Handling device for handling a frame formwork element having a formwork panel and a circumferential support frame

Abstract

Method and handling device (1) for handling a frame formwork element (2) with a formwork panel (25) and a circumferential support frame (26), comprising: - a base (8), in particular a vehicle base, for preferably movable arrangement on a floor surface (8), - a handling head (3) with a holding device (4) for holding the frame formwork element (2), - a movement device (5) for moving the handling head (3), wherein the movement device (5) comprises: - a telescopic lifting mast (10) with a first lifting mast telescopic element (11) and a second lifting mast telescopic element (12), - a telescopic extension arm (14) with a first extension arm telescopic element (15) and a second extension arm telescopic element (16), and - a pivoting device (17) with which the telescopic extension arm (14) can be pivoted relative to the telescopic lifting mast (10).

Description

[0001] The invention relates to a handling device for handling a frame formwork element with a formwork panel and a surrounding support frame, comprising: a base, in particular a vehicle base, for preferably movable arrangement on a floor surface, a handling head with a holding device for holding the frame formwork element and a movement device for moving the handling head.

[0002] The JP H08 260705 A depicts a vehicle for handling formwork. For this purpose, the vehicle is equipped with a holding tool featuring upward-facing hooks for gripping struts on the back of the formwork. The holding tool can be pivoted relative to the vehicle base, allowing the formwork to be gripped in both horizontal and vertical positions. However, the vehicle's range of applications is limited. One disadvantage is that, when lying down, the formwork can only be picked up from an elevated position. Another disadvantage is that this vehicle can only be used to position wall formwork. It is not designed for setting up slab formwork.

[0003] The vehicle designated US 9,988,823 B1 can also transport formwork in both horizontal and vertical positions. The formwork is attached to an arm that can be swiveled in various directions. However, this vehicle is also designed only for pouring concrete walls. It lacks the flexibility to construct ceilings of varying heights while maintaining maneuverability in confined spaces.

[0004] FR 1 260 182 A discloses a device for dismantling a slab formwork element. A pivoting installation frame is mounted on a movable chassis and can be hooked onto the slab formwork element. However, the application of this device is limited to picking up the slab formwork element with the installation frame and pivoting it down into a vertical position.

[0005] The JP H03 5568 A shows a robot with a robotic arm that can grasp different types of objects.

[0006] JP H01 263362 A describes a vehicle with an arm equipped with grippers. These grippers are used to grasp various types of concrete casting molds.

[0007] In contrast, the present invention aims to alleviate or eliminate at least some disadvantages of the prior art. The invention seeks to expand the range of applications for handling devices of this type. The handling device according to the invention is intended to achieve the previously incompatible goals of being able to pick up a frame formwork element for constructing slab formwork from the ground and position it at various, even considerable, heights above the ground, while simultaneously ensuring the maneuverability of the handling device in confined spaces, particularly between formwork supports and when passing through doorways.

[0008] This problem is solved by a handling device according to claim 1 and a method according to claim 14. Preferred embodiments are specified in the dependent claims.

[0009] According to the invention, the movement device of the handling device has the following features: a telescopic lifting mast with a first lifting mast telescopic element and a second lifting mast telescopic element, a telescopic extension arm with a first extension arm telescopic element and a second extension arm telescopic element and a swiveling device with which the telescopic extension arm can be swivelled relative to the telescopic lifting mast.

[0010] This design offers significant advantages in handling frame formwork elements on construction sites. The telescoping and swiveling capabilities of the telescopic extension arm, in conjunction with the telescoping telescopic lifting mast, allow the frame formwork element to be positioned at widely varying heights above the ground when erecting (stripping) or dismantling (stripping) slab formwork. Furthermore, the movement mechanism can be arranged in a particularly compact transport position between different formwork erection and stripping operations, enabling the handling device to be maneuvered between slab supports and through doorways. The movement mechanism according to the invention significantly expands the range of applications for the handling device.Due to the telescoping and pivoting capabilities of the telescopic extension arm, in conjunction with the telescopic lifting mast, the frame formwork element can first be picked up from the ground, pivoted upwards, and positioned at the desired height. By extending the telescopic lifting mast and the telescopic extension arm, a wide range of heights can be achieved at which the frame formwork element can be positioned and, preferably, connected to a support head of a formwork prop, or more specifically, to multiple support heads of several formwork props. The telescopic lifting mast can be attached to the base, which can be, in particular, a vehicle base with multiple wheels. The telescopic extension arm is pivotally connected to the telescopic lifting mast, preferably to its upper end, via the pivoting mechanism.

