Handling support device

Abstract

Handling support device (2) for the assembly and dismantling of a working scaffold (1) comprising several scaffold parts (8), comprising: a movable carrier unit (4); at least one robot arm (6) connected to the carrier unit (4) and designed as a lifting and positioning unit; at least one gripping device (11) provided on the robot arm (6) for optionally a scaffold part (8) or a load carrier (9) containing at least one scaffold part (8); a sensor arrangement (15) with at least one sensor (7) for identifying the working scaffold (1), the scaffold part (8) and / or the load carrier (9) containing the scaffold parts (8) and an installation or removal position of the scaffold part (8) and / or a storage or receiving position of the load carrier (9) containing the scaffold parts (8); and a unit for controlling a positioning of at least the robot arm (6) and / or the gripping device (11), wherein the control unit is configured to control a positioning of at least the robot arm (6) and / or the gripping device (11) on the basis of sensor data acquired by the sensor (7).

Description

[0001] Traditionally, the assembly and dismantling of working scaffolds, such as facade or support scaffolds, is carried out almost exclusively by hand. The individual scaffolding sections, which are often several meters long and heavy, are transported from the ground to the respective assembly height. This is typically done by passing them on or with the help of simple lifting devices such as cable winches. The scaffolding is then assembled level by level, with fitters manually moving and securing the sections to their intended location. This work process is associated with considerable ergonomic stress, as heavy loads often have to be moved over extended periods of time while maintaining awkward postures. In addition, manual assembly frequently leads to inaccuracies in the positioning of the scaffolding sections, which not only delays assembly but can also compromise the stability of the scaffold.Furthermore, the work process is time-consuming, as workers must work in a coordinated manner, and auxiliary tasks such as transporting and positioning scaffolding components significantly slow down the actual assembly. Passing scaffolding components across multiple levels is also prone to accidents and therefore requires the use of complex safety measures for the installers, the installation and implementation of which generates additional labor and time.

[0002] It is therefore an object of the present invention to create possibilities for more efficient, ergonomic and safer assembly and dismantling of scaffolding.

[0003] According to the invention, this object is achieved by a handling support device having the features of claim 1.

[0004] Advantageous embodiments and further developments emerge from the subclaims and from the description with reference to the figures of the drawings.

[0005] The idea underlying the present invention is to provide a handling support device for the assembly and disassembly of a working scaffold comprising several scaffolding parts. The handling support device comprises a movable carrier unit, at least one robot arm connected to the carrier unit and designed as a lifting and positioning unit, at least one gripping device provided on the robot arm for optionally a scaffolding part or a load carrier containing at least one scaffolding part, a sensor arrangement with at least one sensor for identifying the working scaffold, the scaffolding part and / or the load carrier containing the scaffolding parts and an installation or removal position of the scaffolding part and / or a storage or pick-up position of the load carrier containing the scaffolding parts, and a unit for controlling a positioning of at least the robot arm and / or the gripping device.According to the invention, the control unit is configured to control the positioning of at least the robot arm and / or the gripping device on the basis of sensor data acquired by the sensor. The handling support device advantageously reduces the physical strain on workers, as heavy scaffolding parts or load carriers no longer have to be lifted manually or transported along the respective scaffolding level to the final installation position of the scaffolding part. The sensor-based, controlled positioning of the robot arm enables precise and reproducible positioning of the scaffolding parts at the respective installation position during feeding. A further advantage is that the partially automated handling significantly speeds up assembly and dismantling, as the robot arm transports scaffolding parts directly to the assembly or dismantling point and positions or removes them there.in the correct orientation to the fitter or, when dismantling the scaffold, takes it over from the fitter. The movable support unit advantageously enables the device to be used at different locations on a construction site without the need for re-setting or adjusting. The sensor arrangement, in turn, allows the working scaffold to dynamically identify individual scaffold parts or load carriers as well as their installation or transfer positions, thus enabling seamless adaptation to changing scaffold configurations during assembly or dismantling. The sensor arrangement for identifying scaffold parts and positions advantageously achieves autonomous and adaptive operation of the handling support device when providing or removing scaffold parts, since the control unit controls the optimal positioning of the robot arm and the gripping device in real time based on the recorded sensor data.This allows workflows to be carried out more efficiently and precisely and adapted to the progress of scaffolding erection or dismantling. The resulting partially automated assembly and dismantling process reduces personnel requirements and thus lowers working time and costs per scaffolding project. The design is fully scalable and can be adapted for scaffolding systems of varying sizes and complexity. In addition to scaffolding, it can also be used for related applications such as facade construction, roofing, or carpentry.

