Pallet-swapping system and conveyor

Abstract

The invention relates to a system comprising an automated tower or vertical magazine storage tower (13), comprising a palletisation system (18) consisting of pallets, as well as a pallet-swapper (1) incorporated at the base of the tower (13), the tower (13) using palletisation to store and transport loads, the swapper (1) comprising: - a supporting structure (2); - at least two movable frames (6) each comprising a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on the lateral sides thereof; - a conveying system (3) located on the bearing structure (2) allowing the movement of the movable frames (6) and connected to a drive shaft (11); each movable frame (6) being capable, in use, of carrying a single pallet, loaded or not, the pallet being separate from the movable frame (6) that supports it.

Description

PALLET SWITCHING SYSTEM AND CONVEYOR Subject of the invention

[0001] The present invention relates mainly to the field of automated storage warehouses, consisting of towers with horizontal racks supporting standardized metal pallets on which the stored goods rest. The towers are generally arranged linearly in one or two rows, along which runs an elevator / lower, sometimes called a stacker crane, equipped with a chain mechanism for introducing or extracting pallets and moving them to any other location in the warehouse. Various auxiliary devices make it possible to convey goods from the workshop to the warehouse and vice versa.

[0002] In particular, the present invention relates to a new principle of pallet conveyor making it possible to optimize the operations of transferring goods between the storage warehouse and the workshop workstations. State of the art

[0003] In production workshops, the utilization rate of workstations and machine tools is often penalized by periods of work interruption resulting from handling operations related to the supply of raw materials and the removal of parts after shaping. The problem of optimizing supply and removal flows, with the aim of increasing the utilization rate and productivity of tools, is therefore a well-known issue. This is particularly the case for sheet metal forming operations, for cutting operations, for welding operations or even machining.

[0004] Increasingly, these machines are being robotized in order to reduce the role of machine operators and thus the number of manual operations to be carried out in a production cycle. In a workstation, part of the surface is reserved for pallets of materials or parts to be shaped. Another part of the surface is dedicated to pallets intended to receive the shaped parts. Whether these cells are served by operators or by more automated systems, their operating rate will depend on the availability of the operators responsible for handling or that of the stacker crane in the case where the production cells are connected to an automated warehouse. There is therefore a real interest in optimizing the operating rate of workstations by promoting the speed of supply and evacuation operations.

[0005] Manufacturers of automated warehouses offer various devices for managing the incoming and outgoing flows of pallets between the warehouse and the workstations connected to it. For example, as shown in Figure 1, there are depalletizing interfaces, allowing a load of sheets to be separated from the wooden pallet used for its transport to transfer it onto a standardized pallet in the warehouse. There are also chain devices, as shown in Figure 2, placed on the external face of a tower in the warehouse, allowing a pallet to be extracted from the tower by horizontal translation in order, for example, to introduce it into a production cell. These systems have the disadvantage of being dependent on the availability of the stacker crane when the evacuation of the pallet from the workstation is required.The operating rate of the workstation and the machine tool is doubly penalized, on the one hand, by the time required to evacuate the pallet to be restocked in the warehouse and on the other hand, by the time it will take the stacker crane to transport a new pallet and introduce it into the workstation.

[0006] Some more recent devices, represented for example in Figures 3 and 4 show two trolleys of different heights and moving respectively on their own rails, generally placed on the ground. The lower trolley is narrower than the upper trolley. This device can therefore accommodate two pallets and allows one or the other of the pallets to be inserted or removed alternately automatically, thus reducing waiting times.

[0007] However, the size of the stacker crane structures and its pallet extraction mechanism imposes a minimum height below which the lowest pallet is no longer accessible to the extraction system. Thus, the height above the ground of the first pallet support (measured at the level of the rolling surface) generally varies between 50 and 65 cm depending on the manufacturer. Furthermore, the height of the pallet circulating on the upper level is calculated by adding the height of the pallet on the first level, the potential size of the loads it is intended to convey and the thickness of the upper mechanism added to the thickness of the second pallet. If we consider a payload height of 20 cm, the useful height of the upper pallet will therefore be between 85 and 100 cm.

[0008] Such a difference in height between the low and high pallet constitutes a significant handicap in more than one way: - when the workstation is robotized, the programming of the operations of gripping and depositing parts must take into account two height criteria; - programming would be even more complex if the cell required a double connection to the automated warehouse, which is particularly the case in punching cells where it is necessary to introduce or evacuate bundles of sheet metal via one of the conveyors and to introduce or evacuate pallets intended for the cut parts via a second conveyor. In this case, it is extremely difficult to predict the different possible combinations of pallet height. In fact, the pallet of the first connection could be in the high position when the pallet of the second connection is in the low position and vice versa, these height parameters being variable for each of the connections throughout the production cycle; - in a folding cell, the height separating the low pallet from the high pallet should be considerably increased to allow the passage of bulky folded parts when pallets cross, especially if they have been stacked; - in a robotic bending cell, the volume represented by a two-level conveyor could prove problematic during bending operations, when the robot handles large bent parts requiring a clear space; - as illustrated in Figure 3, double-carriage systems require a widening of the towers into which they are integrated, as well as a significant strengthening of the tower structures. Their integration is therefore only possible at the expense of standardizing tower widths or by oversizing all the towers in the warehouse. This point is of great importance if we take into account the fact that the number of machines, or cells, connected to the automated warehouse can increase as the company develops and the production capacity needs to be increased by adding new machines. Connecting a new machine to the warehouse will always prove problematic if it is necessary to incorporate an enlarged tower into an already built warehouse.In this case, in fact, this implies, nothing more and nothing less, the dismantling, for the purpose of moving them, of the other towers in the store or the sacrifice of one or more towers in order to allow the positioning of one or more enlarged towers. This problem will arise each time a new machine, or cell, has to be connected to the automated store, causing each time costly dismantling and reassembly work as well as major disruptions to production.

[0009] Figures 5 and 6 describe two other solutions, namely two devices that can be installed retrospectively at any location in the warehouse and that include a "buffer" pallet. However, replacing one pallet with another using these types of devices requires 4 to 6 movements and 2 to 3 motors respectively. These two devices also do not seem suitable for restocking larger loads, such as stacks of folded parts, for example. Furthermore, these solutions are not adaptable to different types of load supports.

[0010] Another reason justifies the search for the greatest possible standardization of warehouse structures and their controls. Sheet metal workshops are indeed faced with difficult decisions when they have to acquire a new machine. In reality, the problem is not limited to choosing the machine that best meets their expectations, but rather to opt for machines whose standard controls can be adapted to the automated storage warehouse they have chosen. Choosing a warehouse manufacturer therefore often means having to then choose machines from this same manufacturer or prohibiting themselves from connecting a machine from another source to the warehouse. One of the inventors' goals was to develop a versatile, simple and flexible interface capable of adapting to machines from different sources in order to give themselves complete freedom to then choose the machines that best meet their needs and expectations.

[0011] When designing a productive conveyor allowing optimal exchange between a work cell and an automated store, the inventors applied principles generally known per se in the state of the art of conveyors, such as the movement of loads is constantly parallel in two planes located at different levels, with a doubling of the transfer rails between the two levels, cam systems guiding the load supports, etc. Several previous and already old documents take up these principles with their mechanical specificities according to the applications, linked to technical problems solved however very different, such as a garage for motor vehicles maximizing the number of vehicles parked in a given volume or for the conveying of bakery products in a masonry baking oven.

[0012] Thus, document JP S49 38374 A describes a garage for motor vehicles. The loads constituted by the vehicles enter and leave their location laterally and perpendicularly to the direction of movement of the load supports. It should be noted that the loads are placed directly on the load supports and not on auxiliary supports independent of said load supports.

