WO2020200740A1 - Magazine for insert parts - Google Patents

Abstract

The invention relates to a magazine (1) for insert parts (2), in particular magnetic adapters, for precast concrete parts, wherein the magazine (1) comprises a tubular store (3), which runs along a tube axis (R), for receiving the insert parts (2) in the interior of the tubular store (3), the tubular store (3) having a dispensing opening (4) for dispensing the insert parts (2) from the magazine (1). The magazine (1) comprises a separating device (5) for dispensing the insert parts (2) one at a time, the separating device (5) comprising a gripping device (6), the gripping device (6) being movable back and forth between a retaining position, in which an insert part (2) can be held by the gripping device (6), and a dispensing position, in which an insert part (2) held by the gripping device (6) can be released, and the gripping device (6) comprising at least one gripping element (7, 7'), the at least one gripping element (7, 7'), at least in the retaining position, extending in some portions through an opening (8, 8') in the tubular store (3) into the interior of the tubular store (3), the at least one gripping element (7, 7') having an actuation element (9, 9') arranged outside the tubular store (3), the gripping device (6) being movable back and forth between the retaining position and the dispensing position by means of the actuation element (9, 9').

Description

Magazine for inserts

The present invention relates to a magazine for inserts, in particular magnetic adapters, for precast concrete parts with the features of the preamble of claim 1, an arrangement comprising a handling device and such a magazine, as well as a method using such an arrangement for placing at least one insert on a formwork support for removal at least one insert part of a formwork base, and for the production of a precast concrete part.

Such magazines are already known. Such a magazine usually has a tubular store, in the interior of which the inserts are stacked one on top of the other, for example in the form of magnetic adapters that are to be applied to a formwork support for a precast concrete part. Known magazines have a handle at the upper end of the tubular memory, which gripping tongs of a handling device, for example in the form of a shuttering robot, can grip and thus the magazine can be moved by the shuttering robot to those positions at which an insert is to be placed on the shuttering pad . In order to dispense an insert from the tubular store, the tubular store is pressed against the formwork support in the known magazines, whereby a separating device arranged inside the tubular store releases an insert by a gripping device of the separating device from a retaining position in which the insert from the Gripping device is held, moved into an output position in which the insert held by the gripping device is released. The insert can thus emerge from the tubular reservoir through the discharge opening and be deposited on the formwork support. Since the known magazines are held at the upper end of the tubular store by the shuttering robot and the discharge opening is located at the lower end of the tubular store and an insert is also brought out by pressing the tubular store against the formwork support, inaccuracies in the placement of the inserts can occur surrender. In addition, this limits the maximum length of the tubular reservoir. Manual intervention is also required to collect inserts that have been placed in the magazine required because the separating device in the known magazines has to be reconfigured manually or by an additional mechanism between an operating mode for setting inserts and an operating mode for picking up inserts. Another disadvantage of the current systems is that it is not possible to move and pick up the inserts close to the formwork or to each other.

The object of the invention is to avoid the disadvantages described above and to provide a magazine which is improved compared to the prior art and which, in particular, enables more precise placement of the inserts. Furthermore, an arrangement with a handling device and such an improved magazine, as well as a method for setting at least one insert, for removing at least one insert and for producing a precast concrete part using an arrangement with such an improved magazine are to be specified.

This object is achieved by a magazine with the features of claim 1, an arrangement with the features of claim 11, a method for setting at least one insert with the features of claim 16, a method for removing at least one insert with the features of claim 17, and a method for producing a precast concrete part having the features of claim 18 achieved. Advantageous embodiments are defined in the dependent claims.

In the magazine according to the invention it is provided that the gripping device comprises at least one gripping element, the at least one gripping element extending at least in the restraint position in sections through an opening in the tubular store into the interior of the tubular store, the at least one gripping element being an outside of the tubular store having arranged actuating element, wherein the gripping device can be moved back and forth between the retaining position and the dispensing position by means of the actuating element.

The fact that the at least one gripping element extends, at least in the restraint position, in sections through an opening in the tubular reservoir into the The inside of the tubular store extends (whereby the at least one gripping element can hold back an insert) and the at least one gripping element has an actuating element arranged outside the tubular store (by means of which the gripping device can be moved between the retaining position and the dispensing position), gripping pliers of a handling device (e.g. Formwork robot) act directly on the gripping device via the actuating element.

It is therefore no longer necessary for the magazine to have to be held at an end facing away from the discharge opening and to have to be pressed against the formwork support in order to dispense an insert, which has often led to inaccuracies in the placement of the inserts. Unlike in the past, gripping tongs of the handling device can now act on the gripping device directly in the area of the discharge opening, thereby enabling the inserts to be placed more precisely on the formwork support. In particular, precast concrete parts can be produced with a grid from about 72 mm, which was not possible with conventional magazines. In the case of inserts in the form of magnetic adapters, which are placed on a magnetic or magnetizable formwork support (e.g. a formwork support made of steel), they stick to the formwork support due to the magnetic force.

