EP1216950A1 - Transport and gripping system for long objects and method for lifting goods - Google Patents

Abstract

The gripper has two gripper arms (133) swivelling on a frame and each have load support arms (137B) which in a first swivel position are in an open rest position and in a second position are in a closed transport position swivelled in under the oblong material being transported where the load support arms form the contact support. The material is automatically gathered up through flexible tension element (160) which is fixed on the load support arms of the gripper arms and can be braced to hold the material. The gripper arms have integrated tension springs.

Description

The invention relates to recording and Transporting and moving long goods or Long material, e.g. Tubes, profiles or round material Metal, wood, plastic or the like.

The object of the invention is a To create transport bundle grippers for gentle and damage-free, automatic recording and Removing the goods to be transported, e.g. from storage racks or for storage in storage racks. This task also belongs the creation of a method for automatic recording and Bundling the goods to be transported.

Another object of the invention is to provide a to create improved rack grippers with which the storage racks automatically recorded with or without long material or can be discontinued.

Another object of the invention is one To create a combination crossbeam for storing and retrieving Long material in or out of storage racks and for picking up and Set down the storage racks with or without long material.

Yet another object of the invention is one To create crane system with the also angled to each other arranged storage racks or storage and retrieval points can be operated.

Finally, it is an object of the invention To create storage rack, the easier of the rack grab can be included.

The invention provides a bundle gripper for goods to be transported with two gripper arms that can be swiveled on a frame each have a load-bearing leg, and which between a first and a second pivot position movable are, the in the first pivoting position of the gripper arms Load carrying leg itself in a swung open Rest position outside the contour of the goods to be transported and in the second swivel position of the gripper arms Load carrying leg itself in one under the cargo pivoted, essentially closed Transport position are in which the load carrying leg together form a support for the goods to be transported, and with a device for automatically bundling the Transport goods that have a flexible tension element device has, which on the load bearing legs of the gripper arms attached and clamped to bundle the goods to be transported.

In an advantageous embodiment, one Restraint device the tension element device normally along the gripper arms in a rest position back. The restraint has tension springs that over flexible connecting links on the tension element device attack between the ends of the same. The tension springs are in integrated the gripper arms. The gripper arms have vertical ones Legs that extend around vertical axes on the frame by 90 ° opposite directions are pivotable. The gripper arms are mounted on the outside of the frame and by means of Pneumatic-cylinder-piston units can be operated. The End positions of the gripper arms are through Anchor devices limited in both directions. To the free ends of the load carrying legs are molded onto the hook in the pivoted closed transport position of the Interlock the load bearing leg. A tensioning device for the tension element device has one in the vertical direction guided, movable slide, which is operated by a pneumatic cylinder-piston unit is adjustable between a lower one Position in which the tension elements are relaxed and one upper bundling position in the the tension elements are tense. The flexible tension element device can be made of one or two straps, plastic or steel cables, or also plastic or steel chains or the like consist. The tension element device is in the range of free ends of the load carrying legs on the gripper arms attached.

To pick up the goods to be transported, e.g. for outsourcing of the goods to be transported from the racks Goods bundle gripper lowered until the load carrying legs the gripper arms of the bundle gripper below the Transport goods in the closed transport position can be pivoted. Then the flexible Tension element device tense, the goods to be transported inside the vertical legs of the racks. If the tension elements are not tense, the pulls Restraint device the tension elements outwards in Direction to the gripper arms so that the traction elements when Lowering the bundle of transport goods outside of Goods contour are retained and a more direct Contact between the inside of the gripper arm and the Transport goods are prevented. After swiveling the Gripper arms in the closed transport position, under the Transport goods, as well as the tensioning of the tension element device Bundling the cargo can be gentle and can be removed from the racks without damage. In Conversely, the goods can be transported in the racks be stored. This is what the Carried and bundled transport goods in the racks are lowered, the tension element device is relaxed, to release the bundled goods in the Racks and then the gripper arms are in the open Rest position swung open and the bundle gripper is withdrawn.

In the previously described embodiment the tension element device is strained upwards to Bundling the goods to be transported. The tension element device can in another embodiment also downwards be tense. In this embodiment, the Gripper arms are telescopic and each gripper arm has an upper pivoted but vertical immovable part in or on which a lower part which the Load carrier leg has, is arranged telescopically and slidable vertically with respect to the upper part, however coupled to the upper part for rotary movement is. When the gripper is raised, the lower ones move Claw arm parts under the load from the Transport material relative to the upper parts of the Gripper arms down through which the tension element device is strained. When setting down the goods to be transported The lower gripper arm parts with the Load carrying legs pushed up again, causing the Shortened the length of the gripper arms and the tension element device is released to release the bundled goods. In this embodiment can be another Restraint device may be provided in the upper area the tension element device has two pairs of rollers, which are movable inwards and outwards between a first one Position in which they pull the device along Hold the gripper arms and an inner position in which the upper area of the tension element device from the Gripper arms is shifted inwards and in which the Transport goods can be bundled.

schwenkbare Greiferarme mit in eine Ruhestellung aufgeschwenkten Lasttragschenkel seitlich ausserhalb der Transportgutkontur niedergelassen werden,

anschliessend die Greiferarme verschwenkt werden und dabei die Lasttragschenkel unterhalb des Transportgutes in eine geschlossene Transportstellung eingeschwenkt werden und dabei gleichzeitig untere Enden einer flexiblen Zugelementeinrichtung unterhalb das Transportgut mit eingeschwenkt werden zum Bilden einer Transportgutbündelschlaufe,

dann die Zugelementeinrichtung angespannt wird zum Bündeln des Transportgutes, und

schliesslich die Greiferarme mit dem gebündelten Transportgut zum Abtransport angehoben werden.

The invention also provides a method for receiving goods to be transported, wherein:

swiveling gripper arms with the load support legs swung open into a rest position are set to the side outside the contour of the goods to be transported,

then the gripper arms are pivoted and the load-carrying legs are pivoted in below the goods to be transported into a closed transport position and at the same time lower ends of a flexible tension element device are also pivoted in below the goods to form a bundle of goods to be transported,

then the tension element device is tensioned to bundle the transport goods, and

finally the gripper arms are lifted with the bundled transport goods for removal.

The Zugelelementeinrichtung can either upwards or strained down.

The invention also provides a rack grab, especially for use in combination with the Transport goods bundle gripper on a load beam, which one The frame has two spaced apart arranged receiving funnel with open at the bottom Mounting slots are provided for mounting arms of a rack are, with each receiving funnel a locking bolt is assigned that between a locking position in which he has extended through the receiving slot, and one Unlocking position is slidable, in which it from the Slot is retracted, and with a Actuator for driving the locking bolts.