[0011] Preferably, the telescopic extension arm is independently telescopic of the telescopic lifting mast. This allows the telescopic extension arm to be lengthened or shortened by telescoping without having to change the length of the telescopic lifting mast, and vice versa.

[0012] A vertical mast is preferably provided as the telescopic lifting mast, which is essentially telescopic in the vertical direction. Thus, the length of the telescopic lifting mast (i.e., its extension along its longitudinal axis) can be changed by telescoping. In a first embodiment, the vertical mast is fixed, so that it is always vertically oriented. In a second embodiment, the vertical mast is tiltable relative to the vertical, preferably by an angle of -4° to +4°, particularly in opposite directions. Thus, in this embodiment, the telescopic lifting mast can be tilted from a vertical position, in which the longitudinal axis of the telescopic lifting mast runs along the vertical, to a tilted position, in which the longitudinal axis of the telescopic lifting mast is arranged in an inclined position, i.e., inclined to the vertical.The telescopic lifting mast can, for example, be positioned in the tilted position if the handling device is positioned on an uneven ground surface and the vertical mast is to be aligned vertically on the uneven ground surface.

[0013] In a preferred embodiment, the base, particularly the vehicle base, has several support elements for stabilizing it on the ground, wherein the support elements are adjustable in length. The support elements preferably each have a cylinder-piston element, which is preferably electrically, pneumatically, or hydraulically actuated. By extending the support elements to varying degrees, the handling device can be leveled on an uneven, for example, sloping, ground surface. If the base has several wheels, as is preferred, individual or all wheels can be lifted off the ground surface using the support elements.

[0014] For the purposes of this disclosure, location and direction specifications such as "above", "below", "horizontal", and "vertical" refer to the intended use of the handling device on a flat, horizontal surface. If the handling device is used on an inclined surface, the location and direction specifications must be adjusted accordingly.

[0015] In a preferred embodiment, the telescopic mast has a further telescopic mast element between the first and second telescopic mast elements. In this embodiment, the telescopic mast has at least three telescopic elements that are slidable relative to each other, allowing the telescopic mast to be extended or shortened to a greater extent.

[0016] Preferably, the length of the telescopic lifting mast (i.e., its extension along its longitudinal axis) can be varied by at least 80 cm, preferably by at least 1 m, and in particular by at least 1.2 m, for example by at least 1.5 m, from a fully retracted to a fully extended position. Furthermore, it is preferred that the length of the telescopic extension arm (i.e., its extension along its longitudinal axis) can be varied by at least 30 cm, preferably by at least 40 cm, for example by at least 50 cm, from a fully retracted to a fully extended position. The telescopic lifting mast and the telescopic extension arm can be arranged in any intermediate position between the fully retracted and the fully extended positions.

[0017] For telescoping the telescopic mast, at least one telescoping drive is preferably provided. The telescoping drive can be a linear drive, in particular a preferably electrically and / or hydraulically and / or pneumatically actuated cylinder-piston drive. In an embodiment with the additional telescopic mast element, two telescoping drives are preferably provided, wherein one of the two telescoping drives allows the additional telescopic mast element to be extended relative to the first telescopic mast element, and the other of the two telescoping drives allows the second telescopic mast element to be extended relative to the additional telescopic mast element.

[0018] For telescoping the telescopic extension arm, an extension drive is preferably provided, which is preferably designed as a linear drive that can be actuated electrically and / or hydraulically and / or pneumatically, in particular as a cylinder-piston drive.

[0019] In a preferred embodiment, the handling head with its movement mechanism is movable into a receiving position for picking up the frame formwork element from the floor surface supporting the base of the handling device. The handling head with its movement mechanism can be positioned so close to the floor surface that the holding device of the handling device can be reversibly and detachably connected to the frame formwork element. This fixes the frame formwork element to the handling head, allowing it to be moved together with the handling head. Preferably, the holding device of the handling head is designed to both pick up the frame formwork element from the floor surface and hold it above the floor surface in both a horizontal and an upright position.In this embodiment, the holding device is configured to grip the frame formwork element in both its horizontal and upright positions on the floor, allowing the frame formwork element to be lifted from the floor in both positions. Advantageously, this achieves a higher degree of automation than the prior art. Furthermore, it opens up new application possibilities. Once the frame formwork element is fixed to the handling head, it can be lifted and moved to its point of use by means of at least one drive of the movement device.The frame formwork element, attached to the handling head, can preferably be moved into a horizontal position by means of the movement device. This horizontal position is used for concreting a slab element when the frame formwork element is used as a slab formwork element. Thus, in a particularly preferred application, the frame formwork element can be picked up from a horizontal or vertical waiting position on the ground, lifted, and pivoted into the horizontal working position without manual intervention. Alternatively, the frame formwork element can be used as a wall formwork element.

