Device for removing fixing elements from a formwork base

Abstract

Device (1) for removing fixing elements (2) from a formwork base (3), comprising: a housing (11) designed as a magazine for receiving a group of fixing elements (2) in a stack along a stacking axis (S), a formwork robot for moving the housing (11) parallel and perpendicular to the formwork base (3) into any desired position (P1) above the formwork base (3) and an engagement device (13) for establishing an engagement with a fixing element (2) to be removed from the formwork base (3).

Description

[0001] The present invention relates to a device for removing fixing elements from a formwork base.

[0002] The invention is preferably used in a precast concrete plant in which precast concrete elements are manufactured on a production line - so to speak "on an assembly line". To manufacture these precast concrete elements, a formwork with shuttering devices is placed on a magnetic or magnetizable formwork base by a formwork robot. Reinforcing and usually magnetic fixing elements are positioned on the formwork base, which must be removed separately from the formwork base after the formwork has been filled with liquid concrete and the finished, hardened concrete part has been removed. Such fixing elements are used, for example, to fix concrete insert elements to the formwork base and are to be distinguished from concrete insert elements that are embedded in the concrete when the formwork is filled with liquid concrete and are removed from the formwork base with the precast concrete elements after the precast concrete elements have been completed.

[0003] According to the prior art known to the applicant, fixing elements are positioned individually by hand on the formwork support and, after use, removed individually by hand or with lever bars. Positioning and removing the fixing elements by hand proves to be time-consuming and uneconomical, as, among other things, considerable forces must be applied to remove the fixing elements from the formwork support (the holding force to be overcome during lifting is typically approximately 50 to 100 kg).

[0004] The object of the present invention is to provide a device for removing fixing elements from a formwork base in order to significantly reduce the work required by a worker when removing fixing elements from the formwork base, so that the cycle times on a production line for the semi-automated production of precast concrete elements in a precast concrete plant can be significantly shortened.

[0005] To achieve this object, the invention provides the device according to claim 1.

[0006] A method for positioning fixing elements on a formwork base comprises the steps: Step A: Move a group of fixing elements to any position on and / or above the formwork base. Step B: Separating a fixing element from the group of fixing elements for positioning on the formwork base.

[0007] According to the above method, the fixing elements are moved as a group into the intended position on and / or above the formwork base, where they are separated and positioned on the formwork base. In comparison to the known method described above, the movement of all fixing elements as a group into the intended installation position on / above the formwork base eliminates the need for a separate collection step for each individual fixing element. For this purpose, the fixing elements can be separated from the group independently of one another in different positions and positioned on the formwork base. Preferably, the fixing elements are moved as a group in a housing designed as a magazine above the formwork base and / or positioned individually on the formwork base from the housing designed as a magazine.

[0008] A method for removing fixing elements from a formwork base, preferably in combination with the above method, comprises the steps: Step C: Grouping a fixing element to be removed from the formwork base with at least one other fixing element to form a group of fixing elements. Step D: Remove the group of fixing elements from the formwork base.

[0009] Using this method, several fixing elements can be collected one after the other, particularly automatically, and removed as a group from a formwork support and transported to a delivery station. This eliminates the need to transport individual fixing elements to the delivery station. Preferably, the fixing elements are collected in a housing designed as a magazine and / or removed as a group from the formwork support in a housing designed as a magazine.

[0010] It may be advantageous if step A comprises at least one of the following sub-steps: Substep A1: Grouping at least two fixing elements to form the group of fixing elements, preferably in a stacked arrangement along a stacking axis, preferably such that the fixing elements are arranged regularly and / or in contact with one another, particularly preferably in the most compact stacked arrangement. When arranging the group of fixing elements in the most compact stacked arrangement, the space requirement of a corresponding positioning device is correspondingly small. Substep A2: Picking up the group of fixing elements in a device for positioning fixing elements on a formwork base, preferably from / in a position adjacent to the formwork base. In this embodiment, while individual fixing elements are being positioned on the formwork base, another group of fixing elements can be provided in a starting position or refilling station. The further / second group can be picked up from the starting position or refilling station after all fixing elements of the first group have been used up. Accordingly, several steps of the method can be carried out in parallel. Substep A3: Actuating an engagement device to establish engagement between the engagement device and the fixing element to be separated, preferably electrically, hydraulically, pneumatically, and / or mechanically. The separating device is preferably part of the device and is moved with the group of fixing elements into the intended assembly position for the fixing element to be separated. Substep A4: Aligning at least one fixing element within the group of fixing elements with respect to at least one other fixing element of the group of fixing elements, preferably by correcting the relative position and / or orientation of the fixing elements, preferably by centering on an axis, particularly preferably by magnetic force. This embodiment proves to be particularly advantageous with regard to the reliable and error-free separation of the fixing elements from the group of fixing elements. Substep A5: Aligning at least one fixing element from the group of fixing elements with respect to the formwork base, preferably by arranging the stacking axis exactly or substantially perpendicular to the formwork base. This minimizes positioning errors when placing the fixing element to be positioned on the formwork base. Substep A6: Moving at least one fixing element from the group of fixing elements parallel and / or perpendicular to the formwork base, preferably with a robot. This further reduces positioning errors when placing the fixing element to be positioned on the formwork base. In contrast to manual positioning, the fixing element can be positioned on the formwork base with millimeter precision using a robot. Substep A7: Placing the fixture for positioning the fixing elements on the formwork base. This design minimizes any positioning errors of the fixing element to be positioned, which could potentially occur due to uncontrolled movements of the fixture while suspended above the formwork base.