According to an advantageous embodiment the receiving funnel has an outer side part, which on its a bottom handle on its inside Has guide surface, and an inner side part, the its lower end is angled inwards, as well End pieces that are at their lower ends facing down from each other diverge away. The inner side parts have guide sleeves for the locking bolts and the two side parts Locating holes with holes in the guide sleeves are aligned. A pneumatic cylinder piston unit for Power actuation of the locking bolt is between the two bolts arranged and connected to these via joints connected. Sensor slots in which there is a stopper stop are provided are located above the locating holes Receiving hopper.

To hold the rack with or without transport goods the rack gripper is lowered until the rack arms in the receiving funnels of the rack gripper. The locking bolts are then replaced by the Actuator extended in the locked position for coupling the rack gripper to the rack. The rack can now picked up and removed with or without long material become. The rack is set down with or without long material takes place in reverse order.

According to another embodiment, the Rack grippers a frame on which two slides horizontally in opposite directions between a first retracted rack mounting position and a second extended rack release position are displaceable, wherein each sled has a vertical arm at its outer end has an overlay on its inside or outside for a rack support arm.

The invention also provides Combination gripper system with one on a overhead crane load crossbar to be hung on the several Transport bundle grab and rack grab at a distance arranged from each other along the longitudinal axis of the traverse are.

The rack grippers can be horizontal on the load beam be movable so that the rack grippers different Rack positions can be adjusted. Usually is but this is not necessary as the racks in the storage area are always open fixed, specific pick-up and drop-off positions are.

So that the load beam to different The length of the goods to be transported is the load crossbar executed telescopically in one embodiment, with a middle frame part and two in relation to the middle frame part horizontally between a retracted and an extended position movable end parts, with at least one on each frame part Transport bundle grab and a rack grab are attached. The frame end parts are preferably gear and Rack and pinion gear slidable, but it can also Spindle gear or chain gear or the like for this purpose be used.

The invention also relates to a crane system with a Crane bridge and a cat that can be moved on the bridge a hoist for the load beam with the Transport goods bundle gripper and the rack gripper. Around the cat has one to expand the storage capacity Rotating device to turn the traverse around a vertical axis to rotate in both directions, which also makes them angled to each other arranged storage racks for long material can be operated can.

In order to grasp the rack by the rack gripper simplify and occur in the prior art The racks are preferably used to avoid alignment problems of several non-interconnected, stackable U-shaped Single racks.

In the above-mentioned embodiments, the Traction element device two traction elements, the bottom of the Load leg of the gripper arms are attached and at the top an embodiment on the sled Clamping device or attached to a fixed frame part are. Instead of the two tension elements, a single one can also be used Traction element are used, with its ends on the two Load carrying legs are attached and between the ends loop-shaped over guide and deflection rollers, curve pieces or the like is guided and via a tension pulley runs, e.g. through the carriage of the tensioning device between a tense position and a relaxed position is movable. Also in the embodiment with the Telescopic gripper arms can be such a single pulling element Find use. Furthermore, instead of Tensioning carriage winding devices for the upper ends the tension elements can be provided.

Embodiments of the invention are in the attached drawings and are shown below described in more detail.

Die Figuren 1.1 und 1.2 in Zusammenschau einen Laufkran mit dem Kombinationsgreifersystem;

die Figuren 2.1 und 2.2 in Zusammenschau das Kombinationsgreifersystem mit an den Rackgreifern hängenden Rackgestellen;

Figur 3A eine Ansicht des Transportgutbündelgreifers mit geschlossenen Greiferarmen und entspannten Zugelementen ohne Transportgut;

Figur 3B eine ähnliche Ansicht wie Figur 3A aber mit durch die angespannten Zugelemente gebündeltem Transportgut;

Figur 3C eine Ansicht im vertikalen Längsschnitt des Transportgutbündelgreifers mit aufgeschwenkten Lasttragschenkeln der Greiferarme;

Figur 3D eine Schnittansicht längs der Linie A-A der Figur 3C des Transportgutbündelgreifers mit aufgeschwenkten Lasttragschenkeln der Greiferarme;

Figur 3E eine ähnliche Ansicht wie Figur 3D aber mit geschlossenen Lasttragschenkeln der Greiferarme;

Figur 4A eine Ansicht des Rackgreifers in Längsrichtung der Traverse mit einem daran hängenden Rackgestell.

Figur 4B den Rackgreifer mit dem daran hängenden Rackgestell in Seitenansicht,

Figur 4C einen Teil des Rackgreifers mit zurückgezogenen Verriegelungsbolzen,

Die Figuren 5.1 und 5.2 in Zusammenschau eine Krananlage mit einer Katze und einer Traverse oberhalb eines Regallagers, wobei Automatik-Transportgutbündelgreifer und Rackgreifer nach einem anderen Ausführungsbeispiel der Erfindung an der Traverse befestigt sind;

Figur 5A eine Seitenansicht der Krananlage nach den Figuren 5.1 und 5.2 wobei die Lasttraverse mit den Greifern und den Transportgut einmal über dem Regallager und einmal in das Regallager abgesenkt dargestellt ist zum Einlagern des Transportgutes;

Figur 6 die Lasttraverse mit ausgefahrenen Rahmenendteilen in einer Stellung zum Aufnehmen eines Racks bestehend aus vier nicht miteinander verbundenen Einzelteilen;

Figur 7 die Lasttraverse mit eingefahrenen Endteilen zum Transport von kürzerem Langmaterial;

Figur 8 den Transportgutbündelgreifer gemäss dem abgeänderten Ausführungsbeispiel nach den Figuren 5.1 und 5.2;

Figur 9 den Transportgutbündelgreifer nach Figur 8 mit gebündeltem Transportgut;

Figur 10 den Transportgutbündelgreifer beim Ein- bzw. Auslagern des Transportgutes in bzw. aus einem Rack; und

Figur 11 den Rackgreifer gemäss dem abgeänderten Ausführungsbeispiel nach den Figuren 5.1 und 5.2.

Show it:

Figures 1.1 and 1.2 together a overhead crane with the combination gripper system;

FIGS. 2.1 and 2.2 together the combination gripper system with rack frames hanging on the rack grippers;

FIG. 3A shows a view of the bundle of goods to be transported with closed gripper arms and relaxed tension elements without goods to be transported;

FIG. 3B shows a view similar to FIG. 3A but with the transport goods bundled by the tensioned tension elements;

FIG. 3C shows a view in vertical longitudinal section of the bundle of transport goods with the load-bearing legs of the gripper arms swung open;

FIG. 3D shows a sectional view along line AA of FIG. 3C of the bundle gripper for the goods to be transported with the load-bearing legs of the gripper arms swung open;

FIG. 3E shows a view similar to FIG. 3D but with the load arms of the gripper arms closed;

Figure 4A is a view of the rack gripper in the longitudinal direction of the cross member with a rack frame attached to it.

