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

Abstract

This disclosure relates to a method for unloading and loading carts to ensure the unloading of at least one conveyed object (2) by at least one powered cart, for the purpose of transferring a first conveyed object from said at least one powered cart (3) to an inlet of a conveyor (Co), and then loading a second conveyed object onto the powered cart unloaded of the first object, the second object being conveyed from an outlet of the conveyor. The powered cart (3) travels along a first path (T1) to an unloading zone where a first fork operates, along a second path to a loading zone where a second fork operates, and along a third path (T3) to evacuate the loading zone, the portion of the path consisting of the first, second, and third paths forming, in particular, a U-shaped path. Abstract Figure: Figure 21

Description

Title of the invention: Unloading and / or loading method, and suitable installation for implementing the method.

[0001] The present disclosure relates, in a first aspect, to a method of unloading and loading trolleys to ensure the unloading of at least one object conveyed by at least one motorized trolley, for the purpose of transferring a first object conveyed from said at least one motorized trolley to an inlet of a conveyor, and then loading a second object conveyed onto the motorized trolley unloaded of the first object, the second object being conveyed from an outlet of the conveyor.

[0002] 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, for the purpose of transferring an object conveyed from said at least one motorized trolley to an inlet of a conveyor.

[0003] 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, for the purpose of loading a conveyed object onto the motorized trolley, said object being conveyed from an outlet of the conveyor.

[0004] The present disclosure still relates to a combination of the processes according to the first aspect and / or the second aspect, and / or the third aspect.

[0005] The present disclosure is still related to an installation suitable for implementing the unloading and / or loading process. technical field

[0006] This disclosure falls within the domain of automated storage and retrieval systems (ASRS) configured to automate order picking.

[0007] This disclosure relates more particularly to storage systems comprising motorized trolleys circulating in the warehouse ensuring the transfer of items typically received in a container, such as a bin or a tray.

[0008] The motorized trucks can typically be automated guided vehicles (AGVs), equipped with communication modules configured to communicate with a central control unit of the ASRS. The central control unit coordinates the truck trajectories within the warehouse to ensure order picking operations by transmitting guidance instructions to the motorized trucks.

[0009] The scope of this disclosure particularly covers motorized carts traveling on a travel surface, in two horizontal directions of The space, the movement surface, can typically be a warehouse floor or a platform raised above the ground. The warehouse includes one or more storage racks containing storage locations for items typically contained in containers, typically resting on the floor.

[0010] The scope of this disclosure covers, by way of example, and not limitation: - storage systems (ASRS) ensuring the transfer of containers containing items, in particular between an order preparation station and to the storage rack(s), by the movement of motorized trolleys on the travel surface, then the transfer of the containers, from the motorized trolleys to the locations in the storage rack by a lifting system, separate from the motorized trolleys, namely that the motorized trolleys typically travel in only two directions; - Storage systems ensuring the transfer of containers containing items, particularly between an order preparation station and the storage rack(s), by means of motorized trolleys moving along the travel surface, then lifting the motorized trolleys into the storage racks by activating lifting mechanisms, and transferring the containers onto the motorized trolleys at height within the storage rack into the storage locations by means of motorized trolley transfer devices. In such a solution, the trolleys move in all three spatial directions.

[0011] Automated storage and retrieval systems also typically include - an unloading system that is configured to unload an object (typically an automated order by the ASRS) from the motorized cart, in order to transfer it to an input of a warehouse conveyor, for example for delivery, and - a loading system that is configured to load an object (e.g. items in a container) onto the motorized trolley, from an exit of the conveyor, and typically for the purpose of transferring the container to the storage rack, during a replenishment. Previous technique

[0012] A device for unloading and loading an article cooperating with an autonomous vehicle is known from document DE102008039764. The vehicle has a comb-like structure on its upper surface adapted to support an article. The device comprises two roller conveyors placed side by side, operating in opposite directions for unloading and loading an article, respectively. The comb-like structure of the vehicle is slightly higher than the rollers. Conveyors are arranged so that, as the vehicle passes transversely over the conveyors, the rollers engage in a comb-like structure, allowing one item to be unloaded from the vehicle onto one conveyor and another item from the opposite conveyor to be loaded onto the same vehicle. The system includes movable stops downstream of the rollers to prevent the item from falling during loading onto the moving vehicle beneath the conveyors. However, the vehicle is relatively tall to cooperate with the conveyor and is not adaptable to different conveyor heights. Furthermore, unloading the vehicle requires a relatively long time because the unloaded item must first be transferred laterally via the roller conveyor before the next vehicle can unload its item. The same applies to loading.Therefore, loading and unloading cannot be carried out in the form of a continuous flow in which items follow one another without interruption. Summary

[0013] This disclosure improves the situation.

