Method for positioning fixing elements on a formwork support

Abstract

The present invention relates to a method and a device for positioning and / or removing fixing elements (2) on / from a formwork base (3), as well as a fixing element (2) for use in combination with the device (1), both individually and as a system. In order to significantly reduce the workload for a worker when positioning and / or removing fixing elements (2) on / from the formwork base (3), so that cycle times on a production line for the semi-automated production of precast concrete elements in a precast concrete plant can be significantly shortened, the inventive method for positioning fixing elements (2) on a formwork base (3) comprises the following steps: Step A: Moving a group of fixing elements (2) to an arbitrary position on and / or above the formwork base (3).Step B: Isolating one fixing element (2) from the group of fixing elements (2) for positioning on the formwork base (3).

Description

[0001] The invention is preferably used in a precast concrete plant where precast concrete elements are manufactured on a production line – essentially "on an assembly line." To produce these precast concrete elements, a formwork with a demolding unit is placed on a magnetic or magnetizable formwork base by a formwork robot. Reinforcing elements and, typically, magnetic fixing elements are positioned on the formwork base. These fixing elements must be removed separately from the formwork base after the formwork has been filled with liquid concrete and the finished, hardened concrete element has been removed. Such fixing elements serve, for example, to fix concrete inserts to the formwork base and are distinct from concrete inserts that are embedded in the concrete when the formwork is filled with liquid concrete and are removed from the formwork base after the precast concrete elements have been completed.

[0002] Traditionally, fixing elements are individually positioned by hand on the formwork base and, after use, individually removed from the formwork base either by hand or with levers. Positioning and removing the fixing elements by hand proves to be time-consuming and uneconomical, as considerable force is required to remove the fixing elements from the formwork base (the holding force to be overcome during removal is typically around 50 to 100 kg).DE 40 31 384 C1 discloses a method and a device with which at least the positioning of concrete components is carried out automatically, in particular it discloses a method for positioning fixing elements on a formwork base, comprising the steps: grouping at least two fixing elements into a group of fixing elements in a stacked configuration along a stacking axis and moving the group of fixing elements with a formwork robot parallel to the formwork base into a position above the formwork base, and singulating a fixing element from the group of fixing elements for positioning on the formwork base.

[0003] DE 198 14 026 A1 discloses a further device for placing magnetic bodies on a formwork panel. EP 1 273 407 A1 discloses a magnet-setting robot for the spatially positioned placement and / or retrieval of magnets – in particular permanent magnets – for arranging formwork in the production of precast concrete elements.

[0004] The present invention is based on the objective of providing a method for positioning fixing elements on a formwork base in order to significantly reduce the workload for a worker when positioning fixing elements on the formwork base, so that cycle times on a production line for the semi-automated production of precast concrete elements in a precast concrete plant can be significantly reduced.

[0005] To solve this problem, the invention provides the method according to claim 1.

[0006] The inventive method for positioning fixing elements on a formwork base comprises the following steps: Step A: Group at least two fixing elements into a group of fixing elements in a stacked configuration along a stacking axis and move the group of fixing elements with a formwork robot parallel and perpendicular to the formwork base to any desired position above the formwork base. Step B: Separate one fixing element from the group of fixing elements for positioning on the formwork base.

[0007] According to the invention, the fixing elements are moved as a group into the intended position on and / or above the formwork base, separated there, and positioned on the formwork base. Compared to the previously described and known method, moving all fixing elements as a group into the intended assembly position on / above the formwork base eliminates the need for a separate picking step for each individual fixing element. The fixing elements can be separated from the group and positioned on the formwork base independently of one another in different positions. Preferably, the fixing elements are moved as a group in a housing designed as a magazine above the formwork base and / or individually positioned on the formwork base from the housing designed as a magazine.According to the invention, the group of fixing elements is moved parallel and perpendicular to the formwork base using a formwork robot. This further reduces positioning errors when placing the fixing element onto the formwork base. In contrast to manual positioning, the fixing element can be positioned on the formwork base with millimeter precision using a robot.