FIG. 4B shows the rack gripper with the rack frame attached to it in a side view,

FIG. 4C shows part of the rack gripper with the locking bolts withdrawn,

FIGS. 5.1 and 5.2 in a summary of a crane system with a trolley and a crossbar above a rack warehouse, automatic bundle grippers and rack grippers being attached to the crossbar according to another exemplary embodiment of the invention;

FIG. 5A shows a side view of the crane system according to FIGS. 5.1 and 5.2, the load traverse with the grippers and the goods to be transported being shown lowered once above the rack warehouse and once into the rack warehouse for storing the goods to be transported;

Figure 6 shows the load beam with extended frame end parts in a position for receiving a rack consisting of four non-interconnected individual parts;

Figure 7 shows the load beam with retracted end parts for the transport of shorter long material;

FIG. 8 shows the bundle gripper for the goods to be transported according to the modified exemplary embodiment according to FIGS. 5.1 and 5.2;

FIG. 9 shows the bundle gripper for goods to be transported according to FIG. 8 with bundled goods to be transported;

FIG. 10 the bundle gripper for the goods to be transported when storing or removing the goods to be transported in or out of a rack; and

Figure 11 shows the rack gripper according to the modified embodiment of Figures 5.1 and 5.2.

Reference is now made in more detail to the Figures 1.1 and 1.2 in which a crane system 1 is shown, which consists of a crane bridge, which as Double girder overhead traveling crane bridge is executed. A load beam 2 is suspended from the crane bridge via cable exits 3. On the There is a hoist 6 for lifting and lowering the crane bridge the load beam 2, a pneumatic pressure system 4 for pneumatic actuation of the transport goods bundle grippers 7 and the rack gripper 8, which are attached to the load beam 2, and a control cabinet 9, in which the passengers electrical control elements are installed. The electrical and pneumatic energy supply for the Load traverse 2 takes place via a cable chain 5, which is at Raise and lower in a cable chain box 10 of the Load beam 2 sets down. A catwalk 11 with device 12 for Hanging a ladder will give access to those on the Crane bridge installed aggregates. The overhead crane bridge is is not well known in the art Part of the invention and is therefore not further described.

Figures 2.1 and 2.2 show this Combination gripper system on a larger scale. The Load beam 2 has a longitudinal axis X and consists of a stable profile frame welded construction with two Side members 2A and 2B, see Figures 3A, 3B and 4A. To the The frame are the crane-specific machine components, such as Deflection rollers 14, the centering 13 of the load beam 2 in top position and the cable chain box 10, as well as the Junction 16 of the cable chain 5 for the energy supply grown. Four bundle grippers 7 and four Rack grippers 8 are spaced apart in a fixed Position attached to the load beam. On the rack grippers 8 hang four not physically connected Rack single frames 87, which is a transport container for the Form long material that is simultaneously stackable Storage container serves.

The goods to be transported must always have several Pick-up points lie on, so that a damage-free Transport is guaranteed. Instead of the four shown Transport goods bundle grippers 7 and rack grippers 8 can also a different number of these grippers can be provided, e.g. at least two or three or more than four Transport bundle gripper 7 and rack gripper 8. The number of Transport goods bundle gripper 7 can be different from that Number of rack grippers 8. The grippers 7, 8 can also on the Load crossbeam 2 can be displaced horizontally in the longitudinal direction, e.g. via a spindle or chain drive (not shown), which would have the advantage of being able to do less Grippers 7, 8 can get by.

The transport goods bundle grippers 7 and rack grippers 8 can also be used separately, independently of each other become.

On the load beam 2 are still fixed positioned hooks 15 attached, which allow that with the crane system 1 in manual operation with not automated pick-up procedure with conveyor belts can be worked.

Figures 3A, 3B, 3C, 3D and 3E show the structure and the operation of the bundle gripper 7, the positioned on the beams 2A and 2B of the load beam 2 and is screwed tight. The bundle gripper 7 has one Profile frame 20 with a front and a rear Frame part 20A and 20B, which consist of horizontal and vertical U-profile pieces 21 and 22 are welded together. The front and rear frame parts 20A and 20B are over Connection profile pieces, see e.g. 24 in the figures 3D and 3E interconnected, which is the front and rear Frame parts at a predetermined distance from each other hold. On the upper horizontal profile piece 21 of the two Frame parts 20A and 20B are each upright standing U-profile piece 25. The two upright U-profile pieces 25 are at the center of the top horizontal Profile pieces 21 of the frame parts 20A and 20B welded and have support plates 26 at their upper ends. Two Fastening plates 27 for screwing on the bundle gripper 7 on the beams 2A, 2B of the load beam 2 extend in Longitudinal direction of the traverse 2 cantilevered over the front Frame part 20A and enter at its front end downwardly projecting hollow profile piece 28, which at its lower End is provided with a mounting plate 29 which protrudes laterally on both sides of the hollow profile piece 28. The Hollow section piece 28 is about struts 30 with the front Frame part 20A connected and an oblique strut 32 is on upper end of the rear upright profile piece 25 and welded to the hollow section 28.

The bundle gripper 7 has two gripper arms 33, which the frame 20 about vertical axes 34 between a first and a second pivot position are movably arranged. The gripper arms 33 extend along the lateral, outer, vertical ends of the frame 20 and are over Storage facilities, on the connecting profile pieces 24 rotatably mounted. On the upper ends of the gripper arms 33 retaining nuts 35C are screwed on. Everyone Gripper arm 33 has a vertical leg 33A with a upper part, which is along a vertical outer side of the frame 20 extends and in to the Connection profile pieces 24 attached bearings 35A and 35B is stored and a lower part that extends from the frame 20th extends downward and a horizontal load-bearing leg 33B at a distance below the frame 20. The Load carrying legs 33B can be pivoted with the gripper arms 33 between a swung-in, closed Transport position in which the horizontal leg 33B together a wing or support for the cargo between the vertical legs 33A of the gripper arms 33 form. In this position the horizontal stretches Load leg 33B, which at the lower end of the vertical Legs 33A are provided transversely and to the longitudinal axis X of the Traverse 2 and transverse to the longitudinal direction of the goods to be transported. The load bearing legs 33B are with the gripper arms 33 from the pivoted, closed transport position in a swung open open rest position in which the horizontal load leg 33B outside the Distance between the vertical legs 33A of the Gripper arms 33 are located and are parallel to the longitudinal axis X the load crossbar 2 and extend parallel to the goods to be transported. In this position of the gripper arms 33, the gripper arms can 33 of the bundle gripper 7 when lowering outside the Immerse the unbundled goods contour.

The bundle gripper 7 has a horizontal longitudinal center line or longitudinal axis C _L1 (parallel to the longitudinal axis X of the load beam 2), a horizontal transverse center line or transverse axis C _L2 and a vertical center line or vertical axis C _L3 (both of which are perpendicular to the longitudinal axis X of the load beam 2). The three center lines intersect at right angles. In the pivoted-in, closed transport position, the horizontal center lines C _{L4 of} the lower horizontal load-bearing legs 33B of the two gripper arms 33 are located in a vertical plane, which also contains the vertical swivel axes of the gripper arms 33 and the horizontal transverse center line C _L2 and the vertical center line C _L3 or vertical axis , In the swung open, rest position of the gripper arms 33, the center lines C _{L4 of} the lower horizontal load bearing legs 33B of the gripper arms 33 are parallel to the longitudinal axis X of the load crossbar 2 and are located in two vertical planes, which also contain the vertical swivel axes 34 of the gripper arms 33, and that are parallel to the horizontal longitudinal center line C _L1 and the vertical center line C _L3 on both sides thereof and at the same distance from these center lines.