[0011] It may also be useful if step B includes at least one of the following sub-steps: Substep B1: Actuation of an engagement device to release the engagement between the engagement device and the fixing element to be separated. In a group connection, the fixing elements can be held in contact with each other, for example, by magnets, to minimize relative displacement. Ideally, this group connection is only released when a fixing element is separated, so that the position of the fixing element to be separated can be optimally controlled until the separation step. Substep B2: Moving at least the fixing element to be separated and / or at least one other fixing element from the group of fixing elements, preferably perpendicular to the formwork support, preferably along the stacking axis, preferably by applying gravity. With this embodiment, the precise positioning of the separating fixing element on the formwork support can be ensured even without special aids. Substep B3: Positioning the fixing element to be separated, preferably the lowest fixing element in the stacking direction, on the formwork base, preferably by applying the force of gravity and / or the magnetic force between the formwork base and the fixing element. In this embodiment, no special tools are required for positioning the fixing element to be separated on the formwork base. Substep B4: Establishing an engagement between a remaining fixing element from the group of fixing elements, preferably the second fixing element from the bottom in the stacking direction, and the engagement device, such that this fixing element is held in engagement by the engagement device. In this embodiment, the fixing elements stacked on the fixing element positioned on the formwork base are lifted together in stack formation. Substep B5: Separating the fixing element to be separated from at least one remaining fixing element of the group, preferably by relative movement of both fixing elements, in particular along the stacking axis, preferably by dissolving the group. This design ensures that the intended position of the fixing element positioned on the formwork base is impaired as little as possible by removing the remaining group of fixing elements. Substep B6: Discharge of the isolated fixing element from the device, preferably in the said position.

[0012] It can be useful if, in a step B*, at least one remaining fixing element of the group is moved into at least one further position above the formwork base which is different from the said position, wherein step B and optionally step B* are preferably repeated in each further position, preferably until the last fixing element of the group is positioned on the formwork base, wherein steps A, B and optionally step B* are particularly preferably repeated with at least one further group of fixing elements. In this embodiment, the method proves to be particularly economical because, in a single operation - without having to travel to the starting position or refill station separately - several fixing elements can be positioned independently of one another on the formwork base.

[0013] It can also be helpful if a formwork formed on the formwork base is filled with liquid concrete after the fixing elements have been positioned on the formwork base, and the hardened concrete part is removed from the formwork base without the fixing elements. With this design, ideally no residue remains on the formwork base except for the fixing elements, so that the formwork base can be used immediately for the production of another precast concrete element after the fixing elements have been removed.

[0014] It may also be advantageous if step C comprises at least one of the following sub-steps: Substep C1: Attaching a device for positioning and / or removing fixing elements on / from the formwork base to the formwork base. With this design, the force required to lift the fixing element from the formwork base can be applied particularly effectively and precisely to the fixing element. Substep C2: Actuating an engagement device to establish engagement with the fixing element to be removed from the formwork base, preferably electrically, hydraulically, pneumatically, and / or mechanically. This allows the impact on the fixing element to be removed from the formwork base to be optimally controlled. Substep C3: The fixing element to be removed from the formwork base is accommodated in a device for positioning and / or removing fixing elements on / from a formwork base. In this embodiment, the fixing element to be removed from the formwork base is securely stored in the device and protected from external influences. This further improves the impact on the fixing element to be removed from the formwork base. Substep C4: Aligning at least one fixing element within the group of fixing elements with respect to at least one other fixing element of the group of fixing elements, preferably by correcting the relative position and / or orientation of the fixing elements, preferably by centering on an axis, particularly preferably by magnetic force. This embodiment facilitates the reuse of the fixing element removed from the formwork base and its repositioning on the formwork base. Substep C5: Arranging the fixing element to be removed from the formwork base and at least one further fixing element from the group of fixing elements in the stack along a stacking axis, preferably such that the fixing elements are arranged regularly and / or in contact with one another, particularly preferably in the most compact stack. This embodiment further facilitates reuse of the fixing element.

[0015] It may also be useful if step D includes at least one of the following substeps: Substep D1: Moving at least the fixing element removed or to be removed from the formwork base and, if applicable, the remaining fixing elements of the group of fixing elements, preferably in a translational movement parallel and / or perpendicular to the formwork base, and / or a rotational movement about an axis aligned parallel or perpendicular to the formwork base, preferably with a robot. Such movements allow for particularly good control of the fixing element removed or to be removed from the formwork base. Substep D2: Lifting the device for positioning and / or removing fixing elements on / from the formwork base. This design makes automation of the process particularly easy.

[0016] Of course, it is within the scope of the present disclosure that steps A and B, if appropriate B*, can be repeated as often as desired after performing steps C and D with the same fixing elements. Accordingly, the fixing elements previously removed from the formwork base can be repeatedly repositioned on the formwork base.

[0017] The present invention relates to a device for removing fixing elements from a formwork base according to claim 1.

[0018] It can be helpful if the device has a carrier, with the housing and carrier being coupled so that they can move relative to one another. The movable coupling of the housing and carrier makes it easy to create a mechanical trigger for actuating an engagement device to establish engagement with at least one fixation element.

[0019] It may also prove useful if the engagement device is electrically, hydraulically, pneumatically and / or mechanically actuatable, preferably coupled to a relative movement between the housing and the carrier, wherein contact between the engagement device and at least one fixing element is selectively established or released by actuating the engagement device, wherein the engagement device particularly preferably has at least two movable engagement sections for establishing engagement with at least one fixing element, wherein the engagement sections are very particularly preferably controlled simultaneously via a joint and / or toggle lever mechanism coupled between the housing and the carrier. With this embodiment, a particularly reliable and / or simple actuation of the separating device is possible.

[0020] It may prove useful if the device is adjustable between a configuration for positioning fixation elements on a formwork base and a configuration for removing fixation elements from a formwork base, preferably by transferring an adjustment device between a retracted position and an extended position. This makes the device more versatile.

