FR3157367A1 - Unloading and/or loading process, and installation suitable for implementing the process. - Google Patents

Abstract

The present disclosure relates to a method for unloading and loading trolleys to ensure the unloading of at least one conveyed object (2) by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley (3) to an inlet of a conveyor (Co), then loading a second conveyed object, onto the motorized trolley unloaded from the first object, the second object being conveyed from an outlet of the conveyor. The motorized trolley (3) travels along a first trajectory (T1) to an unloading zone where a first fork is working, along a second trajectory to a loading zone where a second fork is working, and along a third trajectory (T3) to evacuate the loading zone, the portion of the trajectory consisting of the first trajectory, second trajectory, and third trajectory forming in particular a U-shaped trajectory. Abstract figure: Figure 21

Description

Unloading and/or loading process, and installation suitable for implementing the process.

The present disclosure relates, according to a first aspect, to a method for unloading and loading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley to an inlet of a conveyor, then loading a second conveyed object, onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor.

The present disclosure relates, according to a second aspect, to a method of unloading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring a conveyed object from said at least one motorized trolley to an entrance of a conveyor.

The present disclosure relates, according to a third aspect, to a method of loading trolleys to ensure the loading of at least one conveyed object, onto a motorized trolley, with a view to loading a conveyed object onto the motorized trolley, said object conveyed from an outlet of the conveyor.

The present disclosure further relates to a combination of the methods according to the first aspect and/or the second aspect, and/or the third aspect.

The present disclosure also relates to an installation suitable for implementing the unloading and/or loading method.

This disclosure relates to the field of automated storage and retrieval systems (ASRS) configured to automate order picking.

The present disclosure relates more particularly to storage systems comprising motorized carts circulating in the warehouse ensuring the transfer of items typically received in a container, such as a bin or a tray.

The motorized trucks can typically be self-guided trucks, equipped with communication modules configured to communicate with a central control unit of the ASRS. The central control unit coordinates the trajectories of the trucks in the warehouse to ensure order preparation operations by transmitting guidance instructions to the motorized trucks.

The scope of the present disclosure particularly covers motorized carts traveling on a moving surface, following two horizontal directions of space, the moving surface being typically a warehouse floor or a platform raised above the floor. The warehouse comprises one or more storage racks containing storage locations for the items typically contained in the containers, typically resting on the floor.

The scope of this disclosure covers, by way of example, and not limited to:
- storage systems (ASRS) ensuring the transfer of containers containing items, in particular between an order preparation station and the storage rack(s), by the movement of motorized trolleys on the movement surface, then the transfer of the containers, from the motorized trolleys to the locations in the storage rack by a lifting system, distinct from the motorized trolleys, namely that the motorized trolleys typically move in two directions only;
- storage systems ensuring the transfer of containers containing articles, in particular between an order preparation station and up to the storage rack(s), by the movement of motorized trolleys on the movement surface, then a lifting of the motorized trolleys in the storage racks, by the activation of climbing means of the motorized trolleys, and a transfer of the containers onto the motorized trolleys at height in the storage rack in the storage locations, by the action of transfer devices of the motorized trolleys. In such a solution, the trolleys circulate in the three directions of the space.

Automated storage and retrieval systems also typically include - an unloading system that is configured to unload an object (typically an order automated by the ASRS) from the motorized cart, for transfer to an inlet of a warehouse conveyor, for example for delivery, and
- a loading system which is configured to load an object (e.g. articles in a container) onto the motorized trolley, from an outlet of the conveyor, and typically for transfer from the container to the storage rack, during restocking.

Document DE102008039764 discloses a device for unloading and loading an article cooperating with an autonomous vehicle having on its upper surface a comb structure adapted to support an article. The device comprises two roller conveyors juxtaposed next to each other operating in two opposite directions for unloading and loading an article, respectively. The comb structure of the vehicle is slightly higher than the rollers of the conveyors, so that when the vehicle passes transversely to the conveyors, the rollers engage in the comb structure allowing the unloading of an article from the vehicle onto one conveyor and then the loading of another article from the other conveyor onto the same vehicle. The device notably comprises movable stops, downstream of the rollers, to prevent the article from falling when loading onto the vehicle moving under the conveyors. The vehicle is however relatively tall in size to be able to cooperate with the conveyor and is not adaptable to different conveyor heights. Furthermore, unloading the vehicle takes a relatively long time because the unloaded item must first be unloaded laterally via the roller conveyor before the next vehicle can unload its item in turn. The same applies to loading. Loading and unloading cannot therefore take place in a continuous flow in which the items follow one another without interruption.

Summary

This disclosure improves the situation.

According to a first aspect, there is proposed a method for unloading and loading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley to an inlet of a conveyor, then loading a second conveyed object, onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor, said method comprising:
- /A/ Provide one or a plurality of motorized trolleys each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork comprising fingers, said first motorized fork rising and falling from a first low position (PB) to a first high position (PH), the first fork being configured to unload a motorized trolley, on an unloading area of the rolling surface,
- /B2/ a second system 1B configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork comprising fingers, said second motorized fork rising and lowering from a second high position to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area, said method comprising:
- /C/ Move a motorized trolley supporting a first object towards said unloading area, following a first trajectory, aligned with the fingers of the first fork in the first low, waiting position, outside the unloading area,
- /D/ Insert the fingers of the first fork in said first low position, between the first object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory, in the unloading zone,
- /E/ Lift the first fork to said first high position in order to unload the first object from the motorized trolley,
- /F/ Move the motorized trolley unloaded from the first object, from the unloading area to the loading area, following a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G/ Lower the second fork supporting a second object from the second high position to the second low position, until the second object is loaded onto the motorized trolley,
- /H/ Move the motorized trolley loaded with the second object, following a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

According to a second aspect, there is proposed a method for unloading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring a conveyed object from said at least one motorized trolley to an entrance of a conveyor, said method comprising:
- /A/ Provide one or a plurality of motorized trolleys each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork comprising fingers, said first motorized fork rising and falling from a first low position to a first high position, the first fork being configured to unload a motorized trolley, onto an unloading area of the rolling surface,
-- /B2/ a second system configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork comprising fingers, said second motorized fork rising and falling from a second high position to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area,
said method comprising:
- /C1/ Move a motorized trolley supporting an object towards the unloading area, following a first trajectory, aligned with the fingers of the first fork in the low waiting position, outside the unloading area,
- /D1/ Insert the fingers of the first fork in the first low position, between the object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory, in the unloading zone,
- /E1/ Lift the first fork to said first high position in order to unload the object from the motorized trolley,
- /F1/ Move the motorized trolley unloaded from the object, from the unloading area to the loading area, following a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G1/ Lower the second empty fork from the second upper position to the second lower position on the motorized trolley unloaded from the object,
- /H1/ Move the motorized trolley unloaded from the object, following a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

The present disclosure also relates, according to a third aspect, to a method of loading trolleys to ensure the loading of at least one conveyed object, onto a motorized trolley, with a view to loading a conveyed object onto the motorized trolley, said object conveyed from an outlet of the conveyor, said method comprising:
- /A/ Provide one or a plurality of motorized trolleys each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork comprising fingers, said first motorized fork rising and falling from a first low position to a first high position, the first fork being configured to unload a motorized trolley, onto an unloading area of the rolling surface,
-- /B2/ a second system configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork comprising fingers, said second motorized fork rising and falling from a second high position to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area,
said method comprising:
- /C2/ Move a motorized trolley empty of object towards the unloading area of the first fork, following a first trajectory, aligned with the fingers of the first fork in the low waiting position, outside the unloading area,
- /D2/ Continue the movement of the motorized trolley along the first trajectory, in the unloading area,
- /E2/ Lift the first fork to said first high position,
- /F2/ Move the motorized trolley from the unloading area to the loading area, following a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G2/ Lower the second fork supporting an object from the second upper position to the second lower position until the object is loaded onto the motorized trolley,
- /H2/ Move the motorized trolley loaded with the object, following a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

According to another aspect, the present disclosure further relates to a combination of the method according to the first aspect, and/or the second aspect and/or the third aspect.

For example, according to one embodiment, the unloading and loading method according to the first aspect may be followed by an unloading method according to the second aspect, wherein said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second fork system according to the method of the first aspect and according to the method of the second aspect being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the method of the first aspect for the first motorized trolley
- an implementation of said steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the method according to the method of the second aspect for the second motorized trolley and in which the first trolley and the second trolley circulate one behind the other following the same trajectory.

For example, according to one embodiment, the unloading and loading method according to the method of the first aspect may be followed by an unloading method according to the third aspect, in which method said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second fork system according to the first aspect and according to the third aspect being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the first aspect for the first motorized trolley
- an implementation of said steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the method according to the third aspect for the second motorized trolley,
and in which the first trolley and the second trolley travel one behind the other along the same trajectory.

The features set out in the following paragraphs may, optionally, be implemented, independently of each other or in combination with each other:

According to one embodiment, the position of the center of the motorized trolley in the unloading area and the position of the center of the motorized trolley in the loading area are spaced apart by a dimension greater than the dimension of the trolley in the second direction, and preferably by a dimension less than three times, preferably less than twice the dimension of the motorized trolley in the second direction.

According to one embodiment, the descent in /G/ according to the method of the first aspect, in /G1/ according to the method of the second aspect, or in /G2/ according to the method of the third aspect, of said second fork is initiated before the motorized trolley reaches the loading zone in /F/ according to the method of the first aspect, in /F1/ according to the method of the second aspect, in /F2/ according to the method of the third aspect.

According to one embodiment, the chassis of the motorized trolley maintains the same orientation during the trajectory comprising the first, second and third trajectories.