[0013] US Patent 2,369,840 A describes a bakery oven also incorporating an "over / under" type conveyor with supports multiple made up of a metal mesh stretched over a frame and on which the food to be cooked is placed directly. These supports are brought successively opposite an orifice allowing the cooked food to be extracted using a spatula, as bakers usually do. Aims of the invention

[0014] The present invention aims to take up certain known principles of "over / under" or "return below" type conveyors, by combining them with new principles, in order to meet functional constraints specific to the intended application and with a view to solving problems which did not arise in the known solutions of the prior art.

[0015] The invention aims in particular to optimize the operating rate of a workstation by making available instantly what is required for its operation. The idea is to be able to duplicate the incoming and outgoing flows of a workstation, so as to be able to have a buffer stock at any time and thus guarantee practically uninterrupted operation of the machine and its operator or of the cell in the case where the machine is robotized.

[0016] The present invention also aims to allow the simultaneous permutation of at least two pallets, one taking the exact place of the one it replaces or the one which follows it and vice versa, without changing the orientation of the load throughout the operation.

[0017] Another objective is to make it possible to integrate a pallet changer into the supporting structures of one or more storage towers of an automated warehouse in order to make handling operations located at the interface of the automated storage warehouse and the various production cells connected to it more flexible.

[0018] Another important aim of the invention is to provide a switch combining both great robustness and great compactness in order to make it versatile and adaptable to a wide variety of equipment compared to those very specific to the state of the art. Main characteristic elements of the invention

[0019] In the solution according to the invention, unlike other "over / under" type conveyors already known, the load supports are replaced by mobile frames which are not designed to directly receive the loads to be conveyed but which are specifically designed to receive, on a case-by-case basis, different types of auxiliary palletizations constituting the supports for the loads to be moved. These direct supports preferably consist of standardized pallets or standardized supports, adapted to the materials and / or parts to be conveyed, these different standardized supports themselves being adapted to the different handling systems used in production workshops, such as forklifts, automated warehouse elevators / lower systems, automated vehicles (AGV or AMR), etc.

[0020] This technical difference constitutes an essential characteristic of the present invention and it is around it that the other technical characteristics of the invention are articulated. From this characteristic arises the possibility of dissociating the auxiliary load support (such as a pallet) from the mobile frame which supports it and thus allowing its movement by rolling, sliding or lifting using commonly used devices, such as scissor devices called "pantographs", chain drive devices, or even jack devices, said devices being able to be associated indifferently with the structures of the permutator (also called permutator by abuse of language coming from English).

[0021] Another feature of the invention, correlated to the preceding one, lies in the possibility that exists of connecting several juxtaposed permutators to the standardized towers of a linear automated warehouse, as shown in Figure 30. In this case, the standardized supporting structures of the permutator are designed to allow the integration of two mechanisms (see Figure 24) without the size of the two juxtaposed mechanisms exceeding the dimension of the supporting structures of the warehouse towers, i.e. approximately 20 cm. This feature is particularly important when the production cell involves the automatic management of several types of incoming and outgoing flows.

[0022] Another feature of the invention lies in the possibility of dividing the beams constituting the load-bearing structure of the switch into two separate elements, as illustrated in Figure 27, so that one of these two elements is an integral part of the standardized load-bearing structures of the towers of the store. The second element of the load-bearing structure of the switch thus ensures the mechanical functions attached to it, this second element being able to be connected, a posteriori, to the load-bearing structures forming an integral part of the standardized towers of the store so that the standardization of the structures of the switch is combined with the standardization of the structures of the towers. This makes it possible to connect new production cells equipped with switchboards to any location in the store, without causing costly work or disruptions to production.

[0023] The characteristic described in the previous paragraph provides a significant advantage in terms of load distribution on the concrete. The bending resistance of the lower beam allows the weight of the towers to be distributed uniformly over the entire surface of the sole in contact with the concrete and avoids the punching effect that can occur when the load is localized at the column bases, as is generally the case.

[0024] The present invention is also characterized by the fact that the number of movable frames that the permutator comprises can be directly linked to the number of successive operations that the operating process of the machine with which the permutator is associated comprises. In a laser cutting machine, it may be advantageous to provide a permutator comprising 3 movable frames, each supporting a comb table typical of the tables used on this type of machine. For example, as shown in Figure 26, each of the tables corresponds to a step in the operating process of the machine. A first table supports the sheet metal that has just been cut, a second table supports the sheet metal in the process of being cut and a third table supports the sheet metal in the process. The advantage of the permutator in this case is that it performs the permutation of the three tables in a single operation.

[0025] Furthermore, what also distinguishes the pallet switcher from the other principles described previously lies in the load-bearing function of the switcher structures, which can be combined with the load-bearing structures of the storage towers to form a coherent whole in order to reduce the footprint of the load-bearing structures of the servo-controls specific to the different types of machines to be connected to the storage warehouse and to reduce their costs. Thus, the load-bearing structures of the pallet switcher could be used as a base for the linear movement axis of a robot serving a punching machine or a laser cutting machine (see Figure 28) or for the load-bearing structures of a suspended robot (see Figure 29).

[0026] Under these conditions, a first aspect of the present invention relates to a system comprising an automated tower or vertical warehouse storage tower, comprising a palletizing system consisting of pallets, as well as a pallet changer integrated into the base of said tower, said tower using palletizing for the storage and transport of loads, said changer comprising: - a supporting structure whose beams are sized to receive the load represented by the self-weight of the storage tower plus a maximum weight of pallets loaded with their contents; - at least two movable frames each comprising a first pair of rollers and a second pair of rollers on its lateral sides; - a conveyor system located on the supporting structure allowing the movement of the mobile frames and connected to a motor shaft; - a set of guide grooves forming a closed loop with separate rails and a guide path for each movable frame, said set of guide grooves comprising a first path and a second path, said grooves receiving the rollers of the movable frames; and - a system of cam switches of the pairs of rollers in the guide grooves; the cam switch system being capable of guiding, in use, the pairs of rollers so that the first pair takes the first path and the second pair takes the second path so as to move the movable frames along the closed loop while remaining permanently parallel to each other horizontally and oriented in the same direction; each movable frame being capable, in use, of carrying a single pallet, loaded or not, said pallet being distinct from the movable frame which supports it, the beams of the supporting structure comprise the assembly of at least three sheets, each of the sheets comprising specific cutouts forming in combination the guide grooves and the housings necessary for the cam switch system of the pairs of rollers in the guide grooves.

[0027] According to preferred embodiments of the invention, the system further comprises one of the following features, or a suitable combination thereof: - the beams of the supporting structure are sized to receive the load represented by the self-weight of the storage tower plus the weight of the pallets loaded with their contents amounting to 2.5 tonnes; - the system comprising at least one standard storage tower not including a pallet changer, the beams of the supporting structure of the pallet changer are symmetrical and have a geometry allowing the conveyor system to be duplicated when several changers are juxtaposed laterally, while respecting the height alignment both with the standard storage tower and with the storage tower including a pallet changer integrated into its base - the system comprising at least one standard storage tower not comprising a pallet changer, the height of the storage tower associated with a changer is reduced by the height of said changer so that the storage tower is aligned with the height of a standard storage tower, also with alignment of the storage levels relative to the standard tower not comprising a changer; - the system comprises specific beaked pallets supported by profiles, and in that the mobile frames of the switch comprise lateral crosspieces aligned with the profiles supporting the beaked pallets, such that the beaked pallets can be transferred, in use, from the changer to the storage tower of the automated warehouse and vice versa, given that they are compatible with both the changer and the storage tower; - the storage tower comprising equidistant pallet storage levels, the distance between the first storage level and a maximum height of the movable frame in the tower is greater than the fixed distance between two storage levels of the tower, so that parts having a certain volume can also be exchanged between the storage tower and a workstation outside the storage tower; - the first pair of rollers comprises an extended axis and the second pair of rollers comprises a projecting axis, and the conveyor system comprises a plurality of pinions, the axes of the movable frame being in the median plane of the pinions, in a position which is the most advanced of a pallet on the store side, the pallet carried by the movable frame then being aligned vertically on the other pallets of the store, this pallet then also being accessible to the extraction system of a stacker crane of the store.