In addition, the length of the tubular reservoir no longer affects the accuracy of the placement, since the gripping tongs of the handling device act on the actuating elements arranged in the area of the discharge opening regardless of the length of the tubular reservoir.

In addition, it is no longer necessary to reconfigure the separating device depending on whether insert parts are to be deposited or picked up. Via the actuating elements accessible from the outside, the gripping device can always be moved back and forth between the retaining position and the dispensing position, as required, in order to release an insert or to pick up and hold an insert inserted into the tubular reservoir. It can preferably be provided that the tubular reservoir has an inner wall running along the tube axis essentially in a cross section transversely to the tube axis. In principle, however, other cross-sectional shapes, such as elliptical, rectangular or polygonal cross-sectional shapes, are also possible.

It can preferably be provided that at least one guide strip running at least in sections along the pipe axis is arranged on the inner wall. Conventional magazines do not have a device for realigning an insert that was slightly twisted when it was removed from the precast concrete part. The orientation of the rotation is important, as concrete components to be placed on the insert (e.g. electrical sockets) can easily be placed according to the placement and the angle of rotation of an insert. If at least one guide bar is arranged on the inner wall of the tubular store and the inserts have at least one guide recess corresponding to the at least one guide bar, the inserts can be guided through the at least one guide recess along the at least one guide bar when they are received in the tubular store according to the desired orientation will. The at least one guide bar can thus guide the inserts in a rotationally stable manner after they have been picked up and aligned, so that they do not twist in the tubular store.

According to a preferred embodiment it can be provided that the separating device comprises a storage device, preferably arranged on the tubular storage device, wherein the at least one gripping element is movably, preferably translationally moveable, mounted in or on the storage device. As a result, the at least one gripping element can be moved, for example, along a guide path of the storage device, so that the gripping device can be moved back and forth between the retention position and the dispensing position.

It can be provided that the at least one gripping element can be moved radially with respect to the pipe axis. The at least one gripping element can thus be moved in the direction of the pipe axis (and thus in the direction of the retention position) and away from the pipe axis (and thus in the direction of the output position). It is also conceivable that the at least one gripping element is pivotably mounted on the bearing device and can be pivoted, for example, in the direction of the pipe axis (and thus in the direction of the retention position) or away from the pipe axis (and thus in the direction of the dispensing position).

It can preferably be provided that the at least one gripping element is arranged in the area of the discharge opening, the actuating element of the at least one gripping element preferably also being arranged in the area of the discharge opening. As a result, the gripping device can be actuated in the immediate vicinity of the discharge opening, as a result of which a high degree of placement accuracy of the inserts can be achieved.

According to a particularly preferred embodiment, it can be provided that the actuating element of the at least one gripping element is designed as a projection that protrudes from the at least one gripping element, preferably rod-shaped or plate-shaped. As a result, the actuating element can be gripped or actuated particularly easily with gripping pliers of a handling device.

In a particularly preferred embodiment, it can be provided that the gripping device comprises two gripping elements which, at least in the restraint position, extend in sections through an opening in the tubular store into the interior of the tubular store, the two gripping elements being movable towards and away from one another, wherein ends of the two gripping elements facing one another are at a smaller distance from one another in the retention position than in the dispensing position. Each of the two gripping elements has an actuating element which can be actuated by one gripping jaw of a two gripping jaws of a handling device. Thus, when the gripping tongs open, the actuating elements and thus the gripping elements can be moved away from one another until an insert is released when the gripping device reaches an output position.

It can preferably be provided that the two gripping elements are pretensioned against one another by an energy store, preferably a spring. In other words, the two gripping elements are in the direction of one another through the Energy storage preloaded. As a result, during a closing movement of the gripping pliers, the actuating elements and thus the gripping elements automatically move towards each other until the next insert is held in the tubular storage unit when a retention position is reached, for example by the ends of the two gripping elements clamping the insert or engaging in a recess formed on the insert .

Thus, an outer contour of the insert part can have at least one circumferential recess at least in sections. If such an insert is in a proposed magazine and the gripping device is moving in the direction of the retention position, the at least one gripping element of the gripping device can engage in the recess and thus hold the insert.