[0006] According to a further development, the carrier unit is designed as a mobile construction crane or small crane, with the robot arm being arranged on a crane boom or intended to replace a crane boom. The use of a mobile construction crane or small crane as the carrier unit advantageously enables an expansion of the working area. The crane boom can cover greater distances and heights of, for example, 20 m and more, particularly on high scaffolding or construction sites that are difficult to access, without the carrier unit having to be relocated. This reduces the number of interruptions to the workflow and increases work efficiency. The possibility of using the robot arm as a replacement for a conventional crane boom results in the further advantage that the handling support device can be designed more compactly. This proves particularly advantageous on cramped construction sites with limited maneuverability and limited space requirements.The connection of the robot arm to a stable crane boom further increases the precision when positioning heavy or bulky scaffolding components. The crane design, particularly with extendable supports, ensures high stability during the lifting and positioning process and improves the safety and accuracy of assembly. The ability to attach the robot arm to an existing crane boom or use it as a replacement creates flexibility when adapting to different construction site requirements. Depending on the construction site requirements and construction progress, an existing construction crane or small crane can advantageously be used as a simple crane or as an automated handling support device according to the invention, thereby advantageously increasing machine utilization. The combination of a crane with a robot arm makes it possible to move even heavy loads precisely.The load distribution across the crane boom primarily ensures safe handling of the scaffolding components or load carriers. The integration of the robot arm into the crane or crane boom structure advantageously enables fully or partially automated control of the lifting and positioning processes, reduces manual labor, and accelerates the assembly process.

[0007] According to an alternative embodiment, the carrier unit is designed as a driverless, in particular autonomously driving, transport vehicle carrying the robot arm. In this context, an autonomously driving transport vehicle is understood to be an independently operating, driverless vehicle that navigates using sensors and a control unit and detects and avoids obstacles in real time. A driverless, in particular autonomously driving transport vehicle advantageously increases the level of automation and safety on the construction site. By independently calculating efficient routes to the assembly and disassembly locations, working time is reduced and the productivity of the system is increased. The optional use of multiple autonomous transport vehicles enables parallel processing of tasks, which further accelerates the erection and dismantling of scaffolding and increases the efficiency of the entire scaffolding process.This allows for a continuous workflow without waiting times on the construction site.

[0008] According to a further development, the robot arm is designed as a six-axis robot arm. The six-axis robot arm advantageously enables precise movements in all spatial directions as well as rotations around multiple axes. This advantageously enables flexible detection, positioning, and alignment of scaffolding components, even in tight or complex assembly situations. The high number of degrees of freedom in the movement of the robot arm allows scaffolding components or load carriers to be gripped, transported, and positioned in the intended position with greater precision. The six-axis robot arm is also advantageously capable of performing various tasks such as lifting, rotating, or precisely fitting or feeding scaffolding components or load carriers, and adapting the movement to varying scaffold types or assembly situations.

[0009] According to a further development, the gripping device is designed as a gripper, suction gripper, or gripping hook. The various designs of the gripping device advantageously enable the handling of scaffolding parts of different shapes, sizes, and materials. A gripper, for example, is particularly suitable for solid and angular parts, a suction gripper for smooth surfaces, and a gripping hook for elongated or hard-to-reach parts. Each gripping device can be optimally adapted to the specific application, ensuring a secure hold of the scaffolding parts and / or the load carrier during transport and positioning. This minimizes the risk of falls or damage to the scaffolding material. The ability to use different gripping devices advantageously increases the flexibility of the handling device, allowing it to be used efficiently and safely both during the assembly and dismantling of scaffolding.Through the targeted selection of the gripping device, which can be attached interchangeably to the robot arm, specific requirements on construction sites can be taken into account, such as the safe gripping of heavy parts (gripper) or the lifting of surfaces (suction gripper), such as scaffolding coverings or cladding.