[0020] In the handling head's receiving position, the telescopic lifting mast is preferably arranged in a shortened position and the telescopic extension arm in an extended position. To pick up a frame formwork element lying on the ground, the handling head can be brought into the receiving position adjacent to the ground by retracting the telescopic lifting mast and extending the telescopic extension arm, so that the frame formwork element can be fixed to the handling head by actuating the holding device.

[0021] In a preferred embodiment, the handling head with the movement device is movable into a high-lift position, preferably at a height of more than 4 meters, in particular more than 4.5 meters, above the ground surface, wherein in the high-lift position the telescopic lifting mast and the telescopic extension arm are each arranged in an extended position, preferably each oriented substantially vertically. By extending the telescopic lifting mast and the telescopic extension arm, the handling head can be positioned in the high-lift position in which the entire holding device of the handling head is located more than 4 meters, in particular more than 4.5 meters, preferably more than 5 meters, for example more than 5.5 meters, above the horizontal, flat ground surface on which the base of the handling device is placed.Advantageously, the frame formwork element can be used in the high-lift position for formwork erection at heights where manual formwork erection—i.e., without the aid of a climbing aid such as a ladder, platform stairs, or scaffolding—is impossible or extremely difficult. This feature does not compromise maneuverability on the construction site, as the movement mechanism can be arranged in a compact transport position after formwork erection. In this position, the telescopic lifting mast is retracted and the telescopic extension arm is pivoted diagonally downwards.

[0022] In a preferred embodiment, the handling head with the movement device is movable into a low-lift switching position, preferably at a height of less than 3 meters, and in particular less than 2.7 meters, above the floor surface. In the low-lift switching position, the entire holding device of the handling head is located at a height of less than 3 meters, and in particular less than 2.7 meters, above the floor surface.

[0023] In a preferred embodiment, the telescopic extension arm can be pivoted relative to the lifting mast by an angle of more than 180°, in particular more than 200°, for example more than 220°.

[0024] In this embodiment, the telescopic extension arm can be pivoted in the low-stroke formwork position relative to the receiving position by an angle of more than 180°, in particular more than 200°, for example more than 220°. This embodiment makes it possible to position the frame formwork element for use as a slab formwork element at very different heights above the ground surface. A further particular advantage of this embodiment is that cantilevers at a slab edge can be reliably formed.

[0025] In a preferred embodiment, the handling head is arranged on opposite sides of the telescopic lifting mast in the pickup position and in the low-lift position. In this embodiment, the telescopic extension arm projects obliquely downwards from the telescopic lifting mast in the pickup position. When transitioning to the low-lift position, the extension arm with the handling head pivots by more than 180°, in particular more than 200°, from the pickup position via a vertical intermediate position to the low-lift position, in which the handling head is lowered relative to the intermediate position. This embodiment has the advantage that the frame formwork element can be arranged horizontally at a low height. Preferably, the longitudinal axis of the extension arm in the low-lift position extends at an angle of +10° to +25°, in particular essentially +17°, to the horizontal.

[0026] For the automatic pivoting of the telescopic extension arm relative to the telescopic lifting mast over a large pivoting range, it is advantageous if the pivoting device has at least one first linear drive, in particular a first cylinder-piston drive that is preferably electrically and / or hydraulically and / or pneumatically actuated. The first linear drive allows the telescopic extension arm with the handling head to pivot from the receiving position on one side of the telescopic lifting mast, beyond the intermediate vertical position with the telescopic lifting mast, into the low-lift position.

[0027] In a first preferred embodiment, the swiveling device also has a second linear drive, which is preferably shorter than the first linear drive.

[0028] In order to pivot the telescopic extension arm from a downward angled position on one side of the telescopic lifting mast to a downward angled position on the other side of the telescopic lifting mast, the pivoting device in a preferred embodiment has a pivot lever, in particular a double pivot lever, wherein the first and the second linear drive each act on the pivot lever, preferably on a common pivot axis of the pivot lever.