It can preferably be provided that the outer contour is formed essentially rotationally symmetrically about an axis of rotation, the recess having at least one essentially straight edge in a cross section transverse to the axis of rotation. It can be provided that the cross section is essentially rectangular or square. As a result, the insert can be aligned in that appropriately designed ends of the gripping elements move so far into the recess that the at least one edge (or two opposite edges in the case of a rectangular or square cross-section of the recess) align with the ends of the gripping elements and thereby align the insert is rotated accordingly. As a result, not only can the insert part be placed precisely on the formwork support, but also a predeterminable or predetermined orientation of the insert part relative to the formwork support. In a method for producing a precast concrete part, built-in concrete parts can be placed on the placed inserts, preferably in a form-fitting manner via connecting devices (e.g. projections and correspondingly formed recesses) on the inserts and concrete fixtures. Because the inserts can be placed on the formwork base in a desired orientation, the concrete built-in parts placed on the inserts can also be placed in a correspondingly oriented manner. Thus, by placing the insert parts accordingly, a desired orientation of the concrete components ultimately arranged on the inserts are ensured.

In principle, other cross-sectional shapes, such as, for example, elliptical, rectangular or polygonal cross-sectional shapes, are also possible, it being possible for the insert part to be aligned by means of correspondingly designed ends of the gripping elements.

According to a preferred exemplary embodiment, it can be provided that the magazine comprises at least one support device for arranging the magazine on a handling device, in particular a shuttering robot. The handling device can also be, for example, a laying robot (e.g. a laying robot for laying spacers) or a so-called mesh spacer.

It can be provided that the at least one support device is arranged on the tubular reservoir, the at least one support device preferably being designed in the form of an at least partially circumferential support collar, with an outer jacket of the at least one support device tapering essentially conically in the direction of the discharge opening. By providing one or more supporting devices on the tubular store, the magazine can be attached to the side of a handling device (e.g. a shuttering robot), which in particular enables the tubular store to be of any length. If receiving devices designed to correspond to the supporting devices are also arranged on the handling device, the magazine can be held precisely and stably, and centering of the magazine is made possible. In particular, if an outer jacket of the at least one support device tapers essentially conically in the direction of the discharge opening, exact holding and centering of the magazine can be achieved, which additionally increases the precision.

Protection is also desired for an arrangement with a handling device, in particular a shuttering robot, comprising at least one gripping tong and with a magazine according to the invention detachably attached to the handling device, the at least one actuating element of the gripping device of the magazine being arranged in the region of the at least one gripping tongs of the handling device, with the at least one actuating element of the at least one actuating element of the Gripping device of the magazine is movable.

As a result, the gripping device can be moved between the retaining position and the dispensing position directly by moving the gripping tongs of the handling device. In contrast to conventional magazines, gripping tongs of the handling device can now act on the gripping device directly in the area of the discharge opening, which enables the inserts to be placed more precisely on the formwork support.

According to a particularly preferred embodiment, it can be provided that the gripping device comprises two gripping elements that can be moved towards and away from each other, the actuating elements of the two gripping elements being movable by an opening movement of the at least one gripping tongs of the handling device, the two gripping elements being movable away from one another are, wherein the gripping device is movable from the retaining position into the dispensing position. In other words, the two gripping jaws of the gripping tongs press the two gripping elements apart via their actuating elements, whereby the gripping device moves into the dispensing position and an insert is released and can be dispensed through the dispensing opening.

It can be provided that the two gripping elements are pretensioned against each other by an energy storage device, whereby the two gripping elements can be moved towards one another due to the pretensioning of the energy storage device by a closing movement of the at least one gripping tong of the handling device, the gripping device being movable from the output position into the retention position is.

In a preferred embodiment it can be provided that the magazine comprises at least one support device for attaching the magazine to the handling device, the handling device at least one preferably laterally arranged on the handling device, comprises receiving device, wherein the at least one support device can be supported by the at least one receiving device or can be connected to it. By attaching the magazine to the side of the handling device by means of support device (s) and receiving device (s), any length of the tubular store can be made possible. This also makes it possible that the inserts can also be laid very close to a formwork or to one another and taken up again. The at least one receiving device is preferably arranged on the so-called Z-axis of the handling device.

It can preferably be provided that the at least one receiving device is designed to correspond to the at least one supporting device, wherein the at least one receiving device can be positively connected to the at least one supporting device at least in some areas. As a result, the magazine can be held precisely and stably and it is possible to center the magazine.