[0010] According to a further development, the load carrier is designed as a scaffolding basket, wherein the scaffolding basket has connecting means that can be releasably engaged with the gripping device. The load carrier designed as a scaffolding basket advantageously enables the simultaneous transport of several scaffolding parts, thereby reducing the number of required transport operations and significantly accelerating the assembly and dismantling process. The releasable connecting means also allow the scaffolding basket to be easily and quickly coupled and uncoupled from the gripping device. This facilitates loading and unloading of the basket and increases the efficiency of the work processes. The scaffolding basket is to be regarded as a special design of a load carrier and is designed to accommodate and securely fix a large number of scaffolding parts, especially unsorted ones.In one embodiment, the scaffolding cage itself can be constructed from scaffolding sections, which can then be used for installation after the scaffolding components have been removed. The connecting elements on the scaffolding cage, designed, for example, as hooks, advantageously ensure a stable connection between the scaffolding cage and the gripping device, allowing for controlled handling of the scaffolding components at the assembly or disassembly site. A further advantage is that the scaffolding cage can be adapted to standardized scaffolding dimensions, thus facilitating integration into existing construction processes and ensuring compatibility with different scaffolding systems.

[0011] According to a further development, the load carrier has a step-over protection device on a side facing the working scaffold that can be placed flush with the working scaffold. The step-over protection device enables a safe transition from the load carrier to the working scaffold. The load carrier thus protects the fitter from falls while removing the scaffold components, as the scaffolding section that is open for loading or unloading the load carrier is closed off by the load carrier. Fitters can therefore move safely back and forth between the load carrier and the working scaffold without having to use additional safety equipment, such as personal protective equipment against falls from a height (PPE). This significantly simplifies and accelerates work processes. The flush adaptation to the working scaffold also advantageously ensures a seamless transition between the load carrier and the scaffold and accelerates loading and unloading processes.The over-step guard ensures a firm and stable connection between the load carrier and the scaffolding, thus increasing the accuracy of the load carrier's positioning relative to the scaffolding. The over-step guard can advantageously be adapted to standardized scaffolding systems, thereby expanding the possible applications of the handling support device on construction sites. In one embodiment, the over-step guard can be designed as a hinged plate that is folded down after the load carrier has been positioned on the scaffolding to bridge the gap between the load carrier and the scaffolding.

[0012] According to a further development, the sensor is designed as an image recognition system, in particular a camera. The control unit is configured to control the positioning based on at least one captured camera image of the working scaffold. The use of an image recognition system advantageously enables precise recording of the entire working scaffold and / or individual scaffold structures, positions and assembly points as well as the assembly or disassembly progress and the coordinated positioning of the load carriers or scaffolding parts. This enables the control unit to align the robot arm or gripping device with high precision and avoid incorrect positioning. By analyzing the camera images, the control unit can react dynamically to changes in the construction site situation and the assembly or dismantling progress, e.g. in the event of obstacles or deviating or changing scaffolding structures.This advantageously increases the flexibility of the device. Since the image recognition system enables continuous monitoring of work progress, work processes can be optimized in real time, e.g., by adjusting transport routes or the positioning of the load carrier or individual scaffolding components. Positioning can advantageously be carried out automatically based on the camera images, reducing the need for manual control interventions. The image recognition system can also detect potential hazards, such as people or unforeseen obstacles, and then initiate appropriate protective measures, such as stopping the movement. The camera-based control advantageously allows for easy adaptation to a wide variety of scaffolding types and construction conditions, without the need for extensive manual adjustments or presets.