[0021] A fixation element for use in combination with the device meets at least one of the following features: - The fixing element has a flat contact side for contact with the formwork base. - The fixing element has an upper part and a lower part, preferably with at least one of the following properties: ◯ The upper part is mushroom-shaped. ◯ The upper part is made of a non-magnetic material, in particular stainless steel or aluminum. ◯ The lower part is essentially cylindrical. ◯ The lower part has a larger diameter than the upper part. ◯ The lower part has the contact side for contact with the formwork base. ◯ The top and bottom parts are made of different materials. ◯ The upper and lower parts are separate components and are connected by a connecting element. ◯ The upper part and / or lower part has / have a cavity to accommodate a magnet. - The fixation element comprises a head, a neck and a torso, preferably with at least one of the following characteristics: ◯ The hull has a contact side for the attachment of the fixing element to the formwork base. ◯ The inter-neck is located between the head and the torso. ◯ The neck forms a taper for the positive connection with a concrete installation element and / or for the positive application of a force to lift the fixing element from the formwork base. ◯ The head and / or the body comprise / comprise a cone which preferably points away from the contact side. ◯ The head and / or the neck and / or the torso comprise / comprise a preferably cylindrical outer surface which points radially away from an axis perpendicular to the contact side of the fixing element. ◯ In cross-section, the neck has a non-rotationally symmetrical, preferably polygonal outline to an axis perpendicular to the contact side of the fixation element, so that the fixation element can be aligned around this axis using the outline of the neck. ◯ In cross-section to an axis perpendicular to the contact side of the fixing element, the neck has a concave, preferably star-shaped outline which has at least two recesses on the outside which taper towards the axis, wherein preferably two or four recesses are arranged symmetrically around the axis at regular angular intervals of 180° or 90°, so that the fixing element is aligned around the axis when two arrow-shaped engagement sections engage in two diametrically opposite recesses. - The fixing element is essentially rotationally symmetrical or cylindrical. - The fixing element comprises an anti-twist device for positive connection with a concrete installation element to secure it against twisting about an axis perpendicular to the installation side and / or for anti-twist guidance in the device. - The fixing element has a magnet for fixing the fixing element to the formwork base, wherein the magnet is preferably arranged centrally on the contact side of the fixing element and / or is cylindrical. - The fixing element has a magnet which points away from the contact side of the fixing element and which is preferably cylindrical and / or smaller than a magnet for fixing the fixing element to the formwork base or generates a smaller magnetic force, wherein both magnets are preferably connected to one another by a connecting means. - The fixing element has an engagement portion which can be brought into contact with the engagement device of the device, wherein the engagement portion is preferably designed as a radially projecting and / or circumferential flange.

[0022] A system comprises the device and a group of at least two fixing elements, wherein the device and the fixing elements are coordinated with one another in such a way that the system preferably has at least one of the following features: - The fixing elements can be positively accommodated in the device. - The fixing elements can be fed to the engagement device of the device in an ordered sequence. - The fixing elements are movable along the central axis of the device. - The fixing elements can be aligned with each other in the device.

[0023] Further preferred developments result from combinations of the features disclosed in the description, the claims and the drawings. Short description of the characters

[0024] They show: Fig. 1 a perspective view of a device according to the invention for removing fixing elements from a formwork base in the unloaded state without fixing elements, wherein the device has a housing and a carrier movably coupled to the housing. Fig. 2 in the perspective views (a) and (b) at the same viewing angle a fixing element with a view obliquely from above onto the upper side of the fixing element facing away from the contact side as an overall view (view a) or in partial section (view b). Fig. 3 a schematic representation with a view from above of a device and of a formwork support, wherein the device is moved from a starting position next to the formwork support on a (self-contained) movement path indicated by a dashed line and in the process travels to various positions on the formwork support in order to pick up individual fixing elements from the formwork support and then returns to the starting position. Fig. 4 different schematic views of the neck of a fixing element in cross section to an axis perpendicular to the contact side of the fixing element, wherein the neck has a star-shaped outline in the cross section shown and can be aligned about the axis when arrow-shaped engagement sections engage in two diametrically opposed recesses, wherein the arrow-shaped engagement sections are in a non-engaged position in view (a) and in an engaged position in view (b). Detailed description of the preferred embodiments

[0025] The preferred embodiment of the invention will be described in detail below with reference to the drawings. To avoid repetition, similar features are designated by the same reference numerals and a repeated description is omitted. Device 1

[0026] The device 1 according to the invention according to the present embodiment serves for positioning and removing fixing elements 2 on / from a formwork base 3 and comprises a housing / magazine 11 for receiving a group of fixing elements 2 and a carrier 12, as well as an engagement device 13 for establishing an engagement with a fixing element 2.

[0027] In the present case, the housing 11 is tubular, e.g. made of aluminum / stainless steel (non-magnetic), and comprises two, e.g. plate-shaped arms 112, which protrude from the hollow cylindrical base part 111 essentially radially to the central axis M, optionally with an upward taper at the end, and are connected to the base part 111, e.g. by welding. The interior of the base part 111 preferably tapers conically along the central axis M from the top (support 12) to the bottom (adjustment device 14) in order to center the fixing elements 2 stored in the interior with respect to the central axis M and to feed them in a precisely positioned manner to the engagement device 13, which is described in detail below. Two guide elements / buttons 115 extend parallel to the central axis M on the inner wall of the housing 11 and are spring-elastically pre-tensioned in a direction parallel to the central axis M into an extended position in order to rest on the formwork base 3.The guide elements / buttons 115 are designed to engage in the recesses 24 of the fixing elements 2 and to guide them in a rotationally secure manner in the housing 11 during movement along the central axis M, to deposit them in the correct orientation on the formwork support 3 and to pick them up again in the correct orientation from the formwork support 3 in the housing 11.

[0028] In the present case, the support 12 is designed as a tube concentric with the base part 111 of the housing 11 and is intended to be held by a worker in a supporting manner, so that the housing 11 is arranged suspended below the support 12. Alternatively, another adapter can be attached via the wings 122 projecting laterally from the base part 121 of the support 12 via a screw cap 124. This adapter is designed, for example, as a hollow square tube with an edge length of 60 mm in order to be picked up by a formwork robot analogous to a formwork. Other adapters or suspensions of the device 1 are also conceivable. Attached to the underside of the base part 121 are two further wings 125 extending radially to the central axis M, which are connected to articulated rods 131 for coupling the movement of the support 12 relative to the housing 11.