[0028] Another aspect of the present invention relates to an automated manufacturing installation according to claim 8.

[0029] Another aspect of the present invention relates to a switch according to claim 9.

[0030] Another aspect of the present invention relates to a laser cutting installation according to claim 10.

[0031] The invention also relates to the use of the pallet changer described above, according to claim 11. Brief description of the figures

[0032] Figure 1 represents a prior art depalletizing interface, making it possible to separate a load of sheets from the wooden pallet used for its transport in order to transfer it onto a standardized pallet in the warehouse.

[0033] Figure 2 shows a prior art chain device, placed on the external face of a tower of the store, allowing a pallet to be extracted from the tower by horizontal translation.

[0034] Figure 3 shows a prior art device for receiving two pallets and alternately introducing or removing one or the other of the pallets automatically.

[0035] Figure 4 shows another prior art device for receiving two pallets and alternately introducing or removing one or the other of the pallets automatically.

[0036] Figures 5 and 6 depict two other prior art devices that can be retrofitted anywhere in the store and include a "buffer" pallet.

[0037] Figure 7 represents a general three-dimensional view of an embodiment of the pallet switching conveyor implemented according to the present invention, the system comprising in this case two movable frames.

[0038] Figure 8 shows an exploded view of the switch of Figure 7.

[0039] Figure 9 shows a three-dimensional view of a first example of a movable frame of the pallet conveyor according to the present invention (the movable frame is shown topped with a pallet).

[0040] Figure 10 shows detailed views of the rollers of the moving frame of Figure 9.

[0041] Figure 11 shows a detailed view of the first example of a mobile frame combined with the conveying system of the permuting conveyor according to the present invention.

[0042] Figure 12 corresponds to Figure 11 but with the details of the reference markers.

[0043] Figure 13 shows a plan view of an exemplary transmission system of the switching conveyor according to the present invention.

[0044] Figures 14, 15 and 16 show different examples of the carrying structure of the switch. The carrying structure in Figure 14 is made of standard hot-rolled sections. The carrying structure in Figure 15 is made of a welded assembly. The carrying structure in Figure 16 is made of C-shaped folded sheet metal sections placed back to back.

[0045] Figure 17 shows the production of the roller guide paths and cam housings using three sheets assembled together.

[0046] Figure 18 shows an elevational view of the different types of rails of an exemplary conveyor system of the switching conveyor according to the present invention.

[0047] Figure 19 is another view of the first example of a mobile frame according to Figure 9, designed to receive load supports consisting of standardized pallets typical of automated storage warehouses. In this case, the arms of the mobile frame serve as a rolling path for the metal pallets of the warehouse.

[0048] Figure 20 represents a second example of a mobile frame according to the invention, this being open on one side in order to easily place a pallet there using a forklift for example.

[0049] Figure 21 represents a third example of a mobile frame of the conveyor according to the invention.

[0050] Figure 22 shows a three-dimensional view of a switch according to the invention comprising two movable frames moving symmetrically and oppositely to replace one another.

[0051] Figures 23A to 23H represent the successive steps of a complete permutation cycle of a mobile frame with different switches, according to an embodiment of the present invention.

[0052] Figure 24 shows a detailed view of the insertion elements of a switch according to the invention in an automated magazine tower.

[0053] Figure 25 shows a three-dimensional view of a pallet changer according to the invention, comprising three movable frames (each supporting a comb table).

[0054] Figure 26 shows a three-dimensional view of the switch of Figure 25, in which the first frame supports the sheet metal that has just been cut, the second frame supports the sheet metal in the process of being cut and the third frame supports the sheet metal in process.

[0055] Figure 27 shows an automated store comprising at least one tower, the beams constituting the supporting structure of the switch being divided into two separate elements so that one of these two elements is an integral part of the standardized supporting structure of the store tower.

[0056] Figure 28 shows an automated store with a switch according to the invention, the supporting structures of which are used as a base for the linear movement axis of a robot serving a punching machine or a laser cutting machine.

[0057] Figure 29 shows an automated store with a switch according to the invention, the supporting structures of which are used as a base for the supporting structures of a suspended robot.

[0058] Figure 30 represents a linear automated store comprising several permutators according to the invention connected to each other and juxtaposed with the standardized towers of the store (only one complete permutator is represented in the figure).

[0059] Figure 31 shows a three-dimensional view of a pallet changer according to the invention with three sets of two movable frames, the movable frames being open on one side in order to easily place a pallet there using a forklift.

[0060] Figure 32 represents a three-dimensional view of a pallet changer according to the invention with two movable frames, associated with a storage tower of a linear automated warehouse.

[0061] Figures 33A and 33B represent a segment of an automated warehouse in which the workstation, a folding cell for example, is connected by a switch, respectively two switch according to the invention, to the towers of the warehouse.

[0062] Figure 34 shows an automated warehouse segment in which the workstation, a folding cell for example, is connected by three switchgears to the warehouse towers.

[0063] Figure 35 shows a plan view of an example of an installation combining, on the one hand, a switch according to the invention equipped with three mobile frames, integrated into a cutting laser and, on the other hand, three switch according to the invention equipped with two mobile frames integrated into the towers of an automated warehouse. The installation further comprises a robot moving on a track.

[0064] Figure 36 shows a three-dimensional view of the installation of Figure 35.

[0065] Figure 37 represents a combination of different modes of managing the supply flows of a robotic cell, provided with a switch according to the present invention.

[0066] Figure 38 represents different robotic cells arranged around a linear automated warehouse in order to connect all the machines together and thus increase the autonomy of operation without assistance and the exploitation rate of the production tool as a whole.

[0067] Figures 39A and 39B show in detail how the permutators according to the invention are integrated into automated store towers, so as not to have to modify the standard dimensions of these towers.

[0068] Figure 40 illustrates more precisely that, during the permutation sequence of the two mobile frames of a permutator according to the invention, said frames do not encroach at any time into the movement corridor of the stacker crane.

[0069] Figure 41 shows a storage tower including a switch integrated into its base, illustrating that in the stopped position, the movable frame of the The switch and the pallet it supports are perfectly aligned with the other pallets in the storage tower.

[0070] Figure 42 shows that in the stopped position, the height of the upper face of the movable frame of the switch according to the present invention corresponds to the lowest height accessible to the extraction system which equips the stacker crane.

[0071] Figure 43 shows the position of a pallet on the switch according to the present invention, and located in the work space. This, in the stopped position, cannot be at a level lower than that of the supporting structures of the switch.

[0072] Figure 44 shows the offset of the axes of the rolling rollers of the movable frames of the permutator of the present invention, so that the stop position of the rolling rollers of the two movable frames, when they are symmetrically opposed, is located in the median plane of the pinions of the toothed wheels.

[0073] Figure 45 shows a switch according to the present invention, with an extended structure with an auxiliary device for horizontal translation of the pallet.

[0074] Figure 46 shows in detail a switch according to the invention integrated into an automated store tower.