[0013] According to a further development, the sensor is designed as a reader for computer-readable coding, in particular as a barcode, QR code, or RFID tag. The control unit is configured to control positioning based on recorded coding data. The reader advantageously enables the fast and precise detection of scaffolding parts, load carriers, or assembly positions based on the coding data. This facilitates the assignment of scaffolding parts or load carriers to the respective assembly or storage locations and reduces errors caused by manual entry. The automatic capture of coding data eliminates time-consuming manual checks and coordination. This accelerates the entire scaffolding assembly and dismantling process. The use of computer-readable coding ensures that the correct parts are transported and assembled in the intended positions. This minimizes incorrect positioning and the need for rework.The integration of a coding system enables largely autonomous or at least semi-autonomous control of the positioning of the handling support device according to the invention, since the acquired data is processed directly by the control unit in order to move the robot arm or gripping device on this basis. By using barcodes, QR codes, or RFID tags, various information (e.g., size, weight, target position) can be easily encoded and changed as needed, allowing the device to be adapted to different scaffold configurations and positioning or travel paths. The coding data is preferably acquired in real time, thus enabling reliable control and its adaptation. The coding can also be integrated into digital scaffolding assembly plans, thus advantageously contributing to the digitalization of the entire construction process.

[0014] In this context, according to a further development, the computer-readable coding is arranged on the scaffolding part, the load carrier and / or on the working scaffold or on an operator working on the working scaffold. The arrangement of the coding directly on the scaffolding parts or load carriers advantageously enables clear identification and tracking of the parts throughout the entire assembly and dismantling process. The coding on the working scaffold serves as a reference for the control unit in order to precisely align the robot arm or the gripping device to the intended assembly or storage positions. The coding on an operator working on the working scaffold enables the handling support device to recognize their position and adapt work processes accordingly, i.e. to transport scaffolding parts or load carriers directly to the assembler, thus ensuring an uninterrupted workflow.The detection of the position of a fitter or operator also advantageously increases handling safety, as the working area of the robot can be dynamically restricted to avoid collisions and injuries. A further advantage is that the arrangement of the coding on different components (scaffolding parts, load carriers, working scaffold) ensures that the device can react flexibly to varying construction site situations and scaffold configurations, with the recorded coding data advantageously allowing autonomous or at least semi-autonomous control of the device during the feeding or removal of scaffolding material. For this purpose, the control unit can control the entire transport and assembly process without manual intervention based on the recorded data. The attachment of the coding at standardized positions (e.g.on scaffolding parts or load carriers) facilitates the integration of the invention into existing scaffolding processes and improves compatibility with different scaffolding systems.

[0015] According to a further development, the control unit is configured to receive predefined scaffolding plan data and to control the positioning of at least the robot arm and / or the gripping device based on the scaffolding plan data processed in the control unit, in particular in conjunction with the acquired sensor data. Advantageously, by using predefined scaffolding plan data, the control unit can control the entire assembly and dismantling process precisely and efficiently, whereby manual planning and control can be completely or partially eliminated. A further advantage of the embodiment is that the combination of scaffolding plan data with sensor data enables exact positioning of the scaffolding components, since deviations between the scaffolding plan and the actual assembly situation can be detected and corrected in real time. The control unit can also access different scaffolding plans and implement them directly.This makes the device usable for a variety of scaffolding types and construction site conditions. The use of scaffolding plan data in conjunction with sensor data also advantageously enables dynamic adaptation to construction progress and continuous optimization of work paths and positioning processes. Furthermore, the processing of predefined plan data allows for better synchronization of multiple handling support devices and / or autonomous vehicles operating in parallel, thus further increasing efficiency.

