HANDLING DEVICE FOR FRAME FORMWORK ELEMENT

Description

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a U.S. National Phase of International Application No. PCT/EP2023/060875 entitled “HANDLING DEVICE FOR FRAME FORMWORK ELEMENT,” and filed on Apr. 26, 2023. International Application No. PCT/EP2023/060875 claims priority to German Patent Application No. 10 2022 204 031.7 filed on Apr. 26, 2022. The entire contents of each of the above-listed applications are hereby incorporated by reference for all purposes.

TECHNICAL FIELD

The invention relates to a handling device for handling, in particular for moving and/or laying, a frame formwork element with a formwork panel and a circumferential support frame at the rear side of the formwork panel, comprising:

• • a handling head with a holding unit for holding the frame formwork element, and
  • a movement unit for moving the handling head.

BACKGROUND AND SUMMARY

Furthermore, the invention relates to a handling system with a handling device and a frame formwork element, in particular a ceiling formwork element.

Finally, the invention relates to a method for handling a frame formwork element with a formwork panel and a circumferential support frame at the rear side of the formwork panel.

As described in DE 196 02 981 A1, the shuttering and striking of concrete ceilings is still done manually. However, this involves a considerable amount of labour. Furthermore, the dimensions and weights of the moulds are limited. Against this background, DE 196 02 981 A1 proposes a device for facilitating the installation and removal of ceiling formwork elements, each of which is composed of a support frame and a formwork panel connected to it. This device comprises a support with a horizontal support plate for individual formwork panels. The support can be raised and lowered in a vertical direction by means of a scissor lift mechanism. In addition, the support can be moved horizontally as required in order to be able to handle the formwork panel during shuttering and striking. Horizontal positioning strips are provided on the support plate, which on the one hand determine the support position of the ceiling formwork element on the support plate and on the other hand serve as stops for contact with the neighbouring, already mounted ceiling formwork elements. Furthermore, grippers are attached to the support plate, which can be used to grasp the formwork panel and remove it from the ceiling formwork.

The disadvantage, however, is that the ceiling formwork element has to be moved manually into the horizontal position on the support before the ceiling formwork element can be lifted vertically into the working position by actuating the lifting mechanism. This means that shuttering is still very complicated and requires a lot of labour. Although the support has a gripper, this, in conjunction with the retaining strips, is only suitable for securing the ceiling formwork element in the horizontal position on the support or for removing the ceiling formwork element from the horizontal position of use. Due to the horizontal support in conjunction with the vertical lifting device, it is also not possible to compensate for inclination when assembling the ceiling formwork. Furthermore, this state of the art is limited to installing ceiling formwork elements directly above the appliance. The arrangement of cantilevered ceiling formwork elements is not possible.

DE 10 2012 206 353 A1, DE 295 10 784 U1 and EP 0 105 504 A1 illustrate the further state of the art without, however, giving any indication of how the limitations of DE 196 02 981 A1 could be overcome in an obvious way.

In contrast, the present invention sets itself the object of alleviating or eliminating at least some of the disadvantages of the prior art. In particular, the invention aims to automate the handling of the frame formwork element to a greater extent and to open up new applications.

This object is solved by a handling device according to claim 1, a handling system according to claim 17 and a method according to claim 19.

In the handling device according to the invention, the holding unit of the handling head is configured to hold the frame formwork element both in a lying and in an upright position.

Accordingly, the holding unit according to the invention is adapted to hold or fix the frame formwork element not only in a lying position, in particular in a horizontal position, but also in an upright position, in particular in a vertical position, so that the frame formwork element can be lifted from a storage surface in the upright position and moved in the upright position lifted from the storage surface. Advantageously, a higher degree of automation can be achieved than with the state of the art. In addition, new applications can be opened up. It is particularly favourable that the frame formwork element can be picked up from the storage surface, for example from the floor, by means of the handling device in an upright position, i.e. in particular when the formwork panel is vertically aligned. In particular, this makes it possible to place a series of frame formwork elements upright next to each other on the storage surface in a space-saving arrangement. The handling device can then be used to pick up the foremost frame formwork element in the upright position. Once the frame formwork element is fixed to the handling head in the upright position, the frame formwork element can be lifted by means of at least one drive of the movement unit and moved to the place of use. It is particularly favourable if the movement unit is designed to transfer the handling head from an upright to a horizontal position. This allows the frame formwork element, which is fixed to the handling head in an upright position, to be brought into the horizontal position by means of the movement unit, which is used for concreting a ceiling element when used as a ceiling formwork element. Thus, in a particularly preferred application, the frame formwork element can be picked up from an upright waiting position, lifted and swivelled into the horizontal position of use without manual intervention.