According to one embodiment, the rolling means comprise one or more rolling assemblies each comprising:
- a wheel having an axis of revolution perpendicular to the vertical direction, axis of revolution around which the wheel pivots to move the trolley, and connecting means for connecting the wheel to the chassis,
- means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel.
The method may provide for said bearing assembly, or each bearing assembly:
- /CF/ Turning the wheel around said vertical axis, while the motorized trolley is in the unloading area, to ensure the change of direction of movement of the motorized trolley between the first trajectory at /C/ and the second trajectory at /F/ according to the method according to the first aspect, between the first trajectory at /C1/ and the second trajectory at /F1/ according to the method according to the second aspect, or between the first trajectory at /C2/ and the second trajectory at /F2/ according to the method according to the third aspect, and
- /FH/ Turning the wheel around said vertical axis, while the motorized trolley is in the loading area, to ensure the change of direction of movement of the motorized trolley between the second trajectory in /F/ and the third trajectory in /H/ according to the method according to the first aspect, or between the second trajectory in /F1/ and the third trajectory in /H1/ according to the method according to the second aspect, or between the second trajectory in /F2/ and the third trajectory in /H2/ according to the method according to the third aspect.

In particular, the method may provide:
- Turning the wheel in /CF/ is performed while lifting the fork in /E/ according to the method according to the first aspect, or in /E1/ according to the method according to the second aspect, or in /E2/ according to the method according to the third aspect, and/or
- Turning the wheel in /FH/ is performed while lowering the fork in /G/ according to the method following the first aspect, or in /G1/ according to the method following the second aspect, or in /G2/ according to the method following the third aspect.

According to an embodiment of the method according to the method according to the first aspect, the second aspect, or even the third aspect:
provide in /B/ may include:
- the first system which comprises a first conveying unit comprising one or more conveying members forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit comprising one or more conveying members forming a second conveying surface at the height of the conveyor outlet.

According to one embodiment of the method according to the first aspect:
- /E/ is followed by the transfer of the first object supported by said first fork in the first high position to said entrance of said conveyor and,
- /G/ is preceded by the transfer of the second object from a conveyor outlet to the second fork in the second high position.

According to one embodiment of the method according to the first aspect /E/ is followed by:
- /E01/ Transfer said first object supported by said first fork in the first high position to the first conveyor unit,
- /E02/ Transfer the first object from said conveyor unit to said conveyor entrance,
and in which /G/ is preceded by:
- /G01/ Transfer the second object from said conveyor outlet to said second conveyor unit,
- /G02/ Transfer the second object from the second conveyor unit to said second fork in the second upper position.

According to an embodiment of the method according to the first aspect, the transfer of the first object supported by said fork in the high position to said entrance of said conveyor, in particular the transfer at /E01/ and/or at /E02/, is obtained by the pushing action of a first motorized pushing member, and in which the transfer of the second object coming from an exit of the conveyor to the second fork in the high position, in particular the transfer at /G01/ and/or at /G02/, is obtained by the pushing action of a second motorized pushing member.

According to one embodiment, the first trajectory and the third trajectory extend parallel, on the same side of the second trajectory, the portion of trajectory consisting of the first trajectory, the second trajectory, and the third trajectory forming a U-shaped trajectory.

According to one embodiment of the method according to the first aspect, second aspect, or third aspect, the fingers of the first fork are parallel to the fingers of the second fork.

The present disclosure also relates to an installation for unloading and loading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring a first object conveyed from said at least one motorized trolley to an inlet of a conveyor, then loading a second object conveyed onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor, said installation comprising:
- a plurality of motorized trolleys each comprising a chassis, rolling means on a rolling surface configured to ensure a change in direction of movement,
- a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork comprising fingers, said first motorized fork rising and falling from a first low position, to a first high position, the first fork being configured to unload a motorized trolley, on an unloading area of the rolling surface
- a second system configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork comprising fingers, said second motorized fork rising and falling from a second high position, to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface
and wherein said first system and the second system are arranged next to each other, said unloading area being juxtaposed with said loading area,
- a control unit comprising one or more microprocessors and at least one memory containing instructions for implementing steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the method of the first aspect, and/or instructions for implementing steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the method of the second aspect, and/or instructions for implementing steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the method according to the third aspect.

According to one embodiment, said installation may comprise:
- the first system which comprises a first conveying unit comprising one or more conveying members forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit comprising one or more conveying members forming a second conveying surface at the height of said conveyor outlet,
the first conveyor unit and the second conveyor unit being juxtaposed,
and wherein the memory contains instructions for controlling the first pushing member to ensure the transfer of the first object supported by said fork in the high position to said inlet of said conveyor and controlling the second pushing member to ensure the transfer of the second object coming from an outlet of the conveyor to the second fork in the high position to ensure the implementation of steps /E01/, /E02/, /G01, /G02/.

Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which:

Fig. 1

FIG. 1 is a perspective view of a system for unloading an object conveyed by a motorized trolley, after separation of the object by raising a fork, illustrating the fork in an intermediate position during lifting, a pushing member in a retracted, waiting position for unloading.

Fig. 2

FIG. 2 is a consecutive view of the FIG. 1 , after the fork has reached a first position at the height of the conveying surface of a conveying unit of the system, and in an intermediate position for which the pushing member exerts a push on said object to transfer it from the fork to the conveying surface of the conveying unit, and with a view to its transfer to an inlet of the conveyor.

Fig. 3

FIG. 3 is a schematic view of the transmission of the pushing mechanism, by chain, illustrating various positions of the pushing member, namely in a retracted unloading position at the level of the fork fingers, in a retracted loading position at the level of the second end of the conveying unit, opposite the first end in extension with the fork.

Fig. 4

FIG. 4 is a schematic top view of the loading device illustrating the function of side deflectors for centering the conveyed object in a direction transverse to the fork when said object is pushed from the conveying unit to said fork, in extension.

Fig. 5

FIG. 5 shows a system provided with a detection means (such as a camera) configured to detect the position of the object conveyed on the system in particular on the fork or on the conveying surface of the conveyor unit, or even configured to detect the size of the object.

Fig. 6

FIG. 6 is a variant of the FIG. 5 for which the vehicle is devoid of a removable device for supporting said object by the motorized trolley.

Fig. 7

FIG. 7 schematically illustrates a possibility of controlling the pushing member, with detection of the object conveyed on the fork, with notably, a control of said pushing member on a first displacement stroke at a first speed, before contact with the conveyed object, then a control of said pushing member on a second displacement stroke, after contact with the object, at a second speed higher than the first speed, in particular during unloading.

Fig. 8

FIG. 8 schematically illustrates a possibility of control during loading, with detection of the position and size of the object conveyed on the conveying surface of the unit, and control of the pushing member so as to ensure a transfer of the conveyed object to a target position on said fork, following the length of the fork, and in particular a target position centered following the length of said fork.

Fig. 9

FIG. 9 shows a motorized trolley comprising, at its upper surface, a telescopic arm of a transfer device, the arm illustrated in a retracted position configured to ensure the loading of said conveyed object onto the upper surface of the motorized trolley, the arm deployable to a deployed position (not illustrated) for which the telescopic arm is deployed cantilevered from the chassis of said at least one motorized trolley to ensure the transfer of the conveyed object into a storage rack, the motorized trolley being notable in that it comprises two grooves for the fingers of the fork, said grooves arranged on either side of the telescopic arm, parallel to the direction of deployment of the arm.

Fig. 10

FIG. 10 schematically shows a loading or unloading system comprising a frame for the conveyor unit and the fork system, with adjustable height along the legs.

Fig. 11

FIG. 11 schematically shows a top view of an assembly comprising:
- a first system for unloading a motorized trolley according to the present disclosure, configured to unload at least one first conveyed object for the purpose of transferring the conveyed object from at least one motorized trolley to a conveyor during unloading,
- a second system for loading a motorized trolley according to the present disclosure, configured to load a motorized trolley for the purpose of transferring a second conveyed object from the conveyor to the motorized trolley during loading, the first system and the second system being arranged juxtaposed, parallel to each other, the fork of the first system being parallel to the fork of the second system.

Fig. 12

FIG. 12 is a schematic view of the whole FIG. 11 .

Fig. 13

FIG. 13 is a view of a rolling assembly comprising one or more rolling assemblies each comprising:
- a wheel having an axis of revolution perpendicular to the vertical direction, axis of revolution around which the wheel pivots to move the trolley, and connecting means for connecting the wheel to the chassis,
- means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel.

Fig. 14

FIG. 14 is another view of the whole FIG. 13 .

Fig. 15

FIG. 15 is a view of a view of a first step of an unloading and loading method during which a motorized trolley supporting a first object is moved towards said unloading area, following a first trajectory, aligned with the fingers of the first fork in the low waiting position, outside the unloading area.

Fig. 16

FIG. 16 is seen from a second stage, following the FIG. 15 , during which the fingers of the first fork are inserted, in a low position, between the first object and the motorized carriage, by continuing the movement of the motorized carriage along the first trajectory.

Fig. 17

FIG. 17 is seen from a third stage, following the FIG. 16 , during which the first fork is raised to said high position in order to unload the first object from the motorized trolley.

Fig. 18

FIG. 18 is seen from a fourth stage, following the FIG. 17 , during which the motorized trolley unloaded from the object is moved, from the unloading area to the loading area, following a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction.

Fig. 19

FIG. 19 is seen from a fifth stage, following the FIG. 18 , the second fork supporting a second object is lowered from the high position until the second object is loaded onto the motorized trolley.

Fig. 20

FIG. 20 is seen from a sixth stage, following the FIG. 19 during which the motorized trolley loaded with the second object is moved along a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

Fig.21

FIG. 21 is a schematic view of a trajectory of the motorized trolleys, during the implementation of the unloading and/or loading method, the trajectory consisting of a first trajectory of the motorized trolley in a first direction, until the motorized trolley travels in the unloading zone, vertically above the first fork, then in particular after unloading the first object by moving the motorized trolley by a second trajectory in a second direction, transverse to the first direction, until the loading zone, vertically above the second fork, then in particular after loading an object, moving along a third trajectory in the first direction, in the opposite direction to a trolley traveling along the first trajectory, the trajectory consisting of the first trajectory, the second trajectory and the third trajectory forming a U-shaped trajectory, the motorized trolleys to be unloaded and/or loaded, traveling along the U-shaped trajectory, passing through the unloading zone and the loading zone, one after the other according to a flow of trolleys traveling in the same direction, for example a first motorized trolley in the loading zone, then that a second motorized trolley is simultaneously in the unloading area, the trajectory including a diversion allowing a motorized trolley to travel directly from the first trajectory to the third trajectory, without passing through the unloading area and the loading area.