[0029] In a second preferred embodiment, the swiveling device has a toggle lever with two toggle lever elements connected to each other via a toggle lever joint. Preferably, the first linear drive is connected to the toggle lever joint. One toggle lever element is pivotally connected to the telescopic mast (or a bearing part connected to the telescopic mast), and the other toggle lever element is pivotally connected to the telescopic extension arm. This embodiment has the particular advantage that the second linear drive can be omitted. Thus, the swiveling device preferably does not have a second linear drive for pivoting the telescopic extension arm by more than 180°. By actuating the first linear drive, a torque is applied to the telescopic extension arm via the toggle lever such that the telescopic extension arm moves from the downward-angled position on one side of the telescopic mast, across the vertical axis aligned along the telescopic mast.The intermediate position is transferred to the other side of the telescopic lifting mast.

[0030] In a preferred embodiment, in a transport or doorway position, the telescopic lifting mast is in a shortened position and the telescopic extension arm is arranged in a downwardly pivoted position, wherein the uppermost point of the telescopic lifting mast, and thus the uppermost point of the handling device, is arranged at a height of less than 2 meters above the floor surface in the doorway position.

[0031] It is further advantageous if the base has a first and second long side and a first and second short side, with a taper formed on the first and / or second long side to allow passage through a doorway. Thus, the base is narrower at the taper than in the areas of the base adjacent to the taper. Preferably, the taper extends over the entire height of the base. It is also advantageous if the taper is located in a central area of ​​the base. When maneuvering through the doorway, the clearance on the first and second long sides of the base prevents the base from colliding with the wall edge to the side of the doorway. The same advantage is achieved when maneuvering with two closely spaced formwork supports.

[0032] To increase the maneuverability of the handling device between ceiling supports or when passing through doorways, the base in a preferred embodiment has a width of less than 0.9 meters, preferably less than 0.85 meters, at its widest point.

[0033] In a preferred embodiment, a further pivoting device is provided for pivoting the handling head relative to the telescopic extension arm. This further pivoting device is preferably designed to rotate the handling head about an axis perpendicular to the main plane of the frame formwork element and / or to pivot the handling head about the longitudinal axis of the (rectangular) frame formwork element.

[0034] In a preferred embodiment, the holding device of the handling head for holding the frame formwork element is designed to be positioned both on and above the floor surface in a horizontal and an upright position. Thus, the receiving position for receiving the frame formwork element in a horizontal state, particularly in a horizontal state, or for receiving the frame formwork element in an upright state, particularly in a vertical state, can be configured on the floor surface.

[0035] In a preferred embodiment, the holding device of the handling head is designed to grasp the circumferential support frame of the frame formwork element.

[0036] In a preferred embodiment, the holding device has a locking element for locking with a longitudinal or transverse frame section of the circumferential support frame of the frame formwork element. In the locked state, the locking element prevents the frame formwork element from lifting off the handling head. Preferably, at least two locking elements are provided for locking with at least two opposing transverse or longitudinal frame sections of the support frame. At least four locking elements can be provided, with two locking elements being provided for each transverse or longitudinal frame section.

[0037] Preferably, the locking element is arranged to engage behind (i.e., to lock with) an inwardly directed projection (i.e., towards the center of the frame formwork element), in particular on an end region of the longitudinal or transverse frame part of the circumferential support frame facing away from the formwork panel of the frame formwork element.

[0038] To fix the frame formwork element to the handling head, a locking drive, preferably a locking linear drive, for example, an electric and / or hydraulic and / or pneumatic cylinder-piston drive, is preferably provided to move the locking part. Preferably, the locking linear drive causes the locking part to pivot from an unlocked to a locked state.

[0039] Furthermore, the holding device can have a retaining lug opposite the locking part, so that the inwardly directed projection is arranged between the locking part and the retaining lug in the locked state.

[0040] A handling system according to the invention has the following features: A handling device in one of the above-described embodiments and a frame formwork element, in particular a slab formwork element, which is reversibly detachable from the handling head of the handling device. The frame formwork element comprises the formwork panel and the surrounding support frame, which preferably extends along a circumferential edge region of the preferably rectangular formwork panel. Preferably, the surrounding support frame has two longitudinal frame sections, which form the longer sides of the surrounding support frame, and two transverse frame sections extending at right angles to them, which form the shorter sides of the surrounding support frame. The longitudinal frame sections can be connected to each other via crossbeams between the transverse frame sections. The crossbeams can extend parallel to the transverse frame sections.