[0014] A method for unloading and loading trolleys is proposed according to a first aspect, 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, and then loading a second object conveyed onto the motorized trolley unloaded of the first object, the second object being conveyed from an outlet of the conveyor, said method comprising: - / A / Supply one or more motorized trolleys, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface being at a lower level than the conveyor, - / B / Provide: - / B 1 / a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork including fingers, said first fork motorized in the upward and downward direction 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 running surface, - / B2 / a second IB system configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork including fingers, said second fork motorized for raising and lowering from a second high position to a second low position, the the second fork being configured to load a motorized trolley, onto a loading area of ​​the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being juxtaposed to 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 tines of the first fork in the first lower, waiting position, outside the unloading area, - / D / Insert the tines of the first fork into the said first lower position, between the first object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory, into the unloading area, - / E / Raise the first fork to the aforementioned first high position in order to unload the first object from the motorized trolley, - / F / Move the motorized trolley, unloaded of the first object, from the unloading area to the loading area, along a second trajectory, in 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 cart loaded with the second object, following a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

[0015] A second aspect of a method for unloading trolleys is proposed to ensure the unloading of at least one object conveyed by at least one motorized trolley, with a view to transferring an object conveyed from said at least one motorized trolley to an inlet of a conveyor, said method comprising: - / A / Supply one or more motorized trolleys, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface being at a lower level than the conveyor, - / B / Provide: - / B 1 / a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork including fingers, said first fork motorized for raising and lowering from a first lower position to a first upper position, the the first fork being configured to unload a motorized trolley, onto an unloading area of ​​the running surface, — / B2 / a second system configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork including fingers, said second fork motorized for raising and lowering from a second high position to a second low position, the second fork being configured for loading a motorized truck, onto a loading area of ​​the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being adjacent to said loading area, said method comprising: - / Cl / Move a motorized trolley supporting an object towards the unloading area, following an initial trajectory aligned with the tines of the first fork in the lowered waiting position, outside the unloading area, - / Dl / Insert the fingers of the first fork into the first lower position, between the object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory, into the unloading area, - / El / Raise the first fork to the aforementioned first high position in order to unload the object from the motorized trolley, - / Fl / Move the motorized trolley, unloaded of the object, from the unloading area to the loading area, along a second trajectory, in a second direction, transverse to the first direction, in particular perpendicular to the first direction. - / Gl / Lower the second empty fork from the second high position to the second low position on the motorized trolley, once the object has been removed. - / Hl / Move the motorized trolley, unloaded of the object, along a third trajectory aligned with the fingers of the second fork in order to exit the loading area.

[0016] This disclosure further relates, according to a third aspect, to a method for loading trolleys to ensure the loading of at least one conveyed object onto a motorized trolley, for the purpose of loading a conveyed object onto the motorized trolley, said object being conveyed from an outlet of the conveyor, said method comprising: - / A / Providing one or a plurality of motorized trolleys, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of travel, and an upper surface for carrying an object, said surface being at a lower level than the conveyor, - / B / Providing: - / B 1 / a first system configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork including fingers, said first fork motorized for raising and lowering 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 running surface, — / B2 / a second system configured for loading motorized trolleys, comprising a second fork system, comprising at least one second fork including fingers, said second fork motorized for raising 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 running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being juxtaposed to said loading area, said method comprising: - / C2 / Move an empty motorized trolley towards the unloading area of ​​the first fork, following an initial trajectory aligned with the fingers of the first fork in the lowered waiting position, outside the unloading area, - / D2 / Continue moving the motorized cart along the first trajectory, in the unloading area, - / E2 / Raise the first fork to the said first high position, - / F2 / Move the motorized trolley from the unloading area to the loading area, following a second path, in 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 along a third path aligned with the fingers of the second fork in order to exit the loading area.

[0017] According to another aspect, the present disclosure also relates to a combination of the method according to the first aspect, and / or the second aspect, and / or the third aspect.

[0018] 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, a method in which said motorized trolleys comprise a first trolley and a second trolley, the first fork system and the second a fork system according to the process of the first aspect and according to the process of the second aspect being common, the process comprising: - an implementation of said steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the process of the first aspect for the first motorized trolley - an implementation of said steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the process according to the process 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.

[0019] For example, according to one embodiment, the unloading and loading process according to the process of the first aspect may be followed by an unloading process according to the third aspect, 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 third aspect being common, the process comprising: - an implementation of said steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the first aspect for the first motorized trolley - an implementation of said steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the process according to the third aspect for the second motorized trolley, and in which the first cart and the second cart travel one behind the other along the same trajectory.