The present disclosure relates to an unloading system 1, in particular a first unloading system 1A configured to unload at least one conveyed object 2, in particular a first object 21, by at least one motorized carriage, for the purpose of transferring the conveyed object from at least one motorized carriage 3 to a conveyor Co during unloading, said system 1, in particular the first system 1A, comprising a lifting fork system which comprises at least one fork 5, in particular a first fork 51, comprising fingers 50, said lifting fork system comprising an actuator configured to move said at least one fork 5 between a high position PH in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least one low position PB in which said fork is at a height distinct from the high, lower position, to allow a transfer between said at least one carriage and said at least one fork which is inserted under the supported conveyed object 2 by said at least one motorized carriage 3 during the movement of said carriage in the direction of said fingers 50.

The unloading system 1, in particular the first unloading system 1A, may comprise a mechanism for pushing said conveyed object which comprises a motorized pushing member 6, in particular a first pushing member 61, said mechanism configured to ensure, during unloading, a pushing of the conveyed object 2 (in particular of the first object 21) by said pushing member 6, from a position of said conveyed object 2 on said at least one fork 5 then in the high position towards said conveyor, in particular up to an entrance of the conveyor Co.

Generally, the unloading system allows the implementation of an unloading process comprising:
- Move a motorized trolley supporting an object along a trajectory of the motorized trolley aligned with the fingers 50 of said at least one fork 5 then in the low position PB, waiting, until the fingers are inserted under the conveyed object supported by the motorized trolley 3,
- Operate the fork in elevation to separate the conveyed object 2 from the upper surface of the motorized trolley 3 and to move said at least one fork to the high position PH for which said at least one fork is at the height of an inlet of the conveyor, directly in extension of an inlet of the conveyor, or even indirectly by means of a conveyor unit belonging to the unloading system, and possibly,
- Actuate said pushing member 6 to ensure a transfer of the conveyed object 2 (in particular the first object 21 resting on said at least one fork 5, towards said entrance of the conveyor Co, in particular up to said entrance of the conveyor, or even up to said intermediate conveying unit.

The present disclosure further relates to a loading system 1, in particular a second loading system 1B configured to load at least one conveyed object 2, in particular a second object 22, for the purpose of transferring said conveyed object 2 from the conveyor Co to the motorized trolley during loading, said system 1 comprising a lifting fork system which comprises at least one fork 5 comprising fingers 50, in particular a second fork 52, said lifting fork system comprising an actuator configured to move said at least one fork between a high position PH in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least one low position in which said fork is at a height distinct from the high, lower position, to allow a transfer between said at least one motorized trolley 3 and said at least one fork 5 which is inserted under the conveyed object 2 supported by said at least one motorized trolley 3.

The loading system 1, in particular the second loading system 1B, may comprise a mechanism for pushing said conveyed object which comprises a motorized pushing member 6, in particular a second pushing member 62, said mechanism configured to ensure, during loading, a pushing of the conveyed object 2 by said pushing member 6 to said at least one fork at said high position PH, in a direction oriented from the conveyor towards said at least one fork 5.

Generally, the loading system allows the implementation of a loading process comprising:
- actuate said pushing member 6 to ensure a transfer of the conveyed object 2 coming from an outlet of the conveyor, in one direction from said outlet of the conveyor Co to said at least one fork in said high position,
- actuate said at least one fork 5 from the high position PH to the low position PB and place said conveyed object 2 resting on said at least one fork 5 on the upper surface of a motorized trolley by lowering said at least one fork 5 to the low position.

Generally, the unloading system or the loading system may be non-reversible, i.e. operating only when unloading or loading.

Generally, the transfer of the conveyed object 2 resting on said at least one fork 5, during unloading, beyond said at least one fork, or the reverse transfer of the conveyed object to a position on said fork, during loading, can be carried out by the action of the pushing member 6, which is typically movable in the direction of the fingers 50 of said at least one fork 5, in a pushing space above said at least one fork 5. The fingers of the fork can be typically passive, namely devoid of motorized conveying members, such as rollers or belts to ensure such movement of the conveyed object on the fork.

The passive fingers may advantageously be of limited height, for example less than 30 mm, preferably 15 mm, and by comparison less than an alternative where the fingers of greater height would comprise conveying members. Limiting the height of the fingers may make it easier to insert said at least one fork between the conveyed object resting on the upper surface of the motorized carriage, or even make it possible to limit the height of grooves Ra, Ra2, receiving the fingers of said at least one fork during insertion.

Generally, the fingers of the fork extend parallel to each other in a direction which may be horizontal, or close to the horizontal by more or less 15°. Generally; said at least one fork 5, first fork 51 and second fork 52 in particular, may be movable in a vertical translation between said high position PH and said low position PB, and in particular in order to limit the horizontal footprint of said unloading or loading system.

According to a possibility illustrated for information purposes in the figures (in particular No. 1, 2, 5, 6, 12 and 15 to 20), said at least one motorized carriage 3 is configured to circulate on a movement surface, such as the ground, at a level lower than the conveyor, said upper surface of said motorized carriage at a level lower than the conveyor.

Notably, the motorized trolley located in an unloading area under said fork can be moved, after separation of the conveyed object by raising the fork from the low position PB, and without waiting for said fork to reach said high position PH.

Generally, the unloading or loading system may comprise a conveying unit 4, configured to ensure the transfer of said conveyed object 2 onto a conveying surface SC formed by one or more conveying members 40, preferably motorized, said conveying surface SC in extension of said at least one fork at said high position, arranged at the height of said conveyor, which is distinct from the height of the upper surface of said at least one motorized carriage. The conveying members may be rollers, typically mounted in parallel, motorized and actuated in rotation to ensure the conveying of the object on the conveying surface SC, in particular in a conveying direction oriented from said at least one fork 5 at the high position PH towards the entrance of the conveyor during unloading, or in a conveying direction oriented from the exit of the conveyor towards said at least one fork 5 at said high position, during loading.

Generally, the first unloading system 1A may comprise a first conveying unit 41, and the second loading system 1B may comprise a second conveying unit 42/

According to one embodiment, in particular illustrated, said conveying member 40 or said conveying members 40 of the conveying unit 4 (in particular respectively of said first conveying unit 41 and of said second conveying unit 42) are configured to ensure a transfer of said conveyed object 2 (in particular respectively of the first object 21 and of the second object 22) in a conveying direction dc, the fingers 50 of said at least one fork 5 (in particular respectively of the first fork 51 and of the second fork 52) are oriented parallel to the conveying direction dc.

Generally, the absence or presence of the object can be detected by one or more sensors, and in particular all or part of the following sensors:
- a sensor associated with the motorized trolley, typically on board the motorized trolley, configured to detect the presence or absence of the object conveyed on said motorized trolley,
- a sensor associated with said at least one fork, arranged to detect the presence or absence of the object conveyed on said at least one fork (with a first sensor for the first fork 51 and a second sensor for the second fork 52),
- where appropriate a sensor associated with the conveying unit, arranged to detect the presence or absence of the conveyed object on the conveying surface SC of the conveying unit 4, and in particular a sensor for the first conveying unit 41, and another sensor for the second conveying unit 42.

Generally, the loading or unloading system may comprise a control unit, comprising a processor and a memory comprising instructions for implementing the unloading method and/or for implementing the loading method, and in particular for controlling the fork (first and second fork), or the first and second pushing system.

When the system includes a conveyor unit 4, the memory instructions can allow:
- during unloading, to actuate the conveying member(s) 40 in the conveying direction from said at least one fork (in high position) towards the entrance of the conveyor Co, during unloading, simultaneously with the thrust of the pushing member 6,
- during loading, to actuate the conveying member(s) 40 in the conveying direction from the conveyor towards said at least one fork (in the high position), in particular simultaneously with the pushing of the pushing member.

Generally, the pushing member 6 can be movable between at least one retracted position PEsc in which the pushing member is outside a space for movement of the object conveyed from said at least one fork (first fork or second fork) in the high position to said conveyor and a pushing position in which the pushing member 6 is in the space for movement of the object conveyed on said at least one fork in the high position to said conveyor.

Generally, the thrust member 6 may comprise a thrust crosspiece 60 extending transversely to the conveying direction dc, over the entire width of said at least one fork 5 (in particular the first fork 51 or the second fork 52), namely transversely to the fingers 50.

The thrust crossbar 60 is configured to sweep the length of said at least one fork 5, in whole or in part, during a motorized displacement by the thrust of said thrust crossbar 60 in the conveying direction dc.

In particular, during unloading, the thrust crosspiece 60 of the first thrust member 61 can sweep the entire length of said at least one fork 5, above said at least one fork 5 at said high position PH, by a movement in a direction S1 oriented from the distal ends of the fingers 50, to the base of the fingers of the fork, in particular of the first fork 51, the thrust crosspiece 60 being able to still continue the pushing action on the conveyed object 2, in particular on the first conveyed object 21, on all or part of the conveying surface SC of the conveying unit 4, in particular of the first conveying unit 41, by moving above the conveying surface SC and the conveying member(s) 40 along the conveying direction dc.

During loading, the pushing crossbar 60 is actuated in a direction S2, oriented from the outlet of the conveyor towards said at least one fork 5 in the high position PH, the pushing crossbar being able to exert the pushing action on the conveyed object, in particular on the second conveyed object 22, on all or part of the conveying surface SC of the conveying unit, and at least on a first length section of said fork from the base of said fork 5, in particular on a first length section of the second fork 52.

Thus and generally, said pushing mechanism can be configured to ensure a movement of said pushing member 6 along the conveying direction dc, over a part or preferably over the entire length of said conveying unit 4 and of the fork, to ensure a pushing of said conveyed object 2 on the conveying surface of said conveying unit and of the fork, in a direction S1, during unloading, directed from said at least one fork 5 then in the high position PH, towards a second end E2 of the conveying unit, opposite a first conveying end E1 in extension of said at least one fork 5 in said first position, or in a direction S2, during loading, directed from the second end E2 of the conveying unit, opposite the first conveying end E1 in extension of said at least one fork towards said at least one fork 5 in the high position PH.

In particular, said at least one retracted position PEsc may comprise a retracted unloading position PEscd, arranged on the side of the fork, in particular of the first fork 51, at the distal ends of the fingers 50, and a retracted loading position PEscc at a second end E2 of the conveying unit opposite the first end of the conveying unit 4, in extension of said at least one fork 5, in particular second fork 52 at the high position PH.