[0041] In a preferred embodiment, the concrete-facing outer surface of the formwork panel is in a horizontal position in a high-lift formwork position at a height (i.e., vertical extent) of more than 4 meters, in particular more than 4.5 meters, preferably more than 5 meters, for example more than 5.5 meters, above the underside of the base, which rests on the ground surface. The telescopic lifting mast and the telescopic extension arm can each be arranged in an extended position, preferably each in a substantially vertical orientation.

[0042] In a preferred embodiment, a concrete-facing outer surface of the formwork panel is in a low-lift formwork position in a horizontal position at a height of less than 3 meters, in particular less than 2.7 meters, above the underside of the base, which rests on the ground surface.

[0043] In the inventive method for handling a frame formwork element, in particular a slab formwork element, at least the following steps are carried out: Providing a handling device in one of the above-described design variants, providing the frame formwork element in a waiting position on the ground surface detached from the handling device, connecting the handling head of the handling device to the frame formwork element in the waiting position, and lifting the frame formwork element from the waiting position on the ground surface using the handling device.

[0044] In a preferred embodiment of the method, the following step is performed: moving the handling head with the movement device into a receiving position for picking up the frame formwork element from the ground surface. For this purpose, the telescopic lifting mast is preferably arranged in a shortened position and the telescopic extension arm in an extended position.

[0045] In a preferred embodiment of the method, the following step is performed: Moving the handling head with the movement device into a high-lift activation position, preferably to a height of more than 4 meters, and in particular more than 4.5 meters, above the ground. To move the handling head into the high-lift activation position, the telescopic lifting mast and the telescopic extension arm are preferably each arranged in an extended position, preferably each in a substantially vertical orientation.

[0046] In a preferred embodiment of the method, the following step is performed: moving the handling head with the movement device into a low-lift switching position, preferably at a height of less than 3 meters, in particular less than 2.7 meters, above the floor surface.

[0047] To move the handling head from the picking position to the low-lift position, the telescopic extension arm is preferably pivoted by an angle of more than 180°, in particular more than 200°, for example more than 220°, relative to the telescopic mast. During the transition from the picking position to the low-lift position, the handling head can be pivoted from one side of the telescopic mast to the opposite side.

[0048] The invention is further explained below with reference to an embodiment illustrated in the drawings. Fig. 1 Figure 1 shows a handling device according to the invention in a first picking-up position when picking up a frame formwork element lying on the ground. Fig. 2 The handling device shows the Fig. 1 in a second recording position when picking up a frame formwork element standing on the ground. Fig. 3 The handling device shows the Fig. 1 and Fig. 2 in a high-lift switching position. Fig. 4 The handling device shows the Fig. 1 bis Fig. 3 in a low-lift switching position. Fig. 5 The handling device shows the Fig. 1 bis Fig. 4 during the transition to the low-lift switching position. Fig. 6 The handling device shows the Fig. 1 bis Fig. 5 in a transport or doorway position when passing through a doorway. Fig. 7 and Fig. 8 show details of a holding device with which the frame formwork element can be locked to the handling head. Fig. 9 and Fig. 10 The images show detailed views of a swiveling device with which a telescopic extension arm can be swivelled relative to a telescopic lifting mast. Fig. 11 shows a detailed view of a handling device with length-adjustable floor support elements for leveling the handling device on a sloping floor surface.

[0049] Fig. 1 Figure 1 shows a handling device 1 for handling or repositioning a frame formwork element 2, with which a ceiling or wall element (not shown) can be cast. The handling device 1 has a handling head 3 with a holding device 4 (see details below). Fig. 7 and Fig. 8 The handling device 1 has a mounting bracket 5 to which the frame formwork element 2 can be reversibly and repeatedly attached without damage. Furthermore, the handling device 1 has a movement mechanism 5 for moving the handling head 3, optionally with or without the frame formwork element 2. The movement mechanism 5 is mounted on a vehicle 6, which can move in all directions on a ground surface 7. In the embodiment shown, the vehicle 6 has a base 8, here a vehicle base, with driven and / or steerable wheels 9, for example, with three driven and steered wheels 9.

[0050] As is particularly evident from Fig. 3 As can be seen, the movement device 5 has a telescopic lifting mast 10, which is attached to the top of the vehicle base 8. The telescopic lifting mast 10 has a first lifting mast telescopic element 11, a second lifting mast telescopic element 12, and, in the illustrated embodiment, a further lifting mast telescopic element 13 between the first 11 and the second lifting mast telescopic element 12. The further lifting mast telescopic element 13 is slidably guided inside the first lifting mast telescopic element 11. The second lifting mast telescopic element 12 is slidably guided inside the further lifting mast telescopic element 13.