[0029] In the present exemplary embodiment, the engagement device 13 comprises two slide-shaped engagement sections 134, each of which can be brought into positive engagement with a fixing element 2. The two engagement sections 134 are arranged offset by 180° from the central axis M, are mirror-symmetrical, and can be actuated simultaneously to each enclose a fixing element 2 on the neck 22 or between the head 21 and the body 23 in a positive, play-free, and fully circumferential manner. However, the number of engagement sections 134 is not necessarily limited to two. The movement of each engagement section 134 is coupled to a relative movement between the housing 11 and the carrier 12 via a joint / toggle lever mechanism formed by the lever rod 131 and the lever 132 as well as further deflection rods and joints 133 in such a way that when the overall length of the housing 11 and the carrier 12 is shortened, each engagement section 134 is spaced from the central axis M.During a relative movement between the housing 11 and the support 12, which increases their overall length, the distance of the engagement section 134 from the central axis M shortens. As a result, the engagement device 13 is automatically actuated when the housing 11 is placed on the formwork support 3 and moved from the closed position to the open position, while the engagement device 13 is also automatically actuated when the housing 11 is lifted off the formwork support 3, but is moved from the open position to the closed position. In the closed position, the inner diameter of a circle formed by the sides of the engagement sections 134 facing the central axis M is smaller than the outer diameter of the head 21 and the body 23 of the fixing element 2, so that the fixing element 2 is fixed in both directions along its axis A in a form-fitting manner and preferably without play between the engagement sections 134.In the open position, the opening formed between the engagement sections 134 is larger than the outer diameter of the head 21 and the body 23 of the fixing element 2, so that the fixing element 2 can be moved out of the effective range of the engagement device 13 along its axis A, which preferably coincides with the central axis M of the device 1. The strength of the engagement device 13 is dimensioned such that a lifting force oriented perpendicular to the contact side of the fixing element 2 can be applied to the fixing element 2 via the engagement sections 134 in order to overcome the magnetic holding force of preferably approximately 87 kg. The central axis M ideally corresponds to the axis A of the engaged fixing element 2 and the stacking axis S, along which the fixing elements 2 can be stacked in the housing 11 with a regular arrangement and orientation (contact side facing down).

[0030] In the present case, the adjusting device 14 is essentially tubular, e.g. made of aluminum / stainless steel (non-magnetic), and is arranged concentrically outside the base part 111 of the housing 11 along the central axis M so as to be adjustable relative to the latter. The adjusting device 14 comprises a hollow cylindrical base part 141 with at least one guide groove for forming a slotted guide with a guide pin 114 that projects radially outward from the base part 111 of the housing 11. Optionally, the base part 141 comprises two further guide grooves for forming a slotted guide with the arms 112 that project radially outward from the base part 111 of the housing 11. The adjusting device 14 is adjustable between a retracted position and an extended position. By means of a knob 142, the base part 141 of the adjusting device 14 can be fixed in the retracted position or the extended position relative to the base part 111 of the housing 11.At the lower end of the base part 111 of the housing 11, four feet 143 extend substantially parallel to the central axis M, which define the installation surface of the device 1. By transferring the adjusting device 14 between the retracted position and the extended position, the distance of the installation surface of the device 1 can be changed in relation to the engagement height of the engagement sections 134 along the central axis M. This means that by transferring the adjusting device 14 between the retracted position and the extended position, the device 1 can be configured between a function for positioning fixing elements 2 on a formwork base 3 (extended position of the adjusting device 14) and a function for removing fixing elements 2 from a formwork base 3 (retracted position of the adjusting device 14). In the retracted position of the adjusting device 14, which is shown in . Fig. 1, the engagement device 13 can be brought into engagement with a fixing element 2 positioned directly on the formwork base 3. In the extended position, the engagement device 13 can be brought into engagement with a fixing element 2 that is placed or stacked on the fixing element 2 positioned directly on the formwork base 3. Specifically, the engagement height of the engagement sections 134 in the retracted position of the adjustment device 14 in relation to the installation surface of the device 1 is dimensioned such that the engagement sections 134 enclose the neck 22 or the constriction formed between the head 21 and body 23 of the fixing element 2 in the closed position in a form-fitting, play-free and fully circumferential manner.In the extended position of the adjusting device 14, however, the engagement height of the engagement sections 134 in relation to the installation surface of the device 1 is dimensioned such that the engagement sections 134 enclose the fixing element 2, which is placed on the fixing element 2 positioned directly on the formwork base 3, in the closed position in a form-fitting, play-free and fully circumferential manner. Fixing element 2

[0031] The following with reference to Fig. The fixing element 2 described in Figure 2 is intended for use as a system in combination with the device described above.

[0032] The fixing element 2 comprises a mushroom-shaped upper part 2a made of a non-magnetic material, in particular stainless steel or aluminum, and a substantially cylindrical lower part 2b. The upper part 2a of the fixing element 2 forms a head 21 and a neck 22, while the lower part 2b forms a body 23. The neck 22 is arranged between the head 21 and the body 23 and forms a taper for the positive connection, e.g., with a concrete installation element, as well as for the positive application of a force for lifting the fixing element 2 from the formwork base 3. The head 21 and the body 23 each comprise a cone 21a, 23a pointing away from the contact side in order to facilitate the attachment of the engagement device 13 or its insertion into the housing 11 of the device 1. Head 21, neck 22 and body 23 each comprise a cylindrical outer surface 21b, 23b which points radially away from the axis A of the fixing element 2 which is perpendicular to the contact side.The change in cross-section between head 21 and neck 22 forms a radially projecting and circumferential flange 21c, which can be brought into engagement with the engagement device 13 of the device 1. Semi-cylindrical recesses 24 in the outer surface 21b, 23b of the body 23 form an anti-twist device 24 for the positive connection of the fixing element 2, e.g., with a concrete installation element and for securing it against twisting about an axis perpendicular to the contact side, as well as for anti-twist guidance on the guide elements / buttons 115 in the housing 11. A cylindrical magnet 2d for fixing the fixing element 2 to the formwork base 3 is located centrally on the contact side of the fixing element 2 in a complementary cavity of the lower part 2b. A further magnet 2c is arranged on the side of the fixing element 2 facing away from the contact side in a complementary cavity of the upper part 2a.This additional magnet 2c is smaller than the magnet 2d used to secure the fixing element 2 to the formwork base 3 and generates a smaller magnetic force. As a result, the force required to separate two fixing elements 2 while overcoming their mutual magnetic force is lower than the force required to remove one fixing element 2 from the formwork base 3. The lower part 2b has a larger diameter than the upper part 2a and forms the contact side for securing the fixing element 2 to the formwork base 3. The upper part 2a and the lower part 2b are separate components made of different materials and are connected by a screw that extends through a central bore 2e of the fixing element 2 and into both magnets 2c, 2d.