Accordingly, the gripper arms 33 are 90 ° between the first and the second pivot position or between the swung-in, closed transport position and the open, open rest position is movable.

The lower horizontal load leg 33B of the Gripper arms 33 have hook-shaped ends at their free ends Approaches or heels 36, which in their swiveled in, interlock in the closed transport position.

For pivoting the gripper arms 33, power actuators, for example pneumatic cylinder / piston units 37, see FIGS. 3D and 3E, are provided, which are pivotably articulated by vertical pivot pins 38 on the support plate 26 at the lower end of the vertical hollow profile piece 28 and can be pivoted on by vertical pivot pins 39 Attack lever arms 40, which are connected in a rotationally fixed manner to the upper parts of the gripper arms 33 between the lower bearings 35A and the upper bearings 35B of the gripper arms 33. FIG. 3D shows the pivoted-open rest position of the gripper arms 33, in which the horizontal legs 33B of the gripper arms 33 are parallel to the horizontal longitudinal axis C _L1 , and the piston rods 37A being moved into the pneumatic cylinders 37B, while FIG. 3E shows the closed, pivoted-in transport position of the gripper arms 33, in which the horizontal legs 33B of the gripper arms are perpendicular to the horizontal longitudinal axis C _L1 and with her hook 36 ine interlock and the piston rods 37A are extended from the pneumatic cylinders 37B.

An anchor device is provided for limiting the pivoting movement of the gripper arms 33, in both directions. For this purpose, two fixed stops 41 and 42 provided. A stop 41 is on the lower one Side of the lever arm and the other stop 42 on the upper side of the same. These fixed stops 41, 42 act together with adjustable stops or stop screws 43, 44, which are fastened to angle profile pieces 45, 46, which on the vertical profile pieces 22 of the front Frame part 20A are screwed tight. The free bridge of the Angle profile piece 45 on which the stop screw 43 is attached, which with the stop 42 on the upper Side of the lever arm 40 cooperates to limit the first pivot position of the gripper arm 33 or swung open open rest position of the load bearing leg 33B is located along the vertical outer side of the associated vertical profile piece 22, while the free Web of the angle section 46 on which the adjustable Stop screw 44 to limit the second pivot position the gripper arm 33 or the pivoted, closed Transport position of the load bearing leg 33B, in Cooperation with the stop 41 on the lower side of the Lever arm 40 is adjacent to the inner vertical side of the associated vertical profile piece 22 is located. Both Stop screws 43, 44 are by means of threaded nuts adjustable attached to the angle sections 45, 46. The Angle profile pieces 45, 46 are in turn through Screw connections 47 on the vertical U-profile pieces 22 attached.

The device for automatic bundling of the Transport goods have one carried by the frame 20 Clamping device with a vertically movable slide 50 consisting of two spaced apart vertical side plates 51, which over spacers 52nd are interconnected. On the outside of the Side plates 51 are attached to guide rollers 53, i.e. on there are two on the outside of each side plate 51 vertically superposed guide rollers 53. This Guide rollers 53 run in vertical guide rails 54, which in the middle of the frame 20 via screw connections 55 on the inside of the horizontal profile pieces 21 of the front and rear frame members 20A, 20B attached are. For the up and down movement of the carriage 50 is a Power actuator, e.g. a pneumatic cylinder piston unit 56 provided that at the top of the upright U-profile pieces 25 on the support plates 26 by means of a annular clamp sleeve 59 is suspended, and its Piston rod 57 sits on a bearing pin 58 which in Openings in the two side plates 51 of the slide 50 is attached.

The transport bundling device has the Another two flexible tension elements 60. Each tension element 60 is at its lower end on a gripper arm 33 via a Bolt connection 61 fastened to the bottom, horizontal load leg 33B near the free End region of the same and is at one at its upper end Spacer bolts 52 of the side plates 51 of the slide 50 connected. The flexible tension element 60 can be made of one Webbing, made of a plastic or steel cable or even a plastic or steel chain or the like.

There is preferably one on each gripper arm 33 Restraint device 70 for the associated tension element 60 provided, see Figures 3A to 3C. each Restraint device 70 consists of a tension spring 71 which in a cavity of the lower part of the vertical leg 33A of the gripper arm 33 is integrated. At each end of the Tension spring, a flexible connecting element 72 is attached. The connecting elements 72 are over between their ends the gripper arms 33 guided guide rollers 73, protrude through openings (not shown) in the gripper arms 33 and engage between the ends of the associated tension elements 60 via hooks or eyes 74.

If the pulling elements 60 of the bundling device are relaxed by setting the slide 50 over pull the pneumatic cylinder 56 in its lower position the tension springs 71 via the connecting elements 72 Tension elements 60 back outwards, into a rest position, in of the tension elements along the inside of the Extend gripper arms in the immediate vicinity of the same and are literally drawn onto the basic shape of the gripper arm. each The tension element runs from the bolt connection 61 first through an opening in the top of the bottom horizontal load bearing leg 33B of the gripper arm 33, about a guide roller 65 and along the upper side of the lower one horizontal load bearing leg 33B of the gripper arm 33, and then along the inner side of the vertical leg 33A of the Gripper arm 33 when the gripper arm is in its second Swivel position is, see Figure 3A, up to the point where the eyelet or hook 74 of the upper connecting element 72 of the tension spring 71 engages the tension element 60. Of this From there, the tension element 60 runs in a loose, relaxed manner Condition of its spacer bolt 52 on the slide 50. The eyelet or the hook 74 of the lower connecting element 72 of the Tension spring 71 pulls the tension element 60 in the corner between the two legs 33A, 33B of the gripper arm 33.

Now the carriage 50 through the pneumatic cylinder 56 adjusted upwards, so the upper ends of the Tension elements 60 adjusted upwards, the tension elements move yourself from the gripper arms 33 under tension Retainer 70 inward with the tension springs 71 be pulled apart. This condition is in the figure 3B, which also shows the bundled transport goods, which from the inside of the vertical legs 33A of the Gripper arms 33 moved away and thus also from the inside the rack 87 of the transport container has been moved away. The goods can be transported without damage the inside of the racks 87 stored in or out of this be highlighted.

By swiveling in the load bearing leg 33B the lower ends of the tension elements 60 below the Transport introduced and come close to each other lie to form an essentially closed Transport bundle loop consisting of the two Tension elements 60 and part of the load-bearing legs 33B composed. By tightening the tension elements, this becomes Transport goods gently formed into a bundle, so that a Slipping and mutual damage to the Transport goods between each other is prevented. By the The loop is swung open again opened after the tension elements have been relaxed beforehand are.