[0008] A method for removing fixing elements from a formwork base in combination with the method according to claim 1 comprises the steps: Step C: Group 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] This method allows multiple fixing elements to be collected sequentially, particularly automatically, and removed as a group from a formwork base 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 base in a housing designed as a magazine.

[0010] Advantageous embodiments of the invention are the subject of the dependent claims.

[0011] It can be advantageous if step A includes at least one of the following sub-steps: Partial step A1: Grouping the at least two fixing elements into a group of fixing elements such that the fixing elements are arranged regularly and / or in contact with each other, particularly preferably in the most compact stack configuration. When the group of fixing elements is arranged in the most compact stack configuration, the space requirement of a corresponding positioning device is correspondingly small. Partial step A2: Receiving the group of fixing elements in a device for positioning fixing elements on a formwork base, preferably from / in a position next to the formwork base. In this embodiment, while individual fixing elements are being positioned on the formwork base, a further group of fixing elements can be provided in a starting position or refill station. The further / second group can be placed in the starting position or refill station after all fixing elements of the first group have been used up.The refill station is picked up. Accordingly, several steps of the process can be carried out in parallel. Sub-step A3: Actuating an engagement device to establish engagement between the engagement device and the fixing element to be separated from the group of fixing elements, preferably electrically, hydraulically, pneumatically, and / or mechanically. The separation device is preferably part of the device and is moved with the group of fixing elements into the intended mounting position for the fixing element to be separated. Sub-step 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, and particularly preferably by magnetic force.This design proves particularly advantageous with regard to the reliable and error-free singulation of the fixing elements from the group of fixing elements. Sub-step 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 onto the formwork base. Sub-step A7: Placing the device for positioning fixing elements onto the formwork base. This design minimizes positioning errors of the fixing element to be positioned, which could potentially arise from uncontrolled movements of the device while suspended above the formwork base.

[0012] Furthermore, it may be useful if step B includes at least one of the following sub-steps: Sub-step B1: Actuating an engagement device to release the engagement between the engagement device and the fixing element to be separated. In a group, the fixing elements can, for example, be held in contact with each other by magnets to minimize relative displacement. Ideally, this group connection is only broken when a fixing element is separated, so that the position of the fixing element to be separated can be controlled as effectively as possible until the separation step. Sub-step 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 the force of gravity.In this design, the precise positioning of the singulating fixing element on the formwork base can be ensured even without separate aids. Sub-step B3: Positioning of the fixing element to be singulated, preferably the lowest fixing element in the stacking direction, on the formwork base, preferably by the application of weight and / or by the application of magnetic force between the formwork base and the fixing element. In this design, no separate aids are necessary for positioning the fixing element to be singulated on the formwork base. Sub-step 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, so that this fixing element is held in engagement by the engagement device.In this embodiment, the fixing elements, which are stacked on the fixing element positioned on the formwork base, are lifted off together in a stacked formation. Sub-step B5: Separation of the fixing element to be separated from at least one remaining fixing element of the group, preferably by relative movement of both fixing elements, particularly along the stack axis, preferably by breaking up the group. In this embodiment, it can be ensured that the intended position of the fixing element positioned on the formwork base is affected as little as possible by removing the remaining group of fixing elements. Sub-step B6: Ejection of the separated fixing element from the device, preferably in the aforementioned position.

[0013] It can be advantageous if, in step B*, at least one remaining fixing element of the group is moved to at least one further position above the formwork base that differs from the aforementioned 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 according to the invention proves to be particularly economical because, in one operation – without a separate start-up of the initial position or refilling station – several fixing elements can be positioned independently of one another on the formwork base.

[0014] Furthermore, it can be helpful to fill a formwork formed on the formwork base with liquid concrete after positioning the fixing elements on the formwork base, and then remove the hardened concrete element from the formwork base without the fixing elements. Ideally, with this method, no residue remains on the formwork base except for the fixing elements, so that the formwork base is immediately ready for the production of another precast concrete element after the fixing elements have been removed.