[0020] The features described in the following paragraphs may optionally be implemented independently of each other or in combination with each other:

[0021] According to one embodiment, the position of the center of the motorized trolley in the unloading zone and the position of the center of the motorized trolley in the loading zone are spaced by a dimension greater than the dimension of the trolley along the second direction, and preferably by a dimension less than three times, preferably less than two times the dimension of the motorized trolley along the second direction.

[0022] According to one embodiment, the descent in / G / according to the process of the first aspect, in / Gl / according to the process of the second aspect, or in / G2 / according to the process of the third aspect, of said second fork is initiated before the motorized trolley reaches the loading area in / F / according to the process of the first aspect, in / Fl / according to the process of the second aspect, in / F2 / according to the process of the third aspect.

[0023] According to one embodiment, the chassis of the motorized trolley maintains the same orientation during the trajectory comprising the first, second and third trajectory.

[0024] 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, an axis of revolution around which the wheel pivots to move the cart, and connecting means for linking the wheel to the chassis, - means for changing the direction of movement including pivoting means for pivoting the wheel and means for connecting around a vertical axis relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel. The process may provide for said bearing assembly, or each bearing assembly: - / CF / Rotate the wheel around said vertical axis, while the motorized trolley is in the unloading zone, 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 process following the first aspect, between the first trajectory in / Cl / and the second trajectory in / Fl / according to the process following the second aspect, or between the first trajectory in / C2 / and the second trajectory in / F2 / according to the process following the third aspect, 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 / according to the process following the first aspect, or between the second trajectory in / Fl / and the third trajectory in / Hl / according to the process following the second aspect, or between the second trajectory in / F2 / and the third trajectory in / H2 / according to the process following the third aspect.

[0025] In particular, the method may include: - Turning the wheel in / CF / is carried out during the lifting of the fork in / E / according to the process following the first aspect, or in / El / according to the process following the second aspect, or in / E2 / according to the process following the third aspect, and / or - Turning the wheel in / FH / is carried out during the lowering of the fork in / G / according to the process following the first aspect, or in / Gl / according to the process following the second aspect, or in / G2 / according to the process following the third aspect.

[0026] According to an embodiment of the process according to the process according to the first aspect, the second aspect, or even the third aspect: providing in / B / may include: - the first system which includes a first conveying unit comprising one or more conveying elements forming a first conveying surface at the height of said conveyor inlet, - the second system which includes a second conveying unit comprising one or more conveying elements forming a second conveying surface at the height of the conveyor outlet.

[0027] According to an embodiment of the process 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 inlet of said conveyor and, - / G / is preceded by the transfer of the second object from an exit of the conveyor to the second fork in the second high position.

[0028] According to an embodiment of the process 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 conveying unit, - / E02 / Transfer the first object from said conveyor unit to said conveyor inlet, and in which / G / is preceded by: - / G01 / Transfer the second object from said conveyor exit to said second conveyor unit, - / G02 / Transfer the second object from the second conveyor unit to said second fork in the second high position.

[0029] 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 inlet of said conveyor, in particular the transfer to / E01 / and / or to / 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 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 a second motorized pushing member.

[0030] According to one embodiment, the first trajectory and the third trajectory extend parallel to each other, 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.

[0031] According to an embodiment of the process 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.

[0032] The present disclosure further relates to a trolley loading and unloading installation for unloading at least one object conveyed by at least one motorized trolley, for the purpose of transferring a first object conveyed from said at least one motorized trolley to a conveyor inlet, and 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 and means of rolling on a running surface configured to ensure a change of direction of movement, - a first system configured for unloading motorized trolleys, comprising a first fork system, including at least one first fork comprising tines, said first fork being motorized for raising and lowering from a first lower position to a first upper position, the first fork being configured to unload a motorized trolley onto an unloading area of ​​the running surface - a second system configured for loading motorized trolleys, comprising a second fork system, including at least one second fork comprising fingers, said second fork motorized for raising and lowering from a second high position to a second low position, the second fork being configured to load a motorized trolley onto a loading area of ​​the running surface and in which said first system and second system are arranged side by side, said unloading area being juxtaposed to said loading area, - a control unit comprising one or more microprocessors and at least one memory containing instructions for the implementation of steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the process of the first aspect, and / or instructions for the implementation of steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the process of the second aspect, and / or instructions for the implementation of steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the process according to the third aspect.