It can preferably be provided that the at least one receiving device has a recess which is designed in accordance with the at least one supporting device and which is laterally open to the outside. Through the lateral openings, the handling device can move the receiving devices arranged on the so-called Z-axis of the handling device sideways to the magazine until the tubular storage device is located within the recesses of the receiving devices. The recesses of the receiving devices can then be brought into engagement with the corresponding supporting devices by an upward movement (Z movement) of the handling device, so that the supporting device is essentially positively mounted in the recesses of the receiving devices except for the lateral openings. In particular, if an outer jacket of the at least one support device tapers essentially conically in the direction of the discharge opening, a very precise reception of the magazine can be made possible, since the conically designed support devices automatically conical centering in the receptacle devices of the handling device. This also enables the magazine to be changed quickly. In addition, by the least Area-wise form-fitting mounting of the magazine on the handling device, no additional external fixing of the magazine on the handling device is necessary. Since the Z-axis of handling devices, in particular of formwork robots, generally have pneumatic cylinders arranged vertically or in the Z-direction for actuating the gripping tongs, when the magazine is attached to the Z-axis there is also the advantage that in the event of a collision With the formwork underlay, the Z-axis can move back a little due to the pneumatic cylinders (the pneumatic cylinders dampen the collision) and thus no damage to the handling device occurs

Furthermore, protection is sought for a method for placing at least one insert part, in particular a magnetic adapter, on a formwork base for a precast concrete part using an arrangement of the type described above, wherein

the magazine filled with at least one insert is moved by the handling device to a pre-determined or predetermined position of a surface of the formwork support, the gripping device being in the retention position in which the last insert in the direction of the discharge opening is held by the gripping device,

- the magazine is lowered by the handling device in the direction of the formwork support, the discharge opening being on or essentially directly above the surface of the formwork support,

the gripping device is moved into the dispensing position, the insert held by the gripping device being released and being discharged through the discharge opening.

Protection is also sought for a method for removing at least one insert, in particular a magnetic adapter, from a shuttering base for a precast concrete part using an arrangement of the type described above, wherein

- The magazine is moved by the handling device to a pre-determinable or predetermined position of a surface of the formwork base on which the insert to be removed is located, - the magazine is lowered by the handling device in the direction of the formwork support so that the discharge opening is essentially directly above the insert,

- the gripping device is moved into the dispensing position,

- the magazine is further lowered by the handling device in the direction of the formwork support until the insert protrudes through the discharge opening essentially completely into the interior of the tubular storage,

- The gripping device is moved into the retaining position, the insert being held by the gripping device and preferably also aligned.

If at least one guide bar is arranged on the inner wall of the tubular store and the inserts have at least one guide recess corresponding to the at least one guide bar, the inserts can be guided through the at least one guide recess along the at least one guide bar when they are received in the tubular store according to the desired orientation will. The at least one guide bar can thus guide the inserts in a rotationally stable manner after they have been picked up and aligned, so that they do not twist in the tubular store.

And finally, protection is sought for a method for producing a precast concrete part using an arrangement of the type described above, wherein

- one or more formwork element (s) is or will be placed on a formwork base,

- one or more insert (s), in particular magnetic adapter, is or are placed on the formwork base according to a method described above for setting at least one insert,

- if necessary further devices - such as e.g. Formwork elements, covers, panel connectors, reinforcements - are placed on the formwork base,

- one or more concrete insert (s) is or will be placed on the insert (s),

- lattice girders are introduced,

- concrete is poured, - After the concrete has hardened, the precast concrete part is lifted off the formwork base, the insert or parts preferably remaining on the formwork base.

Further details and advantages of the present invention are explained with reference to the following description of the figures. Show:

1 shows a magazine according to the prior art,

Fig. 2 shows an embodiment of a proposed magazine in a

Side view,

3 shows the magazine according to FIG. 2 in a top view,

4 shows the magazine according to FIG. 2 in a longitudinal section along section line A-

A in Figure 3,

5 shows the magazine according to FIG. 2 in a cross section according to section line B-B in FIG. 2,

6 shows an arrangement with a handling device in the form of a

Shuttering robot and a proposed magazine, and

7-9 an arrangement with a handling device in the form of a

Formwork robot and a proposed magazine in different operating positions during a method for setting at least one insert.

Figure 1 shows a magazine 1 according to the prior art. The magazine 1 comprises a tubular store 3 for storing insert parts 2 (not visible here), for example in the form of magnetic adapters. At a lower end, the tubular reservoir 3 has a discharge opening 4, via which insert parts 2 stored in the tubular reservoir 3 can be discharged. For the individual output of inserts 2, the magazine 1 includes a separating device 5, which is not visible here because it is located inside the tubular store 3. Arranged at an upper end of the tubular store 3 is a handle 20 via which the magazine 1 of gripping tongs 16 of a handling device can be held in the form of a shuttering robot 13. When the shuttering robot 13 moves the magazine 1 downwards and presses it against a shuttering pad 18 (not shown here), the separating device 5 releases an insert 2 so that it rests on the shuttering pad 18 can be stored. Since the magazine 1 is held at the upper end of the tubular store 3 by the shuttering robot 13 and the discharge opening 4 is located at the lower end of the tubular store 3 and, in addition, the discharge of an insert 2 takes place by pressing the tubular store 3 against the shuttering support 18 inaccuracies in the placement of the inserts 2 result. In order to be able to pick up inserts 2 deposited on a formwork support 18 with the magazine 1, the separating device 5 must be manually reconfigured by means of a configuration device 21 attached to the tubular store 3.