The transport goods gripper according to the invention or Accordingly, the bundle gripper can transport goods automatically for removal from transport goods racks into one Combine bundles or automatically the bundled Put down the goods or store them in storage racks.

FIGS. 4A, 4B and 4C show the rack gripper 8 for gripping and setting down the rack frames 87 with or without transport goods. The rack gripper 8, see FIGS. 4A and 4B, has a rectangular frame 81 made of hollow profile pieces 82. The upper hollow profile piece is fastened to the load crossbar 2 by means of fastening plates 83 and screw connections 84, and the actual rack gripper 8, which is in two, is located at the lower end of the rectangular frame 81 Has spaced-apart receiving funnels 85 with receiving slots 93 which are open at the bottom for receiving arms 86 of the rack 87. Each receiving funnel 85 has two vertical side parts 88 and 89 which are spaced apart from one another and which extend parallel to one another and parallel to the vertical vertical axis C _{L5 of} the rack gripper and parallel to the longitudinal axis X of the load beam 2. The outer side parts 88 are drawn at their lower ends on the inside at 90 and the lower ends 91 of the two inner side parts 89 are angled inwards to the vertical vertical axis C _L5 . Between the two side parts 88 and 89, each receiving funnel 85 has two end parts 92 which are spaced apart from one another in the longitudinal direction of the load crossbeam 2 and diverge downwards at their lower ends 93. The two vertical side parts 88 and 89 and the two vertical end parts 92 of each receiving funnel 85 form between them the receiving slot 93 for upwardly projecting shoulders 86A of the rack receiving arms 86. The gripped lower ends 90 of the outer side parts 88, the angled lower ends 91 of the inner side parts 89 and the angled lower ends 93 of the end parts 92 form oblique contact surfaces for guiding the shoulders 86A of the rack receiving arms 86 into the receiving funnels 85. These contact surfaces allow the load crossbar 2 to be gently and gently aligned with the rack position, which is advantageous for the reliable automatic operation.

To couple the rack 87 to the rack gripper 8, locking bolts 95 are provided, which can be displaced along a horizontal center line C _L6 between an extended locking position and a retracted unlocking position, which horizontal center line C _{L6 is} perpendicular to the vertical vertical axis C _L5 and is also perpendicular to the longitudinal axis X of the load beam 2. The locking bolts 95 are guided in bores of guide sleeves 97 which extend inwards from the inner surfaces of the inner side parts 89 of the receiving funnels 85 to the vertical vertical axis C _L5 . The inner bores of the guide sleeves 97 are aligned with one another and are also aligned with receiving bores 98 for the locking bolts 95 in the side parts 88 and 89 of the receiving funnels 85. In the locking position, the locking bolts 95 are extended through the slots 93 of the receiving funnels 85 and the free end of each Bolt 95 is located in the receiving bore 98 of the outer side part 88 and, when the rack is coupled, extends through a vertical slot 99 in the upwardly projecting extension 86A of the rack receiving arm 86. In the unlocked state, the locking bolts 95 are out of the bores 98 of the outer side parts 88 the receiving funnel 85 and the slots 93 of the receiving funnel 85 are withdrawn and the free ends of the bolts 95 are located in the bores 98 of the inner side parts 89 of the receiving funnel 85.

The coupling and decoupling of the rack 87, i.e. the movement of the bolts 95 between the locking position and the unlocking position takes place between the Locking bolt 95 arranged horizontally and to this connected power actuator 100, e.g. a pneumatic cylinder piston unit. The cylinder 100A is over a first Joint 101 to a locking pin 95 and the Piston rod 100B via a second joint 102 on the other Locking bolt 95 connected. In Figure 4A Piston rod 100B extended from cylinder 100A, i.e. the Locking bolts 95 are in the locked position. In the Figure 4C is the piston rod 100B in the cylinder 100A withdrawn, i.e. the locking bolts are 95 unlocked and withdrawn.

The side parts 88 and 89 of the receiving funnel 85 have over the mounting holes 98 for the Locking bolt 95 vertical sensor slots 103. By sensors arranged in these slots 103 (not the position of the vertical elongated holes 99 of the rack receiving arms 86 in the receiving funnels 85 be by the top edge of the approach of the Pick-up arms 86 by the sensor (not shown) is queried.

Finally there are in the receiving funnels 85 welded stopper stops 104 above the lower one Ends of the sensor slots 103. When the Stopper stops 104 at the upper ends of the vertical The crane system 1 becomes approaches 86A of the rack holding arms 86 turned off to lower the whole too deep Load beam 2 and, accordingly, the receiving funnel 85 to prevent over the rack support arms 86 and accordingly a trouble-free and damage-free To ensure inclusion of the rack 87.

Reference is now made to FIGS. 5.1 and 5.2, which show a storage facility with a overhead crane bridge 200 on the one cat 201 perpendicular to the plane of the drawing is mobile. It is hung on the cat 201 Combination gripper with the load crossbar 220, on the four Bundle gripper 107 and four rack grippers 108 are attached. A shelf warehouse RL is under the Crane device shown.

In the exemplary embodiment according to FIGS. 5.1 and 5.2, the load crossbar 220 can be rotated through 180 ° in both directions. For this purpose, the cat 201 has a centrally arranged rotating device 203 consisting of a ring gear 204 which is arranged at the upper end of a thick-walled spacer tube 205. A geared motor 206 drives the ring gear 204 via a pinion 207 for rotation about a vertical axis C _L7 . A hoist platform 208 is attached to the lower end of the spacer tube 205. The hoist 209 is attached to the hoist platform 208, on which the load truss 220 hangs. A first pair of cables S ₁ protrudes downward from the hoist 209 via deflecting rope pulleys 210 mounted on both sides of the load crossbar 220, then upward via fixed rope deflections 211 to the rope fastening points 212 on the hoist platform 208. A second pair of cables S ₂ extends from the hoist 209 to the other side of the hoist platform 208 via rope pulleys 213 mounted on the hoist platform 208, then downward via further deflection rope pulleys 214 attached on both sides to the load crossbar 220, then upward again via fixed rope deflections 215 to the rope fastening points 216 on the hoist platform 208. The load crossbar is located on the load crossbar furthermore two upwardly projecting centering pins 113 which, in the uppermost position of the load crossbar 220, are received in associated centering sleeves 217 which are fastened to the lifting platform 208. If the centering pins 113 are received in the centering sleeves 217, the load crossmember can be rotated about the vertical axis C _L7 via the rotating device 202.

The load beam 220 according to Figures 5.1 and 5.2 differs from the load beam 220 according to FIG. 1 in the fact that it is telescopic and made of a central, fixed part 102A and two side parts Parts 102B and 102C are made in the direction of the longitudinal axis X of the load beam 220 between a retracted position and can be moved to an extended position.