[0015] It can also be advantageous if step C includes at least one of the following sub-steps: Step C1: Placing a device for positioning and / or removing fixing elements onto / from the formwork base. With this design, the force for lifting the fixing element from the formwork base can be applied particularly effectively and precisely to the fixing element. Step C2: Actuating an engagement device to engage the fixing element to be removed from the formwork base, preferably electrically, hydraulically, pneumatically, and / or mechanically. This allows for optimal control of the force applied to the fixing element being removed from the formwork base. Step C3: Receiving the fixing element to be removed from the formwork base in a device for positioning and / or removing fixing elements onto / 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 action on the fixing element to be removed from the formwork base. Sub-step 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, and particularly preferably by magnetic force. In this embodiment, reuse of the fixing element removed from the formwork base and its repositioning on the formwork base are facilitated.Step C5: Arranging the fixing element to be removed from the formwork base and at least one further fixing element of the group of fixing elements in a stacked arrangement along a stacking axis, preferably such that the fixing elements are arranged regularly and / or in contact with each other, particularly preferably in the most compact stacked arrangement. This embodiment further facilitates the reuse of the fixing element.

[0016] It can also be beneficial if step D includes at least one of the following sub-steps: Step D1: Moving at least one of the fixing elements removed or to be removed from the formwork base, and optionally 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 in 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. Step D2: Lifting the device for positioning and / or removing fixing elements onto / from the formwork base. In this embodiment, automation of the process is particularly easy.

[0017] Naturally, it is within the scope of the present invention that steps A and B, and optionally B*, can be repeated any number of times after steps C and D have been carried out, using the same fixing elements. Accordingly, the fixing elements previously removed from the formwork base can be repositioned on the formwork base repeatedly.

[0018] Further preferred developments result from combinations of the features disclosed in the description, claims and drawings. Brief description of the characters

[0019] They show: Figure 1 a perspective view of a device for positioning and removing fixing elements on / from a formwork base in the unloaded state without fixing elements, wherein the device has a housing and a support movably coupled to the housing. Figure 2In the perspective views (a) and (b) at the same viewing angle, a fixing element is shown with a view direction from obliquely above onto the top surface of the fixing element which is directed away from the side of the installation as a whole view (view a) or in partial section (view b). Figure 3 A schematic representation showing a top view of a device and a formwork base, wherein the device, starting from a starting position next to the formwork base, is moved along a (closed) path of movement indicated by a dashed line, passing through various positions on the formwork base in order to position individual fixing elements on the formwork base or to pick them up from the formwork base, and then returning to the starting position. Figures 4Various schematic views of the neck of a fixing element in cross-section about an axis perpendicular to the mounting side of the fixing element, wherein the neck in the shown cross-section has a star-shaped outline 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-engagement position in view (a) and in an engagement position in view (b). Detailed description of preferred embodiments

[0020] The embodiment of the application is described in detail below with reference to the drawings. To avoid repetition, similar features are identified by the same reference numerals and a further description is omitted. Device 1

[0021] The device 1 according to the present embodiment serves to position and remove 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 support 12, as well as an engagement device 13 for making an engagement with a fixing element 2.

[0022] In this case, the housing 11 is tubular, e.g., made of aluminum / stainless steel (non-magnetic), and comprises two, e.g., plate-shaped extensions 112, which project substantially radially from the hollow cylindrical base part 111 to the central axis M, optionally tapering upwards at their ends, 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 top (support 12) to bottom (adjustment device 14) in order to center the fixing elements 2 stored inside with respect to the central axis M and to guide them precisely onto the engagement device 13 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 in an extended position in order to rest on the formwork support 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 place 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.

[0023] In this case, the support 12 is designed as a tube concentric to the base part 111 of the housing 11 and is intended to be held by a worker so that the housing 11 is suspended below the support 12. Alternatively, another adapter, such as a hollow square tube with an edge length of 60 mm, can be attached to the wings 122 projecting laterally from the base part 121 of the support 12 via a screw closure 124. This adapter can be used, for example, to be picked up by a formwork robot analogous to a formwork panel. Other adapters or suspensions for the device 1 are also conceivable. Two further wings 125, extending radially to the central axis M, are attached to the underside of the base part 121. These wings are connected by linkage rods 131 to couple the movement of the support 12 relative to the housing 11.