Figures 2 to 5 show an embodiment of a proposed magazine 1 in different views. Figure 2 shows the magazine 1 in a side view, Figure 3 shows the magazine 1 in a plan view, Figure 4 shows the magazine 1 in a longitudinal section along section line AA in Figure 3, and Figure 5 shows the magazine 1 in a cross section along section line BB in Figure 2.

The magazine 1 comprises a tubular store 3 extending along a tube axis R for receiving inserts 2 for precast concrete parts. The inserts 2, which are designed as magnetic adapters in this example, are located inside the tubular store 3. At a lower end, the tubular store 3 has a discharge opening 4 for taking out the inserts 2 from the magazine 1. The tubular reservoir 3 has an inner wall running circularly along the tube axis R essentially in cross section transversely to the tube axis R.

The magazine 1 also comprises a separating device 5 for the separated removal of the inserts 2 from the tubular storage 3. The separating device 5 comprises a gripping device 6, the gripping device 6 between a retention position in which an insert 2 can be held by the gripping device 6, and a Dispensing position in which an insert part 2 held by the gripping device 6 can be released and can be moved back and forth.

In the example shown, the gripping device 6 comprises two gripping elements 7, 7 ', which at least in the restraint position extend in sections through an opening 8, 8' in the tubular store 3 into the interior of the tubular store 3. The two gripping elements 7, 7 'can be moved towards and away from one another, with mutually facing ends of the two gripping elements 7, 7' being at a smaller distance from one another in the restraint position than in the dispensing position.

In other words, the mutually facing ends of the two gripping elements 7, 7 'in the restraint position of the gripping device 6 protrude so far into the interior of the tubular store 3 that the lowest of the inserts 2 stored in the tubular store 3 through the ends of the two gripping elements 7, 7 'is held in that the ends of the two gripping elements 7, 7' engage a corresponding holding device on the insert part 2. The holding device can be, for example, a circumferential holding collar or one or more recesses on the insert part 2. In the example shown, the insert parts 2 each have a holding device in the form of a circumferential recess 14, which is formed in the outer contours of the insert parts 2. In order to release the insert 2 held by the gripping device 6, the two gripping elements 7, 7 'must be moved so far away from each other that the ends of the two gripping elements 7, 7' are no longer in engagement with the holding device on the insert 2, so that the Insert 2 is no longer held by the two gripping elements 7, 7 '. An output position of the gripping device 6 is then reached, and the insert 2 can be ejected from the tubular reservoir 3 through the ejection opening 4. In the dispensing position, the two gripping elements 7, 7 'can still protrude in sections through the openings 8, 8' in the tubular storage 3 into the interior of the tubular storage 3, since they only have to be moved so far apart until the ends of the two Gripping elements 7, 7 ′ are no longer in engagement with the holding device on the insert part 2. However, it can also be provided that the two gripping elements 7, 7 ‘are moved so far apart during the transition from the restraint position to the dispensing position that they are completely outside of the tubular reservoir 3.

In the case of the insert parts 2 used in the example shown, the respective outer contour is designed to be essentially rotationally symmetrical about an axis of rotation, which here is congruent with the pipe axis R and is therefore not shown separately. The circumferential recess 14 has an essentially square cross section transverse to the axis of rotation (see FIG. 5). As a result, an insert 2 can be aligned by the ends of the gripping elements 7, 7 'so far into the Retract recess 14 so that opposite edges of the square cross section of recess 14 align along the ends of gripping elements 7, 7 'and insert part 2 is accordingly rotated.

Each of the two gripping elements 7, 7 ‘has an actuating element 9, 9‘ arranged outside of the tubular store 3. The two gripping elements 7, 7 'can be moved towards and away from each other by means of the actuating elements 9, 9', which in the example shown are designed as rod-shaped projections protruding from the gripping elements 7, 7 'and thus the gripping device 6 can be moved between the retention position and the output position can be moved back and forth.

In the embodiment shown of the proposed magazine 1, the two gripping elements 7, 7 'are biased against one another by an energy storage device 11 in the form of a spring. As a result, the two gripping elements 7, 7 'move towards one another in the direction of the restraint position in the absence of any further external force.