For the purposes of this disclosure, the indications of location and direction, such as “horizontal”, “vertical”, “up”, “down”, refer to the intended use of the handling device on a flat, horizontal floor.

When picking up the frame formwork element in the upright position, when swivelling the frame formwork element from the upright to the horizontal position and, above all, when stripping the formwork, the frame formwork element is subjected to high loads. In order to be able to withstand these forces, in a preferred embodiment the holding unit of the handling head is designed to grip the circumferential support frame, preferably on at least two transverse sides, in particular also on at least one longitudinal side, of the circumferential support frame, which is provided on the rear side of the formwork panel.

In this embodiment, the circumferential support frames of the frame formwork element are therefore advantageously used as the point of application for the holding unit of the handling head. This means that even high forces can be safely transmitted without damaging the frame formwork element or the handling head.

It is particularly advantageous if the holding unit engages at least one of the two opposite longitudinal sides and at least one of the two opposite transverse sides of the frame formwork element. For a narrow design of the handling head, it is particularly favourable if the holding unit engages on one of the two longitudinal sides, but not on the other of the two longitudinal sides of the circumferential support frames of the frame formwork element.

Preferably, the holding unit is designed for form-fitting connection with at least one of the two opposite longitudinal sides and/or with at least one of the two opposite transverse sides of the circumferential support frames of the frame formwork element.

In order to secure the frame formwork element to the handling head or to align the frame formwork element with already installed frame formwork elements, it is favourable if the holding unit comprises at least one first guide bar for connection on the outside to a longitudinal frame parts of the circumferential support frame of the frame formwork element and/or at least one second guide bar for connection on the outside to a cross frame parts of the circumferential support frame of the frame formwork element. The first and/or second guide bar is preferably a flat part, in particular a plate, which is placed along the main plane of the flat part on the outside of the longitudinal or cross frame parts.

In a preferred embodiment, the first or second guide bar is substantially flush with a longitudinal or cross edge of the support frame surrounding the formwork panel, which is offset outwards in relation to the outside of the longitudinal or cross frame parts. This makes it easier to pick up the frame formwork element from the rear. Furthermore, the first or second guide bar can be used during assembly to align the frame formwork element with an already installed frame formwork element. For this purpose, the first or second guide bar can be attached to the longitudinal or transverse edge of an already installed frame formwork element during assembly before the frame formwork element to be installed is brought into the position of use, in particular before it is lowered.

In a preferred embodiment, the holding unit comprises two first guide bars for external connection to the longitudinal frame parts of the circumferential support frame of the frame formwork element and/or two second guide bars for external connection to the cross frame parts of the circumferential support frame of the frame formwork element for framing the frame formwork element or for alignment with already installed frame formwork elements. Preferably, the two first guide bars (in relation to their lateral edges facing each other) are spaced apart from each other by more than half the longitudinal extent of the longitudinal frame parts.

In a particularly preferred embodiment, the holding unit has a locking part, in particular a locking pin or a locking strip, for locking with a longitudinal or cross frame part of the circumferential support frame of the frame formwork element. In the locked state, the locking part prevents the frame formwork element from being lifted off the handling head. Preferably, at least two locking parts are provided for locking with at least two opposing transverse or longitudinal frame parts. At least four locking parts can be provided for locking with the two transverse and the two longitudinal frame parts.

Preferably, the support frame is held from the outside via the at least one first or second guide bar and from the inside via the at least one locking part.

Preferably, the locking part is designed to engage behind an inwardly directed projection, in particular at the end region facing away from the formwork panel, of the longitudinal or cross frame parts of the circumferential support frame. Alternatively, the locking part can be arranged in a locking opening of the longitudinal or cross frame parts in the locked state.

In order to fix the frame formwork element to the handling head, a locking drive, for example a hydraulic drive, is preferably provided for moving the locking part and/or the first and/or the second guide bar.

In a preferred embodiment, the locking part is preloaded with a spring in the direction of the locked position. The locking drive can be used to move the locking part into the released position against the force of the spring.