[0033] According to one embodiment, said installation may comprise: - the first system which includes a first conveying unit comprising one or more conveying elements forming a first conveying surface at the height of said conveyor inlet, - the second system which includes a second conveying unit comprising one or more conveying elements forming a second conveying surface at the level of said conveyor outlet, the first conveying unit and the second conveying unit being juxtaposed, and wherein the memory contains instructions for controlling the first pushing element to ensure the transfer of the first object supported by said fork in the raised position to said inlet of said conveyor and the control of the second pushing element to ensure the transfer of the second object from an outlet from the conveyor to the second fork in the high position to ensure the implementation of steps / E01 / , / E02 / , / G01, / G02 / . Brief description of the drawings

[0034] Other features, details and advantages will become apparent from reading the detailed description below and from analyzing the accompanying drawings, in which: Fig. 1

[0035] [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 on the way up, a pushing member in a retracted, waiting position, for unloading. Fig. 2

[0036] [Fig.2] is a consecutive view of [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 in view of its transfer to an inlet of the conveyor. Fig. 3

[0037] [Fig.3] is a schematic view of the chain-driven push mechanism transmission, illustrating various positions of the push member, namely in a retracted unloading position at the fork fingers, in a retracted loading position at the second end of the conveying unit, opposite the first end in extension with the fork. Fig. 4

[0038] [Fig.4] is a schematic top view of the loading device illustrating the function of lateral deflectors to center 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

[0039] [Fig.5] shows a system provided with a detection means (such as a camera) configured to detect the position of the object being conveyed on the system in particular on the fork or on the conveying surface of the conveying unit, or even configured to detect the size of the object. Fig. 6

[0040] [Fig.6] is a variant of [Fig.5] in which the vehicle is devoid of a removable device for the support of said object by the motorized trolley. Fig. 7

[0041] [Fig. 7] schematically illustrates a possible control of the thrusting element, with detection of the object conveyed on the fork, notably with a command of said thrusting element for a first stroke at a first speed, before contact with the conveyed object, then a command of said thrusting element for a second stroke, after contact with the object, at a second speed higher than the first speed, particularly during unloading. Fig. 8

[0042] [Fig.8] schematically illustrates a possibility of piloting during loading, with detection of the position and size of the object conveyed on the conveying surface of the unit, and a control of the pushing member so as to ensure a transfer of the conveyed object to a target position on said fork, according to the length of the fork, and in particular a target position centered according to the length of said fork. Fig. 9

[0043] [Fig.9] shows a motorized trolley comprising, at its upper surface, a telescopic arm of a transfer device, the arm shown 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 shown) 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 fork fingers, said grooves arranged on either side of the telescopic arm, parallel to the direction of deployment of the arm. Fig. 10

[0044] [Fig. 10] schematically shows a loading or unloading system comprising a chassis for the conveying unit and the fork system, with adjustable height along feet. Fig. 11

[0045] [Fig. 11] schematically shows a top-view assembly comprising: - a first unloading system for a motorized trolley according to this 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 loading system for a motorized trolley according to this 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 side by side, parallel to each other, the fork of the first system being parallel to the fork of the second system. Fig. 12

[0046] [Fig.12] is a schematic view of the whole of [Fig.11]. Fig. 13

[0047] [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, an axis of revolution around which the wheel pivots to move the cart, and connecting means for linking the wheel to the chassis, - means for changing the direction of movement including pivoting means for pivoting the wheel and means for connecting around a vertical axis relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel. Fig. 14

[0048] [Fig.14] is another view of the whole of [Fig.13]. Fig. 15

[0049] [Fig. 15] is seen from a view of a first step of an unloading and loading process in 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

[0050] [Fig. 16] is seen from a second stage, following [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 a continuation of the movement of the motorized carriage along the first trajectory. Fig. 17

[0051] [Fig.17] is seen from a third stage, following [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

[0052] [Fig. 18] is seen from a fourth stage, following [Fig. 17], during which the motorized trolley unloaded of the object is moved, from the unloading area to the loading area, along a second trajectory, following a second direction, transverse to the first direction, in particular perpendicular to the first direction. Fig. 19

[0053] [Fig. 19] is seen from a fifth step, following [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

[0054] [Fig. 20] is viewed from a sixth stage, following [Fig. 19] during which the The motorized trolley, loaded with the second object, is moved along a third trajectory aligned with the tines of the second fork in order to exit the loading area. Fig. 21

[0055] [Fig.21] is a schematic view of a trajectory of motorized trolleys, during of the implementation of the unloading and / or loading process, the trajectory consisting of a first trajectory of the motorized trolley in a first direction, until the motorized trolley moves into the unloading area, vertically above the first fork, then in particular after unloading the first object by moving the motorized trolley along a second trajectory in a second direction, transverse to the first direction, until the loading area, vertically above the second fork, then in particular after loading an object, moving along a third trajectory in the first direction, against the direction of 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 and loading areas, one after the other according to a flow of trolleys circulating in the same direction, for example a first motorized trolley in the loading area, while a second motorized trolley is simultaneously in the unloading area, the trajectory including a bypass allowing a motorized trolley to travel directly from the first trajectory to the third trajectory, without passing through the unloading and loading areas. Description of the implementation methods