The separating device 5 comprises a storage device 10 arranged on the tubular store 3 for movably mounting the gripping elements 7, 7 '. The storage device 10 has two guide tracks 19 into which the corresponding guide projections of the gripping elements 7, 7 'engage. As a result, the gripping elements 7, 7 ‘can be moved translationally along the guide tracks 19. The guide tracks 19 run in the radial direction to the pipe axis R and are arranged at an angular distance of approximately 180 ° with respect to the pipe axis R. As a result, the two gripping elements 7, 7 'can be moved radially towards one another (in the direction of the retention position) and away from one another (in the direction of the dispensing position) along an imaginary line along the guide tracks 19.

The gripping elements 7, 7 'are arranged in the region of the lower end of the tubular storage 3 near the discharge opening 4. The actuating elements 9, 9 ′ protruding from the gripping elements 7, 7 ′ are accordingly also arranged in the area of the discharge opening 4. The actuating elements 9, 9 'are firmly connected to the gripping elements 7, 7'. For example, the gripping elements 7, 7 'can each be designed in one piece with their actuating elements 9, 9'. To attach the magazine 1 to a handling device (not shown here), support devices 12 are arranged on the tubular store 3, which in the example shown are each designed in the form of a circumferential support collar. Depending on the length of the tubular store 3, several support devices 12 can be provided in order to ensure that the magazine 1 is held securely on the handling device.

FIG. 6 shows a perspective view of an arrangement 15 with a handling device in the form of a shuttering robot 13 and a proposed magazine 1. The magazine 1 comprises a tubular store 3 containing insert parts 2 that are not visible here. The separating device 5 is arranged in the area of the discharge opening 4. This comprises a gripping device 6 with two gripping elements 7, 7 ', which are movably mounted on a bearing device 10 of the separating device 5 and can be moved towards and away from one another. With their ends facing one another, the gripping elements 7, 7 ‘protrude through openings 8, 8‘ into the interior of the tubular store 3 and thus hold the lowest insert 2 arranged in the tubular store 3.

Two support devices 12 are arranged on the tubular reservoir 3, each of which is designed in the form of a circumferential support collar. On the formwork robot 13 two receiving devices 17 are also arranged laterally on the Z-axis of the formwork robot 13, which are designed to correspond to the supporting devices 12, so that the supporting devices 12 can be positively connected to the receiving devices 17 in some areas. Specifically, each of the receiving devices 17 has a recess formed corresponding to the supporting devices 12, which is laterally open to the outside. The shuttering robot 13 can move sideways to the magazine 1 through the lateral openings until the tubular storage device 3 is located within the recesses of the receiving devices 17. The recesses of the receiving devices 17 can then be brought into engagement with the corresponding supporting devices 12 by an upward movement of the shuttering robot 13, so that the supporting device 12 is essentially positively locked in the recesses of the Receiving devices 17 are stored. This results in a stable and centered mounting of the magazine 1 on the shuttering robot 13. In this position, in which the magazine 1 is mounted on the shuttering robot 13, the actuating elements 9, 9 'of the two gripping elements 7, 7' (not visible here) are in the area of a of the gripping tongs 16 of the shuttering robot 13, so that the actuating elements 9, 9 'can be moved towards and away from one another by an opening movement of the gripping tong 16, whereby the gripping elements 7, 7' connected to the actuating elements 9, 9 'also towards and away from one another be moved.

The gripping tongs 16 are located between the two actuating elements 9, 9 ‘. By an opening movement of the gripping tongs 16, the two gripping elements 7, 7 'are thus moved away from each other by the gripping jaws of the gripping tongs 16, whereby the gripping device 6 is moved from the retaining position into the dispensing position and can release an insert 2, which can be released through the dispensing opening 4 the magazine 1 can be deployed.

In the example shown, the two gripping elements 7, 7 'are pretensioned against one another by an energy storage device 11, which is not visible here, with the two gripping elements 7, 7' being moved towards one another due to the pretensioning of the energy storage device 11 by a closing movement of the gripping pliers 16, whereby the gripping device 6 is moved from the dispensing position into the retaining position and the next insert 2 is retained in the tubular store 3.

FIGS. 7 to 9 show an example of an arrangement 15 with a handling device in the form of a shuttering robot 13 and a proposed magazine 1 according to FIG. 6 in different operating positions during a method for setting at least one insert 2. The magazine 1 is as described with reference to FIG by means of support devices 12 on the magazine 1 and the corresponding receiving devices 17 on the shuttering robot 13 detachably attached to the side of the shuttering robot 13. In the operating position shown in FIG. 7, the shuttering robot 13 has lowered the magazine 1 onto a surface of a shuttering support 18. The gripping device 6 is in the retaining position and holds the lowermost insert 2 arranged in the tubular storage device 3 by inserting the ends of the gripping elements 7, 7 'facing each other into a holding device in the form of a engage circumferential recess 14 on insert part 2. In the operating position according to Figure 8, a slight opening movement of the gripping tongs 16 of the shuttering robot 13 was carried out (indicated by the double arrows shown in dashed lines), whereby the gripping elements 7, 7 'were moved away from each other and thus the gripping device 6 was moved into an output position. The mutually facing ends of the gripping elements 7, 7 ′ are no longer in engagement with the circumferential recess 14 on the insert 2, so that the insert 2 remains on the form support 18 when the magazine 1 is lifted by the shuttering robot 13. This is shown in FIG.