[0024] In the present embodiment, the engagement device 13 comprises two slide-shaped engagement sections 134, each of which can be positively engaged 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 positively, play-free, and fully enclose a fixing element 2 on the neck 22 or between the head 21 and the torso 23, respectively. 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 housing 11 and support 12 via a joint / toggle lever mechanism formed from lever rod 131 and lever 132 as well as further deflection rods and joints 133, such that when the total length of housing 11 and support 12 is shortened, each engagement section 134 is spaced away 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 decreases. This automatically actuates the engagement device 13 when the housing 11 is placed on the formwork base 3, moving it from the closed position to the open position. Conversely, when the housing 11 is lifted from the formwork base 3, the engagement device 13 is also automatically actuated, but this time moving it 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 positively locked and preferably play-free between the engagement sections 134 in both directions along its axis A.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 directed 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).

[0025] The adjusting device 14 is, in this case, essentially tubular and constructed, for example, of aluminum / stainless steel (non-magnetic). It is arranged concentrically along the central axis M outside the base part 111 of the housing 11, allowing it to be adjusted relative to the housing 11. The adjusting device 14 comprises a hollow cylindrical base part 141 with at least one guide groove for forming a cam guide with a guide pin 114 that projects radially outward from the base part 111 of the housing 11. Optionally, the base part 141 includes two further guide grooves for forming a cam guide with extensions 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. A knob 142 allows the base part 141 of the adjusting device 14 to be locked in either the retracted or 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, defining the mounting surface of the device 1, essentially parallel to the central axis M. By moving the adjustment device 14 between the retracted and extended positions, the distance of the mounting surface of the device 1 relative to the engagement height of the engagement sections 134 along the central axis M can be changed. That is, by moving the adjustment device 14 between the retracted and extended positions, the device 1 can be configured between a function for positioning fixing elements 2 on a formwork support 3 (extended position of the adjustment device 14) and a function for removing fixing elements 2 from a formwork support 3 (retracted position of the adjustment device 14). In the retracted position of the adjustment device 14, which is in . Figure 1As shown, 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 top of the fixing element 2 positioned directly on the formwork base 3. More precisely, the engagement height of the engagement sections 134 in the retracted position of the adjustment device 14 is dimensioned in relation to the installation surface of the device 1 such that the engagement sections 134 positively, without play, and completely 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 the extended position of the adjusting device 14, 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 a form-fitting, play-free and complete manner in the closed position. Fixing element 2

[0026] The following refers to Figure 2 The described fixing element 2 is intended for use as a system in combination with the device described above.

[0027] 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 a positive-locking connection, e.g., with a concrete insert, as well as for the positive-locking application of a force to lift the fixing element 2 from the formwork base 3. The head 21 and body 23 each comprise a cone 21a, 23a, which deflects away from the mounting side, to facilitate the attachment of the engagement device 13 or its insertion into the housing 11 of the device 1. The head 21, neck 22 and body 23 each comprise a cylindrical surface 21b, 23b which deflects radially from the axis A of the fixing element 2, which is perpendicular to the mounting side.The change in cross-section between head 21 and neck 22 forms a radially projecting and circumferential flange 21c, which can be engaged 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-rotation device 24 for the positive locking connection of the fixing element 2, e.g., with a concrete installation element, and for securing it against rotation about an axis perpendicular to the contact side, as well as for rotation-proof guidance on the guide elements / buttons 115 in the housing 11. A cylindrical magnet 2d for fixing the fixing element 2 on 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. Another magnet 2c is arranged on the side of the fixing element 2 that is repelled from the system side in a complementary cavity of the upper part 2a.This additional magnet 2c is smaller than the magnet 2d used to fix the fixing element 2 to the formwork base 3 and generates a smaller magnetic force. Therefore, the force required to separate two fixing elements 2 by overcoming their mutual magnetic force is less than the force required to remove a 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 surface for the fixing element 2 to rest on 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 in the fixing element 2 and into both magnets 2c and 2d.