[0056] This disclosure relates to an unloading system 1, in particular a first unloading system IA configured to unload at least one conveyed object 2, in particular a first object 21, by at least one powered trolley, for the purpose of transferring the conveyed object from at least one powered trolley 3 to a conveyor Co during unloading, said system 1, in particular the first system IA, comprising a lifting fork system which includes 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 a fork 5 between a high position PH in which the fork is at the height of said conveyor to permit a transfer of said conveyed object between said fork and said conveyor and at least a low position PB in which said fork is at a height distinct from the high position, lower, to permit a transfer between said at least one trolley and said at least one fork which is inserted under the conveyed object 2 supported by said at least one motorized trolley 3 during the movement of said trolley along the direction of said fingers 50.

[0057] The unloading system 1, in particular the first unloading system IA, may include a pushing mechanism for said conveyed object which includes a motorized pushing member 6, in particular a first pushing member 61, said mechanism configured to ensure, during unloading, a push of the conveyed object 2 (in particular 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 raised position towards said conveyor, in particular to an inlet of the conveyor Co.

[0058] In general, 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 lowered position PB, waiting, until the fingers are inserted under the conveyed object supported by the motorized trolley 3, - To actuate 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 a conveyor inlet, either directly in line with a conveyor inlet, or indirectly via a conveying unit belonging to the unloading system, and possibly, - Actuate said push member 6 to ensure a transfer of the conveyed object 2 (in particular the first object 21 supported on said at least one fork 5, towards said conveyor entrance Co, in particular to said conveyor entrance, or even to said conveyor unit, intermediate.

[0059] The present disclosure further relates to a loading system 1, in particular a second loading system IB 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 comprising 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 permit 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 upper, lower position, to permit 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.

[0060] The loading system 1, in particular the second loading system IB, may include a pushing mechanism for said conveyed object which includes a motorized pushing member 6, in particular a second pushing member 62, said mechanism configured to ensure, during loading, a push of the conveyed object 2 by said pushing member 6 up 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.

[0061] In general, the loading system allows the implementation of a loading process comprising: - actuate said thrusting member 6 to ensure a transfer of the conveyed object 2 from an outlet of the conveyor, in one direction from said outlet of the conveyor Co to said at least one fork in said raised position, - operate 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.

[0062] Generally, the unloading system or the loading system may be non-reversible, i.e., operate only in unloading or loading.

[0063] Generally, the transfer of the conveyed object 2, supported 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 operated by the action of the pushing member 6, which is typically movable along 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 typically be passive, i.e. without motorized conveying members, such as rollers or belts to ensure such a movement of the conveyed object on the fork.

[0064] The passive fingers may advantageously be of limited height, for example less than 30 mm, preferably 15 mm, and by comparison shorter than an alternative where the taller fingers would include conveying elements. Limiting the height of the fingers can facilitate the insertion of at least one fork between the conveyed object resting on the upper surface of the motorized trolley, or even allows to limit the height of grooves Ra, Ra2, receiving the fingers of said at least one fork during insertion.

[0065] Generally, the fork tines extend parallel to each other in a direction that can be horizontal, or close to horizontal by plus or minus 15°. Generally, said at least one fork 5, first fork 51 and second fork 52 in particular, can be movable along a vertical translation between said upper position PH and said lower position PB, and in particular in order to limit the horizontal footprint of said unloading or loading system.

[0066] According to one possibility illustrated by way of example in the figures (in particular Nos. 1, 2, 5, 6, 12 and 15 to 20), said at least one motorized trolley 3 is configured to travel on a travel surface, such as the ground, at a level lower than the conveyor, said upper surface of said motorized trolley at a level lower than the conveyor.

[0067] 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 lower position PB, and without waiting for said fork to reach said upper position PH.

[0068] Generally, the unloading or loading system may include a conveying unit 4, configured to ensure the transfer of said conveyed object 2 onto a conveying surface SC formed of one or more conveying elements 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 trolley.The conveying elements may be rollers, typically mounted in parallel, motorized and driven 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 in 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 in said high position, during loading.

[0069] Generally, the first unloading system IA may include a first conveying unit 41, and the second loading system IB may include a second conveying unit 42 /

[0070] 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 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 the second object 22) along a conveying direction of, the fingers 50 of said at least one fork 5 (in in particular respectively of the first fork 51 and of the second fork 52) are oriented parallel to the conveying direction of.