[0075] Figure 47 shows a three-frame mobile switcher and auxiliary device for vertical translation of the pallet (namely, a lifting table comprising a pantograph system bringing the center table to the same level as the other two tables). Description of preferred embodiments of the invention

[0076] The present invention relates to a pallet swapping conveyor, i.e. a system for simultaneously swapping at least two pallets, one taking the place of the other or the one following it on the conveyor and vice versa, without changing the orientation of the load in order to allow real automation of the flows. The swapping conveyor allows the creation of a buffer stock guaranteeing production operation with limited interruptions. In the remainder of the presentation, the permutation conveyor will simply be referred to as permutation.

[0077] The device, as illustrated in Figure 7, consists of a supporting structure 2, composed of two parallel beams, and a conveying system 3. The conveying system 3 comprises a set of mechanical elements located on or integrated into each of the beams of the supporting structure 2, which allow the movement of at least two movable frames 6 located between the two beams. These movable frames 6 serve as support for handling pallets for example, in particular pallets of standard dimensions such as European pallets (EPAL).

[0078] Several technical solutions can be considered for the construction of the supporting structure 2 of the switch. It can be made up of standard hot-rolled profiles (see Figure 14) or a mechanically welded assembly (see Figure 15) or even of C-shaped folded sheet metal profiles placed back to back (see Figure 16).

[0079] The supporting structure 2 of the switch 1 can either be placed on the ground or spaced from it by feet 21 of variable height depending on the intended application. The two parallel beams of the supporting structure 2 are independent or connected to each other.

[0080] The sizing and the method of construction of the supporting structure 2 are determined by the type of application envisaged and by the size and weight of the elements to be supported. Since the pallet changer 1 is designed primarily to be integrated into the storage towers 13 of a linear automated warehouse (see Figure 32), the beams of the supporting structure 2 are then sized to receive the load represented by the self-weight of the storage tower 13 plus the weight of the palletizing system 18 loaded with its contents.

[0081] In the case where the structure of the switch 1 is adapted for the integration of a track 14 and a robot 15, as shown in Figures 33A and 33B, for example in the case of a (micro)folding cell, the beams of the supporting structure 2 must also be dimensioned to support the structures of the linear axes ensuring the guidance of the movements of the robot (for example ground track, suspended track) as well as the structures of the linear axes of movement of the devices for gripping the sheets and the cut parts.

[0082] Concerning the integration of the switch 1 in the automated warehouse, the height of the ladders (or series of shelves) of the storage towers 13 associated with a switch 1 is reduced by the height of the latter so that the ladders are aligned with those of the standard towers of the warehouse, with the same total height. The pallet switch 1, thanks to its geometry, will then be advantageously compatible with the storage towers 13 of the automated warehouse. mobile frames

[0083] The mobile frames 6 are designed to receive an auxiliary palletizing system 18 (see Figures 20, 25, 26 and 31) constituting the main support for the loads to be moved. This auxiliary palletizing system 18 is itself made up of pallets, standardized or not and compatible with the various handling equipment generally used in production workshops, such as linear automated warehouse stacker cranes, automated guided vehicles (AGVs), elevators, etc. As explained previously, this allows complete integration of the switch 1 of the invention in a linear automated warehouse. This standardization of the switch 1 and the auxiliary palletizing system 18 offers said switch 1 an interface function between the various stations of the production workshop, for example laser cutting and the transport or storage of materials.The loads to be placed on the switch 1 are therefore not placed directly on the mobile frames 6 but rather via the auxiliary palletizing system 18 which acts as an intermediary between the mobile frames 6 and the loads to be stored. The mobile frames consist of two parallel arms provided with rollers and connected to each other by one or more crosspieces. Different configurations of mobile frames are available. possible and adapted, on a case-by-case basis, to the auxiliary load supports that they are required to convey as well as to the various handling systems generally used for moving said auxiliary load supports.

[0084] Each moving frame is equipped with four rollers that ensure the rolling and guiding of the frame during transfer operations. Two of the rollers are mechanically connected to transmission chains.

[0085] Figure 19 depicts a mobile frame designed to accommodate load supports made up of standardized pallets typical of automated storage warehouses. In this case, the arms of the mobile frame serve as a rolling path for the warehouse's metal pallets.

[0086] Figure 20 depicts a mobile frame designed to accommodate load supports made of Euro pallets. The frame is open on one side to allow the Euro pallets to be placed or removed using a forklift or an AGV.

[0087] Figure 21 describes a mobile frame designed to receive a load support consisting of a comb table characteristic of laser cutting tables. Description of the conveyor system

[0088] The conveyor system 3 of the switch 1 of the present invention operates in a closed loop, as detailed below, so as to be able to swap the position of the movable frames 6 in a few seconds. The conveyor is of the "over / under" or "return-below" type, that is to say that, when there are at least two movable frames 6, one is in the high position and the other in the low position, and these exchange their positions via a movement operated by the conveyor system 3 according to a so-called double rail or offset rail system.

[0089] The switch cannot be compared to a conveyor since its function is not to convey multiple loads from point A to point B but rather to reverse the position of two pallets by substituting one for the other.

[0090] In the vast majority of cases, the switch will be dedicated to a single operation and will therefore comprise two mobile frames moving symmetrically and oppositely to replace one another, the operation consisting, for example, of removing an empty pallet and replacing it with a loaded pallet or vice versa (for example, see Figure 22).

[0091] In the case of an operating process involving two operations to be carried out simultaneously, the switcher could have 3 moving frames. A switcher with 3 moving frames, as illustrated in Figure 26, could for example be justified to efficiently serve a laser cutting machine by carrying out, in a single operation, the evacuation of the sheet metal which has just been cut and the introduction of a new sheet metal to be cut, placed on standby.

[0092] The load support permutation mechanism, or conveyor system 3, comprises, as explained previously, a set of mechanical elements for setting the movable frames 6 in motion. More precisely, the system comprises an assembly of segments, constituting the rolling and guide paths, as well as a transmission system, consisting of a set of sprockets 4, 41-49 and transmission chains 51-53, as well as two conveyor chains 5 (Figure 11 and 12). The sprockets 4, 41-49 and chains 5, 51-53 form a running gear allowing the parallel and simultaneous movement of the movable frames 6 to be carried out, the conveyor chains 5 playing a role in driving the movable frames 6 as explained below. In certain applications where the loads to be conveyed are lighter, the sprockets 4, 41-49 and chains 5, 51-53 can be advantageously replaced by pulleys and toothed belts.

[0093] Each movable frame 6 is provided with rolling and guiding rollers 8, 81 to 84 as shown in Figures 9 and 10. These are located on the lateral sides of the movable frame 6 and cooperate with guiding grooves 7. In the context of the present description, the “lateral” sides of each movable frame 6 are considered to be the sides parallel to the beams of the supporting structure 2 and the “transverse” sides as being those perpendicular to these beams. The movable rollers 8 operate in pairs, a first pair (“front” pair) with the rollers 81 and 82 and a second pair (rear pair) with rollers 83 and 84 (Figure 9). For the purposes of this description, the "front" part of the system is considered to be the part located on the side where the frame is in the forward position when it is in the high position (i.e. just before starting its descent to the low position), and vice versa for the "rear" part. The conveying system 3 and the set of guide grooves are preferably distributed symmetrically on or in each of the beams of the supporting structure, so that the movable frames 6 are moved between the two beams by the conveying system 3.

[0094] The guide grooves 7, as illustrated in Figure 18, constitute a rolling path for the rollers 8 of the movable frames 6. A characteristic element of the invention lies in the fact that the first pair of rollers 81 and 82 and the second pair of rollers 83 and 84 of the same movable frame 6 will take a different path within the guide grooves 7, in order to keep the two movable frames 6 horizontal throughout their movement. The two different paths are taken thanks to a system of switches as explained below.