[0028] In the tubular housing 11, the axes A of the fixing elements 2 are aligned and centered on the central axis M 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 as the movement progresses towards the engagement device 13, and the fixing elements 2 are fed to the engagement device 13 in a positionally accurate manner, so that the engagement sections 134 can penetrate the constriction of the fixing element 2 formed between the head 21 and the body 23 in the closed position.

[0029] The filling level of housing 11 can be measured from above using a laser or detected in some other way.

[0030] In a beneficial further training course that relates to the Figs. 4a and 4bAs described, the neck 22 of the fixing element 2 has a non-rotationally symmetrical, preferably polygonal, outline in cross-section with respect to the axis perpendicular to the mounting surface, by means of which the fixing element can be aligned about this axis. The polygonal outline of the neck 22 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°.

[0031] The engagement sections 134 of the device 1 have arrow-shaped tips which have convex outlines complementary to the concave recesses on the neck 22 of the fixing element 2. This allows the fixing element 2 to be aligned around its axis when the two arrow-shaped engagement sections 134 engage in two diametrically opposed recesses. Proceedings

[0032] The following refers to Figure 3 The schematically described method for positioning fixing elements 2 on a formwork base 3 is preferably carried out using the device 1 described above and comprises the following steps: Step A: Move a group of fixing elements 2 to any position P1 on and / or above the formwork base 3. Step B: Separate one fixing element 2 from the group of fixing elements 2 for positioning on the formwork base 3.

[0033] First, a group is formed from individual fixing elements 2 and arranged regularly in the most compact stack configuration, for example, such that the contact surfaces of the fixing elements 2 each point downwards. The group of fixing elements 2 is fixed in this stack configuration, for example with packing straps. Ideally, this takes place in the factory and outside the formwork system 3 (sub-step A1). The mutual magnetic attraction of the fixing elements 2 supports their stacked arrangement and holds them together in the stack configuration in an arrangement aligned along the stack axis S without any external influence.

[0034] When the device 1 is in a starting position P0 or refilling station, the fixing elements 2 in this stack are received from above or below in the housing 11 of the device 1 along a stacking axis S, so that the contact surfaces of the fixing elements 2 face downwards or towards the engagement device 13 (sub-step A2). Ideally, the stacking axis S coincides with the central axis M of the device 1. By guiding the cylindrical outer surface 23b of the body 23 against 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 and precisely positioned towards the engagement device 13 as they move along the central axis M.This, and the mutual magnetic attraction of the fixing elements 2, ensures that individual fixing elements 2 in this stack are aligned relative to other fixing elements 2 of the group held in the housing 11 (sub-step A4). This proves helpful because, among other things, a sudden movement of the device 1 can cause the fixing elements 2 to shift with respect to the central axis M. The clearance of the fixing elements 2 in the magazine M should be sufficiently dimensioned to allow reliable singulation of the fixing elements 2 by the engagement device 13 without tilting or jamming in the housing 11.

[0035] The lowest fixing element 2 in the stacking direction is engaged 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 and play-free manner (partial step A3).

[0036] 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, so that the housing 11 is arranged hanging below the support 12 and the central axis M and stacking axis S are aligned exactly or substantially perpendicular to the formwork base 3 (partial step A5).

[0037] As indicated by the dashed line, the device 1 is moved by the formwork robot parallel and / or perpendicular to the formwork base from position P0 to a position P1 for the singulation and positioning of a first fixing element 2.

[0038] In this position P1, the housing 41 of the device 1 is placed onto the formwork base 3 (sub-step A7). The adjusting device 14 is in the extended position.

[0039] By placing the housing 11 onto the formwork base 3, the housing 11 is moved towards 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 levers 132 and joints 133, and the engagement device 13 is moved into the open position. This further moves the end of each engagement section 134 pointing towards the central axis M away from the central axis M. The actuation of the engagement device 13, which is linked to the placement of the device 1 onto the formwork base 3, releases the contact between the engagement sections 134 of the engagement device 13 and the fixing element 2 held by it (sub-step B1).