[0016] According to a further development, the sensor arrangement comprises a plurality of sensors, wherein the sensors are optionally designed as image recognition systems, motion sensors, or position sensors, or combinations thereof. The combination of different sensor types advantageously enables redundant and more precise acquisition of environmental and position data. This can reduce errors in the positioning of the robot arm or gripping device. Different sensor types also offer flexibility to respond to different construction site conditions and scaffolding configurations. Image recognition systems can provide visual information, while motion sensors detect dynamic changes, and position sensors support the precise alignment of the robot arm or gripping device.By integrating motion sensors, obstacles or changes in the work environment can be detected in real time and used to dynamically adjust the control system. The sensor arrangement advantageously enables comprehensive data acquisition, which gives the control unit precise control over all movements and positioning, thus enabling autonomous material supply and removal during assembly and disassembly processes. Sensors such as motion sensors and image recognition systems can also help prevent potential collisions with people or objects by detecting hazards early and issuing automatic stop commands. The simultaneous use of different sensor types enables an expansion of the available database, which can optimize work processes and accelerate positioning sequences.

[0017] According to a further development, at least one sensor is arranged on the carrier unit, the robot arm and / or the gripping device. The arrangement of sensors directly on the carrier unit, the robot arm or the gripping device advantageously enables precise monitoring and control of the movements of each individual component. This increases positioning accuracy when handling and feeding scaffolding parts during the assembly or disassembly process. Sensors at key points on the handling support device continuously provide real-time data that enables immediate adjustment of the movement sequences. This increases the efficiency of the work processes and reduces the risk of incorrect positioning. Sensors on the gripping device, for example, precisely detect the position and condition of the scaffolding parts or load carriers and ensure that they are gripped and transported safely.This minimizes the risk of falls or damage. Sensors on the support unit can also detect obstacles on the construction site and ensure safe navigation of the device. Distributing the sensors across various components allows the device to be flexibly adapted to different scaffolding requirements, as each component can be monitored and controlled independently. Sensors on central mechanical elements such as the robot arm and gripper work seamlessly with the control unit, advantageously ensuring coordinated and optimized execution of workflows.

[0018] According to a further development, the working scaffold is designed as a supporting or facade scaffold. The possibility of using the device for both facade and supporting scaffolding advantageously expands its range of applications in various construction projects, such as facade work, renovations, or load-bearing tasks on construction sites. Facade scaffolding is primarily designed for work on vertical surfaces such as walls, while supporting scaffolds are mainly designed to support loads, e.g., in ceiling structures. The device according to the invention can be flexibly adapted to different configurations. Regardless of the scaffold type, the device supports efficient assembly and disassembly.

[0019] A method for the automatic or semi-automated assisted erection of a scaffold using the handling support device according to the invention comprises the following method steps: The handling support device according to the invention is positioned in the immediate vicinity of the scaffold to be erected. The handling support device comprises a movable carrier unit, such as a construction crane or small crane, a robot arm, a gripping device and a sensor arrangement. The alternative use of an autonomously driving, in particular driverless transport vehicle as the carrier unit is also possible. The scaffolding parts to be installed in the scaffold are provided either individually or in a load carrier, preferably a scaffolding basket. By means of sensors such as image recognition systems, position sensors or readers for computer-readable codes (e.g.Using tags (e.g., QR codes, barcodes, RFID tags), the sensor arrangement identifies the scaffolding parts or the load carrier, as well as their position and orientation. The robot arm grips the scaffolding parts or the load carrier securely and stably using a suitable gripping device (e.g., gripper, suction gripper, or gripping hook). Automatic verification of a secure grip is carried out, for example, by appropriate sensors on the gripping device. The robot arm lifts the scaffolding parts or the load carrier and positions it relative to the scaffolding at the respective assembly position. Control can be based on scaffolding plan data stored in a control unit or on the basis of sensor data recorded in real time. When using an autonomously driving, particularly driverless transport vehicle, as the carrier unit, the optimal route to the installation position is automatically calculated and followed by sensors in a collision-free manner. The sensor arrangement (e.g.,The system (e.g. cameras, motion sensors, position sensors) detects the installation position of the scaffolding parts on the working scaffold and controls the exact alignment of the robot arm and the gripping device. This ensures precise handover to the assemblers or direct positioning of the parts. The load carrier, such as a scaffold basket, is brought flush to the working scaffold. A step-over protection device ensures safe transition for the assembler to remove the scaffolding parts. The assembler can remove the scaffolding parts from an ergonomically favorable position and install them in the intended position on the working scaffold. The sensors record the assembly progress and enable dynamic adjustment of the positioning of the robot arm and the gripping device. The device can also use the sensors to detect obstacles and adapt work processes accordingly. The process is repeated for each additional scaffold level until the working scaffold is fully assembled.In a semi-automated process, a second operator can prepare the scaffolding parts or load carriers on the ground and monitor the system. Similarly, the scaffolding can be dismantled by following the previously described steps in reverse order.