In order to be able to bring the frame formwork element into the desired position of use, it is advantageous for the movement unit to comprise a pivot joint for turning the handling head about an axis extending substantially perpendicular to the main plane of the formwork panel.

In addition, the movement unit preferably comprises a handling arm for lifting the handling head and/or for swivelling the handling head about at least one horizontal swivel axis. Preferably, the handling head is connected to a free end of the handling arm via a first horizontal pivot axis. The handling head can be swivelled about the first horizontal pivot axis with the aid of a first drive. In addition, the handling arm can comprise a first and a second arm part, which are connected to each other via a second horizontal pivot axis. With the aid of a second drive, the first arm part can be swivelled about the second horizontal pivot axis relative to the second arm part. Preferably, the second arm part is pivotably mounted on a base about a third horizontal pivot axis. The first and/or the second arm part can be telescopic in order to adjust the insertion height. For a telescopic design, the first arm part can comprise an outer part and an inner or extension part, whereby the inner part can be extended from the outer part using a telescoping drive.

In a preferred embodiment, the handling head comprises a bearing frame, which is preferably connected to the handling arm, in particular to the first arm part of the handling arm, and a holding frame with the holding unit, wherein the holding frame is movable in at least one direction, preferably in all directions, parallel to the main plane of extension of the frame formwork element fixed to the handling head.

Preferably, a stop device is provided to limit the movement of the holding frame relative to the bearing frame. The stop device can comprise a stop element on the bearing frame and a recess on the holding frame. The stop element is movable within the recess. A border around the recess limits the movement of the stop element. The border preferably comprises a semi-circular, in particular quarter-circular, edge and/or at least one rectilinear edge, in particular two rectilinear edges running at right angles to each other.

In a preferred embodiment, a displacement drive, for example a hydraulic drive, is provided for displacing the holding frame relative to the bearing frame of the handling head. Preferably, the displacement drive is set up to move the holding frame in a straight line in a direction parallel to the main extension plane. The frame formwork element is preferably aligned on the handling head by means of striking on an already installed frame formwork element via the free movement of the frame formwork element in all directions parallel to the main extension plane. In a preferred embodiment, the displacement drive comprises a single drive, in particular a single hydraulic drive, which can be controlled to displace the holding frame relative to the bearing frame. In this embodiment, a further but non-driven cylinder-piston arrangement can also be provided between the holding frame and the bearing frame. A guide can be achieved with this additional cylinder-piston arrangement. The single drive can achieve a significant simplification compared to the prior art, in which two separate drives were provided for displacement in two orthogonal axes.

The above embodiments may also be provided independently of the holding unit embodiment described further above. Accordingly, the present disclosure also relates to a handling device for handling, in particular for moving and/or laying, a frame formwork element with a formwork panel and a circumferential support frame at the rear side of the formwork panel, comprising:

• • a handling head with a holding unit for holding the frame formwork element, and
  • a movement unit for moving the handling head,
  • wherein the handling head comprises a bearing frame, which is preferably connected to the handling arm, in particular to the first arm part of the handling arm, and a holding frame with the holding unit, wherein the holding frame is movable in at least one direction, preferably in all directions, parallel to the main plane of extension of the frame formwork element. In this handling device, the stop device described above and/or the displacement drive described above is preferably provided.

In order to bring the frame formwork element to a place of use or storage, the movement unit is preferably arranged on a vehicle, in particular with wheels. In a particularly preferred embodiment, the wheels of the vehicle can be swivelled through 90° for transverse travel.

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

In a preferred application, the sensor device is configured to detect a trigger element on the column head when the frame formwork element is lowered into the shuttering position on the column head.

Since up to four frame formwork elements can typically be arranged at the corners of the formwork supports, it is favourable if the sensor device is provided at a corner area of the handling head. In use, the sensor device is preferably arranged adjacent to a corner of the circumferential support frame, at which a cross frame part and a longitudinal frame part converge.

For reliable detection of the shuttering position, the sensor device is configured in a preferred embodiment for non-contact, for example optical, inductive or capacitive detection of the trigger element. Alternatively, the sensor device comprises a push-button element for actuation by the release element on the column head in the shuttering position lowered onto the column head.

The system according to the invention comprises a handling device in one of the embodiments described above and a frame formwork element, in particular a ceiling formwork element, which is detachably connected to the handling head of the handling device.