[0071] In general, the absence or presence of the object can be detected by one or more sensors, and in particular by all or part of the following sensors: - a sensor associated with the motorized trolley, typically mounted on the motorized trolley, configured to detect the presence or absence of the object being conveyed on said motorized trolley, - a sensor associated with said at least one fork, arranged to detect the presence or absence of the conveyed object 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.

[0072] Generally, the loading or unloading system may include a control unit, comprising a processor and a memory including instructions for the implementation of the unloading process and / or for the implementation of the loading process, and in particular for the control of the fork (first and second fork), or of the first and second pushing system.

[0073] When the system includes a conveyor unit 4, the instructions in the memory may allow: - during unloading, to actuate the conveying device(s) 40 in the direction of conveying from said at least one fork (in the raised position) towards the entrance of the conveyor Co, during unloading, simultaneously with the push of the pushing device 6, - during loading, to actuate the conveying device(s) 40 in the direction of conveying from the conveyor towards said at least one fork (in the high position), in particular simultaneously with the push of the push device.

[0074] Generally, the push member 6 can be mobile between at least one retracted position PEsc in which the push member is outside a space of movement of the object conveyed from said at least one fork (first fork or second fork) to the high position up to said conveyor and a push position in which the push member 6 is in the space of movement of the object conveyed on said at least one fork to the high position up to said conveyor.

[0075] Generally, the thrust member 6 may include a thrust cross member 60 extending transversely to the direction of conveying, 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.

[0076] The push crossbeam 60 is configured to sweep lengthwise said at least one fork 5, in whole or in part, during a motorized push movement of said push crossbeam 60 in the conveying direction of.

[0077] In particular, during unloading, the push crossbeam 60 of the first push 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 SI 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 push crossbeam 60 being able to 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 of.

[0078] During loading, the push 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 push 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 section of length of said fork from the base of said fork 5, in particular on a first section of length of the second fork 52.

[0079] Thus and generally, said push mechanism can be configured to ensure a displacement of said push member 6 along the conveying direction of, over a part or preferably over the entire length of said conveying unit 4 and of the fork, to ensure a push of said conveyed object 2 on the conveying surface of said conveying unit and of the fork, in a direction SI, during unloading, directed from said at least one fork 5 then in high position PH, towards a second end E2 of the conveying unit, opposite to a first end El of conveying 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 to the first end El of conveying in extension of said at least one fork towards said at least one fork 5 in high position PH.

[0080] In particular, said at least one retracted position PEsc may include a retracted unloading position PEscd, arranged on the fork side, 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, extending from said at least one fork 5 in particular second fork 52 at the high position PH.

[0081] Generally, the thrusting mechanism may include an actuator with a transmission comprising at least one CH chain driving said thrust member 6 (namely the first thrust member 61 or second thrust member 62) in the direction of conveying, in the area of ​​movement of the conveyed object 2, above said at least one fork then in the first position PI.

[0082] 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 PI of said at least one fork 5. Said push cross member 60 is fixed at a first end to the first chain CH1 and at a second end to the second chain CH2.

[0083] The chain, first chain CH1 or second chain CH2, forms a guided loop between two toothed wheels arranged respectively at the two ends of a support frame CHA, said push cross 60 being in the push position when integral with a section of chain length CH1, CH2, then arranged greater than the two toothed wheels.

[0084] The retracted unloading position PEscd can be obtained when the push cross member 60 (in particular of the first push member 61) is moved by the chain CH beyond the distal ends of the fork fingers 5, and in particular tilted below the conveying surface SC by the toothed wheel on that side, as seen on the right in [Fig. 3]. In this retracted unloading position, said push cross member leaves the passage clear to ensure movement of said at least one fork 5 from the lower position PB to the upper 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 push cross member during the movement of said fork. The retracted unloading position PEscd is preferably advantageously close to the distal end of the fingers to ensure rapid activation of the push during unloading.

[0085] The retracted loading position PEscc can be obtained when the push beam (in particular of the second push 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 that side. In this retracted position PEscc, the push beam is tilted below the conveying surface SC, between the outlet of the conveyor Co and the second end E2 of the extending conveying unit. The position The retractable loading PEscc thus allows the transfer of the conveyed object from the conveyor outlet to said conveying unit, during loading, the retracted loading position being advantageously close to the second end E2, to ensure rapid activation of the thrust during loading.

[0086] Thus, generally, said at least one chain CH can be configured to move the push member 6 from said at least one retracted position PEsc to the push 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 El of the conveying unit 4 in extension of said at least one fork 5 in the high position, or a retracted unloading position PEscd, arranged at the distal ends of the fingers of said at least one fork 5 in said high position.

[0087] Generally, said at least one fork 5 can be guided vertically along vertical guides GD attached to two of the feet 8 opposite each other.