In FIG. 9, the insert 2 used in this example can also be clearly seen, which is designed in the form of a magnetic adapter so that it adheres to the magnetic formwork base 18 due to the magnetic force. In addition to the circumferential recess 14 already explained, the insert 2 has a plurality of guide recesses 22. If at least one guide bar is arranged on the inner wall of the tubular store 3, which is designed according to the shape of the guide recesses 22, the insert 2 can be inserted into the tubular store 3 through the guide recesses 22 cooperating with the at least one guide bar along the at least one guide bar be guided. The at least one guide bar can thus guide the insert 2 in a rotationally stable manner after it has been picked up and aligned, so that it does not twist in the tubular reservoir 3.

The guide recesses 22 can also be used in a method for setting a precast concrete part for an oriented placement of a concrete component (e.g. electrical socket) on the insert 2, in that the concrete insert to be placed on the insert 2 has connecting devices designed corresponding to the guide recesses 22, which when placed of the concrete insert on the insert 2 interacting with the guide recesses 22, whereby the concrete insert can be arranged in a correspondingly aligned manner on the formwork support 18. List of reference symbols:

1 magazine

2 insert

3 tubular tanks

4 discharge opening

5 Separation device

6 gripping device

7, 7 ‘gripping element

8, 8 ‘opening

9, 9 ‘actuator

10 storage device

11 lift mechanism

12 Support device

13 formwork robots

14 recess

15 arrangement

16 grippers

17 Pick-up device

18 Formwork underlay

19 guideway

20 handle

21 Configuration device

22 guide recess

R pipe axis

Claims

Patent claims: 1. Magazine (1) for inserts (2), in particular magnetic adapters, for precast concrete parts, the magazine (1) having a tubular store (3) running along a pipe axis (R) for receiving the inserts (2) inside the tubular store ( 3), the tubular store (3) having a discharge opening (4) for discharging the inserts (2) from the magazine (1), the magazine (1) having a separating device (5) for discharging the inserts (2) individually comprises, wherein the separating device (5) comprises a gripping device (6), the gripping device (6) between a retaining position in which an insert (2) can be held by the gripping device (6) and an output position in which one of the Gripping device (6) held insert part (2) can be released, is movable back and forth, characterized in that the gripping device (6) comprises at least one gripping element (7, 7 '), the at least one gripping element (7, 7 ') at least in the restraint position in sections through an opening (8, 8') in the tubular store (3) into the interior of the tubular store (3), the at least one gripping element (7, 7 ') outside of the tubular reservoir (3) arranged actuating element (9, 9 '), wherein by means of actuating element (9, 9') the gripping device (6) can be moved back and forth between the retaining position and the dispensing position. 2. Magazine according to claim 1, characterized in that the tubular store (3) has a circular inner wall along the pipe axis (R) essentially in cross section transversely to the pipe axis (R), preferably at least one on the inner wall at least in sections along the Pipe axis (R) extending guide bar is arranged. 3. Magazine according to one of the preceding claims, characterized in that the separating device (5) comprises a storage device (10) preferably arranged on the tubular store (3), the at least one gripping element (7, 7 ') in or on the Storage device (10) is movably, preferably translationally moveable, mounted. 4. Magazine according to the preceding claim, characterized in that the at least one gripping element (7, 7 ‘) is radially movable with respect to the tube axis (R). 5. Magazine according to one of the preceding claims, characterized in that the at least one gripping element (7, 7 ') is arranged in the region of the discharge opening (4), the actuating element (9, 9') of the at least one gripping element (7 , 7 ') is arranged in the area of the discharge opening (4). 6. Magazine according to one of the preceding claims, characterized in that the actuating element (9, 9 ') of the at least one gripping element (7, 7') protruding from the at least one gripping element (7, 7 '), preferably rod-shaped or plate-shaped, Projection is formed. 7. Magazine according to one of the preceding claims, characterized in that the gripping device (6) comprises two gripping elements (7, 7 ') which, at least in the restraint position, extend in sections through an opening (8, 8') in the tubular store (3 ) extend into the interior of the tubular reservoir (3), the two gripping elements (7, 7 ') being movable towards and away from one another, with mutually facing ends of the two gripping elements (7, 7') being at a smaller distance from one another in the retaining position than in the issue position. 8. Magazine according to the preceding claim, characterized in that the two gripping elements (7, 7 ‘) are biased against one another by an energy storage device (11), preferably a spring. 9. Magazine according to one of the preceding claims, characterized in that the magazine (1) comprises at least one support device (12) for arranging the magazine (1) on a handling device, in particular a shuttering robot (13). 