In addition, the system can comprise a formwork support with a column head for connection to the frame formwork element configured as a ceiling formwork element.

In the method according to the invention for handling a frame formwork element, at least the following steps are carried out:

Providing a handling device in one of the above embodiments,

Provision of the frame formwork element in a waiting position 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 using the handling device.

In a preferred embodiment, the formwork panel of the frame formwork element is substantially vertically aligned in the waiting position. In this case, the frame formwork element can be arranged on edge, i.e. with vertically aligned longitudinal frame parts, or on transverse edge, i.e. with horizontally aligned longitudinal frame parts. In addition, the holding unit can also be configured to pick up the frame formwork element from a horizontal waiting position on the storage surface.

The frame formwork element can then be moved with the handling device from the waiting position to a position preferably in the substantially horizontal position of use.

The invention is further explained below with reference to an embodiment shown in the drawings.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 shows a handling device according to the invention, with which a frame formwork element for a ceiling formwork can be picked up from an upright waiting position.

FIGS. 2 to 7 show the procedure for hanging the frame formwork element in the formwork supports using the handling device of FIG. 1.

FIG. 8 shows a detailed view of the frame formwork element shortly before reaching the intended shuttering position.

FIG. 9 and FIG. 10 each show a detail of the frame formwork element in the installed state on the formwork supports, whereby the formwork panel of the frame formwork element is omitted for the sake of clarity.

FIG. 11 and FIG. 12 show the frame formwork element together with the formwork panel in the shuttering position.

FIG. 13 and FIG. 14 show the frame formwork element without formwork panel in the shuttering position.

FIG. 15 show a handling head of the handling device for picking up and moving the frame formwork element.

FIG. 16 and FIG. 17 show the handling head of the handling device from below, to which the frame formwork element is attached.

DETAILED DESCRIPTION

FIG. 1 shows a handling device 1 for handling or moving a frame formwork element 2, with which a ceiling or wall element can be concreted. The handling device 1 comprises a handling head 3 with a holding unit 4, on which the frame formwork element 2 can be reversibly detached, i.e. without damage and repeatedly. In addition, the handling device 1 comprises a movement unit 5 for moving the handling head 3 either with or without the frame formwork element 2. The movement unit 5 is arranged on a vehicle 6, which can travel in all directions on a floor 7. In the embodiment shown, the vehicle 6 comprises two wheels 8 and two drive and steering wheels 9. The movement unit 5 comprises a handling arm 10 for moving the handling head 3. In the embodiment shown, the handling arm 10 comprises a first arm part 11, which can be telescoped in the embodiment shown, and a second arm part 12. The handling head 3 is connected to the first arm part 11 of the handling arm 10 via a first horizontal pivot axis 13. Furthermore, the first 11 and the second arm part 12 are connected to each other via a second horizontal pivot axis 14. The second arm part 12 is mounted on a base, in this case on the vehicle 6, so that it can pivot about a third horizontal pivot axis. As can be seen from FIG. 2 and FIG. 3, the handling head 3 can be swivelled about the first horizontal pivot axis 13 with the aid of a first drive 15. In addition, a second drive 16 is provided for swivelling the first arm part 11 relative to the second arm part 12. A third drive 17 is provided for swivelling the second arm part 12 towards the base, in this case the vehicle 6.

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

As can be seen in FIG. 16 and FIG. 17, the handling head 3 is rotatable about a longitudinal axis 11A extending perpendicular to the main plane of extension of the frame formwork element 2 via a turntables 18. In a preferred embodiment, the frame formwork element 2 can be manually rotated about the longitudinal axis 11A on the handling head 3. In a particularly preferred embodiment, the frame formwork element 2 can be rotated about the longitudinal axis 11A on the handling head 3 by means of a rotary drive.

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

As can be seen in particular from FIG. 16, a stop device is provided for limiting the movement of the holding frame 52 relative to the bearing frame 51. In the embodiment shown, the stop device comprises a stop element 55 on the bearing frame 51 and a recess 56 on the holding frame 52 forming a limiting space for the stop element 55. The stop element 55 is freely displaceable within the recess 56. The border of the recess 56 limits the movement of the stop element 55.