Generally, the pushing mechanism may comprise an actuator with a transmission comprising at least one chain CH driving said pushing member 6 (namely the first pushing member 61 or second pushing member 62) in the conveying direction dc, in the movement zone of the conveyed object 2, above said at least one fork then in the first position P1.

Said at least one chain CH may comprise a first chain CH1 and a second chain CH2, arranged in parallel, on either side of said at least one fork 5, in said first position P1 of said at least one fork 5. Said thrust crosspiece 60 is secured by a first end to the first chain CH1 and by a second end to the second chain CH2.

The chain, first chain CH1 or second chain CH2, forms a guided loop between two toothed wheels arranged respectively at two ends of a support frame CHA, said thrust crosspiece 60 being in the thrust position when secured to a section of chain length CH1, CH2, then arranged greater than the two toothed wheels.

The retracted unloading position PEscd can be obtained when the thrust crosspiece 60 (in particular of the first thrust member 61) is moved by the chain CH beyond the distal ends of the fingers of the fork 5, and in particular tilted below the conveying surface SC by the toothed wheel on this side, and as visible on the right at FIG. 3 . In this retracted unloading position, said thrust crosspiece leaves the passage free to ensure movement of said at least one fork 5 from the low position PB to the high position, without risk of interference between, on the one hand, said conveyed object resting on said at least one fork 5, and, on the other hand, the thrust crosspiece during movement of said fork. The retracted unloading position PEscd is preferably advantageously close relative to the distal end of the fingers to ensure rapid actuation of the thrust during unloading.

The retracted loading position PEscc can be obtained when the thrust crosspiece (in particular of the second thrust member 62) is moved by said at least one chain CH, on the side of the second end E2 of the conveying unit E2, and in particular tilted below the conveying surface SC by the toothed wheel on this side. In this retracted position PEscc, the thrust crosspiece is tilted below the conveying surface SC, between the outlet of the conveyor Co and the second end E2 of the conveying unit in extension. The retracted loading position PEscc thus allows the transfer of the conveyed object from the outlet of the conveyor to said conveying unit, during loading, the retracted loading position being advantageously close to the second end E2, to ensure rapid actuation of the thrust during loading.

Thus, in general, said at least one chain CH can be configured to move the pushing member 6 from said at least one retracted position PEsc to the pushing position, said retracted position PEsc comprising a retracted loading position PEscc arranged at a second end E2 of the conveying unit 4, opposite a first end E1 of the conveying unit 4 in extension of said at least one fork 5 in the high position, or even a retracted unloading position PEscd, arranged at the distal ends of the fingers of said at least one fork 5 in said high position.

Generally, said at least one fork 5 can be guided vertically along vertical guides GD secured to two of the feet 8 facing each other.

Generally, said conveying unit 4 comprising the conveying member(s) 40 and the pushing mechanism comprising said pushing member 6 are mounted on a support frame CHA, supported by feet 8, relative to a support surface, such as the ground. The support frame CHA may comprise two side members extending parallel to each other in the conveying direction dc, on either side of the conveying unit 4, and along a first section of length SL1 extending along the conveying unit 4, but also, and along a second section of length SL2, on either side of said at least one fork 5 in the high position PH.

The feet 8 are arranged so as to position the second section of length SL2 of the support frame, in lateral cantilever of the feet, and in particular in cantilever of the two facing feet ensuring the guidance of said at least one fork 5. Such cantilevered positioning of the support frame CHA on the second section of length SL2 leaves a completely free clearance under the second section SL2 of the support frame allowing the movement of the motorized trolley 3, without interference with the feet. On the contrary, the first section of length SL1 of the support frame can be stabilized between four feet 8.

In particular, such cantilevered positioning allows, in particular, not only the movement on the ground of the motorized trolley in a first direction of movement, aligned with the fingers of said at least one fork 5, for example to allow the insertion of said at least one fork 5 during unloading, but also advantageously allows, once the trolley has been unloaded by said at least one fork, an exit of the motorized trolley from the zone of action of said at least one fork, by a movement, in a second direction on the ground, perpendicular to the first direction.

Such an arrangement allows in particular the unloading system to unload the motorized trucks, with an entry of the trucks into the action zone of said at least one fork under the support frame, and an exit of the trucks from the action zone, separate from the entry. This allows the motorized trucks to circulate one after the other, without interference between the trucks arriving and leaving the action zone of said fork and with the aim of increasing unloading capacities.

When the unloading or loading system is a first unloading system 1A attached to a second loading system 1B, as described below for the unloading and loading assembly, such an overhang can allow the motorized trolley leaving the action zone of the fork of the first unloading system 1A, unloaded with a first object, to move in the second direction by entering the action zone of the fork of the second loading system. Once loaded with a second object by said at least one fork 5 of the second system, the motorized trolley can move in the direction of the fingers of the fork of the second system to evacuate, and without interference with the following motorized trolleys in circulation, not yet unloaded, circulating in the opposite direction in the first direction towards the action zone of the fork of the first unloading system.

Generally, the loading or unloading system may comprise a mechanism 80 for adjusting the height of the support frame to the height of the feet 8, configured to ensure adjustment of the height of the conveying surface SC, and in particular to allow height alignment with a conveyor Co. The adjustment mechanism may comprise a plurality of adjustment openings, allowing various height mounting positions of the support frame.

The loading or unloading system may comprise a means Dt for detecting the position of the conveyed object 2 on said at least one fork 5 at said high position. The detection means Dt may be a camera whose field of vision targets at least said fork at said high position, or even also the conveying surface SC of the conveying unit 4, and as seen in particular in Figures 5 and 6.

Said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring a movement of said pushing member 6, at a first speed V1 on a first movement stroke CD1 of said pushing member, upstream of the position of the conveyed object 2, before contact between the pushing member 6 and said conveyed object 2, and at a second speed V2, distinct from the first speed V1 after contact with the conveyed object 6, on a second movement stroke CD2, during the thrust exerted by the pushing member 6 on said conveyed object, said second speed V2 for example greater than said first speed V1. The second movement stroke CD2 can extend to the entrance of the conveyor or the conveying unit. Such control of the pushing member makes it possible to quickly move the conveyed object out of said at least one fork 5, towards the conveyor or even to the conveyor, while limiting the impact of the pushing member on the conveyed object, then static on the fork during unloading.

According to one embodiment, the loading system may comprise a means Dt for detecting the size of the object conveyed on said conveying surface, at least along the direction of said at least one fork 5. The detection means Dt may be the same means described previously, and in particular said camera. The system may comprise a control unit comprising a microprocessor and a memory containing instructions for ensuring, during loading, a pushing of said object conveyed by said pushing member 6, from the conveying surface SC and up to a target position PCE of said conveyed object 2 on said at least one fork 5 at said high position. In particular, said target position PCE may be a position centered along the direction of the fingers of said at least one fork 5. This results in the centering of the conveyed object 2 along the length of the fingers of the fork.

As illustrated on the FIG. 4 , said conveying unit 4 may also comprise one or more lateral deflectors DF, configured to ensure centering of the conveyed object 2 on said at least one fork 5 at said high position, during loading, and in a direction transverse to the direction of the fingers 50 of the fork 5. The deflector(s) may comprise an inclined guide surface and configured to ensure movement of the conveyed object 2 towards the median axis of the conveying surface SC when the object is moved towards said at least one fork 5, and in particular when said conveyed object is forced to move by the pushing member 6 to said at least one fork 5. This results in centering of the conveyed object along the width of said at least one fork 5, namely in the direction transverse to the fingers 50.

Generally speaking, centering the conveyed object on the fork, in length and width, then allows, when loading and moving the fork from the high position PH to the low position, to deposit the conveyed object 2 on the upper surface of the motorized trolley 3, in a target position on the robotic trolley. Depositing the conveyed object 2 in a target position on the motorized trolley may be of interest, in particular when the motorized trolley comprises a transfer device comprising a telescopic arm 7, in order to ensure a fit between lugs EG of the telescopic arm, the lugs projecting upwards, of said arm, and cavities on the lower face of the conveyed object.

Generally, said loading or unloading system may comprise a removable device DA, such as a tray, arranged to rest on the upper surface of the motorized trolley 3.

Said removable device has a support surface for a conveyed object 2, and grooves Ra in depth of the support surface. The grooves Ra are configured for the passage of the fingers 50 of said at least one fork 5 in said at least one low position PB, in order to be inserted under the conveyed object 2 during the movement of said at least one motorized carriage 3 in the direction of the fingers 50, and to allow separation of the conveyed object and the removable device, during the elevation of said at least one fork 5.

According to one embodiment, said at least second position may comprise:
- an upper low position, for which the fingers of said at least one fork are inserted into the grooves Ra of the removable device DA,
- a lower low position, of lower level than the upper low position, configured for the passage of the fingers of said at least one fork 5 in second grooves Ra2 on the upper surface of the motorized carriage 3 to allow the separation of said removable device DA alone or in association with a product supported by the removable device DA, so that the conveyed object 2 comprises said removable device DA, alone or associated with said conveyed object.

Generally speaking, and in particular when the fingers of said at least one fork are passive, namely without conveying members, the height of the fingers can be advantageously limited, which in turn makes it possible to limit the height of the grooves (Ra or Ra2), which are for example less than 35 mm in height.

The removable device DA may be a tray comprising the grooves Ra, extending parallel to each other and following a spatial configuration compatible with the fingers of said at least one fork. The typically rectangular tray may comprise edges projecting from the support surface of the conveyed object, on the four sides of the tray. The deep grooves of the upper surface of the tray extend through two of the edges to allow the passage of the fingers 50 of the fork 5.

Generally speaking (and as illustrated in the FIG. 1 ) the spatial configuration of the grooves Ra of the removable device, and the spatial configuration of the second grooves Ra2 on the upper surface of the motorized carriage 3 can allow the same fork to be used in the first low position for insertion into the grooves Ra and in the second low position for insertion into the second grooves.

According to another embodiment (not illustrated), said at least one fork may comprise a first fork with a spatial configuration of the fingers allowing insertion into the grooves Ra of the removable device, and a second fork with a spatial configuration of the fingers allowing insertion into the second grooves Ra. On the other hand, neither of the two forks (first or second) is simultaneously compatible with said grooves Ra and the second grooves Ra2.