10. Magazine according to the preceding claim, characterized in that the at least one support device (12) is arranged on the tubular store (3), the at least one support device (12) preferably being designed in the form of an at least partially circumferential support collar, particularly preferred an outer jacket of the at least one support device tapers essentially conically in the direction of the discharge opening (4). 11. Arrangement (15) with a handling device, in particular a shuttering robot (13), comprising at least one gripping tongs (16) and with a magazine (1) detachably attached to the handling device according to one of claims 1 to 10, wherein the at least one actuating element ( 9, 9 ') of the gripping device (6) of the magazine (1) is arranged in the area of the at least one gripping tongs (16) of the handling device, the at least one by an opening movement and / or by a closing movement of the at least one gripping tong (16) of the handling device an actuating element (9, 9 ') of the gripping device (6) of the magazine (1) is movable. 12. The arrangement according to the preceding claim, characterized in that the gripping device (6) comprises two gripping elements (7, 7 ') which can be moved towards and away from each other, wherein the handling device by an opening movement of the at least one gripping tongs (16) Actuating elements (9, 9 ') of the two gripping elements (7, 7') are movable, the two gripping elements (7, 7 ') being movable away from one another, the gripping device (6) being movable from the retaining position into the dispensing position. 13. Arrangement according to the preceding claim, characterized in that the two gripping elements (7, 7 ') are pretensioned against one another by an energy storage device (11), the two gripping elements (7, 7) of the handling device being preloaded by a closing movement of the at least one gripping tongs (16). 7 ') can be moved towards one another due to the bias by the energy storage device (11), the gripping device (6) being movable from the dispensing position into the retaining position. 14. Arrangement according to one of the preceding three claims, characterized in that the magazine (1) comprises at least one support device (12) for attaching the magazine (1) to the handling device, the handling device at least one, preferably arranged laterally on the handling device, Comprises receiving device (17), wherein the at least one support device (12) can be supported by the at least one receiving device (17) or can be connected to it. 15. Arrangement according to the preceding claim, characterized in that the at least one receiving device (17) is designed to correspond to the at least one supporting device (12), wherein the at least one receiving device (17) can be positively connected to the at least one supporting device (12) at least in some areas is. 16. A method for placing at least one insert (2), in particular a magnetic adapter, on a formwork support (18) for a precast concrete part using an arrangement according to one of claims 11 to 15, wherein - The magazine (1) filled with at least one insert (2) is moved by the handling device to a pre-determined or predetermined position of a surface of the formwork support (18), the gripping device (6) being in the retaining position in which the direction The discharge opening (4) last insert part (2) is held by the gripping device (6), - The magazine (1) is lowered by the handling device in the direction of the formwork support (18), the discharge opening (4) being on or essentially directly above the surface of the formwork support (18), - The gripping device (6) is moved into the dispensing position, the insert (2) held by the gripping device (6) being released and being discharged through the dispensing opening (4). 17. A method for removing at least one insert (2), in particular a magnetic adapter, from a formwork support (18) for a precast concrete part using an arrangement according to any one of claims 11 to 15, wherein - The magazine (1) is moved by the handling device to a pre-determinable or predetermined position of a surface of the formwork support (18) on which the insert (2) to be removed is located, - The magazine (1) from the handling device in the direction of the Formwork support (18) is lowered so far that the discharge opening (4) is essentially directly above the insert (2), - the gripping device (6) is moved into the dispensing position, - The magazine (1) from the handling device in the direction of the Formwork support (18) is further lowered until the insert (2) protrudes through the discharge opening (4) essentially completely into the interior of the tubular reservoir (3), - The gripping device (6) is moved into the retention position, the insert (2) being held and preferably also aligned by the gripping device (6). 18. Method for producing a precast concrete part using a Arrangement according to one of claims 11 to 15, wherein - one or more formwork element (s) is or will be placed on a formwork support (18), - one or more insert (s) (2), in particular magnetic adapters, is or are placed on the formwork support (18) according to a method according to claim 16, - if necessary further devices - such as e.g. Cover, panel connectors, reinforcements - are placed on the formwork support (18), - one or more concrete insert (s) is or will be placed on the insert (s) (2), - lattice girders are introduced, - concrete is poured, - After the concrete has hardened, the precast concrete part is lifted off the formwork base (18), the insert or parts (2) preferably remaining on the formwork base (18).