[0095] More specifically, the guide grooves 7 are detailed in Figure 18. The groove 71 corresponds to an upper horizontal movement plane. The groove 72 corresponds to a lower horizontal movement plane. The semicircular grooves 73A, 73B allow the downward movement from the upper plane to the lower plane while the semicircular grooves 74A, 74B allow the upward movement from the lower plane to the upper plane. The raceways of the two pairs of rollers 8 are partially common on the horizontal parts but different at the level of the semicircular grooves, which allows the upward and downward movements of the movable frames 6. More precisely, the grooves 71, 72, 73A, 73B, 74A, 74B defining the two aforementioned paths have an oblong shape and are horizontally offset from each other.In use, the first pair of rollers 81 and 82 will take an external path 73B for the descent and an internal path 74A for the ascent, while the second pair of rollers will take an internal path 73A for the descent and an external path 74B for the ascent. This can obviously be done in reverse; this is an example for a good understanding of the present invention, just as. the definitions of the "front" and "rear" parts, which depend on the direction of rotation of the rollers 8 on the closed loop, which can of course be reversed. Thanks to this offset rail type movement, a parallel movement between the two movable frames 6 is constantly maintained. A low vertical separation between the two horizontal levels is preferable but depends on the type of application. For example, a distance of 20 to 30 cm between the horizontal planes of the two movable frames 6 can be envisaged, with preferably a distance of 24 cm, or more if necessary.

[0096] In order to enable the movable frames 6 to follow the proper path in the grooves 7, the system is provided with a switching system, for example a set of bridge cams 12, 121-123 as illustrated in Figures 11 and 23A to 23H (namely to guide the first and second pairs of rollers (81, 82, 10; 83, 84, 9) respectively in the first and second paths of the guide grooves (71, 72, 73A, 73B, 74A, 74B)). The operation of an exemplary switching system is described in detail in the following section.

[0097] As shown in Figure 25, the number of movable frames 6 may be greater than two. In the case shown, this is an embodiment of a three-frame movable switch 6. The principle of the invention remains identical, namely a conveyor system 3 with chains, sprockets and a switching system to correctly direct the “front” and “rear” pairs of rollers of each movable frame 6. The number of movable frames 6 can thus be increased.

[0098] Still according to the invention, in order to be able to support a high weight linked to the specific use of the permutator 1, the guide grooves 7 (or “rolling track”) of the rolling rollers will be designed in a particular way. These are made up, as illustrated in Figure 17, of three thick sheets assembled together to form both rolling and guide grooves capable of responding to high mechanical stresses, and to support the cams. More precisely, these rolling and guide tracks of the movable frames comprise, as shown in Figure 17: - A main segment 19A connected to the supporting structure of the switch and constituting the external part of the rolling path; - A median segment 19B constituting the guide path and into which articulated cams are integrated; - A 19C closing segment constituting the internal part of the raceway.

[0099] This solution has many advantages such as its extreme simplicity, low execution cost and compactness.

[0100] Furthermore, the mechanism is characterized by its ability to convey loads weighing up to several tons while being extremely compact, including in cases where two permutators are juxtaposed and the mechanisms must be duplicated. Description of the rolling path of the mobile frames and their drive principle

[0101] As generally illustrated in Figures 9 and 10, a pair of rollers, for example the second pair of rollers 83, 84 has a projecting axle 9, allowing the rollers to be supported by the pinions 4 during displacement movements in the semicircular grooves 73A and 74B connecting the two horizontal displacement planes. This is achieved by the fact that the different pinions 4 are located inside each of the aforementioned semicircles, the toothed wheels of the pinions 4 coinciding with the semicircular grooves 73A and 74B (see Figures 11 and 12). The first pair of rollers 81, 82 has an extended axis 10, which allows the rollers to be supported by the pinions 4 during the displacement movements in the semi-circular grooves 73B and 74A connecting the two horizontal displacement planes, but also to connect them to the conveyor chains 5 located on either side of the switch 1.It will be noted that the extended shaft 10 and the projecting shaft 9 can be located indifferently on the rollers of the first or second pair, depending on the position of the conveyor chains relative to the sprockets. By definition of the function to be fulfilled, the extended shaft 10 is longer than the projecting shaft 9.

[0102] The detailed views of Figure 11 illustrate the principle of connecting the rollers 81, 82, 10 to the conveyor chain 5 as well as the principle of accompanying the rollers 83, 84, 9 by the pinions 4 in the upward and downward movements of the mobile frame 6.

[0103] As shown in Figure 12, the drive shaft 11 simultaneously drives the gear trains located on either side of the changeover switch 1. The gears of the drive shaft 49 drive those of the shaft 111 by the chain 51. The corresponding gear 41 drives the gears of the shaft 112 by the chain 52. The gear 44 in turn drives the gear 45 of the shaft 113 itself connected by the chain 53 to the gear 48 of the shaft 114.

[0104] Figure 13 shows the three parallel positioning planes of the sprockets as well as the arrangement of the transmission chains 51 to 53 and the conveyor chain 5. The sprockets are therefore all driven simultaneously and at the same angular speed. Description of the positions of the rollers

[0105] The position of the rollers 8 (81-84) on the arms of the movable frame 6 of a switch 1 influences the stopping position of the pallets moved by the switch. In the following explanation, we will deal on the one hand with the pallet located directly above the storage tower 13 in which the switch is integrated, called the store pallet 61 and on the other hand with the pallet located in the work space called the cell pallet 62.

[0106] In applications where the switch is used as a functional interface between an automated warehouse and a work cell, it must meet several simultaneous conditions.

[0107] A first condition is that during the permutation sequence of the two mobile frames 6, they do not encroach at any time into the movement corridor of the stacker crane (see Figure 40).

[0108] A second condition requires that in the stopped position, the mobile frame 6 and the pallet 62 which it supports are perfectly aligned with the other pallets 61 of the storage tower (see Figure 41).

[0109] A third condition is that in the stopped position, the height of the upper face of the movable frame 6, constituting the rolling path of the pallet 25, corresponds to the lowest height accessible to the system extraction which equips the stacker crane. This height varies depending on the origin of the store and is generally between 55 and 60 cm (see figure 42).

[0110] A fourth condition concerns the position of the pallet 62 located in the workspace. In the stopped position, the upper plane of the pallet 62 cannot be at a level lower than that of the supporting structures 2 of the switch 1, in order to avoid the risk of collision with the servo-controls used for gripping or depositing the incoming and outgoing parts (see Figure 43).

[0111] The solution allowing to simultaneously respond to all the conditions described in the previous point consists in offsetting the axes 9, 10 and rolling rollers 8 of the mobile frames 6 so that the stop position of the rolling rollers 8 of the two mobile frames 6, when they are symmetrically opposed, is located in the median plane of the pinions 4 (toothed wheels) (see Figure 44).

[0112] In this precise position, the two pallets 62, 62 carried by the mobile frames 6 are at exactly the same level and meet the four conditions stated previously, namely: - the store pallet in the stopped position is perfectly aligned with the other pallets in the store; - during the swapping movement, the pallet performs a retracting movement and therefore does not encroach on the movement corridor of the stacker crane; - the height of the upper plane of the arms of the mobile frames places the warehouse pallet at the lowest height still accessible by the extraction system of the stacker crane; - the height of the upper plane of the cell pallet is flush or slightly overhanging in relation to the upper plane of the supporting structures of the switch.