[0033] In the tubular housing 11, the axes A of the fixing elements 2 are aligned and centered on the central axis M during progressive movement in the direction of the engagement device 13 by guiding the cylindrical outer surface 23b of the body 23 on the inner wall of the housing 11 and the recesses 24 on the guide elements / buttons 115, and the fixing elements 2 are fed to the engagement device 13 in a precisely positioned manner, so that the engagement sections 134 can penetrate into the constriction of the fixing element 2 formed between the head 21 and the body 23 in the closed position.

[0034] The filling of the housing 11 can be measured from above by a laser or detected in another way.

[0035] In an advantageous further training, which is related to the Fig. 4a and Fig. 4b, the neck 22 of the fixing element 2 has a non-rotationally symmetrical, preferably polygonal contour in cross-section relative to the axis perpendicular to the contact side, by means of which the fixing element can be aligned about this axis. The polygonal contour of the neck 22 in cross-section is, for example, star-shaped and has four concave recesses on the outside, which taper towards the axis and are arranged symmetrically around the axis at regular angular intervals of 90°.

[0036] The engagement sections 134 of the device 1 have arrow-shaped tips that have convex contours complementary to the concave recesses on the neck 22 of the fixation element 2. As a result, the fixation element 2 can be aligned around the axis when the two arrow-shaped engagement sections 134 engage in two diametrically opposed recesses. Proceedings

[0037] The following with reference to Fig. The method for positioning fixing elements 2 on a formwork base 3, which is schematically described in Figure 3, is preferably carried out using the device 1 described above and comprises the steps: Step A: Move a group of fixing elements 2 to any position P1 on and / or above the formwork base 3. Step B: Separating a fixing element 2 from the group of fixing elements 2 for positioning on the formwork base 3.

[0038] First, a group is formed from individual fixing elements 2 and arranged regularly in the most compact stack, for example, with the contact sides of the fixing elements 2 facing downwards. The group of fixing elements 2 is secured in this stack, for example with packing straps. This ideally takes place in the factory and outside the formwork device 3 (sub-step A1). The mutual magnetic attraction of the fixing elements 2 supports the stack-like arrangement and holds them together in the stack, aligned along the stack axis S, without external influence.

[0039] When the device 1 is in a starting position P0 or refill station, the fixing elements 2 in this stacked assembly are received along a stacking axis S from above or below in the housing 11 of the device 1, so that the contact sides of the fixing elements 2 face downward or toward the engagement device 13 (sub-step A2). The stacking axis S ideally coincides with the center axis M of the device 1.

[0040] By guiding the cylindrical outer surface 23b of the body 23 on the inner wall of the housing 11 and the recesses 24 on the guide elements / buttons 115, the fixing elements 2 are centered on the central axis M as they move progressively along the central axis M in the direction of the engagement device 13 and are fed to the engagement device 13 in a precisely positioned manner. As a result, and supported by the mutual magnetic attraction of the fixing elements 2, individual fixing elements 2 in this stacked assembly are aligned relative to other fixing elements 2 of the group accommodated in the housing 11 (sub-step A4). This proves to be helpful because, among other things, a jerky movement of the device 1 can cause the fixing elements 2 to become offset with respect to the central axis M.The play of the fixing elements 2 in the magazine M should be sufficiently dimensioned to enable reliable separation of the fixing elements 2 by the engagement device 13 without tilting or jamming in the housing 11.

[0041] The fixing element 2 which is the lowest in the stacking direction is in engagement with the engagement sections 134 of the engagement device 13 which are in the closed position and is held in engagement by the engagement sections 134 in a form-fitting manner and without play (sub-step A3).

[0042] From position P0, the device 1 is now picked up by a formwork robot (not shown) on the adapter of the support 12 and moved over the formwork base 3 (sub-step A6) so that the housing 11 is arranged suspended below the support 12 and the central axis M and stacking axis S are aligned exactly or substantially perpendicular to the formwork base 3 (sub-step A5).

[0043] As indicated by the dashed line, the device 1 is moved by the formwork robot parallel and / or perpendicular to the formwork base from the position P0 to a position P1 for separating and positioning a first fixing element 2 (sub-step A6).

[0044] In this position P1, the housing 41 of the device 1 is placed on the formwork support 3 (substep A7). The adjustment device 14 is in the extended position.

[0045] By placing the housing 11 on the formwork base 3, the housing 11 is moved toward the support 12 and the engagement device 13 is mechanically actuated. The engagement sections 134 are moved away from the central axis M by the toggle lever rods 132 and joints 133, and the engagement device 13 is moved into the open position. As a result, the end of each engagement section 134 facing the central axis M is moved further away from the central axis M. By actuating the engagement device 13, coupled to the placement of the device 1 on the formwork base 3, the contact between the engagement sections 134 of the engagement device 13 and the fixing element 2 held thereby is released (sub-step B1).