[0051] As from Fig. 1 bis Fig. 3 As can be seen, a telescopic extension arm 14 is attached to the upper end of the telescopic lifting mast 10. This extension arm comprises a first telescopic element 15 and a second telescopic element 16, which is slidably guided inside the first telescopic element 15. The movement device 5 also includes a pivoting device 17 (described in more detail below), which is designed to pivot the telescopic extension arm 14 as a whole relative to the telescopic lifting mast 10. In the illustrated embodiment, the telescopic lifting mast 10 is a vertical mast, which in a vertical position is essentially arranged in a vertical direction and is also telescopically extendable in the vertical direction, i.e., its length can be changed by sliding the lifting mast telescopic elements 11, 12, and 13 relative to each other.For this purpose, a telescoping drive is provided for extending the second telescopic mast element relative to the first telescopic mast element, and another for extending the second telescopic mast element relative to the first telescopic mast element. Furthermore, an extension drive is provided for extending the second telescopic extension arm element relative to the first telescopic extension arm element.

[0052] As from Fig. 1 As can be seen, the handling head 3 with the movement device 5 is movable into a first receiving position for receiving the frame formwork element 2 in a horizontal position from the floor surface 7. In the receiving position of the handling head 3, the telescopic lifting mast 10 is in a shortened position and the telescopic extension arm 14 is in an extended position.

[0053] As from Fig. 2 As can be seen, the handling head 3 with the movement device 5 can be moved into a second receiving position for receiving the frame formwork element 2 in a vertical position from the base surface 7. For this purpose, the handling head 3 can be pivoted about an axis parallel to the longitudinal axis of the frame formwork element 2 relative to the telescopic extension arm 14.

[0054] As from Fig. 3 As can be seen, the handling head 3 with the movement device 5 is movable into a high-lift position, preferably to a height of more than 4 meters, in particular more than 4.5 meters, above the ground surface 7. In the high-lift position, the telescopic lifting mast 10 and the telescopic extension arm 14 are each arranged in an extended and vertically oriented position.

[0055] As from Fig. 4 As can be seen, the handling head 3 with the movement device 5 is movable into a low-lift position, preferably at a height of less than 3 meters, and in particular less than 2.7 meters, above the floor surface 7. From the picking-up position to the low-lift position, the telescopic extension arm 14 pivots by an angle of more than 180°, in particular more than 200°, and in the example shown by more than 215°, relative to the lifting mast 10. In the low-lift position, the telescopic lifting mast 10 is in its shortened position. The handling head 3 is arranged on opposite sides of the telescopic lifting mast 10 in the picking position and in the low-lift position.

[0056] Out of Fig. 3 and in particular Fig. 5 The swivel device 17 is shown in detail. Accordingly, in the illustrated embodiment, the swivel device 17 has a first linear drive 18 and a second linear drive 19, which are designed as first and second cylinder-piston drives, respectively. The swivel device 17 also has a pivot lever 20, in the illustrated embodiment a double pivot lever with identical, parallel pivot lever parts 20A, 20B. The first linear drive 18 and the second linear drive 19 each engage a common pivot axis 21 of the pivot lever 20. In the illustrated embodiment, the second linear drive 19 has a shorter stroke than the first linear drive 18. A bearing part 22, here a bearing angle part, is attached to the upper end of the second lifting mast telescopic element 12, which projects downwards from the upper end of the second lifting mast telescopic element 12.In the illustrated embodiment, the lower end of the first linear drive 18 is pivotally mounted at the lower end of the bearing part 22. The upper end of the first linear drive 18 is pivotally connected to the pivot axis 21 at one end of the pivot lever 20, which is pivotally mounted at the other end on the bearing part 22. One end of the second linear drive 19 is pivotally connected to the pivot axis 21 at one end of the pivot lever 20. The other end of the second linear drive 19 is pivotally connected to the first extension arm telescopic element. Thus, the pivoting device 17 is designed as a pivoting device with which the telescopic extension arm 14 can be pivoted by angles of more than 180°. This facilitates the transition to the low-stroke switching position (see Figure 1). Fig. 4 ) when the frame formwork element 2 is horizontally aligned.

[0057] As from Fig. 6 As can be seen, in a doorway position, the telescopic lifting mast 10 is in a shortened position and the telescopic extension arm 14 is pivoted downwards. Furthermore, the handling head 3 is pivoted into an upright position. The uppermost point of the telescopic lifting mast is located less than 2 meters above the ground. The vehicle base 8 has a first longitudinal side 8A, a second longitudinal side 8B, a first narrow side 8C, and a second narrow side 8D. In the illustrated embodiment, a tapered section 23 is provided on both the first 8A and the second longitudinal side 8B to allow passage through a doorway 24. To ensure doorway clearance, the base 8 is less than 0.9 meters wide at its widest point, preferably less than 0.85 meters.