The movement unit 5 thus enables the handling head 3 together with the frame formwork element 2 to be swivelled about the first pivot axis 13, the first holding arm 11 to be swivelled about the second pivot axis 14, the second holding arm 12 to be swivelled about the third pivot axis, an extension of the inner part from the first arm part 11 along the longitudinal axis 11A to lift the frame formwork element 2, a rotation of the handling head 3 about the longitudinal axis 11A and a displacement of the holding frame 52 relative to the bearing frame 51 of the handling head 3.

As can be seen in particular from FIGS. 11 to 14, the frame formwork element 2 comprises a circumferential support frame 19, i.e. extending on all sides, which supports a formwork panel 20 which is substantially rectangular in plan view and has a flat scarf surface 21 facing the concrete. The circumferential support frame 19 comprises two longitudinal frame parts 22, which form the longer sides, i.e. the longitudinal sides of the circumferential support frame 19, and two cross frame parts 23 extending at right angles thereto, which form the shorter sides, i.e. the cross sides of the circumferential support frame 19. The longitudinal frame parts 22 are connected to each other via cross members 24 between the cross frame parts 23. The cross members 24 extend parallel to the cross frame parts 23.

In order to be able to move the frame formwork element 2 with the degrees of freedom described above, the holding unit 4 is designed to hold or fix the frame formwork element 2 in an upright, vertical position (cf. FIG. 1), in a horizontal position (cf. e.g. FIG. 4) and in any inclined intermediate position between the horizontal and the upright position. For this purpose, the holding unit 4 on the handling or holding head 3 can be used to grip the circumferential support frames 19 on one of the longitudinal sides and on one of the transverse sides of the frame formwork element 2.

In the embodiment shown (FIG. 15), the holding unit 4 comprises at least one first guide bar 25, in this case two first guide bars 25, for arrangement on the outside of one of the longitudinal frame parts 22 of the circumferential support frame 19 of the frame formwork element 2 and at least one second guide bar 26, in this case two second guide bars 26, for arrangement on the outside of one of the cross frame parts 23 of the circumferential support frame 19 of the frame formwork element 2.

In addition, in the embodiment shown, the holding unit 4 comprises at least one holding pin 46, preferably several holding pins 46, adjacent to the first guide bars 25, wherein the longitudinal frame parts 22 of the frame formwork element 2 is held between the first guide bars 25 and the holding pins 46.

In addition, the holding unit 4 comprises at least one locking part, here a locking pins 27, for engaging behind the projection 29 (see e.g. FIG. 13 and FIG. 14) of the cross frame parts 23. With the aid of a locking drive 47, the locking part can be transferred from a retracted, released position into an advanced, locked position, in which the frame formwork element 2 is secured against being lifted off in a direction perpendicular to the main plane of extension of the handling head 3. In the embodiment shown, two locking pins 27 are provided for locking with both opposite cross frame parts 23 of the frame formwork element 2, which are each actuated by a locking drive 47.

The first guide bars 25 and second guide bars 26 are stationary on the frame formwork element 2 during the movement of the locking part.

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

As shown in FIG. 1, the frame formwork elements 2 can be placed in an upright position (on edge or on edge, depending on the design) directly next to each other on the floor 7. The handling head 3 is moved to the foremost frame formwork element 2. The holding unit 4 is then connected to the circumferential support frames 19 of the frame formwork element 2. For this purpose, the first guide bars 25 are attached to the outside of the longitudinal frame parts 22 and the second guide bars 26 are attached to the outside of the cross frame parts 23. The locking pins 27 are initially in a retracted position. The locking drive 47 is then actuated, whereby the locking pins 27 are moved outwards to such an extent that the locking pins pass over the inwardly projecting projections 29 of the cross frame parts 23. As a result, the frame formwork element 2 is held in an upright position on the handling head 3 and thus secured against unintentional movement in all directions.

According to FIG. 2, the frame formwork element 2 is lifted off the floor 7. In the example shown, the frame formwork element 2 remains in the upright position for the time being due to a corresponding swivelling of the handling head 3 about the first pivot axis 13, so that the frame formwork element 2 is lifted in the vertical direction.

According to FIG. 3, the frame formwork element 2 is tilted about the first pivot axis 13 by actuating the first drive 15. Furthermore, the handling device 1 can be moved from the storage location for the frame formwork elements 2 to the place of use by moving the vehicle 6 on the floor.