In such an embodiment, the first fork is used to unload the conveyed object from the removable device DA during unloading operations. To separate the removable device DA from the motorized trolley, the first fork is removed and replaced by the second fork, distinct from the first fork.

According to one embodiment (not illustrated), the removable device DA may be devoid of grooves Ra, said at least one fork 5 allowing the separation of the removable device DA, alone or in association with the conveyed object, by insertion of the fingers 50 of the fork into grooves on the surface of the motorized carriage.

According to one embodiment, said motorized trolley 3 comprises means for rolling on the movement surface which is a rolling surface SR, such as a floor.

The rolling means may comprise a mechanism allowing a change in direction of movement on the rolling surface. For example, the rolling means may comprise drive wheels intended to roll on the rolling surface, capable of pivoting at least 90°, said drive wheels being mounted on pivoting and driving devices fixed to the chassis of said trolley, each of said pivoting and driving devices comprising a motor for actuating means for pivoting a drive wheel about a vertical axis, intended to allow a drive wheel to pivot about itself. It may in particular be a motorized trolley according to document WO2023001449 (A1) comprising a single motor for driving rotation of said drive wheels intended to actuate means for driving rotation of said drive wheels.

Generally speaking, the pivoting and drive devices allow a change of direction of the motorized trolley, without changing the orientation of the motorized trolley chassis during the change of direction.

The rolling means for the horizontal movement of the carriage 32 comprise several rolling assemblies 32. The carriage 3 here comprises four rolling assemblies 32, each rolling assembly 32 being arranged at a lower corner of the chassis 31.

Each bearing assembly 32 may comprise a wheel 33 having an axis of revolution R perpendicular to the vertical direction Z.

Each bearing assembly 32 also comprises connecting means for connecting the wheel 33 to the chassis 31. The connecting means may comprise a yoke on which the wheel 33 is pivotally mounted around its axis of revolution R. The yoke comprises two flanges 34 and a shaft 35. The flanges 34 are arranged on either side of the wheel 33 in the direction of the axis of revolution R of the wheel 33. The shaft 35 extends along the axis of revolution R of the wheel 33 between the flanges 34. The shaft 35 is fixed to the flanges 34. In this case, the shaft 35 passes through a hole in each of the flanges 34 and is secured to the flanges 34 by a nut which cooperates with a threaded portion of the shaft 35. The wheel 33 is thus pivotally mounted on the shaft 35 around its axis of revolution R.

The rolling means are further configured to operate in an open field on the ground which is devoid of guide rails, in particular in the two perpendicular directions.

Each bearing assembly 32 comprises drive means for rotating the wheel 33 around its axis of revolution R relative to the chassis of the motorized carriage 3. The drive means comprise a first pinion 37 and a second pinion 38 which are bevel gears arranged relative to each other so as to form an angle transmission. The first pinion 37 is coaxial with the vertical axis V and the second pinion 38 is coaxial with the axis of revolution R of the wheel 33. The wheel 33 and the second pinion 38 are arranged on either side of the vertical axis V. The carriage 3 here comprises an actuator for actuating the drive means of each bearing assembly 32.

Each bearing assembly 32 comprises means for changing the direction of movement. These means for changing the direction of movement comprise pivoting means for pivoting the wheel 33 and connecting means around a vertical axis V relative to the chassis 31. The vertical axis V intersects the axis of revolution R of the wheel 33. The pivoting means of the wheel 33 comprise a toothed wheel RO pivotally mounted around the vertical pivoting axis V of the wheel 33, and a worm screw VS meshing with the toothed wheel RO.

Each bearing assembly 32 comprises an actuator for actuating the pivoting means by driving the worm screw VS in rotation about its extension axis. The actuator may comprise a motor fixed to the frame 31 of the carriage 3 and comprising an output shaft connected to the worm screw VS. Alternatively, a single actuator may be provided for actuating the pivoting means of each bearing assembly 32.

Carrying out a change in the direction of movement of the trolley 3 by 90° between a first horizontal direction and a second horizontal direction, or vice versa, by turning only the wheel 33 and the connecting means of the wheel 33 is advantageously faster than turning the entire chassis of the motorized trolley. In particular, a gain of 2 seconds has been observed for a change in the direction of movement of the trolley 3 by 90°. The unloading and loading rate is therefore increased.

Furthermore, the wheel 33 and the connecting means of each bearing assembly 32 are pivoted simultaneously around the corresponding vertical axis V so as to pivot the axis of revolution R of the wheel 33 of each bearing assembly 32 around the vertical axis V from the second horizontal direction to the first horizontal direction.

Finally, the wheel 33 is pivoted around the vertical axis V without being positively driven in rotation around the axis of revolution R by the actuator. The orientation of the carriage 3 remains fixed when the direction of movement of the carriage changes. Also, it is not necessary to act on the wheel 33 via the drive means to compensate for a rotation of the wheel 33 around its axis of revolution R when it pivots around the vertical axis V. This makes it possible to reduce the energy consumption of the carriage.

This can be obtained by a relative difference between a ratio between a radius r of the wheel 33 and a distance d in the direction of the axis of revolution R separating a median plane M of the wheel 33 and the vertical axis V and a reduction ratio between the second pinion 38 and the first pinion 37 less than or equal to 2%. The reduction ratio between the second pinion 38 and the first pinion 37 corresponds to the ratio between the number of teeth of the second pinion 38 and the number of teeth of the first pinion 37. The median plane M of the wheel 33 is a plane perpendicular to the axis of revolution R of the wheel 33 and which is equidistant, in the direction of the axis of revolution R of the wheel 33, from a first face and a second face of the wheel 33 opposite each other in the direction of the axis of revolution R of the wheel 33.

Generally, the motorized trolley 3 may be a trolley intended to travel only on the travel surface.

The motorized trolley can also be a motorized trolley moving not only in two directions of the movement surface, substantially horizontal, but also vertically.

For this purpose, the motorized trolley 3 may comprise, in addition to the rolling means, climbing means GP, such as motorized pinions configured to mesh with teeth of climbing elements, such as a roller chain or a rack, to ensure the vertical movement of said trolley according to the height of a storage rack, and as taught per se in document WO2019072432 (A1).

The motorized trolley may further comprise a transfer device comprising said telescopic arm 7 movable between a retracted position configured to ensure the loading of said conveyed object 2 on the upper surface of the motorized trolley 3, to a deployed position for which the telescopic arm 7 is deployed in cantilever of the chassis of said at least one motorized trolley to ensure the transfer of the conveyed object 2 into a storage rack. The distal segment of the telescopic arm may comprise said protruding lug(s) EG, configured to be inserted into one or more cavities (or imprint) of the conveyed object or of said removable device DA such as the tray, and as taught per se in document WO2019072432 (A1). The insertion of the lugs of the telescopic arm into the cavities of the object to be transferred guarantees correct positioning and coupling for the success of the transfer operations in a storage location of the rack.

Notably, and in the case of a trolley with a telescopic arm provided with projecting lugs, particular attention may be paid to ensuring the coupling of the cavities with the lugs during the implementation of the loading method, in particular during the depositing of said conveyed object 2 resting on said fork 5 on the upper surface of a motorized trolley 3 by lowering said at least one fork 5 to the low position PB, during the implementation of the loading method.

For this purpose, the motorized trolley, in particular the telescopic arm, 7 may include a sensor (in particular optical or laser), oriented upwards, configured to detect the position of the cavities of the conveyed object (or of the removable device DA).

In the event of misalignment between the lugs and the cavities, depending on the direction of deployment of the telescopic arm, the loading method may comprise a motorized adjustment of the position of the telescopic arm in order to align the lugs and the cavities vertically, with a view to their nesting, upon removal when lowering said fork to the low position. In such an embodiment, the telescopic arm is actuated to ensure successful coupling during loading operations of the motorized truck.

According to one embodiment, the grooves on the motorized carriage 3, in particular the second grooves Ra2, comprise two grooves arranged on either side of said telescopic arm 7. Said at least one fork may comprise, in this case, or even more generally, only two fingers.

According to one embodiment, in particular illustrated in Figures 11 and 12, the present disclosure relates to an unloading and discharging assembly comprising:
- a first system 1A for unloading a motorized trolley according to the present disclosure, configured to unload at least one first conveyed object 21 with a view to transferring the conveyed object from at least one motorized trolley 3 to a conveyor Co during unloading,
- a second system 1B for loading a motorized trolley according to the present disclosure, configured to load a motorized trolley for the purpose of transferring a second conveyed object 22 from the conveyor Co to the motorized trolley during loading.

The first system 1A and the second system 1B may be juxtaposed, parallel to each other, the fork of the first system 1A being parallel to the fork of the second system 1B, or even where appropriate, the conveyor unit 4 of the first system 1A being parallel to the conveyor unit 4 of the second system 1B.

Such an assembly allows the unloading of the motorized trolley in the unloading zone under the fork of the first system 1A, then successively a movement of the motorized trolley unloaded from the first object, in the loading zone under the fork of the second system 1B to allow the loading of the motorized trolley with the second object.

Generally, the first system 1A and the second system 1B comprise a support frame for said first system 1A and a support frame for the second system 1B. According to one embodiment, the support frames of the systems 1A, 1AB may be distinct, and as illustrated in FIG. 12 .

According to an advantageous embodiment, the support frames of the first system 1A and second system 1B can be secured to each other by one or more shared structural elements, and in particular with the aim of compactness and/or cost reduction.

According to one embodiment (not shown), said assembly may comprise a system for transferring a conveyed object such as a robotic arm, configured to transfer an object from the fork of the first system 1A to the fork of the second system 1B.

The technical solutions presented may present all or part of the following advantages:
- ease of insertion of the fork, preferably with passive fingers, the fingers being able to be of small height,
- a small height dimension of the grooves (on the surface of the motorized trolley or removable device) necessary for the insertion of the fork fingers,
- a footprint of the loading/unloading system (or of the unloading and loading assembly), which is reduced compared to known devices,
- adaptability of the loading/unloading system or even of the whole system to pre-existing equipment, and in particular to the height of the Co conveyor, through ease of height adjustment of the system support frame.