Figures 5.1, 5.2 and 6 show the load beam 220 with the slidable end portions 102B and 102C in FIG extended position for the transport of long material with great length, while Figure 7 the sliding End portions 102B and 102C in the retracted position. In this position, the length of the load beam 220 shortened for the transport of long material with a shorter length.

On the central, fixed part 102A of the load cross member 220 are two bundle grippers 107 and two Rack gripper 108 attached. Each slidable end portion 102B, 102C of the load beam 220 is each with another Transport goods bundle gripper 107 and a rack gripper 108 Mistake. With telescopically retracted end parts 102B, 102C of the load beam 220 are the Transport goods bundle gripper 107 and rack gripper 108 movable end parts in the with thin lines in the Figures 5.1, 5.2 and 6 layers shown schematically. The Have goods bundle gripper 107 and rack gripper 108 compared to the embodiment of Figures 1-4 one another form of performance, which will be discussed in more detail later is described.

The device for telescopic movement of the End parts 102B and 102C of the load crossbar 220 are now included Reference to Figures 5.1, 5.2 and 8 or 11 in more detail described. The middle part 102A of the load beam 220 has a box-shaped frame 300 on which the Cable pulleys 210 and 214 are attached, which in Roller boxes 302 are arranged on top of the box-shaped Frame 300, the centering pins 219 are attached.

Each slidable end portion 102B and 102C is made up also from a box-shaped frame 304, which partially is received within the box-shaped frame 300 and several rotatably mounted on both vertical sides Has rollers 305 which run in U-shaped rails 306, which on the inside of the vertical wall parts of the box-shaped frame 300 are screwed tight. To the telescoping the frame 304 with respect to the Frame 300 between the extended and the retracted position is on the top of the box-shaped frame 304 of each end part 102B and 102C a rack 307 attached by a gear motor 308 is driven via a pinion 309. The engine is 308 inside the box-shaped frame 300 of the middle Part 102A of the load beam 220 attached.

FIG. 5A shows a side view of the Storage system according to Figures 5.1 and 5.2 with the crane system and the rack warehouse RL and shows the load beam 220 with the bundled long material in the transport bundle gripper 107 once above the RL racking and a second time lowered into the shelf warehouse RL to store the Long material. The shelf warehouse RL consists of four vertical rows of five superimposed Bearings.

According to an advantageous embodiment a storage rack consists of a group of four or one other number not connected, U-shaped Single frames 87, 87 ', which are in the warehouse RL in one certain constant distance from each other and can be picked up by the rack grippers 8 or 108 together can. The individual frames 87, 87 'are one above the other stackable. Compared to conventional racks being vertical standing rack arms above horizontal bars or beams are not connected to each other connected individual frames have the advantage that they are easy to are manageable and can be constructed particularly rigid, so that the rack support arms 86, 86 'are always in the same position take and thus easy to grasp by the rack gripper are what is not given in the previously known storage racks was due to deformation of the upright rack arms.

The rack support arms 86 'of the in Figures 7 and 8th illustrated rack items 87 'differ from that Embodiment according to Figures 1-4 in that this Pickup arms 86 'are designed for pickup by the modified rack gripper 108, which will be added later is described in more detail.

Each individual frame 87, 87 'has a floor frame 87A, 87A 'with opposite longitudinal and transverse sides, whereby the long sides face in the direction of the to be transported Long material and the transverse sides extend transversely to it. two protrude from each long side at a longitudinal distance from each other arranged uprights 87B, 87B 'up at their upper Ends connected to one another via the rack holding arms 86, 86 ' are.

Reference is now made to FIGS. 8, 9 and 10, which the modified transport bundle gripper 107 demonstrate. The bundle gripper 107 also has a frame 120 and two gripper arms 133 pivotable about vertical axes 134, the are telescopic and each have an upper, straight, vertical part 136 and a lower, L-shaped Have part 137, wherein the vertical leg 137a one each lower L-shaped part telescopically on the upper Part 136 is included and the lower horizontal part 137b of the lower L-shaped part, like that Embodiment according to Figures 1-4 the load leg forms. The lower L-shaped part 137 is on the upper part 136 via a longitudinal slot and pin device 139 longitudinally movable but non-rotatable with respect to this guided.

The upper vertical parts 136 of the gripper arms 133 are housed in bearings 135A and 135B and vertical retained via nuts 140 which are on the upper ends of the Gripper arms 133 are screwed and attached to one Support the frame part. For pivoting the gripper arms 133 Power actuators 141 are about the vertical axes 134 provided, e.g. Pneumatic cylinder piston units that engage on lever arms 142 which on the gripper arms 133 are fixed between the bearings 135A and 135B.

The bundle gripper after the Embodiment of Figures 8-10 also has one Transport bundling device with two flexible Tension elements 160. The tension elements 160 are on the horizontal load legs 137B at locations 161 attached, as in the embodiment of the figures 1-4. However, the tension elements 160 are at their upper ends not as in the embodiment of Figures 1-4 attached to a vertically movable carriage connected to the frame 120 at fixed points 162. In the Near the upper ends of the tension members 160 are Traction elements passed between two pairs of rollers 163, which between an inner position, see Figure 9, and an outer position, see FIGS. 8 and 10, are horizontally movable. In the outer position of the Roller pairs 163 are the upper end regions of the tension elements 160 withdrawn outwards, while inwards moved positions of the roller pairs 163 the upper End regions of the tension elements 160 for bundling the Transport goods are shifted inwards.

At the lower end regions of the tension elements 160 and the load bearing legs 137B are stabilizer spring elements 164 provided so that the tension elements 160 form-fitting place the horizontal load bearing legs of the gripper arms. When the lower, L-shaped parts 137 of the Gripper arms 133 with respect to the upper straight parts 136 the gripper arms 133, the transported goods are bundled, as in Figure 9 is shown, in which the L-shaped parts 137 of the Gripper arms 133 are in their lower position. Figure 10 shows the storage or retrieval in or out of a Lagerrack. The lower parts 137 of the gripper arms 133 in its upper, telescopically retracted position and the roller pairs 163 are in their outer Position adjacent to the gripper arms 133 with the upper Areas of the tension elements 160 toward the inner sides the gripper arms 133 are retracted and the tension elements 160 of the roller pairs 163 substantially parallel along the gripper arms down to the load bearing legs 137B run.

In the exemplary embodiment according to FIGS. 8-11 the bundle gripper 107 is accordingly the Retainer not in the gripper arms 133 integrated but consists of the in and out movable roller pairs 163 and Stabilizer spring elements 164, which facilities the Traction elements 160 in the rest position along the inside of the Retain gripper arms 133. The roller pairs can mechanically via disc spring assemblies (not shown) or motorized via spindle drives (not shown) become.