[0058] Out of Fig. 7 and Fig. 8 The locking mechanism of the frame formwork element 2 on the handling head 3 is shown in detail. The frame formwork element 2 has a formwork panel 25, which is supported by a circumferential support frame 26. The circumferential support frame has two longitudinal frame parts 27 (see figure). Fig. 1 The longitudinal frame sections 27 form the longer sides, i.e., the longitudinal sides of the circumferential support frame 26, and two transverse frame sections 28 extending at right angles to them form the shorter sides, i.e., the transverse sides of the circumferential support frame 26. The longitudinal frame sections 27 are connected to each other via crossbeams 29 between the transverse frame sections 28. The crossbeams 29 extend parallel to the transverse frame sections 28. In the illustrated embodiment, the holding device 4 has a locking element 30, which is designed to engage behind an inwardly directed (i.e., towards the center of the frame formwork element 2) projection 31 on an end region of the transverse frame section 28 of the circumferential support frame 26 facing away from the formwork panel 25 of the frame formwork element 2.The locking element 30 is movable between an unlocked state, releasing the projection 31, and the locked state by means of a locking drive 32, here preferably an electric and / or hydraulic and / or pneumatic cylinder-piston drive. A retaining or stop lug 33 of the retaining device 4 is provided on the side facing away from the locking element 30. Thus, in the locked state, the inwardly directed projection 31 is fixed between the locking element 30 and the retaining lug 33. Fig. 8 A second drive 32 for the second locking part 30 can be seen, which is shown in the unlocked state.

[0059] Fig. 9 and Fig. 10 Figure 1 shows an alternative embodiment of the swivel device 17. In this embodiment, the swivel device 17 has the first linear drive 18, while the second linear drive is omitted. To nevertheless allow the telescopic extension arm to swivel by more than 180°, the swivel device 17 has a toggle lever 34 with two toggle lever elements 35, which are connected to each other via a toggle joint 36. One end of the first linear drive 18 engages the toggle joint 36. The other end of the first linear drive 18 is connected to the bearing part 22, which is attached to the upper end of the telescopic lifting mast and projects downwards from it. One toggle lever element 35 is pivotally connected to the bearing part 22, and the other toggle lever element 35 is pivotally connected to the telescopic extension arm 14.By actuating the first linear drive 18, a torque is applied to the telescopic extension arm 14 via the toggle lever 34 such that the telescopic extension arm 14 moves from the downward angled position on one side of the telescopic lifting mast (cf. . Fig. 9 ) beyond the vertical or intermediate position aligned along the telescopic lifting mast 10 to the other side of the telescopic lifting mast 10 (cf. Fig. 10 ) is transferred.

[0060] Fig. 11Figure 1 shows an embodiment in which several, for example four, ground support elements 37 are mounted on the underside of the vehicle base for support on the ground. The ground support elements 37 are adjustable in length. For this purpose, the ground support elements 37 are designed as cylinder-piston elements which can be extended or shortened by electrical, pneumatic, or hydraulic actuation. By extending the ground support elements 37 to different lengths, the handling device 1 can be leveled on an uneven, for example, sloping, ground surface. If the base 8 has several wheels 9, as in the illustrated embodiment, individual or all wheels can be lifted off the ground surface with the aid of the ground support elements 37.

Claims

1. Handling device (1) for handling a frame formwork element (2) with a formwork panel (25) and a surrounding support frame (26), comprising: - a base (8), in particular a vehicle base, for preferably movable arrangement on a floor surface (8), - a handling head (3) with a holding device (4) for holding the frame formwork element (2), - a movement device (5) for moving the handling head (3), characterized in that the movement device (5) - a telescopic lifting mast (10) with a first lifting mast telescopic element (11) and a second lifting mast telescopic element (12), - a telescopic extension arm (14) with a first extension arm telescopic element (15) and a second extension arm telescopic element (16) and - a pivoting device (17) with which the telescopic extension arm (14) can be pivoted relative to the telescopic lifting mast (10).

2. Handling device (1) according to claim 1, characterized in thata vertical mast is provided as the telescopic lifting mast (10), which is essentially telescopic in the vertical direction.