[0020] The present invention will be explained in more detail below with reference to the exemplary embodiments shown in the schematic figures of the drawing. In the drawings: Fig. 1 is a perspective view of a scaffold during use of a handling support device according to an embodiment of the invention; and Fig. 2 a side view of a working scaffold during use of a handling support device according to an embodiment of the invention.

[0021] The accompanying drawing figures are intended to provide a further understanding of embodiments of the invention. They illustrate embodiments and, in conjunction with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the noted advantages will be apparent upon reference to the drawings. Elements of the drawings are not necessarily shown to scale relative to one another.

[0022] In the figures of the drawing, identical, functionally identical and acting elements, features and components are provided with the same reference symbols, unless otherwise stated.

[0023] Fig. Figure 1 shows a perspective view of a scaffold 1 with a handling support device 2 according to an embodiment of the invention. The handling support device 2 operates from the ground 17 and, in the exemplary embodiment, comprises a small crane 3 as a support unit 4, with a crane boom 5 and a robot arm 6 arranged on the crane boom 5 as its extension. Fig. 1, a scaffold structure with great heights of, for example, more than 20 m can be supported. Support elements (not shown) that can be attached to the small crane 3 can ensure load transfer and tipping stabilization of the entire device during handling of the scaffolding parts 8 or the load carrier 9 by the robot arm 6. In the exemplary embodiment, the load carrier 9 is designed as a scaffolding basket 10 in which the individual scaffolding parts 8, such as longitudinal and transverse bars, scaffolding frames and scaffolding decks 18, as well as any required fastening material, are pre-sorted for an optimized removal process. The load carrier 9 is grasped with the gripping device 11 provided on the robot arm 6, lifted and positioned relative to the working scaffold 1 at the scaffold position 12 that is currently to be assembled. For identification, the load carrier 9 and / or the individual scaffolding parts 8 are provided with a unique code 13 (cf.. Fig. 2). The Fig. 1 could thus also be used to position or hand over individual scaffolding parts 8. By means of the unique coding 13, the handling support device 2 can independently recognize at which scaffolding position 12 and at which assembly time the respective scaffolding part 8 must be installed and can then supply or hand it over to the fitter 14a located on the working scaffold 1 in a coordinated manner. For identification, the fitter 14 himself can wear a coding 13, for example a QR or barcode or an RFID tag affixed to his work clothing in a visible and machine-readable manner. The sensor arrangement 15 of the robot arm 6 and / or the gripping device 11 can thereby identify the respective first fitter 14a standing on the scaffold and supply the appropriate scaffolding part 8, i.e. the one currently required by him in the construction progress.Furthermore, the coding 13 can also be used for the installer-specific feeding and positioning of the load carrier 9 or scaffold cage 10 to avoid incorrect feeding. In this case, the installer 14a standing on the scaffold 1 also wears a machine-readable coding 13, for example, an RFID tag or the like, which can be recognized by a corresponding sensor 7 to uniquely identify the installer 14a.