An essential difference between the two Execution examples also lies in the fact that the Exemplary embodiment according to FIGS. 1-4, the tension elements 60 are clamped over the vertically movable slide 50, while in the embodiment of Figures 8, 9 and 10 the tensioning via the telescopic gripper arms 133 takes place, and in particular by the downward movement of the lower L-shaped parts 137 of the gripper arms 133 with respect to the vertically immovable, upper parts 136 of the gripper arms 133rd

In both cases, the attachment points of the Drawstrings 60, 160 apart in the vertical direction or move away from each other. The attachment points for the Drawstrings can also be spaced apart or laterally moved away from each other, e.g. over a double acting pneumatic cylinder. Similarly, too two laterally movable tensioning rollers be used. They are in a relaxed state Attachment points at the ends of the drawstrings 60, 160 in a smaller vertical distance from each other and the drawstrings 160 are along by the restraint Gripper arms 133 pulled up or held back and in tense condition are the attachment points at the Ends of the drawstrings 160 further in the vertical direction apart and the tension elements 60, 160 are after internally strained away from the gripper arms 133 for bundling of the cargo. There is a restraint either from the tension springs 71 and the connecting links 72 according to Figures 1-4 or the roller pairs 163 and the Stabilizer spring elements 164 according to the embodiment of Figures 8-10 and the jig consists of the vertically movable carriage 50 after the Embodiment of Figures 1-4 or the tension to Bundling is carried out by the telescopic gripper arms 133.

It should be noted that instead of two power actuators 141 for pivoting the gripper arms 133 a single double around their vertical axes 134 acting power actuator (not shown) are used can. The telescopic grippers 133 together with a separate clamping device, e.g. the tension slide 50 be used.

In addition to FIGS. 9 and 10, it should also be mentioned that that these the transport goods bundle gripper 107 and the Rack grippers 108 in accordance with FIGS. 5.1 and 5.2 in a row show lying.

The rack gripper 108 corresponding to that Embodiment of Figures 5.1 and 5.2 is in the figure 11 shown. This rack gripper is used to lift the Rack individual parts 87 'with the holding arms 86', see FIG. 6. The receiving arms 86 'differ from the receiving arms 86 of the rack parts according to the embodiment of the Figures 1-4 in the sense that the pick arms 86 'are not are provided with paragraphs 86a above. The rack gripper 108 again consists of a frame 181 for Attachment to the load beam 220. The frame 181 is open its inside two horizontal U-shaped in cross section Guide rails 182 (see Figures 5.1 and 5.2) with their open ends face each other. Two Carriages 179 are on rollers 183 in the Guide rails 182 movable and each carriage 179 carries at its outer end a downward arm 184. Each arm 184 has on the inside at the lower end the same a U-shaped support 185, which for receiving a Rack part 87 'are retractable under the rack support arms 86' and grasp the rack part when the traverse 220 is raised becomes. Previously, the Carriage 179 outwards in the guide rails 182 moved away from each other so that the support 185 for the Rack parts 87 'when lowering the load beam 220 outside the receiving arms 86 'can be immersed. The Drive device consists of a geared motor 186 which is attached to the frame 181 and a pinion 187 and Racks 189 attached to the sled, these can extend and retract along the guide rails 182. Everyone Carriage 179 is provided with a rack 189 and upon rotation of the arranged between the racks 189 Pinions 187 with racks 179 become pinions 187 moved in opposite directions. The support 185 for the rack support arms 86 'can also be on the outside of the arms 184 located. in this case the carriages 179 moved apart to intervene under the Rack support arms 86 'and are retracted to to release the rack.

Claims (53)