[0113] Figure 9 shows a perspective view of a movable frame 6 with 10 axles and 8 offset rollers. of a mobile frame and an exemplary method of resolving the aquillaqe of the rolling qalets of the articulated bridge cams

[0114] Figures 23A to 23F illustrate, according to a non-limiting embodiment of the invention, a complete permutation cycle of a mobile frame 6. A system of switches, here illustrated by a set of bridge cams (or simply cams) 121-123, makes it possible to guide the rollers 8 in the appropriate grooves 7 in order to allow each mobile frame 6 to remain horizontal.

[0115] In Figure 23A, the cam 122 is in the lowered position (horizontal right part, oblique left part) to prevent the roller 10 (extended axis of the first pair of rollers 81, 82) from following the first descending groove 73A that it encounters. The cam 121 is also in the horizontal position to allow the roller 9 (projecting axis of the second pair of rollers 83, 84) to pass through the opening formed by the meeting of the rising groove 74A and the upper horizontal groove 71.

[0116] In Figure 23B, the roller 10 encounters the oblique part of the cam 122 (on the left) and tilts it horizontally, causing, at the same time, the right part of the cam 122 to rise. The roller 9 can thus engage in the descending groove 73A, the opening being freed.

[0117] Figure 23C shows the rollers 10 and 9 engaged in the two respective downward grooves 73B and 73A.

[0118] In Figure 23D, the roller 10, driven by the chain 5 to which it is connected, opens into the groove corresponding to the lower movement plane. The same is true for the roller 9 which is supported at the end of its travel by the cam 123.

[0119] Note that if roller 10 is the "front" roller and roller 9 the “rear” roller when the movable frame 6 is in the upper movement plane, the front / rear position of the rollers 10 and 9 is reversed when the movable frame is in the lower movement plane.

[0120] In Figure 23E, the movable frame continues its movement in the lower horizontal groove. The roller 10 meets the cam 123 and lifts it to continue its movement.

[0121] In Figure 23F, the roller 10, driven by the chain 5 to which it is secured and supported by the sprocket 44, is now engaged in the rising groove 74A. The same applies to the roller 9 which is supported during the transfer from the lower displacement plane to the upper displacement plane by the corresponding sprocket 42.

[0122] In Figure 23G, to reach the upper horizontal groove 71, the roller 10 lifts the cam 121.

[0123] In Figure 23H, rollers 9 and 10 are engaged in the upper displacement groove 71. Cams 122 and 121 are again in the horizontal position. At the end of the cycle, all the cams have returned to their initial position either by gravity or by means of an ad hoc mechanism. For example, the volume of cam 122 is hollowed out (more significantly) at its oblique side to the left, which allows it to return to its initial position by gravity as soon as roller 10 or 9 has passed. Compatibility of the switch system with a manual handling mode

[0124] In workshops where handling flows are not automated, the presence of switchers according to the invention would offer a double advantage. On the one hand, the flows entering and leaving the workstation would always be duplicated by a buffer stock guaranteeing practically uninterrupted operation of the machine and its operator (or of the cell in the case where the machine is robotized). On the other hand, the work of the handler would be made more flexible because the latter would be able to better prioritize the handling flows between the different workstations for which he is responsible.

[0125] Some workshops are already relying on automated handling. The supply of workstations, as well as the removal and restocking of finished parts, are increasingly handled by automated vehicles whose movements are fully programmed.

[0126] The switch according to the present invention is compatible with many equipments, as explained above. This makes it useful in performing several tasks.

[0127] As shown in Figure 31, the paddle switch 1 can be equipped with movable frames 6 open on one of the sides perpendicular to the beams of the supporting structure (see also Figure 20). This allows different types of automated vehicles to have easy access to the pallets, including automated vehicles without forks which can slide under the pallet and lift it out of its housing.

[0128] As illustrated in Figure 24, the lateral crosspieces 2A of the mobile frames 6 of the switcher 1 are aligned with the profiles 2B supporting the specific beaked pallets 2C of the automated stores, so that the beaked pallets 2C can be transferred from the switcher 1 to one of the cubicles of the store and vice versa. In this way, the pallets are compatible with the storage towers 13, whether it is a standard storage tower or a storage tower 13 comprising a pallet switcher 1 integrated into its base. This movement operation is carried out by a pallet elevator circulating parallel to the storage towers. The symmetry of the beam forming the supporting structure of the switcher 1 makes it possible to duplicate the mechanism when several switchers 1 are juxtaposed, while respecting the alignment with the scales of the towers of the automated store

[0129] As explained previously, the structure of the switch 1 can be adapted for the integration of a track 14 and a robot 15, as shown in Figures 33A and 33B. This configuration is particularly interesting in the case of a folding (micro)cell 16A, giving it practically unlimited operating autonomy without assistance and an operating rate maximized by the presence of the switch 1. In the configuration shown in Figure 33B, the robotic cell 16 is connected by two switch 1 to two of the towers 13 of the automated store. This double connection makes it possible to automatically introduce the parts to be folded into the cell and to deposit the folded parts on the second switch 1 according to a pre-established nesting and stacking program. If there is only a single switch 1 connecting the cell 16A and the store, as shown in Figure 33A, this could introduce into the microcell, connected to a single tower of the automated store, a pallet of which part of the surface is occupied by the flat parts to be folded and another part is left free to receive the folded parts. These same parts could also be deposited in bulk in containers arranged on the pallet. The advantage of the pallet changer of the present invention is that it is modular and adaptable to a whole series of equipment, multiplying the time savings and the productivity of the production workshops.

[0130] A switch configuration 1 comprising three movable frames 6 (as illustrated in Figures 25 and 35) is a particularly advantageous embodiment of the invention. Indeed, this mode makes it possible to simultaneously switch three elements in a single operation lasting a few seconds. It is particularly advantageous when the process is broken down into three phases. This is for example the case for 16B laser cutting machines where the process steps, namely cutting, removal of the cut parts and preparation of the new sheet metal, are often carried out successively and not simultaneously, thus inducing waiting times during which the machine is not productive. This configuration is also distinguished by its great simplicity of design as well as its compactness.

[0131] In some cases, it could be interesting to provide a triple connection of a 16A robotic cell to the magazine (see Figure 34). The third input can be used, as an example and not an exhaustive list, to introduce into the 16A cell tools shared between several 16A bending cells connected to the magazine, specific tools dedicated to a customer, elements allowing the stacking of bent parts to be optimized, large grippers, etc.

[0132] The example shown in Figures 35 and 36 shows an installation combining on the one hand a switch 1 equipped with three mobile frames 6 (such as that illustrated in Figure 25) integrated into a cutting laser, and on the other hand three switch 1 each equipped with two mobile frames 6 integrated into the towers 13 of an automated store. The installation further comprises at least one robot 15 moving on a track 14. This illustration highlights the compactness of the laser and its servo system consisting of a switch 1 with three mobile frames and a robot mounted on a track. When the laser has completed a cutting sequence, the three laser tables are simultaneously set in motion to bring a new sheet to the machine in a few seconds, the operating rate of which is thus maximized. As soon as the laser begins a new cutting sequence, the robot 15 will pick up a new sheet from the first switch 1 of the magazine and place it on the laser table located opposite. Then, it will pick up the parts cut during the previous sequence and place them on the second switch 1 of the magazine. Once this work is completed, the robot 15 will evacuate the sheet skeleton to the third switch 1 of the magazine. The various grippers required by the robot 15 to handle parts of various sizes as well as skeletons can, for example, be advantageously arranged on the external faces of the storage towers 13 of the magazine.The robot 15 is sized so that its extension length allows it to reach the most distant places from the laser tables or the pallets of the switchers 1 in the store. The load-bearing structure of the switcher can be used to support the track and the robot. A variant with columns and suspended track is also possible (not shown).