According to FIG. 4, the handling device 1 is located in the immediate vicinity of the ceiling formwork 34, which is formed by an array of frame formwork elements 2, which are supported in a horizontal arrangement next to each other on vertically aligned formwork supports 35. To lift the frame formwork element on the handling device 1, the second drive 16 is actuated, whereby the toggle lever formed by the first 11 and second arm part 12 of the handling arm 10 is transferred to a more extended position. The frame formwork element 2 can be continuously moved from the initially vertical to the horizontal position.

According to FIG. 5A, the frame formwork element 2 is first lifted with the handling device 1 beyond the final position of use, cf. the neighbouring, already installed frame formwork elements 2.

According to FIG. 5B, the frame formwork element 2 (shown here in plan view) is aligned with the neighbouring frame formwork elements 2 already installed. For this purpose, the framework formwork element 2 can be moved with the displacement drive 30. The first 25 and second guide bars 26 serve as attachment points on the already installed frame formwork elements. When the first 25 or second guide bars 26 strike the already assembled frame formwork elements 2, the frame formwork element 2 is rotated into the correct position, see arrow 36, and displaced, see arrow 37 or arrow 38.

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

According to FIG. 7, the corners on the other long side of the frame formwork element 2 are supported with one or two further formwork supports 35. The handling head 3 can then be released from the frame formwork element 2. To do this, the locking or holding pins 27 are retracted before the handling head 3 can be removed from the frame formwork element 2.

FIG. 8 shows in detail the lowering of the frame formwork element 2 into the use position. The formwork supports comprise a column head 39 at the upper end, on which, in the version shown, four attachment elements 40 are provided for attaching the frame formwork element 2 and, in the version shown, also four hook elements 41 for hooking with a pin 42 on the frame formwork element 2, with which a lift-out protection, i.e. a protection against vertical lifting of the frame formwork element in the use position, for example due to wind loads, is achieved.

FIG. 8 also shows that the first guide bars 25 and the second guide bars 26 serve as attachment points on the already assembled frame formwork element 2. As a result, the frame formwork element 2 is guided on the already assembled frame formwork element 2 when it is lowered into the column head 39.

In the design shown (see FIG. 10), the handling head 3 comprises a sensor device 44 at a corner area, with which the intended position of use of the frame formwork element 2, in this case the shuttering position fully lowered onto the formwork supports 2, is recognised. The sensor device 44 is designed for sensory detection of a trigger element on the column head 39 when the frame formwork element 2 is lowered into the shuttering position on the column head 39. The upright attachment element 40 of the column head 39 is preferably provided as the trigger element. In the embodiment shown, the sensor device 44 comprises a sensor element 45, which is used for contactless detection of the trigger element, in this case the attachment element 40, when the lowered shuttering position is reached. Alternatively, the sensor device 44 can also comprise a push-button element, which is pressed by the trigger element. The actuation of the sensor element 45 by the triggering or attachment element 40 is detected and signalled to a control unit, which records the intended installation of frame formwork element 2.

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

Reference Number List

• • 1 handling device
  • 2 frame formwork element
  • 3 handling head
  • 4 holding unit
  • 5 movement unit
  • 6 vehicle
  • 7 floor
  • 8 wheels
  • 9 drive and steering wheels
  • 10 handling arm
  • 11 first arm part
  • 12 second arm part
  • 13 first pivot axis
  • 14 second pivot axis
  • 15 first drive
  • 16 second drive
  • 17 third drive
  • 18 turntable
  • 19 support frame
  • 20 formwork panel
  • 21 formwork surface
  • 22 longitudinal frame parts
  • 23 cross frame parts
  • 24 cross member
  • 25 first guide bar
  • 26 second guide bar
  • 27 locking pin
  • 29 projection
  • 30 displacement drive
  • 32 edge
  • 34 ceiling formwork
  • 35 formwork supports
  • 36 arrow
  • 37 arrow
  • 38 arrow
  • 39 column head
  • 40 attachment elements
  • 41 hook elements
  • 42 pin
  • 43 edge
  • 44 sensor device
  • 45 sensor element
  • 46 holding pin
  • 47 locking drive
  • 48 telescoping drive
  • 49 inner part of the first arm part
  • 50 outer part of the first arm part
  • 51 bearing frame
  • 52 holding frame
  • 53 upper part of the holding frame
  • 54 lower part of the holding frame
  • 55 stop element
  • 56 recess