Bundle gripper with two on one frame swiveling gripper arms, each with a load carrying leg have, and which between a first and a second Swivel position are movable, being in the first Swivel position of the gripper arms in the load carrying leg a swung open rest position outside the Transport contour and located in the second Swivel position of the gripper arms in the load carrying leg essentially one swung in under the transport goods closed transport position in which the Load support leg together a support for the goods to be transported form, and with a device for automatic bundling of the cargo, which is a flexible tension element device has, which on the load bearing legs of the gripper arms attached and clamped to bundle the goods to be transported. Transport goods bundle gripper according to claim 1, characterized by a retaining device which normally holds the traction element device in a rest position along the gripper arms. Transport goods bundle gripper according to claim 2, characterized in that the retaining device for each gripper arm has a tension spring which acts on the tension element device via flexible connecting members. Transport goods bundle gripper according to claim 3, characterized in that the tension springs are integrated in the gripper arms. Transport goods bundle gripper according to claim 3, characterized in that the connecting links are guided between their ends via deflection rollers mounted on the gripper arms. Transport goods bundle gripper according to claim 2, characterized in that the retaining device has two pairs of rollers, between which the pulling element means is passed in an upper region, and the pairs of rollers are displaceable between an outer restraining position and an inner bundle position. Transport goods bundle gripper according to claim 6, characterized in that in a lower region of the tension element device in the vicinity of the fastening points on the load-bearing legs, spring elements act on the one hand on the tension element device and on the other hand on the load-bearing legs, in order to pull the tension element device towards the load-bearing leg. Transport goods bundle gripper according to one of claims 1 to 7, characterized in that the gripper arms have vertical legs which are pivotable on the frame about vertical axes. Transport goods bundle gripper according to one of claims 1-8, characterized in that the center lines of the load support legs of the gripper arms lie in the pivoted-in transport position in a common vertical plane in which the vertical axes about which the gripper arms can be pivoted and the center lines of the load support legs lie the gripper arms in the swung-open rest position lie in two spaced-apart, parallel, vertical planes, in which the vertical pivot axes of the associated gripper arms also lie. Transport goods bundle gripper according to one of claims 1-10, characterized in that the gripper arms are pivotable by 90 ° between the first and the second position Transport goods bundle gripper according to one of claims 1-10, characterized in that the gripper arms are movable in opposite directions between the first and the second pivot position. Transport goods bundle gripper according to one of claims 1-11, characterized in that the gripper arms are mounted laterally on the outside of the frame. Transport goods bundle gripper according to one of claims 1-12, characterized in that the gripper arms can be pivoted by means of power actuators, which are attached to the frame on the one hand and, on the other hand, pivotably engage lever arms, which lever arms are connected in a rotationally fixed manner to the gripper arms. Transport goods bundle gripper according to claim 13, characterized in that the power actuators are pneumatic cylinder piston units. Transport goods bundle gripper according to one of claims 1-14, characterized by stop devices for limiting the pivoting movement of the gripper arms in both directions. Transport goods bundle gripper according to claim 13, characterized in that a first stop is provided on each lever arm, which interacts with an adjustable first stop provided on the frame, for limiting the pivoting movement of the gripper arm in a pivoting direction, and a second stop is provided on each lever arm , which interacts with a second adjustable stop provided on the frame, for limiting the pivoting movement of the gripper arm in the other pivoting direction. Transport goods bundle gripper according to one of claims 1-11, characterized in that hooks are integrally formed on the free ends of the load support legs of the gripper arms, which engage in one another in the pivoted-in, closed transport position of the load support legs. Transport goods bundle gripper according to one of claims 1-17, characterized in that the gripper arms are designed telescopically, with an upper, vertically immovable part and a lower part with the load carrying leg, which can be displaced vertically relative to the upper part for tensioning the tension element device. Transport goods bundle gripper according to claims 1-18, characterized in that the pulling element device has two flexible pulling elements, both of which are fastened at one end to the load carrying legs of the gripper arms and at another end to another component of the bundle gripper. Transport goods bundle gripper according to one of claims 1-19, characterized by a tensioning device carried by the frame for the tension element device. Transport goods bundle gripper according to claim 20, characterized in that the tensioning device has a slide movable on the frame along a guide to which the tension element device is fastened, the slide being movable via a power actuator between a first position in which the tension element device is relaxed and a second Position in which the tension element device for bundling the transport goods is tense. Transport goods bundle gripper according to claim 21, characterized in that the carriage is guided vertically by guide rails which are attached to the frame. Transport goods bundle gripper according to claim 19, characterized by winding devices carried by the frame for the other ends of the two pulling elements in order to tension the pulling elements for bundling the transported goods. Transport goods bundle gripper according to claim 18, characterized in that the traction element device has two flexible traction elements, both of which are attached at one end to the load-bearing legs of the gripper arms and at the other end to a fixed frame part. Transport goods bundle gripper according to one of claims 1-18, characterized in that the pulling element device has a flexible pulling element which is fastened at its ends to the load carrying legs and is guided between its ends via deflection rollers or the like. Transport goods bundle gripper according to claim 25, characterized by a tensioning device, such as at least one tensioning roller, for tightening the flexible tension element. Transport goods bundle gripper according to one of claims 1-26, characterized in that the flexible tension element device has one or two belt straps, plastic or steel cables, plastic or steel chains or the like. Transport goods bundle gripper according to one of claims 1-27, characterized in that the pulling element device is fastened to the gripper arms in the region of the free ends of the load carrying legs. Rack gripper especially for use in Combination with the bundle gripper according to one of the Claims 1-28 on a load beam, the rack gripper has a frame on which two are spaced apart arranged receiving funnel with open at the bottom Mounting slots are provided for mounting arms of a rack are, with each receiving funnel a locking bolt is assigned that between a locking position in which he has extended through the receiving slot, and one Unlocking position is slidable, in which it from the Slot is retracted, and with a Actuator for driving the locking bolts. The rack grab of claim 29, wherein each Receiving funnel a first and a second side part has which are spaced apart and transversely extend the bolt and two spaced apart Has end parts, the side parts and the end parts Limit the receiving slot between themselves and at their lower ones Ends have sloping guide surfaces that face down diverge away from each other in a funnel shape. The rack grab of claim 30, wherein the first Side part with respect to the outside of the receiving funnel forms a vertical vertical axis of the rack gripper and the second side part the inside of the receiving funnel in Forms reference to the vertical vertical axis, the first Side part at its lower end on the inside one handle surface, the second side part on his lower end obliquely inwards to the vertical vertical axis is angled, and the end portions at their lower ends after diverge below each other. The rack grab of claim 30, wherein the second Side part of each receiving funnel with a guide sleeve has a hole for the locking bolt and the two side parts mounting holes for the Have locking bolts, and wherein the holes of the Sleeve and the side parts are coaxial and perpendicular to vertical vertical axis are aligned. Rack gripper according to one of claims 29-32, wherein the actuating device has a power actuator, which is placed between the two bolts and attached to them connected. The rack grab of claim 33, wherein the actuator is connected to the bolts via joints. The rack grab of claim 32 or 33, wherein the Actuator is a pneumatic cylinder piston unit. Rack grab according to any one of claims 29-35, wherein the side parts of the receiving funnel over the Receiving holes have sensor slots. The rack grab of claim 36, wherein in each Receiving funnel between the ends of the sensor slots Stopper stop is provided. Rack gripper especially for use in Combination with the bundle gripper according to one of the Claims 1-28 on a load beam, the rack gripper has a frame on which two slides horizontally in opposite directions between a first retracted rack mounting position and a second extended release position are displaceable, wherein each sled has a vertical arm at one end has one on its inside or outside Has support for a rack support arm. Rack gripper according to claim 38, characterized in that each carriage has a toothed rack which engages with an output pinion, arranged between the toothed racks, of a drive motor carried by the frame. Combination gripper with a load beam has an elongated frame at the distance from each other along its longitudinal axis several automatic bundle grippers according to one of claims 1-28 are attached and several rack grippers in particular after one of claims 30-37 or according to claim 38 or 39 at a distance from each other and from the Bundle grabbers are attached. Combination gripper according to claim 40, characterized in that the rack grippers are horizontally displaceable on the load beam. Combination gripper according to claim 40, characterized in that the bundle grippers and the rack grippers are horizontally displaceable in the longitudinal direction on the load cross member. Combination gripper with a telescopic Load beam that has a middle frame part and two in Regarding the middle frame part horizontally between one retracted and movable to an extended position Has end parts, with each frame part at least one bundle gripper in particular after one of claims 1-28 and a rack gripper in particular according to one of claims 30-37 or according to claim 38 or 39 are attached. Combination gripper according to claim 43, characterized in that the frame end parts are displaceable via gear and rack and pinion gears. Combination gripper according to claim 43 or 44, characterized in that the central frame part carries two bundle grippers for transport items and two rack grippers, and that one bundle gripper and one rack gripper are attached to each frame end part. Crane system with a crane bridge and a trolley movable on the bridge, which carries a hoist for a combination gripper, in particular according to one of claims 40-45, characterized in that the trolley has a rotating device in order to rotate the traverse about a vertical axis in both directions , Crane system according to claim 46, characterized in that the rotating device has a spacer tube which can be rotated by a drive device, a rotating platform being attached to the spacer tube and carrying the lifting mechanism for the crossmember. Crane system according to claim 46, characterized by a device for centering the crossbar on the platform in the upper end position of the crossbar. Rack for long material, in particular in combination with the combination gripper according to one of claims 40-45, characterized in that the rack consists of several non-interconnected, stackable, U-shaped individual frames. Rack according to claim 49, characterized in that each individual frame has a base frame, with opposite longitudinal and transverse sides and that two longitudinally spaced upright posts are provided on each longitudinal side, at their upper ends via holding arms, for gripping the frame are connected to each other by a rack gripper. Process for receiving goods in transit: swiveling gripper arms with the load support legs swung open into a rest position are set to the side outside the contour of the goods to be transported, then the gripper arms are pivoted and the load-carrying legs are pivoted in below the goods to be transported into a closed transport position and at the same time lower ends of a flexible tension element device are also pivoted in below the goods to form a bundle of goods to be transported, then the tension element device is tensioned to bundle the transport goods, and finally the gripper arms are lifted with the bundled transport goods for removal. A method according to claim 51, characterized in that the tensioning element device is tensioned upwards in order to bundle the transport goods. A method according to claim 51, characterized in that the tensioning element device is tensioned downwards in order to bundle the transport goods.

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