[0133] Figure 37 illustrates a combination of different modes of managing the supply flows of cell 16A. In addition to being directly connected to the automated warehouse, cell 16A is equipped with a switch 1 dedicated to Euro pallets (EPAL), facing the workshop and making it possible to manage part of the incoming and outgoing flows using an assisted elevator 17 or an automatically guided and programmed vehicle (AGV).

[0134] Figure 38 illustrates how it would be possible to arrange the 16B cutting cells, such as lasers or punching machines, as well as the 16A folding cells around a linear automated magazine in order to connect all the machines together and thus increase the autonomy of unassisted operation and the exploitation rate of the production tool as a whole.

[0135] In the state-of-the-art permutators, very diverse loads, light or heavy, are moved parallel to themselves from a high level to a low level and vice versa, but with a large number of load supports. In the applications targeted with the switch according to the invention, the objective is limited to simultaneously switching two to three mobile frames / pallets at most. The number of pallets is directly linked to the operating sequence of the machine, a sequence consisting of replacing an empty pallet with a full pallet in a very short period of time or vice versa (buffer effect). In the case of application to a cutting laser, the switch advantageously comprises three mobile frames, the operating sequence of this type of machine being based on three elements: - a table dedicated to the sheet metal being machined; - a table dedicated to the next sheet for machining and a table dedicated to the sheet that has just been machined.

[0136] The aim is to carry out the three operations simultaneously using a mechanism that stands out from the state of the art due to its great simplicity and small size.

[0137] Figure 39A shows that when the two moving frames 61, 62 intersect, the useful distance which separates the top of the pallet 2C carried by the mobile frame 61 circulating in the lower rolling path and the bottom of the structures of the mobile frame 62 circulating in the upper plane must allow the passage of the empty pallet or of a low-height load, such as a bundle of sheets or flat-cut parts.

[0138] In Figure 39B, on the one hand, on the right of the figure, the position of a pallet 2C located inside the cutting or folding cell is shown when the axes 9, 10 of the movable frame 62 are located in the median plane of the pinions 4. The height of the movable frame is chosen so that the top of the pallet 62 must be at least flush with the supporting structures of the switch or projecting beyond them. On the other hand, on the left of the figure, the most advanced position of a pallet 61 is seen, in the situation where the axes 9, 10 of the movable frame are in the median plane of the pinions 4, the pallet 61 carried by the movable frame 2C being aligned vertically with the other pallets 63 of the store. The height position of this pallet 61 must correspond to the height of the lowest point 21 accessible to the extraction system of the stacker crane.

[0139] In the storage tower 13 located above the switch 1, just as in a standard storage tower, the pallet storage levels are equidistant. The distance 23 between the first storage level (going from bottom to top) and the maximum height of the movable frame in the tower will then be chosen to be greater than the fixed distance 22 between two storage levels of the tower, so that parts having a certain volume can also be exchanged between the storage tower 13 and a workstation outside the storage tower, such as a folding cell. This distance 23 will therefore be chosen, for example, to allow the transfer of folded parts into the automated warehouse after folding.

[0140] The distance between the lowest position of pallet 63 in the magazine and the highest position of pallet 61, 62 in the changer during the cycle must be such that it allows the parts of the highest volume, i.e. folded parts in particular, to pass through the gap, always from above. List of reference symbols 1 Pallet switch 2 Supporting structure of the switch 21 Beam foot 2A Mobile frame side cross member 2B Support Profile 2C Beaked Pallet 3 Conveyor system 4 Pinions (references 41-49 for the different pinions) 5 Conveyor chain 51-53 Transmission chains 6 Mobile frame (also references 61 and 62) 7 Guide groove (references 71, 72, 73A, 73B, 74A, 74B for the different grooves) 8 Roller and guide roller (references 81-84 for the different rollers) Axis protruding from the roller 9 Extended axis of the roller 10 Motor shaft 11 Drive shafts 111-114 Cam-bridge (references 121-123 for the different cams) 12 Storage tower (automated warehouse) 13 Track 14 Robot 15 Folding microcell 16A Laser cutting 16B 17 Forklift or automated vehicle 18 Direct load support system (or auxiliary palletization) 19A-19C Sheets forming the guide grooves 20 Shop pallet spout or hook 21 Lowest point of access of the stacker crane in the warehouse Interval between two storage levels in the storage tower Interval between the first storage level in the storage tower and the maximum height of the mobile frame of the switch

Claims

CLAIMS 1. A system comprising a storage tower (13) of an automated tower or vertical warehouse, comprising a palletizing system (18) consisting of pallets, as well as a pallet changer (1) integrated into the base of said tower (13), said tower (13) using the palletizing for the storage and transport of loads, said changer (1) comprising: - a supporting structure (2) whose beams are sized to receive the load represented by the dead weight of the storage tower (13) plus a maximum weight of pallets loaded with their contents; - at least two movable frames (6) each comprising a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on its lateral sides; - a conveyor system (3) located on the supporting structure (2) allowing the movement of the mobile frames (6) and connected to a motor shaft (11); - a set of guide grooves (71, 72, 73A, 73B, 74A, 74B) forming a closed loop with separate rails and a guide path for each movable frame (6), said set of guide grooves (71, 72, 73A, 73B, 74A, 74B) comprising a first path and a second path, said grooves (71, 72, 73A, 73B, 74A, 74B) receiving the rollers (81, 82; 83, 84) of the movable frames (6); and - a system of cam switches (12, 121, 122, 123) of the pairs of rollers (81, 82; 83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B); the system of cam switches (121, 122, 123) being capable of guiding, in use, the pairs of rollers (81, 82, 10; 83, 84, 9) so that the first pair (81, 82, 10) takes the first path and the second pair (83, 84, 9) takes the second path so as to move the movable frames (6) along the closed loop while remaining permanently parallel to each other horizontally and oriented in the same direction; each movable frame (6) being capable, in use, of carrying a single pallet, loaded or not, said pallet being distinct from the movable frame (6) which supports it, characterized in that the beams of the supporting structure (2) comprise the assembly of at least three sheets (19A, 19B, 19C), each of the sheets comprising specific cutouts forming in combination the guide grooves (71, 72, 73A, 73B, 74A, 74B) and the housings necessary for the cam switching system (12, 121, 122, 123) of the pairs of rollers (81, 82; 83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B).

2. The system according to claim 1, characterized in that the beams of the supporting structure (2) are sized to receive the load represented by the dead weight of the storage tower (13) added to a weight of the pallets loaded with their contents amounting to 2.5 tonnes.

3. The system according to any one of the preceding claims, said system comprising at least one standard storage tower not comprising a pallet changer (1), characterized in that the beams of the supporting structure (2) of the pallet changer (1) are symmetrical and have a geometry allowing the conveyor system (3) to be duplicated when several changers (1) are juxtaposed laterally, while respecting the height alignment both with the standard storage tower and with the storage tower (13) comprising a pallet changer (1) integrated at its base.

4. The system according to any one of the preceding claims, said system comprising at least one standard storage tower not comprising a pallet changer (1), characterized in that the height of the storage tower (13) associated with a changer (1) is reduced by the height of said changer (1) so that the storage tower (13) is aligned with the height of a standard storage tower, also with alignment of the storage levels with respect to the standard tower not comprising a changer.

5. The system according to any one of the preceding claims, characterized in that it comprises specific beaked pallets (2C) supported by profiles (2B), and in that the movable frames (6) of the switch (1) comprise lateral crosspieces (2A) aligned with the profiles (2B) supporting the beaked pallets (2C), such that the beaked pallets (2C) can be transferred, in use, from the changer (1) to the storage tower (13) of the automated warehouse and vice versa, since they are compatible with both the changer (1) and the storage tower (13).