[0088] Generally, said conveying unit 4, comprising the conveying element(s) 40 and the pushing mechanism, comprising said pushing element 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 longitudinal members extending parallel to each other in the direction of conveying, on either side of the conveying unit 4, and in a first section of length SL1 extending along the conveying unit 4, but also, and in a second section of length SL2, on either side of said at least one fork 5 in the raised position PH.

[0089] The feet 8 are arranged so as to position the second length section SL2 of the support frame laterally overhanging the feet, and in particular overhanging the two opposing feet that guide said at least one fork 5. Such an overhanging positioning of the support frame CHA on the second length section SL2 leaves a completely free clearance under the second section SL2 of the support frame, allowing the motorized carriage 3 to move freely without interfering with the feet. Conversely, the first length section SL1 of the support frame can be stabilized between four feet 8.

[0090] In particular, such an overhanging positioning allows, in particular, not only the movement of the motorized trolley on the ground in a first direction of travel, aligned with the tines 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, the motorized trolley to move out of the operating area of ​​said at least fork, by a displacement, along a second direction on the ground, perpendicular to the first direction.

[0091] Such an arrangement allows the unloading system to unload the motorized trucks, with the trucks entering the operating area of ​​said fork under the support chassis and exiting the operating area separately from the entry. This allows the motorized trucks to circulate one after the other, without interference between trucks entering and leaving the operating area of ​​said fork, with the aim of increasing unloading capacity.

[0092] When the unloading or loading system is a first unloading system IA attached to a second loading system IB, as described below for the unloading and loading assembly, such an overhang allows the motorized trolley exiting the fork reach of the first unloading system IA, having unloaded a first object, to move in the second direction upon entering the fork reach 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 fork tines of the second system to unload, without interfering with subsequent motorized trolleys in circulation, not yet unloaded, traveling in the opposite direction in the first direction towards the fork reach of the first unloading system.

[0093] Generally, the loading or unloading system may include a height adjustment mechanism 80 for the support frame on the height of the feet 8, configured to ensure height adjustment of the conveying surface SC, and in particular to allow height alignment with a conveyor Co. The adjustment mechanism may have a plurality of adjustment openings, allowing various height mounting positions of the support frame.

[0094] The loading or unloading system may include a means for detecting the position of the conveyed object 2 on at least one fork 5 in the raised position. The detection means Dt may be a camera whose field of view targets at least one fork in the raised position, and possibly also the conveying surface SC of the conveying unit 4, as shown in particular in Figures 5 and 6.

[0095] Said system comprises a control unit including a microprocessor and a memory containing instructions to ensure a movement of said thrust member 6, at a first speed V1 over a first displacement stroke CD1 of said thrust member, upstream of the position of the conveyed object 2, before contact between the thrust member 6 and said conveyed object 2, and at a second Speed ​​V2, distinct from the first speed VI after contact with the conveyed object 6, occurs during a second travel stroke CD2, when the push exerted by the pusher 6 on said conveyed object. This second speed V2 may, for example, be higher than said first speed VI. The second travel stroke CD2 can extend to the inlet of the conveyor or conveying unit. Such control of the pusher allows the conveyed object to be moved quickly from said at least fork 5, towards the conveyor or even to the conveyor, while limiting the impact of the pusher on the conveyed object, which is stationary on the fork during unloading.

[0096] According to one embodiment, the loading system may include a detection means Dt for 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 include a control unit comprising a microprocessor and memory containing instructions to ensure, during loading, a push of said object conveyed by said pusher 6, from the conveying surface SC to a target position PCE of said object conveyed 2 on said at least one fork 5 in said raised 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 achieves centering of the object conveyed 2 along the length of the fork fingers.

[0097] As illustrated in [Fig. 4], said conveying unit 4 may further include one or more lateral deflectors DF, configured to ensure centering of the conveyed object 2 on said at least one fork 5 in 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 include an inclined guide surface 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 constrained to movement by the pusher 6 up to said at least one fork 5. This achieves centering of the conveyed object along the width of said at least one fork 5, namely in the direction transverse to the fingers 50.

[0098] Generally, centering the conveyed object on the fork, both lengthwise and widthwise, allows the conveyed object 2 to be placed on the upper surface of the motorized trolley 3, in a target position on the robotic trolley, during loading and movement of the fork from the upper position PH to the lower position. Placing the conveyed object 2 in a target position on the motorized trolley can be particularly advantageous when the motorized trolley includes a transfer device with a telescopic arm 7, in order to ensure interlocking between the lugs EG of the arm. telescopic, the protruding lugs upwards, of said arm, and cavities on the underside of the conveyed object.