[0046] Under the influence of the force of gravity, the fixing elements 2 fall through the released opening of the housing 11 onto the formwork base 3 and are moved along the stacking axis S (sub-step B2) until the fixing element 2 to be separated rests on the formwork base 3 and is positioned in position P1 (sub-step B3). The distance between the installation surface of the housing 11 or the formwork base 3 and the engagement height of the engagement sections 134 along the central axis M is dimensioned in the extended position of the adjusting device 14 such that in the open position of the engagement sections 134 exactly one fixing element 2 fits through the opening in order to rest on the formwork base 3 with its contact side. The fixing element 2 orThe second fixing element 2 from below is held at a distance from the formwork base 3 by the fixing element 2 resting directly on the formwork base 3 and still in the engagement area of the engagement sections 134 at the engagement height thereof. The device 1 is then lifted from the formwork base 3 by the formwork robot 1 and moved perpendicular to the formwork base 3 in a direction away from the formwork base 3. When the engagement sections 134 move back into the closed position when the housing 11 of the device 1 is lifted from the formwork base 3, the engagement sections 134 engage the second fixing element 2 from below.

[0047] When the device 1 is lifted off the formwork base 3, the engagement sections 134 of the engagement device 13 are consequently moved back from the open position into the closed position, so that the second fixing element 2 in the stacking direction is held in engagement from below by the engagement sections 134 of the engagement device 13 and is held in the housing 11 by the engagement sections 134 when the device 1 is lifted off the formwork base 3 (sub-step B4).

[0048] As a result, the fixing element 2 positioned on the formwork base 3 and to be separated is separated and separated from the remaining fixing elements 2 by relative movement with respect to the fixing elements 2 remaining in the housing 11 along the stack axis S, dissolving the stack connection (sub-step B5).

[0049] As a result, the fixing element 2 in the position P1 is individually ejected from the housing 11 (sub-step B6).

[0050] In a step B*, at least one remaining fixing element 2 of the group is moved to at least one further position P2 above the formwork base 3, different from said position P1. Step B and optionally C can be repeated in each further position P2 until the last fixing element 2 of the group is positioned on the formwork base 3.

[0051] Steps A, B and optionally C can be repeated with at least one further group of fixing elements 2. To refill fixing elements 2, the device 1 is moved to the starting position P0 or to a refilling station next to the formwork base 3. The empty device 1 is placed from above onto a provided stack of fixing elements 2 or is exchanged for a provided, filled device 1. In the starting position or refilling station P0, the lowest fixing element 2 is placed on a pedestal 4 with a height matched to a fixing element 2, so that this lowest fixing element 2 is held in the engagement region of the engagement sections 134 of the engagement device 13. Accordingly, the lowest fixing element 2 contacts the engagement sections 134 when the housing 11 of the device 1 is lifted from the starting position orRefill station P0 when the contact sections 51 move back to the closed position.

[0052] After completion of the positioning of the fixing elements 2, a formwork 5 formed on the formwork base 3 is filled with liquid concrete while embedding the fixing elements 2 and the fixing elements 2 are removed separately from the formwork base 3 after the finished concrete part has been lifted off.

[0053] To remove the fixing elements 2 from the formwork base 3, the following steps are carried out: Step C: Grouping a fixing element 2 to be removed from the formwork base 3 with at least one further fixing element 2 to form a group of fixing elements 2. Step D: Remove the group of fixing elements 2 from the formwork base 3.

[0054] First, the device 1 is brought into the configuration for removing the fixing elements 2 from the formwork base 3 by moving the adjustment device 14 into the retracted position and into the position P1 of the fixing element 2 to be removed from the formwork base 3. Subsequently, the engagement device 13 is actuated by placing the device 1 on the formwork base 3 to establish engagement with the fixing element 2 to be removed from the formwork base 3 (substeps C1 and C2).

[0055] By actuating the engagement device 13, the fixing element 2 to be removed from the formwork base 3 is received in the device 1 (sub-step C3).

[0056] By means of mutual magnetic attraction, the fixing element 2 to be removed from the formwork base is aligned with a fixing element already received in the device 1 (sub-step C4).

[0057] As a result, the fixing element 2 to be removed from the formwork base 3 is arranged in a stacked arrangement along a stacking axis S in regular contact with the fixing element 2 already stored in the device (sub-step C5).

[0058] By lifting the device 1 from the formwork base 3, the engagement device 13 is moved from the open position to the closed position. The fixing element 2 to be removed from the formwork base 3 is engaged by the engagement device 13 and moved perpendicular to the formwork base 3 with the remaining fixing elements 2 of the group of fixing elements 2 (sub-step D1).

[0059] The lifting of the device 1 is preferably carried out with a formwork robot (sub-step D2).

[0060] In the manner described, all fixing elements 2 are removed one after the other from the formwork base 3 and can be immediately reused.

[0061] To produce another precast concrete element, the entire process is repeated.

