locking pins (27) or locking strips, for locking with longitudinal frame components (22) or transverse frame components (23) of the circumferential support frame (19) of the frame formwork element (2).

6. The transport device (1) according to claim 5, characterized in that The locking part is designed to engage behind an inwardly directed projection (29) of the longitudinal frame part (22) or transverse frame part (23) of the circumferential support frame (19), in particular in the end region facing away from the formwork panel (20).

7. The transport device (1) according to claim 6, characterized in that A locking drive (47) is provided for moving the locking member.

8. The handling device (1) according to one of claims 1 to 7, characterized in that The movement unit (5) comprises a pivot joint for rotating the handling head (3) about an axis extending substantially perpendicularly to a main plane of the formwork panel (20).

9. The handling device (1) according to one of claims 1 to 8, characterized in that The mobile unit (5) comprises a transport arm (10) for lifting the transport head (3) and / or pivoting the transport head (3) about at least one horizontal pivot axis (14).

10. The handling device (1) according to one of claims 1 to 9, characterized in that The handling head (3) comprises: a carrying frame (51); and a holding frame (52) having the holding unit (4), wherein the holding frame (52) is movable relative to the carrying frame (51) in at least one direction parallel to a main extension plane of the handling head (3).

11. The transport device (1) according to claim 10, characterized in that A displacement drive (30), such as a hydraulic drive, is provided for displacing the holding frame (52) relative to the carrier frame (51) of the handling head (3).

12. The handling device (1) according to one of claims 1 to 11, characterized in that The mobile unit (5) is arranged on a vehicle (6), in particular a vehicle having wheels.

13. The handling device (1) according to one of claims 1 to 12, characterized in that The handling head (3) comprises a sensor device (44) for detecting the intended use position of the frame formwork element (2), in particular the position of the vertical formwork lowered onto the column head (39).

14. The transport device (1) according to claim 13, characterized in that The sensor device (44) is designed to detect a triggering element on the column head (39) when the frame formwork element (2) is lowered to the vertical formwork position on the column head (39).

15. The transport device (1) according to claim 13 or 14, characterized in that The sensor device (44) is arranged in a corner area of ​​the handling head (3).

16. The handling device (1) according to claim 14 or 15, characterized in that The sensor device (44) comprises a button element (45) for being actuated by a release element on the column head (39) in the position of the formwork lowered onto the column head (39).

17. The transport device (1) according to claim 2, characterized in that The holding unit (4) of the handling head (3) is configured to clamp the circumferential support frame (19) at the rear side of the formwork panel (20) at the longitudinal and / or transverse sides of the circumferential support frame (19).

18. The transport device (1) according to claim 7, characterized in that The locking drive (47) is a hydraulic drive, and the locking component is prestressed in the direction of the locking position by a spring.

19. The transport device (1) according to claim 10, characterized in that The carrying frame (51) is connected to the handling arm (1); the holding frame (52) is movable relative to the carrying frame (51) in all directions parallel to the main extension plane of the handling head (3).

20. A transport system comprising: A handling device (1) according to any one of claims 1 to 19, a frame formwork element (2), in particular a ceiling formwork element, which is detachably connected to the handling head (3) of the handling device.

21. The transport system according to claim 20, further comprising: A formwork support (2) having a stud (39) for connection to said frame formwork element (2) configured as a ceiling formwork element.

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