Generally speaking, the loading/unloading system may also include one or more safety devices, in particular anti-pinch devices.

In particular, the actuating mechanism of said at least one fork 5 can be configured to avoid pinching of the motorized carriage, or even of the removable device in the event of misalignment between the grooves (Ra, Ra2) and the fingers of said fork during removal operations, by lowering to the low position, or more generally to avoid pinching, when an obstacle slides under said fork during its descent.

The drive mechanism may comprise a drive element configured to rise or fall, while said at least one fork, in particular guided vertically along the guides, is simply supported on said drive element, by the action of gravity.

In the case of an unwanted obstacle during the lowering of the fork, said drive element can be driven down in a motorized manner, without the fork transmitting the drive force of the motorization by compressing the obstacle: on the contrary, the fork moves away from the drive element as soon as the reaction of the obstacle on the fork is greater than the action of the weight of the fork and the object resting on the latter.

Significantly, the aforementioned solutions can have the notable advantage of a design allowing high unloading (or even loading) rates, by allowing the trolleys to travel in an outward direction to the loading/unloading system, then in a return direction, after unloading (of a first object) or even loading (of a second object), without interference between the trolleys traveling in the outward direction and those traveling in the return direction, and in particular as understood from the methods disclosed below.

The present disclosure thus notably relates, according to a first aspect, to a method of unloading and loading trolleys to ensure the unloading of at least one conveyed object 2 by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley 3 to an inlet of a conveyor Co then loading a second conveyed object, onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor.

Notably, said unloading and loading method, according to the first aspect, may comprise:
- /A/ Provide one or a plurality of motorized trolleys 3 each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system 1A configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork 51 comprising fingers 50, said first motorized fork rising and falling from a first low position PB to a first high position PH, the first fork being configured to unload a motorized trolley, on an unloading zone ZD of the rolling surface,
- /B2/ a second system 1B configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork 52 comprising fingers, said second motorized fork moving up and down from a second high position PH2 to a second low position PB2, the second fork being configured to load a motorized trolley, on a loading zone ZC of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area ZD being juxtaposed with said loading area ZC,
said method comprising:
- /C/ Move a motorized trolley 3 supporting a first object 21 towards said unloading zone, following a first trajectory T1, aligned with the fingers 50 of the first fork 51 in the low waiting position, outside the unloading zone (see for example FIG. 15 ),
- /D/ Insert the fingers of the first fork 51 into the first low position PB, between the first object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory T1, in the unloading zone ZD (see for example FIG. 16 ),
- /E/ Raise the first fork to said first high position PH in order to unload the first object from the motorized trolley (see for example FIG. 17 ),
- /F/ Move the motorized trolley unloaded from the first object, from the unloading zone ZD to the loading zone ZC, following a second trajectory T2, following a second direction, transverse to the first direction, in particular perpendicular to the first direction (see for example FIG. 18 ),
- /G/ Lower the second fork 52 supporting a second object 22 from the second high position PH2 to the second low position PB2, until the second object is loaded onto the motorized trolley (see for example FIG. 19 ),
- /H/ Move the motorized trolley loaded with the second object, following a third trajectory T3 aligned with the fingers of the second fork in order to exit the loading zone ZC (see for example FIG. 20 ).

According to a particular embodiment, step /H/ is followed by the lifting of said second fork 52 from the second low position to the second high position.

So the second fork is ready to receive another object to be loaded onto a trolley.

The motorized trolley(s) 3, the first unloading system 1A and the loading system 1B may be those of the aforementioned structures.

Generally, the fingers 50 of the first fork 51 are parallel to the fingers of the second fork 52.

Generally, the unloading zone ZD above which the first fork 51 operates, and the loading unloading zone ZC above which the second fork operates can be brought closer to each other; the position of the center of the motorized trolley 3 in the unloading zone ZD and the position of the center of the motorized trolley in the loading zone ZC can be spaced by a dimension greater than the dimension of the motorized trolley 3, in the second direction, and preferably by a dimension less than three times, preferably less than twice the dimension of the motorized trolley in the second direction.

The distance between the unloading and unloading centers allows in particular a first motorized trolley to be loaded with an object in the loading zone ZC, and while a second motorized trolley is being unloaded in the unloading zone ZD.

For example, the motorized carriage 3 may be longer than its width and thus comprise a length direction and a width direction. The length direction is preferably oriented in the first direction and the width direction in the second direction.

The width of the trolley can be taken as an indication of 450 mm (plus or minus 30%), and the distance between the two centers of the unloading and loading areas of 530 mm (plus or minus 30%).

According to one embodiment, the first trajectory T1 and the third trajectory T3 extend parallel, on the same side of the second trajectory T2, the portion of trajectory consisting of the first trajectory, second trajectory, and third trajectory forming a U-shaped trajectory.

Generally, the chassis of the motorized trolley 3 maintains the same orientation during the trajectory comprising the first trajectory T1, the second trajectory T2 and the third trajectory T3. For this purpose, the motorized trolley(s) 3 may comprise the rolling assemblies 32 previously described.

Generally speaking, the motorized trolleys can circulate one after the other, following the U-shaped trajectory, and in the same direction of circulation, in particular without interference from the motorized trolleys 3 circulating following the first trajectory T1, in the outward direction towards the unloading zone ZD, on the one hand, and from the motorized trolleys 3 circulating following the third trajectory T3, in the return direction, leaving the loading zone ZC.

According to one embodiment and in general, the motorized trolley(s) of the fleet of motorized trolleys can circulate along the same loading trajectory of the unloading and loading assembly, during implementation for example:
- a method of unloading (only by the first unloading system 1A, and without loading an object by the second loading system 1B) a motorized trolley by means of the aforementioned assembly having the first unloading system 1A including the first fork 51, or again,
- a loading method (only by the second loading system 1B, and without loading by the first loading method 1A).

Thus, the present disclosure may further comprise, according to a second aspect, a method of unloading trolleys to ensure the unloading of at least one conveyed object 2 by at least one motorized trolley, with a view to transferring a conveyed object from said at least one motorized trolley 3 to an inlet of a conveyor Co, said method comprising:
- /A/ Provide one or a plurality of motorized trolleys 3 each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system 1A configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork 51 comprising fingers, said first motorized fork rising and falling from a first low position PB to a first high position PH, the first fork being configured to unload a motorized trolley, on an unloading zone of the rolling surface,
- /B2/ a second system 1B configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork 52 comprising fingers 50, said second fork 52 motorized for raising and lowering from a second high position PH2 to a second low position PB2, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area,
said method comprising:
- /C1/ Move a motorized trolley 3 supporting an object 2 towards the unloading area, following a first trajectory, aligned with the fingers of the first fork in the low waiting position, outside the unloading area,
- /D1/ Insert the fingers of the first fork in a low position, between the object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory T1, in the unloading zone,
- /E1/ Lift the first fork to said first high position PH in order to unload the object from the motorized trolley,
- /F1/ Move the motorized trolley unloaded from the object, from the unloading area to the loading area, following a second trajectory T2, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G1/ Lower the second empty fork 52 from the second upper position to the second lower position on the motorized trolley unloaded from the object,
- /H1/ Move the motorized trolley unloaded from the object, following a third trajectory T3 aligned with the fingers of the second fork in order to exit the loading zone ZC.

According to a particular embodiment, step /H1/ is followed by the lifting of said second fork 52 from the second low position to the second high position.

Alternatively, in this unloading method, the step /G1/ consisting of lowering the second fork 52 when empty is not implemented, the second fork remaining in the second high position if the motorized trolley has no object to load.

The present disclosure also relates, according to a third aspect, to a method of loading trolleys to ensure the loading of at least one conveyed object 2, onto a motorized trolley, with a view to loading a conveyed object onto the motorized trolley, said object conveyed from an outlet of the conveyor, said method comprising:
- /A/ Provide one or a plurality of motorized trolleys 3 each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
- /B1/ a first system 1A configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork 51 comprising fingers, said first motorized fork rising and falling from a first low position to a first high position, the first fork being configured to unload a motorized trolley, on an unloading zone ZD of the rolling surface,
- /B2/ a second system 1B configured for loading motorized trolleys, comprising a second fork system 1B, comprising at least one second fork 52 comprising fingers, said second motorized fork rising and lowering from a second high position to a second low position, the second fork being configured to load a motorized trolley, on a loading zone ZC of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area ZD being juxtaposed with said loading area ZC,
said method comprising:
- /C2/ Move a motorized trolley 3 empty of object towards the unloading zone of the first fork 51, following a first trajectory T1, aligned with the fingers of the first fork in the low waiting position, outside the unloading zone,
- /D2/ Continue the movement of the motorized trolley along the first trajectory T1, in the unloading zone,
- /E2/ Lift the first fork to the said first high position PH,
- /F2/ Move the motorized trolley from the unloading area to the loading area, following a second trajectory T2, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G2/ Lower the second fork supporting an object from the second high position PH2 to the second low position PB2, until the object is loaded onto the motorized trolley,
- /H2/ Move the motorized trolley loaded with the object, following a third trajectory T3 aligned with the fingers of the second fork in order to exit the loading area.

According to a particular embodiment, step /H2/ is followed by the lifting of said second fork 52 from the second low position to the second high position.

Alternatively, in this loading method, step /E2/ is implemented, where appropriate, before step /C2/.

Generally speaking:
- the unloading and loading method according to the first aspect,
- the unloading process according to the second aspect, or again,
- the loading method according to the third aspect,
can be operated alternately, on the first unloading system 1A and the second loading system 1B, for the motorized trolleys 3 circulating one behind the other, in the same direction of travel, following the trajectory consisting of the first trajectory T1, second trajectory T2 and the third trajectory T3.

Thus, all motorized trolleys follow the same circulation on the portion of the trajectory (consisting of the first, second and third trajectory), whether all or part of the trolleys are:
- unloaded from a first object 21 and loaded from a second object 22,
- unloaded of an object, and leaving empty of object,
- arriving empty and leaving loaded with an object.

Thus and for example, the unloading and loading method according to the first aspect is followed by the unloading method according to the second aspect, method in which said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second fork system according to the first aspect and according to the second aspect being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the first aspect for the first motorized trolley
- an implementation of said steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the method according to the second aspect and in which the first carriage and the second carriage circulate one behind the other following the same trajectory.