[0024] The working scaffold 1 is depicted here as a facade scaffold, consisting of several horizontal and vertical structural elements. The scaffold basket 10, which transports several scaffold parts 8, is moved by the robot arm 6 to the working scaffold 1 under construction. The gripping device 11 provided on the robot arm 6 detects a load carrier 9 standing on the floor 17 and grasps it. A locking means provided on the gripping device 11 creates a detachable connection between the load carrier 9 and the gripping device 11. The robot arm 6 then lifts the load carrier 9 from the floor 17 and moves it to the intended installation position 12 of the scaffold parts 8 combined in the load carrier 9 in the respective installation position 16 of the working scaffold 1. Sensor-assisted detection of the installation position 12 and the precise positioning of the load carrier 9 on the working scaffold 1 also take place.After reaching the installation position 12, the fitter 14a removes the scaffolding parts 8 and installs them in the working scaffold 1. The fitter 14a is located in the area of the scaffold basket 10 for the removal and assembly of the scaffolding parts 8 on the already completed scaffold level 16 and can move horizontally on the already installed scaffolding decks 18 of the previous scaffold level 16. A second fitter 14b is located on the floor 17 and monitors the system. In semi-automated operation, the second fitter 14b prepares the load carrier 9 filled with the scaffolding parts 8 required for erecting the scaffold level 16. During scaffolding dismantling, the second fitter 14b transports the loaded load carriers 9, which have been picked up by the robot arm 6 on the working scaffold 1 and placed on the floor 17. The robot arm 6 ensures precise positioning of the scaffolding parts 8 or the load carrier 9 relative to the working scaffold 1 or the respective scaffolding assembly or disassembly unit.- dismantling. The fitter 14a can thus remove or deposit the scaffolding parts 8 in an ergonomically favorable position. The handling support device 2 can also be further developed such that an automatic positioning of the support unit 4 is carried out by a sensor-supported, autonomous, in particular horizontal, method relative to the working scaffold 1.

[0025] Fig. Figure 2 shows a side view of a scaffold 1 with the handling support device 2 according to an embodiment of the invention. The handling support device 2 comprises, as not recognizable here, in connection with Fig. 1, however, already described carrier unit 4, which is designed as a small crane 3 with a robot arm 6 arranged thereon for positioning the load carrier 9 designed as a scaffolding basket 10. The scaffolding basket 10 is in the embodiment of the Fig. 2 itself is constructed from scaffolding parts 8 and serves for the sorted arrangement of the scaffolding parts 8 required for assembly at the respective scaffolding position 12. The scaffolding basket 10 is designed such that it accommodates several scaffolding parts 8 and can be positioned flush with the working scaffold 1 at the respective scaffolding position 12. The fitter 14a located on the working scaffold 1 can remove the scaffolding parts 8 thus supplied from the scaffolding basket 10 and install them directly. Between the scaffolding basket 10 and the scaffolding deck 18 of the respective scaffold level 16, a flush-fitting transfer guard 19 is provided, which is fastened to the load carrier 9 or scaffolding basket 10 and is designed, for example, as a foldable plate and serves for a safe and gap-free transition from the scaffolding basket 10 to the working scaffold 1. The robot arm 6 and the gripping device 11 are provided with several, in Fig. 2 only schematically shown sensors 7, which can be present in different embodiments, for example as image recognition systems, position sensors or motion sensors and enable precise detection of the position of the load carrier 9 as well as the control of the movement of the robot arm 6 in real time. Sensors 7 on the gripping device 11 can be used to identify the scaffolding parts 8 or the load carrier 9, e.g. via computer-readable codes 13 such as barcodes, or in Fig. 2 exemplary QR codes or RFID tags and for checking a secure grip. Motion sensors or detection units on the fitter 14a detect its position and enable automatic adjustment of the positioning as well as avoidance of collisions between the robot arm 6 and / or load carrier 9 and the fitter 14a. By combining and networking the sensors 7 in a sensor arrangement 15, automatic, sensor-supported positioning of the robot arm 6 and the scaffolding cage 10 is enabled. The recorded sensor data is processed in the unit (not shown) for controlling the handling support device 2, which can precisely control the movements of the robot arm 6 and the gripping device 11 on the basis of this data. Fig.Figure 2 thus illustrates not only the precise positioning of the scaffold cage 10, but also the interaction of the sensor-supported control with the environment and the technician 14a involved in the work process. This leads to a significant improvement in safety, ergonomics, and efficiency during the assembly and dismantling of the scaffold 1. List of reference symbols 1 scaffold 2 Handling support device 3 small cranes 4 carrier unit 5 crane booms 6 Robot arm 7 Sensor 8 scaffolding part 9 load carriers 10 scaffolding baskets 11 Gripping device 12 scaffolding positions 13 Coding 14a, b fitter 15 Sensor arrangement 16 scaffolding positions 17 Floor 18 Scaffolding decking 19 Crossing protection