[0040] Under the influence of gravity, the fixing elements 2 fall through the released opening of the housing 11 onto the formwork base 3 and are thereby 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). In the extended position of the adjusting device 14, the distance between the base 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 such that, in the open position of the engagement sections 134, exactly one fixing element 2 fits through the opening to rest on the formwork base 3 with its contact side. The fixing element 2 following along the stacking axis...The second fixing element 2 from below is held at the engagement height of the first fixing element 2, which rests directly on the formwork support 3, at a distance from the formwork support 3 and still within the engagement area of ​​the engagement sections 134. Subsequently, the device 1 is lifted from the formwork support 3 by the formwork robot 1 and moved perpendicular to the formwork support 3 in a direction away from it. When the engagement sections 134 move back into the closed position as the housing 11 of the device 1 is lifted from the formwork support 3, the engagement sections 134 engage the second fixing element 2 from below.

[0041] When the device 1 is lifted from the formwork base 3, the engagement sections 134 of the engagement device 13 are consequently moved from the open position to the closed position, so that the second fixing element 2 from below in the stacking direction is held in engagement 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 from the formwork base 3 (partial step B4).

[0042] This causes the fixing element 2, which is positioned on the formwork base 3 and is to be separated, to be separated from the remaining fixing elements 2 by relative movement to the fixing elements 2 remaining in the housing 11 along the stacking axis S, thereby dissolving the stack connection and is separated (partial step B5).

[0043] As a result, the fixing element 2 is individually ejected from the housing 11 in position P1 (sub-step B6).

[0044] In step B*, at least one remaining fixing element 2 of the group is moved to at least one further position P2 above the formwork support 3, different from the aforementioned 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 support 3.

[0045] Steps A, B, and optionally C can be repeated with at least one additional 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 exchanged for a provided filled device 1. In the starting position or refilling station P0, the lowest fixing element 2 is placed on a platform 4 at a height adapted to a fixing element 2, so that this lowest fixing element 2 is held within the engagement area of ​​the engagement sections 134 of the engagement device 13. Thus, the lowest fixing element 2 contacts the engagement sections 134 when the housing 11 of the device 1 is lifted from the starting position.Refill station P0, when the contact sections 51 move back into the closed position.

[0046] After the positioning of the fixing elements 2 is completed, 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.

[0047] The following steps are carried out to remove the fixing elements 2 from the formwork base 3: Step C: Group one fixing element 2 to be removed from the formwork support 3 with at least one other fixing element 2 to form a group of fixing elements 2. Step D: Remove the group of fixing elements 2 from the formwork support 3.

[0048] First, the device 1 is brought into the configuration for removing the fixing elements 2 from the formwork base 3 by moving the adjusting device 14 into the retracted position and is moved into position P1 of the fixing element 2 to be removed from the formwork base 3. Then, the engagement device 13 is actuated by placing the device 1 onto the formwork base 3 to engage with the fixing element 2 to be removed from the formwork base 3 (partial steps C1 and C2).

[0049] By actuating the engagement device 13, the fixing element 2 to be removed from the formwork base 3 is received in the device 1 (partial step C3).

[0050] By 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 (partial step C4).

[0051] This ensures that the fixing element 2 to be removed from the formwork base 3 is regularly arranged in contact with the fixing element 2 already stored in the device in the stacking arrangement along a stacking axis S (partial step C5).

[0052] 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 together with the other fixing elements 2 of the group of fixing elements 2 (partial step D1).

[0053] The lifting of the device 1 is preferably carried out with a formwork robot (sub-step D2).

[0054] In the manner described, all fixing elements 2 are removed one after the other from the formwork base 3 and can be reused immediately.