6. The system according to any one of the preceding claims, characterized in that, the storage tower (13) comprising equidistant pallet storage levels, the distance (23) between the first storage level and a maximum height of the movable frame (6) in the tower is greater than the fixed distance (22) between two storage levels of the tower, so that parts having a certain volume can also be exchanged between the storage tower (13) and a workstation outside the storage tower (13).

7. The system according to any one of the preceding claims, characterized in that the first pair of rollers (81, 82) comprises an extended axis (10) and the second pair of rollers (83, 84) comprises a projecting axis (9), and in that the conveying system (3) comprises a plurality of pinions (4, 41-49), the axes (9, 10) of the movable frame being in the median plane of the pinions (4), in a position which is the most advanced of a pallet (61) on the store side, the pallet (61) carried by the movable frame (2C) then being aligned vertically on the other pallets (63) of the store, this pallet (61) then also being accessible to the extraction system of a stacker crane of the store.

8. An automated manufacturing installation, comprising an automated store as well as at least one folding cell (16A) and / or a laser cutting cell (16B), said automated store comprising one or more standard storage towers (13) and at least one system comprising a storage tower as well as a pallet changer (1), according to any one of claims 1 to 7, integrated into the base of said tower.

9. A pallet changer (1) comprising: - a supporting structure (2); - at least two movable frames (6) each comprising a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on its lateral sides; - a conveyor system (3) located on the supporting structure (2) allowing the movement of the mobile frames (6) and connected to a motor shaft (11); - a set of guide grooves (71, 72, 73A, 73B, 74A, 74B) forming a closed loop with separate rails and a guide path for each movable frame (6), said set of guide grooves (71, 72, 73A, 73B, 74A, 74B) comprising a first path and a second path, said grooves (71, 72, 73A, 73B, 74A, 74B) receiving the rollers (81, 82; 83, 84) of the movable frames (6); and - a system of cam switches (12, 121, 122, 123) of the pairs of rollers (81, 82; 83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B); the system of cam switches (121, 122, 123) being capable of guiding, in use, the pairs of rollers (81, 82, 10; 83, 84, 9) so that the first pair (81, 82, 10) takes the first path and the second pair (83, 84, 9) takes the second path so as to move the movable frames (6) along the closed loop while remaining permanently parallel to each other horizontally and oriented in the same direction; each mobile frame (6) being capable, in use, of carrying a single pallet, loaded or not, said pallet being distinct from the mobile frame (6) which supports it;characterized in that the beams of the supporting structure (2) comprise the assembly of at least three sheets (19A, 19B, 19C), each of the sheets comprising specific cutouts forming in combination the guide grooves (71, 72, 73A, 73B, 74A, 74B) and the housings necessary for the cam switching system (12, 121, 122, 123) of the pairs of rollers (81, 82; 83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B).; 10. A laser cutting installation, comprising a laser cutting cell (16B), at least one robot (15) moving on a track (14) and a switch (1) according to claim 9, equipped with three mobile frames (6) making it possible to carry out the operating sequence of the laser cutting installation, respectively thanks to: a table dedicated to the sheet metal being machined; a table dedicated to the next sheet metal for machining and a table dedicated to the sheet metal that has just been machined.

11. The use of the pallet changer (1) in the system of claim 1, for implementing the cycle of following movements relating to the exchange of the initial positions of a first movable frame (61) and a second movable frame (62), each capable of supporting a pallet (18), the guide grooves (7) of said changer comprising a groove (71) corresponding to an upper horizontal displacement plane, a groove (72) corresponding to a lower horizontal displacement plane, two semi-circular grooves (73A, 73B) allowing the downward displacement from the upper plane to the lower plane, and two semi-circular grooves (74A, 74B) allowing the upward displacement from the lower plane to the upper plane, said grooves (71, 72, 73A, 73B, 74A, 74B) defining the two aforementioned paths, which have an oblong shape and are horizontally offset one by relative to each other, the rollers of the first pair of rollers (81,82) comprising an extended axle (10) allowing both a set of sprockets (44, 46) to support said rollers (81, 82) during their movement in the semi-circular grooves (73B, 74A) connecting the two horizontal movement planes, and also to connect said rollers (81, 82) to the conveyor chains (5), the rollers of the second pair of rollers (83, 84) comprising a projecting axle (9), allowing a set of sprockets (42, 45) to support said rollers (83, 84) during their movement in the semi-circular grooves (73A, 74B) connecting the two horizontal movement planes, and the conveyor system (3) comprising the conveyor chains (5), the use of the changeover switch (1) comprising the following steps:, - at the start of the cycle, the conveying system (3) is activated by rotating the drive shaft (11) when the first movable frame (61) is in position on the upper horizontal movement plane, each roller of the first pair of rollers (81, 82) having its extended axis (10) driven by the conveying chain (5) and capable of meshing with the pinions (44, 46) during the movement movements in the semi-circular grooves (73B, 74A) connecting the two horizontal movement planes; and each roller of the second pair of rollers (83, 84) having its projecting axis (9) capable of meshing with the pinions (42, 45) during the movement movements in the semi-circular grooves (73A, 74B) connecting the two horizontal movement planes; - under the effect of the drive, the roller of the first pair of rollers (81, 82, 10) arrives at the intersection of the upper horizontal groove (71) and the first descending groove (73A); - a first cam (122) located at this intersection being in the lowered position, with a straight part followed by an oblique part, the roller of the first pair of rollers (81, 82, 10) remains guided in the upper horizontal groove (71) and then in the second descending groove (73B) thanks to the pinion (46), the meeting of the roller (81, 82, 10) with the oblique part of the first cam (122) causing the raising of said cam (122), the oblique part tilting horizontally and the straight part being raised, freeing the passage in the first descending groove (73A) for the roller of the second pair of rollers (83, 84, 9); - a second cam (121) located at the intersection of the upper horizontal groove (71) with the first rising groove (74A) in a horizontal position, the roller of the second pair of rollers (83, 84) crosses the opening towards the first rising groove (74A) and continues its path in the upper horizontal groove (71); - the first cam (122) being raised, the roller of the second pair of rollers (83, 84) is guided in the first descending groove (73A); - when the roller of the first pair of rollers (81, 82, 10) arrives at the level of the lower horizontal groove (72), it continues to be driven further in this groove by the conveyor chain (5) while, simultaneously, the roller of the second pair of rollers (83, 84, 9) arrives at the level of the third cam (123) at the end of its travel in the first descending groove (73A), said third cam (123) being in the lowered position, which allows the roller of the second pair of rollers (83, 84, 9) to pass - the movable frame (61) continues its movement in the lower horizontal groove (72) and the rolling roller of the first pair of rollers (81, 82, 10) lifts the third cam (123) to continue its travel; - the rolling roller of the second pair of rollers (83, 84, 9) supported by the pinion (42) is driven in the second rising groove (74B) and the rolling roller of the first pair of rollers (81, 82, 10) supported by the pinion (44) is driven in the first rising groove (74A), so as to effect the transfer from the lower displacement plane to the upper displacement plane; - the rolling roller of the first pair of rollers (81, 82) opens into the upper horizontal groove (71) by lifting the second cam (121) and simultaneously with the rolling roller of the second pair of rollers (83, 84, 9); - the first movable frame (61) returns to its starting position in the upper horizontal groove (71) and the second cam (121) and first cam (122) are either in the lowered position for the next cycle thanks to gravity, or are returned to the lowered position by an ad hoc mechanism; - the movements are similar for the second movable frame (62), the latter being at the start of the cycle in position on the lower horizontal displacement plane.

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