[0062] List of preferred examples: Example 1: Method for positioning fixing elements (2) on a formwork base (3), comprising the steps: a. Step A: Move a group of fixing elements (2) to any position (P1) on and / or above the formwork base (3). b. Step B: Separating a fixing element (2) from the group of fixing elements (2) for positioning on the formwork base (3). Example 2. Method for removing fixing elements (2) from a formwork base (3), preferably in combination with the method according to Example 1, comprising the steps: a. Step C: Grouping a fixing element (2) to be removed from the formwork base (3) with at least one further fixing element (2) to form a group of fixing elements (2). b. Step D: Remove the group of fixing elements (2) from the formwork base (3). Example 3: Method according to one of the preceding examples, wherein step A comprises at least one of the following substeps: a. Sub-step A1: Grouping of at least two fixing elements (2) to form the group of fixing elements (2), preferably in a stacked arrangement along a stacking axis (S), preferably in such a way that the fixing elements (2) are arranged regularly and / or in contact with one another, particularly preferably in the most compact stacked arrangement. b. Sub-step A2: Receiving the group of fixing elements (2) in a device (1) for positioning fixing elements (2) on a formwork base (3), preferably in a device (1) according to one of examples 9 to 13, preferably from / in a position (P0) next to the formwork base (3). c. Sub-step A3: Actuating an engagement device (13) to establish an engagement between the engagement device (13) and the fixing element (2) to be separated from the group of fixing elements, preferably electrically, hydraulically, pneumatically and / or mechanically. d. Sub-step A4: Aligning at least one fixing element (2) within the group of fixing elements (2) with respect to at least one other fixing element (2) of the group of fixing elements (2), preferably by correcting the relative position and / or orientation of the fixing elements (2), preferably by centering on an axis (M, S), particularly preferably by magnetic force. e. Sub-step A5: Aligning at least one fixing element (2) from the group of fixing elements (2) with respect to the formwork base (3), preferably by arranging the stacking axis (S) exactly or substantially perpendicular to the formwork base (3). f. Sub-step A6: Moving at least one fixing element (2) from the group of fixing elements (2) parallel and / or perpendicular to the formwork base (3), preferably with a robot. g. Substep A7: Placing the device (1) for positioning fixing elements (2) on the formwork base (3), preferably a device (1) according to one of examples 9 to 13. Example 4: Method according to one of the preceding examples, wherein step B comprises at least one of the following substeps: a. Sub-step B1: Actuating an engagement device (13) to release the engagement between the engagement device (13) and the fixing element (2) to be separated, preferably by actuating the engagement device (13). b. Sub-step B2: Moving at least the fixing element (2) to be separated and / or at least one other fixing element (2) from the group of fixing elements (2), preferably perpendicular to the formwork base (3), preferably along the stacking axis (S), preferably by the action of weight. c. Sub-step B3: Positioning of the fixing element (2) to be separated, preferably the lowest fixing element (2) in the stacking direction, on the formwork base (3), preferably by the action of the weight force and / or by the action of the magnetic force between the formwork base and the fixing element (2). d. Sub-step B4: Establishing an engagement between a remaining fixing element (2) from the group of fixing elements (2), preferably the second fixing element (2) from below in the stacking direction, with the engagement device (13), so that this fixing element (2) is held in engagement by the engagement device (13). e. Sub-step B5: Separating the fixing element (2) to be separated from at least one remaining fixing element (2) of the group, preferably by relative movement of both fixing elements (2), in particular along the stack axis (S), preferably with dissolution of the group. f. Sub-step B6: Discharge of the separated fixing element from the device (1), preferably the device (1) according to one of examples 9 to 13, preferably in said position (P1). Example 5: Method according to one of the preceding examples, wherein in a step B* at least one remaining fixing element (2) of the group is moved into at least one further position (P2) above the formwork base (3) which is different from the said position (P1), wherein preferably step B and optionally step B* are repeated in each further position (P2), preferably until the last fixing element (2) of the group is positioned on the formwork base (3), wherein steps A, B and optionally step B* are particularly preferably repeated with at least one further group of fixing elements (2). Example 6: Method according to one of the preceding examples, wherein a formwork (5) formed on the formwork base (3) is filled with liquid concrete after the positioning of the fixing elements (2) on the formwork base (3) and the hardened concrete part is removed from the formwork base (3) without the fixing elements (2). Example 7. Method according to one of the preceding claims, wherein step C comprises at least one of the following substeps: a. Sub-step C1: Placing a device (1) for positioning and / or removing fixing elements (2) on / from the formwork base (3), preferably a device according to one of examples 9 to 13, on the formwork base (3). b. Sub-step C2: Actuating an engagement device (13) for establishing engagement with the fixing element (2) to be removed from the formwork base (3), preferably electrically, hydraulically, pneumatically and / or mechanically. c. Sub-step C3: Receiving the fixing element (2) to be removed from the formwork base (3) in a device (1) for positioning and / or removing fixing elements (2) on / from a formwork base (3), preferably a device (1) according to one of examples 9 to 13. d. Sub-step C4: Aligning at least one fixing element (2) within the group of fixing elements (2) with respect to at least one other fixing element (2) of the group of fixing elements (2), preferably by correcting the relative position and / or orientation of the fixing elements (2), preferably by centering on an axis (M, S), particularly preferably by magnetic force. e. Sub-step C5: Arranging the fixing element (2) to be removed from the formwork base (3) and at least one further fixing element (2) of the group of fixing elements (2) in the stack along a stack axis (S), preferably in such a way that the fixing elements (2) are arranged regularly and / or in contact with one another, particularly preferably in the most compact stack. Example 8. Method according to one of the preceding examples, wherein step D comprises at least one of the following substeps: a. Sub-step D1: Moving at least the fixing element (2) to be removed from the formwork base (3) and optionally the remaining fixing elements (2) of the group of fixing elements (2), preferably in a translational movement parallel and / or perpendicular to the formwork base (3), and / or a rotational movement about an axis aligned parallel or perpendicular to the formwork base (3), preferably with a robot. b. Sub-step D2: Lifting the device (1) for positioning and / or removing fixing elements (2) on / from the formwork base (3), preferably a device (1) according to one of examples 9 to 13. Example 9: Device (1) for positioning and / or removing fixing elements (2) on / from a formwork base (3), preferably by carrying out the method according to one of the preceding claims, wherein the device (1) is designed to receive a group of fixing elements (2) and to engage with a fixing element (2), in particular a fixing element (2) to be positioned on the formwork base (3) and / or a fixing element (2) to be removed from the formwork base (3). Example 10: Device (1) according to example 9, wherein the device (1) has an exchangeable adapter (123), wherein the device (1) is preferably configurable for manual operation or for robot operation by exchanging the adapter (123). Example 11: Device (1) according to example 9 or 10, wherein the device (1) comprises a housing (11) and a carrier (12), wherein the housing (11) and carrier (12) are preferably coupled so as to be movable relative to one another. Example 12: Device (1) according to one of examples 9 to 11, wherein the device (1) has an engagement device (13) for establishing an engagement with at least one fixing element (2), which engagement device is preferably electrically, hydraulically, pneumatically and / or mechanically actuatable, preferably coupled to a relative movement between the housing (11) and the carrier (12), wherein contact between the engagement device (13) and at least one fixing element (2) is selectively established or released by actuating the engagement device (13), wherein the engagement device (13) particularly preferably has at least two movable engagement sections (134) for establishing an engagement with at least one fixing element (2), wherein the engagement sections (134) are very particularly preferably controlled simultaneously via a joint and / or toggle lever mechanism coupled between the housing (11) and the carrier (12). Example 13: Device (1) according to one of examples 9 to 11, wherein the device (1) is adjustable between a configuration for positioning fixing elements (2) on a formwork base (3) and a configuration for removing fixing elements (2) from a formwork base (3), preferably by transferring an adjusting device (14) between a retracted position and an extended position. Example 14: Fixing element (2) for use in combination with a device according to any one of Examples 9 to 13, wherein the fixing element (2) preferably fulfills at least one of the following features: a. The fixing element (2) has a flat contact side for contact with the formwork base (3). b. The fixing element (2) has an upper part (2a) and a lower part (2b), preferably with at least one of the following properties: i. The upper part (2a) is mushroom-shaped. ii. The upper part (2a) is made of a non-magnetic material, in particular stainless steel or aluminum. iii. The lower part (2b) is essentially cylindrical. iv. The lower part (2b) has a larger diameter than the upper part (2a). v. The lower part (2b) has the contact side for contact with the formwork base (3). vi. The upper part (2a) and the lower part (2b) are made of different materials. vii. The upper part (2a) and the lower part (2b) are separate components and are connected by a connecting means. viii. The upper part (2a) and / or lower part (2b) has / have a cavity for receiving a magnet (2c, 2d). c. The fixing element (2) comprises a head (21), a neck (22) and a body (23), preferably having at least one of the following characteristics: i. The body (23) has a contact side for the attachment of the fixing element (2) to the formwork base (3). ii. The neck (22) is located between the head (21) and the torso (23). iii. The neck (22) forms a taper for the positive connection with a concrete installation element and / or for the positive application of a force to lift the fixing element (2) from the formwork base (3). iv. The head (21) and / or the body (23) comprises / comprise a cone (21a, 23a) which preferably points away from the contact side. v. The head (21) and / or the neck (22) and / or the body (23) comprises / comprise a preferably cylindrical outer surface (21b, 23b) which points radially away from an axis (A) perpendicular to the contact side of the fixing element (2). d. The fixing element (2) is essentially rotationally symmetrical or cylindrical. e. The fixing element (2) comprises an anti-twist device (24) for positive connection to a concrete installation element to secure the latter against twisting about an axis perpendicular to the installation side and / or for anti-twist guidance in the device (1). f. The fixing element (2) has a magnet (2d) for fixing the fixing element (2) on the formwork base (3), wherein the magnet (2d) is preferably arranged centrally on the contact side of the fixing element (2) and / or is cylindrical. g. The fixing element (2) has a magnet (2c) which points away from the contact side of the fixing element (2), which magnet is preferably cylindrical and / or smaller than a magnet (2d) for fixing the fixing element (2) to the formwork base (3) or generates a smaller magnetic force, wherein both magnets (2c, 2d) are preferably connected to one another by a connecting means. h. The fixing element (2) has an engagement portion which can be brought into contact with the engagement device of the device, wherein the engagement portion is preferably designed as a radially projecting and / or circumferential flange (21c). Example 15. A system comprising a device according to any one of Examples 9 to 13 and a group of at least two fixing elements (2) according to Example 14, wherein the device (1) and the fixing elements (2) are coordinated with one another such that the system preferably has at least one of the following features: a. The fixing elements (2) can be positively received in the device (1). b. The fixing elements (2) can be fed to the engagement device (13) of the device (1) in an ordered sequence. c. The fixing elements (2) are movable along the central axis (M) of the device (1). d. The fixing elements (2) can be aligned with each other in the device (1). List of reference symbols 1 device 2 Fixing element 2a Upper part 2b Lower part 2c Magnetic body (small) 2d magnetic body (large) 2nd hole 3 Formwork support 4 podium 5 Formwork 11 Housing or magazine 12 carriers 13 Intervention device 14 Adjustment device 21 head 21a Cone 21b Cylinder surface 21c flange 22 Neck 23 Hull 23a Cone 23b Cylinder surface 24 recess 111 Tube / Base Part 112 booms / wings 113 Guide channel 114 guide pins 115 Guide element / button 121 Base part 122 boom (for adapter) 123 adapter (for manual operation) 124 screw cap 124 wings 125 boom (for lever rod) 131 lever rod 132 lever mechanism 133 Bearing / Joint 134 sleds 141 Guide sleeve 142 Actuating device (button) 143 feet M central axis P0 Position next to the formwork support P1 Position on the formwork base P2 Position on the formwork base S stacking axis