[0055] The entire process is repeated to produce another precast concrete element. Reference symbol list

[0056] 1 Device 2 Fixing element 2a Upper part 2b Lower part 2c Small magnet body 2d Large magnet body 2e Bore 3 Formwork base 4 Platform 5 Formwork 11 Housing or magazine 12 Carrier 13 Access device 14 Adjustment device 21 Head 21a Cone 21b Cylindrical surface 21c Flange 22 Neck 23 Body 23a Cone 23b Cylindrical surface 24 Recess 111 Tube / Base part 112 Boom / Wing 113 Guide channel 114 Guide pin 115 Guide element / Button 121 Base part 122 Boom (for adapter) 123 Adapter (for manual operation) 124 Screw cap 124 Wing 125 Boom (for lever rod) 131 Lever rod 132 Lever mechanism 133 Bearing / joint 134 Slide 141 Guide sleeve 142 Actuating device (button) 143 Foot M Center axis P0 Position next to the formwork support P1 Position on the formwork support P2 Position on the formwork support S Stacking axis

Claims

1. Method for positioning fixing elements (2) on a formwork base (3), comprising the steps: a. Step A: Grouping at least two fixing elements (2) into a group of fixing elements (2) in a stacked assembly along a stacking axis (S) and moving the group of fixing elements (2) with a formwork robot parallel and perpendicular to the formwork base (3) into any position (P1) 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).

2. Method for removing fixing elements (2) from a formwork base (3) in combination with the method according to claim 1, comprising the steps: a. Step C: grouping a fixing element (2) to be removed from the formwork base (3) with at least one other fixing element (2) to form a group of fixing elements (2). b. Step D: removing the group of fixing elements (2) from the formwork base (3).

3. Method according to one of the preceding claims, characterised in that step A comprises at least one of the following sub-steps: a. Sub-step A1: Grouping the at least two fixing elements (2) into the group of fixing elements (2) in such a way that the fixing elements (2) are arranged regularly and / or in contact with one another, preferably in the most compact stacking arrangement. b. Sub-step A2: Picking up the group of fixing elements (2) in a device (1) for positioning fixing elements (2) on a formwork base (3), preferably from / in a position (P0) next to the formwork base (3). c. Sub-step A3: Actuating an engagement device (13) to establish 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) in relation 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 centring 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) in relation to the formwork base (3), preferably by arranging the stacking axis (S) exactly or essentially perpendicular to the formwork base (3). f. Sub-step A7: Placing the device (1) for positioning fixing elements (2) on the formwork base (3).

4. Method according to one of the preceding claims, characterised in that step B comprises at least one of the following sub-steps: 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 the weight force. c. Sub-step B3: Positioning the fixing element (2) to be separated, preferably the fixing element (2) at the bottom of the stack, 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 the bottom in the stacking direction, and 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 stacking axis (S), preferably by breaking up the group. f. Sub-step B6: Outputting the separated fastening element from the device (1), preferably in the said position (P1).

5. Method according to one of the preceding claims, characterised in that in a step B*, at least one remaining fixing element (2) of the group is moved in at least one further position (P2) above the formwork base (3) that differs from 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).

6. Method according to one of the preceding claims, characterised in that a formwork (5) formed on the formwork base (3) is filled with liquid concrete after the fixing elements (2) have been positioned on the formwork base (3), and the hardened concrete part is removed from the formwork base (3) without the fixing elements (2).

7. Method according to one of claims 2 to 6, characterised in that step C comprises at least one of the following sub-steps: a. Sub-step C1: Placing a device (1) for positioning and / or removing fixing elements (2) on / from the formwork base (3) onto the formwork base (3). b. Sub-step C2: Activating an engagement device (13) for engaging with the fixing element (2) to be removed from the formwork base (3), preferably electrically, hydraulically, pneumatically and / or mechanically. c. Sub-step C3: Picking up 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). d. Sub-step C4: Aligning at least one fixing element (2) within the group of fixing elements (2) in relation 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 centring 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 other fixing element (2) of the group of fixing elements (2) in the stack assembly along a stack axis (S), preferably in such a way that the fixing elements (2) are arranged regularly and / or in contact with each other, particularly preferably in the most compact stacking arrangement.

8. Method according to one of claims 2 to 7, characterised in that step D comprises at least one of the following sub-steps: a. Sub-step D1: Moving at least the fixing element (2) to be removed from the formwork base (3) and, if necessary, 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 rotary 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) onto / from the formwork base (3).

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