For example, and when implementing such a method, the first motorized cart may be loaded with the second object in the loading area, while the second motorized cart is unloaded in the unloading area.

Still, and according to another example, the unloading and loading method according to the first aspect may be followed by an unloading method according to the third aspect, in which method said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second fork system according to the first aspect and the third aspect being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the method of the first aspect for the first motorized trolley
- an implementation of said steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the method according to the third aspect,
and in which the first trolley and the second trolley travel one behind the other along the same trajectory.

Generally, the first trajectory T1 and the third trajectory T3 extend parallel, on the same side of the second trajectory T2, the portion of trajectory consisting of the first trajectory, second trajectory, and third trajectory forming a U-shaped trajectory, and as visible by way of example in the FIG. 21 .

The position of the center of the motorized trolley 3 on the first trajectory T1 and the position of the center of the motorized trolley on the third trajectory T3 can be spaced apart by the same distance as the distance between the trolley centers in the unloading zone and the loading zone, and thus be spaced apart by a dimension greater than the dimension of the motorized trolley 3, in the second direction, and preferably by a dimension less than three times, preferably less than twice the dimension of the motorized trolley in the second direction.

A motorized trolley traveling on the first trajectory T1 can be controlled, following a fourth trajectory T4, in the second direction, before reaching the unloading zone, in order to insert itself at an intermediate portion of the third trajectory T3. This allows the motorized trolley to bypass the unloading zone and the loading zone, if the motorized trolley does not have to be unloaded or loaded.

According to one embodiment, the descent in /G/ of said second fork of the method according to the first aspect, can be initiated before the motorized trolley reaches the loading zone in /F/.

According to one embodiment, the descent in /G1/ of said second fork of the method according to the second aspect, can be initiated before the motorized trolley reaches the loading zone in /F1/.

According to one embodiment, the descent in /G2/ of said second fork of the method according to the third aspect, can be initiated before the motorized trolley reaches the loading zone in /F2/.

In order to maintain the same orientation of the carriage during changes of direction between the trajectories (first trajectory T1, second trajectory T2, and third trajectory T3), the rolling means may comprise one or more rolling assemblies 32 each comprising:
- the wheel 33 having an axis of revolution perpendicular to the vertical direction, axis of revolution R around which the wheel pivots to move the carriage, and connecting means for connecting the wheel to the chassis,
- the means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis V relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel.

In such a case, the method according to the first aspect, second aspect or third aspect may provide for said bearing assembly, or each bearing assembly:
- /CF/ Turning the wheel around said vertical axis, while the motorized trolley is in the unloading area, to ensure the change of direction of movement of the motorized trolley between the first trajectory in /C/ and the second trajectory in /F/ according to the method according to the first aspect, or the change of direction between the first trajectory in /C1/ and the second trajectory in /F1/ according to the method according to the second aspect, or the change of direction between the first trajectory in /C2/ and the second trajectory in /F2/ according to the method according to the third aspect, and
- /FH/ Turning the wheel around said vertical axis, while the motorized trolley is in the loading area, to ensure the change of direction of movement of the motorized trolley between the second trajectory in /F/ and the third trajectory in /H/ according to the method according to the first aspect, or the change of direction between the second trajectory in /F1/ and the third trajectory in /H1/ according to the method according to the second aspect, or the change of direction between the second trajectory in /F2/ and the third trajectory in /H2/ according to the third aspect.

According to an advantageous embodiment:
- Turning the wheel in /CF/ can be done while lifting the fork in /E/ according to the method of the first aspect and/or
- Turning the wheel in /FH/ can be done while lowering the fork in /G/ according to the method of the first aspect.

According to an advantageous embodiment:
- Turning the wheel in /CF/ can be done while lifting the fork in /E1/ according to the method of the second aspect and/or
- Turning the wheel in /FH/ can be done while lowering the fork in /G1/ according to the method of the second aspect.

According to an advantageous embodiment:
- Turning the wheel in /CF/ can be done while lifting the fork in /E2/ according to the method of the third aspect and/or
- Turning the wheel in /FH/ can be done while lowering the fork in /G2/ according to the method of the third aspect.

According to one embodiment provided in /B/ may comprise:
- the first system which comprises a first conveying unit 41 comprising one or more conveying members 40 forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit 42 comprising one or more conveying members 40 forming a second conveying surface at the height of the conveyor outlet.

According to one embodiment of the unloading and loading method of the first aspect:
- /E/ is followed by the transfer of the first object supported by said first fork in said first high position PH to said entrance of said conveyor and,
- /G/ is preceded by the transfer of the second object from an outlet of the conveyor to the second fork in the second high position PH2

In particular, after transferring the first object out of said first fork, step /E/ may comprise lowering the first fork from the first high position PH to the first low position PB.

Thus, the first fork 51 is ready to unload another object from another motorized trolley 3.

In particular and following the method according to the first aspect, /E/ may be followed by:
- /E01/ Transfer said first object supported by said first fork in the first high position to the first conveyor unit,
- /E02/ Transfer the first object from said conveyor unit to said conveyor entrance,
and in which /G/ is preceded by:
- /G01/ Transfer the second object from said conveyor outlet to said second conveyor unit,
- /G02/ Transfer the second object from the second conveyor unit to said second fork in said second high position.

According to one embodiment of the unloading method of the second aspect:
- /E1/ is followed by the transfer of the object supported by said first fork in said first high position PH to said entrance of said conveyor

According to one embodiment, after the transfer of the first object out of said first fork, step /E1/ may comprise the lowering of the first fork from the first high position PH to the first low position PB.

In particular and according to the unloading method according to the second aspect, /E1/ can be followed by:
- /E11/ Transfer said object supported by said first fork in the first high position to the first conveyor unit,
- /E12/ Transfer said object from said conveyor unit to said conveyor entrance.

According to one embodiment of the loading method of the third aspect:
- /G2/ is preceded by the transfer of the object from an outlet of the conveyor to the second fork in the second high position PH2.

In particular and following the method according to the third aspect, /G2/ is preceded by:
- /G21/ Transfer said object from said conveyor outlet to said second conveyor unit,
- /G22/ Transfer said object from the second conveyor unit to said second fork in said second high position.

According to an embodiment of the method according to the first aspect, the transfer of the first object 21 supported by said fork in the first high position PH to said inlet of said conveyor, in particular the transfer to /E01/ and/or to /E02/ according to the first aspect, is obtained by the pushing action of a first motorized pushing member 61, and/or the transfer of the second object coming from an outlet of the conveyor to the second fork in the high position, in particular the transfer to /G01/ and/or to /G02/, is obtained by the pushing action of the second motorized pushing member 62.

According to an embodiment of the unloading method according to the second aspect, the transfer of the object supported by said first fork in the first high position PH to said entrance of said conveyor, in particular the transfer in /E11/ and/or in /E12/ according to the second aspect, is obtained by the pushing action of the first motorized pushing member 61.

According to an embodiment of the loading method according to the third aspect, the transfer of the object coming from an outlet of the conveyor to the second fork in the second high position, in particular the transfer in /G21/ and/or in /G22/, is obtained by the pushing action of the second pushing member 62, motorized.

The present disclosure also relates to an installation for unloading and loading trolleys to ensure the unloading of at least one conveyed object 2 by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley 3 to an inlet of a conveyor Co, then loading a second conveyed object onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor, said installation comprising:
- a plurality of motorized trolleys 3 each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement,
- a first system 1A configured for unloading the motorized trolleys, comprising a first fork system, comprising at least one first fork 51 comprising fingers 50, said first fork 51 motorized for raising and lowering from a first low position PB, to a first high position PH, the first fork 51 being configured to unload a motorized trolley, on an unloading zone of the rolling surface
- a second system 1B configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork 52 comprising fingers, said second motorized fork rising and falling from a second high position PH2, to a second low position PB2, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface
and wherein said first system and the second system are arranged next to each other, said unloading zone ZD being juxtaposed with said loading zone ZC,
- a control unit comprising one or more microprocessors and at least one memory containing instructions for implementing steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to the first aspect, and/or instructions for implementing steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the method according to the second aspect, and/or instructions for implementing steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the method according to the third aspect.

According to one embodiment, said installation may comprise:
- the first system which comprises a first conveying unit 41 comprising one or more conveying members forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit 42 comprising one or more conveying members forming a second conveying surface at the height of said conveyor outlet,
the first conveyor unit 1A and the second conveyor unit 1B being juxtaposed,
and in which the memory contains instructions for the control:
- of the first pushing member 61 to ensure the transfer of the first object supported by said fork in the first high position PH to said entrance of said conveyor and/or
- of the second pushing member 62 to ensure the transfer of the second object coming from an outlet of the conveyor to the second fork in the second high position PH2 in particular to ensure the implementation of steps /E01/, /E02/, /G01, /G02/ according to the method of the first aspect, or to ensure the implementation of steps /E11/, /E12/, of the method of the second aspect, or to ensure the implementation of steps /G21, /G22/ according to the method of the third aspect.