Claims

[1] Handling support device (2) for the assembly and dismantling of a working scaffold (1) comprising several scaffold parts (8), comprising: a movable carrier unit (4); at least one robot arm (6) connected to the carrier unit (4) and designed as a lifting and positioning unit; at least one gripping device (11) provided on the robot arm (6) for optionally a scaffold part (8) or a load carrier (9) containing at least one scaffold part (8); a sensor arrangement (15) with at least one sensor (7) for identifying the working scaffold (1), the scaffold part (8) and / or the load carrier (9) containing the scaffold parts (8) and an installation or removal position of the scaffold part (8) and / or a storage or receiving position of the load carrier (9) containing the scaffold parts (8); and a unit for controlling a positioning of at least the robot arm (6) and / or the gripping device (11), wherein the control unit is configured to control a positioning of at least the robot arm (6) and / or the gripping device (11) on the basis of sensor data acquired by the sensor (7). [2] Handling support device (2) according to claim 1, characterized by that the carrier unit (4) is designed as a movable construction crane or small crane (3), wherein the robot arm (6) is arranged on a crane boom (5) or is provided to replace a crane boom (5). [3] Handling support device (2) according to claim 1, characterized by that the carrier unit (4) is designed as a driverless, in particular autonomously driving, transport vehicle carrying the robot arm (6). [4] Handling support device (2) according to one of the preceding claims, characterized by that the robot arm (6) is designed as a six-axis robot arm. [5] Handling support device (2) according to one of the preceding claims, characterized by that the gripping device (11) is designed as a gripping tongs, suction gripper or gripping hook. [6] Handling support device (2) according to one of the preceding claims, characterized by that the load carrier (9) is designed as a scaffolding basket (10), wherein the scaffolding basket (10) has connecting means which can be releasably engaged with the gripping device (11). [7] Handling support device (2) according to one of the preceding claims, characterized by that the load carrier (9) has, on a side facing the work scaffold (1), a transfer guard (19) which can be placed flush with the work scaffold (1). [8] Handling support device (2) according to one of the preceding claims, characterized bythat the sensor (7) is designed as an image recognition system, in particular a camera, and wherein the control unit is set up to control the positioning on the basis of at least one captured camera image of the work scaffold (1). [9] Handling support device (2) according to one of the preceding claims, characterized by that the sensor (7) is designed as a reading device for a computer-readable coding (13), in particular as a barcode, QR code, RFID tag, and the control unit is set up to control the positioning on the basis of data encoded by the coding (13). [10] Handling support device (2) according to claim 9, characterized by that the computer-readable coding (13) is arranged on the scaffolding part (8), the load carrier (9) and / or on the working scaffold (1) or on an operator working on or at the working scaffold (1). [11] Handling support device (2) according to one of the preceding claims, characterized by that the control unit is configured to receive predefined scaffolding plan data and to control the positioning of at least the robot arm (6) and / or the gripping device (11) on the basis of the scaffolding plan data processed in the control unit, in particular in conjunction with the acquired sensor data. [12] Handling support device (2) according to one of the preceding claims, characterized by that the sensor arrangement (15) has a plurality of sensors (7), wherein the sensors (7) are optionally designed as an image recognition system, motion sensor, position sensor or combinations thereof. [13] Handling support device (2) according to one of the preceding claims, characterized by that at least one sensor (7) is arranged on the carrier unit (4), the robot arm (6) and / or on the gripping device (11). [14] Handling support device (2) according to one of the preceding claims, characterized by that the working scaffold (1) is designed as a supporting or facade scaffold.

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