Claims

[1] Device (1) for removing fixing elements (2) from a formwork base (3), comprising: a housing (11) designed as a magazine for receiving a group of fixing elements (2) in a stack along a stacking axis (S), a formwork robot for moving the housing (11) parallel and perpendicular to the formwork base (3) into any desired position (P1) above the formwork base (3) and an engagement device (13) for establishing an engagement with a fixing element (2) to be removed from the formwork base (3). [2] Device (1) according to the preceding claim, characterized by that the device (1) has a carrier (12), wherein the housing (11) and carrier (12) are coupled so as to be movable relative to one another. [3] Device (1) according to one of the two preceding claims, characterized byin that the engagement device (13) can be actuated electrically, hydraulically, pneumatically and / or mechanically, preferably coupled to a relative movement between the housing (11) and the carrier (12), wherein contact between the engagement device (13) and at least one fixing element (2) is selectively established or released by actuating the engagement device (13), wherein the engagement device (13) particularly preferably has at least two movable engagement sections (134) for establishing an engagement with at least one fixing element (2), wherein the engagement sections (134) are very particularly preferably controlled simultaneously via a joint and / or toggle lever mechanism coupled between the housing (11) and the carrier (12). [4] Device (1) according to one of the preceding claims, characterized bythat the device (1) is adjustable between a configuration for positioning fixing elements (2) on a formwork base (3) and a configuration for removing fixing elements (2) from a formwork base (3), preferably by transferring an adjusting device (14) between a retracted position and an extended position.

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