3. Handling device according to claim 1 or 2, characterized in that the handling head (3) is movable with the movement device (5) into a receiving position for receiving the frame formwork element (2) from the floor surface (8), wherein in the receiving position of the handling head (3) the telescopic lifting mast (10) is arranged in a shortened position and the telescopic extension arm (14) is arranged in an extended position.

4. Handling device (1) according to one of claims 1 to 3, characterized in thatthe handling head (3) is movable with the movement device (5) into a high-lift shuttering position, preferably at a height of more than 4 meters, in particular more than 4.5 meters, above the ground surface, wherein in the high-lift shuttering position the telescopic lifting mast (10) and the telescopic extension arm (14) are each arranged in an extended position, preferably each substantially in a vertical orientation.

5. Handling device (1) according to one of claims 1 to 4, characterized in that the telescopic extension arm (14) can be pivoted relative to the telescopic lifting mast (10) by an angle of more than 180°, in particular more than 200°, for example more than 220°.

6. Handling device (1) according to one of claims 1 to 5, characterized in thatthe handling head (3) is movable with the movement device (5) into a low-lift shuttering position, preferably at a height of less than 3 meters, in particular less than 2.7 meters, above the floor surface (8), wherein the telescopic extension arm (14) is pivoted in the low-lift shuttering position relative to the receiving position by an angle of more than 180°, in particular more than 200°, for example more than 220°.

7. Handling device (1) according to claim 6, characterized in that the handling head (3) is arranged on different sides relative to the telescopic lifting mast (10) in the receiving position and in the low-lift shuttering position.

8. Handling device (1) according to one of claims 1 to 7, characterized in that the pivoting device (17) has at least one first linear drive (18), in particular a first cylinder-piston drive.

9. Handling device according to claim 8, characterized in thatthe pivoting device (17) has a toggle lever (34) with two toggle lever elements (35) and a toggle lever joint (36) between the two toggle lever elements (35).

10. Handling device (1) according to one of claims 1 to 9, characterized in that in a doorway position, the telescopic lifting mast (10) is arranged in a shortened position and the telescopic extension arm (14) is arranged in a downwardly pivoted position, wherein the uppermost point of the telescopic lifting mast (10) is arranged at a height of less than 2 meters above the floor surface (7).

11. Handling device (1) according to one of claims 1 to 10, characterized in that the base (8) has a first (8A) and a second longitudinal side (8B) and a first (8C) and a second narrow side (8D), wherein a taper (23) is formed on the first (8A) and / or on the second longitudinal side (8B) to clear a passage of the handling device (3) through a door opening.

12. Handling device (1) according to one of claims 1 to 11, characterized in that the holding device (4) of the handling head (3) is designed to grip the circumferential support frame (26) of the frame formwork element (2).

13. Handling device (1) according to claim 12, characterized in that the locking part (30) is designed to engage behind an inwardly directed projection (31), in particular on an end region of a longitudinal (27) or transverse frame part (28) of the circumferential support frame (26) facing away from the formwork panel (25) of the frame formwork element (2), wherein preferably a locking drive (32), preferably a locking linear drive, for example a particularly hydraulic cylinder-piston drive, is provided for moving the locking part (30) between an unlocked state and a locked state.

14. A method for handling a frame formwork element (2), comprising the steps of: providing a handling device (1) according to one of claims 1 to 13, providing the frame formwork element (2) in a waiting position detached from the handling device (1), connecting the handling head (3) of the handling device (1) to the frame formwork element (2) in the waiting position, and lifting the frame formwork element (2) from the waiting position with the aid of the handling device (1).

15. Method according to claim 14, characterized in thatat least one of the following steps is carried out: i. moving the handling head (3) with the movement device (5) into a receiving position for receiving the panel formwork element (2) from the ground surface (7), wherein the telescopic lifting mast (10) is arranged in a shortened position and the telescopic extension arm (14) is arranged in an extended position, and / or ii. moving the handling head (3) with the movement device (5) into a high-lift formwork position, preferably at a height of more than 4 meters, in particular more than 4.5 meters, above the ground surface (7), wherein the telescopic lifting mast (10) and the telescopic extension arm (14) are each arranged in an extended position, preferably each substantially in a vertical orientation, and / or iii.Moving the handling head (3) with the movement device (5) into a low-lift shuttering position, preferably at a height of less than 3 meters, in particular less than 2.7 meters, above the floor surface (7), wherein the handling head (3) is pivoted by an angle of more than 180°, in particular more than 200°, for example more than 220°, relative to the telescopic lifting mast (10).

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