Claims (18)

Method for unloading and loading trolleys to ensure the unloading of at least one conveyed object (2) by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley (3) to an inlet of a conveyor (Co), then loading a second conveyed object, onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor, said method comprising:
- /A/ Providing one or a plurality of motorized trolleys (3) each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
-- /B1/ a first system (1A) configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork (51) comprising fingers, said first motorized fork rising and falling from a first low position (PB) to a first high position (PH), the first fork being configured to unload a motorized trolley, on an unloading zone of the rolling surface,
-- /B2/ a second system (1B) configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork (52) comprising fingers, said second motorized fork rising and falling from a second high position (PH2) to a second low position (PB2), the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area, said method comprising:
- /C/ Move a motorized trolley (3) supporting a first object (21) towards said unloading zone, following a first trajectory (T1), aligned with the fingers of the first fork (51) in the first low position (PB), waiting, outside the unloading zone,
- /D/ Insert the fingers of the first fork (51) in said first low position (PB), between the first object (21) and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory (T1), in the unloading zone (ZD),
- /E/ Lift the first fork to said first high position (PH) in order to unload the first object (21) from the motorized trolley,
- /F/ Move the motorized trolley unloaded from the first object, from the unloading zone (ZD) to the loading zone (ZC), following a second trajectory (T2), following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G/ Lower the second fork (52) supporting a second object (22) from the second high position (PH2) to the second low position (PB2), until the second object (22) is loaded onto the motorized trolley (3),
- /H/ Move the motorized trolley loaded with the second object, following a third trajectory (T3) aligned with the fingers of the second fork in order to exit the loading zone (ZC). Unloading and loading method according to claim 1, wherein the position of the center of the motorized trolley (2) in the unloading zone (ZD) and the position of the center of the motorized trolley in the loading zone (ZC) are spaced by a dimension greater than the dimension of the trolley in the second direction, and preferably by a dimension less than three times, preferably less than twice the dimension of the motorized trolley in the second direction. Unloading and loading method according to one of claims 1 or 2 in which the descent in /G/ is initiated before the motorized trolley reaches the loading zone in /F/. Unloading and loading method according to one of claims 1 to 3, in which the chassis of the motorized trolley (3) maintains the same orientation during the trajectory comprising the first, second and third trajectory. A method of unloading and loading according to claim 4, wherein the rolling means comprise one or more rolling assemblies (32) each comprising:
- a wheel (33) having an axis of revolution perpendicular to the vertical direction, axis of revolution (R) around which the wheel pivots to move the carriage, and connecting means for connecting the wheel to the chassis,
- means for changing the direction of movement comprising pivoting means for pivoting the wheel and the connecting means around a vertical axis (V) relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel,
and wherein the method provides for said bearing assembly, or each bearing assembly:
- /CF/ Turning the wheel around said vertical axis, while the motorized trolley is in the unloading area, to ensure the change of direction of movement of the motorized trolley between the first trajectory in /C/ and the second trajectory in /F/, and
- /FH/ Turn the wheel around said vertical axis, while the motorized trolley is in the loading area, to ensure the change of direction of movement of the motorized trolley between the second trajectory in /F/ and the third trajectory in /H/. Unloading and loading method according to claim 5 wherein:
- Turning the wheel in /CF/ is done while lifting the fork in /E/, and/or
- Turning the wheel in /FH/ is done while lowering the fork in /G/. Unloading and loading method according to one of claims 1 to 6, wherein providing in /B/ comprises:
- the first system which comprises a first conveying unit (41) comprising one or more conveying members (40) forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit (42) comprising one or more conveying members (40) forming a second conveying surface at the height of the conveyor outlet. Unloading and loading method according to one of claims 1 to 7, in which:
- /E/ is followed by the transfer of the first object supported by said first fork in the first high position (PH) to said entrance of said conveyor and,
- /G/ is preceded by the transfer of the second object from a conveyor outlet to the second fork in the second high position (PH2). Unloading and loading method according to claim 7 and 8 in which /E/ is followed by:
- /E01/ Transfer said first object supported by said first fork in the first high position (PH) to the first conveyor unit,
- /E02/ Transfer the first object from said conveyor unit to said conveyor entrance,
and in which /G/ is preceded by:
- /G01/ Transfer the second object from said conveyor outlet to said second conveyor unit,
- /G02/ Transfer the second object from the second conveyor unit to said second fork in the second upper position (PH2). Unloading and loading method according to claim 8 or 9, wherein the transfer of the first object (21) supported by said fork in the high position to said inlet of said conveyor, in particular the transfer in /E01/ and/or in /E02/ according to claim 9, is obtained by the pushing action of a first pushing member (61), motorized, and in which the transfer of the second object coming from an outlet of the conveyor to the second fork in the high position, in particular the transfer in /G01/ and/or in /G02/ according to claim 9, is obtained by the pushing action of a second pushing member (62), motorized. Unloading and loading method according to one of claims 1 to 10 in which the first trajectory (T1) and the third trajectory (T3) extend parallel, on the same side of the second trajectory (T2), the portion of trajectory consisting of the first trajectory, second trajectory, and third trajectory forming a U-shaped trajectory. Unloading and loading method according to one of claims 1 to 11, wherein the fingers (50) of the first fork (51) are parallel to the fingers (50) of the second fork (52). Method for unloading trolleys to ensure the unloading of at least one conveyed object (2) by at least one motorized trolley, with a view to transferring a conveyed object from said at least one motorized trolley (3) to an entrance of a conveyor (Co), said method comprising:
- /A/ Providing one or a plurality of motorized trolleys (3) each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
-- /B1/ a first system (1A) configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork (51) comprising fingers, said first motorized fork rising and falling from a first low position (PB) to a first high position (PH), the first fork being configured to unload a motorized trolley, on an unloading zone of the rolling surface,
-- /B2/ a second system (1B) configured for loading motorized trolleys, comprising a second fork system (1B), comprising at least one second fork (52) comprising fingers, said second fork (52) motorized for raising and lowering from a second high position (PH2) to a second low position (PB2), the second fork being configured for loading a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area (ZD) being juxtaposed with said loading area (ZC),
said method comprising:
- /C1/ Move a motorized trolley (3) supporting an object (2) towards the unloading area, following a first trajectory (T1), aligned with the fingers of the first fork (51) in the low waiting position, outside the unloading area,
- /D1/ Insert the fingers of the first fork in the first low position (PB), between the object and the motorized trolley, by continuing the movement of the motorized trolley (3) along the first trajectory (T1), in the unloading zone (ZD),
- /E1/ Lift the first fork (51) to said first high position (PH) in order to unload the object from the motorized trolley,
- /F1/ Move the motorized trolley unloaded from the object, from the unloading zone (ZD) to the loading zone (ZC), following a second trajectory (T2), following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G1/ Lower the second empty fork from the second upper position (PH2) to the second lower position (PB2) on the motorized trolley unloaded from the object,
- /H1/ Move the motorized trolley unloaded from the object, following a third trajectory (T3) aligned with the fingers of the second fork in order to exit the loading zone (ZC). Method for loading trolleys to ensure the loading of at least one conveyed object (2), onto a motorized trolley, with a view to loading a conveyed object onto the motorized trolley, said object conveyed from an outlet of the conveyor, said method comprising:
- /A/ Providing one or a plurality of motorized trolleys (3) each comprising a chassis, rolling means on a rolling surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface at a level lower than the conveyor,
- /B/ Provide:
-- /B1/ a first system (1A) configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork (51) comprising fingers, said first motorized fork rising and falling from a first low position to a first high position, the first fork being configured to unload a motorized trolley, on an unloading area of the rolling surface,
-- /B2/ a second system (1B) configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork (52) comprising fingers, said second motorized fork rising and falling from a second high position to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface,
and wherein said first fork system and said second fork system are arranged, one next to the other, said unloading area being juxtaposed with said loading area,
said method comprising:
- /C2/ Move a motorized trolley (3) empty of object towards the unloading zone of the first fork (51), following a first trajectory, aligned with the fingers of the first fork in the low waiting position, outside the unloading zone,
- /D2/ Continue the movement of the motorized trolley along the first trajectory, in the unloading area,
- /E2/ Lift the first fork to said first high position (PH),
- /F2/ Move the motorized trolley from the unloading area to the loading area, following a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction,
- /G2/ Lower the second fork supporting an object from the second upper position (PH2) to the second lower position (PB2) until the object is loaded onto the motorized trolley,
- /H2/ Move the motorized trolley loaded with the object, following a third trajectory (T3) aligned with the fingers of the second fork in order to exit the loading area. method in which said motorized trolleys comprise a first trolley and a second trolley, the first fork system (1A) and the second fork system (1B) according to claim 1 and according to claim 13 being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to claim 1 for the first motorized carriage
- an implementation of said steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the method according to claim 13 for the second motorized carriage,
and in which the first trolley and the second trolley travel one behind the other following the same trajectory. An unloading and loading method according to claim 1, followed by a loading method according to claim 14, wherein said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second fork system according to claim 1 and claim 14 being common, the method comprising:
- an implementation of said steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to claim 1 for the first motorized carriage
- an implementation of said steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the method according to claim 14 for the second motorized carriage,
and in which the first trolley and the second trolley travel one behind the other along the same trajectory. Installation for unloading and loading trolleys for ensuring the unloading of at least one conveyed object (2) by at least one motorized trolley, with a view to transferring a first conveyed object from said at least one motorized trolley (3) to an inlet of a conveyor (Co), then loading a second conveyed object onto the motorized trolley unloaded from the first object, the second object conveyed from an outlet of the conveyor, said installation comprising:
- a plurality of motorized trolleys (3) each comprising a chassis, rolling means on a rolling surface configured to ensure a change in direction of movement,
- a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork comprising fingers, said first motorized fork rising and falling from a first low position, to a first high position, the first fork being configured to unload a motorized trolley, on an unloading area of the rolling surface
- a second system configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork comprising fingers, said second motorized fork rising and falling from a second high position, to a second low position, the second fork being configured to load a motorized trolley, on a loading area of the rolling surface
and wherein said first system and the second system are arranged next to each other, said unloading area being juxtaposed with said loading area,
- a control unit comprising one or more microprocessors and at least one memory containing instructions for implementing steps /C/, /D/, /E/, /F/, /G/, /H/ of the method according to claim 1, and/or instructions for implementing steps /C1/, /D1/, /E1/, /F1/, /G1/, /H1/ of the unloading method according to claim 13, and/or instructions for implementing steps /C2/, /D2/, /E2/, /F2/, /G2/, /H2/ of the loading method according to claim 14. Installation according to claim 17, comprising:
- the first system which comprises a first conveying unit (41) comprising one or more conveying members (40) forming a first conveying surface at the height of said conveyor inlet,
- the second system which comprises a second conveying unit (42) comprising one or more conveying members (40) forming a second conveying surface at the height of said conveyor outlet,
the first conveying unit (1A) and the second conveying unit (1B) being juxtaposed,
and wherein the memory contains instructions for controlling the first pushing member (61) to ensure the transfer of the first object supported by said fork in the high position to said inlet of said conveyor and controlling the second pushing member (62) to ensure the transfer of the second object coming from an outlet of the conveyor to the second fork in the high position to ensure the implementation of steps /E01/, /E02/, /G01, /G02/ according to the unloading and loading method of claim 10.