[0099] Generally, said loading or unloading system may include a removable device DA, such as a platform, arranged to rest on the upper surface of the motorized trolley 3.

[0100] 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 lowered position PB, in order to insert themselves under the conveyed object 2 when said at least one motorized carriage 3 moves in the direction of the fingers 50, and to allow separation of the conveyed object and the removable device when said at least one fork 5 is raised.

[0101] According to one embodiment, said at least second position may include: - an upper lower position, for which the fingers of said at least one fork fit into the grooves Ra of the removable device DA, - a lower lower position, at a lower level than the upper lower position, configured for the passage of the fingers of said at least one fork 5 into 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 includes said removable device DA, alone or in association with said conveyed object.

[0102] Generally, and in particular when the fingers of said at least one fork are passive, i.e. without conveying elements, the height of the fingers can be advantageously limited, which in turn allows the height of the grooves (Ra or Ra2) to be limited, which are for example less than 35 mm in height.

[0103] The removable device DA may be a platform comprising grooves Ra, extending parallel to each other and in a spatial configuration compatible with the fingers of said at least one fork. The typically rectangular platform may include projecting edges on the support surface of the conveyed object, on all four sides of the platform. The deep grooves in the upper surface of the platform extend through two of the edges to allow the passage of the fingers 50 of the fork 5.

[0104] In general (and as illustrated in [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.

[0105] 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. However, neither of the two forks (first or second) is simultaneously compatible with said grooves Ra and the second grooves Ra2.

[0106] 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 withdrawn and replaced by the second fork, which is separate from the first fork.

[0107] According to one embodiment (not illustrated), the removable device DA may be devoid of the 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 inserting the fingers 50 of the fork into grooves on the surface of the motorized carriage.

[0108] According to one embodiment, said motorized trolley 3 includes means for rolling on the travel surface which is a rolling surface SR, such as a floor.

[0109] The rolling means may include a mechanism allowing a change of direction of movement on the running surface. For example, the rolling means may include drive wheels intended to roll on the running surface, capable of pivoting by at least 90°, said drive wheels being mounted on pivoting and drive devices fixed to the chassis of said trolley, each of said pivoting and drive devices comprising a motor for actuating means for pivoting a drive wheel about a vertical axis, intended to allow a drive wheel to rotate about itself. In particular, this may be a motorized trolley according to document WO2023001449 (A1I) comprising a single motor for rotating said drive wheels intended to actuate means for rotating said drive wheels.

[0110] In general, the pivoting and drive devices allow a change of direction of the motorized trolley, without a change of orientation of the chassis of the motorized trolley during the change of direction.

[0111] The rolling means for the horizontal movement of the trolley 32 comprise several bearing assemblies 32. The trolley 3 here comprises four bearing assemblies 32, each bearing assembly 32 being arranged at a lower corner of the chassis 31.

[0112] Each bearing assembly 32 may include a wheel 33 having an axis of revolution R perpendicular to the vertical direction Z.

[0113] Each bearing assembly 32 also includes connecting means for linking the wheel 33 to the frame 31. The connecting means may include a yoke on which the wheel 33 is pivotally mounted about 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 along 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 that 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.

[0114] The rolling means are further configured to operate in open ground which is devoid of guide rails, in particular in the two perpendicular directions.

[0115] Each bearing assembly 32 includes drive means for rotating the wheel 33 about its axis of revolution R relative to the frame of the motorized carriage 3. The drive means comprise a first bevel gear 37 and a second bevel gear 38 arranged relative to each other to form a right-angle drive. The first gear 37 is coaxial with the vertical axis V and the second gear 38 is coaxial with the axis of revolution R of the wheel 33. The wheel 33 and the second gear 38 are arranged on either side of the vertical axis V. The carriage 3 includes an actuator for actuating the drive means of each bearing assembly 32.

[0116] Each bearing assembly 32 includes means for changing the direction of travel. These means for changing the direction of travel include pivoting means for pivoting the wheel 33 and linking means about a vertical axis V relative to the frame 31. The vertical axis V intersects the axis of revolution R of the wheel 33. The means for pivoting the wheel 33 include a toothed wheel RO mounted to pivot about the vertical pivoting axis V of the wheel 33, and a worm gear VS meshing with the toothed wheel RO.

[0117] Each bearing assembly 32 includes an actuator for actuating the pivoting means by driving the worm gear VS in rotation about its extension axis. The actuator may include a motor fixed to the frame 31 of the carriage 3 and having an output shaft connected to the worm gear VS. Alternatively, a single actuator may be provided to actuate the pivoting means of each bearing assembly 32.

[0118] To effect a 90° change in the direction of movement of the carriage 3 between a first horizontal direction and a second horizontal direction, or vice versa, by rotating only the wheel 33 and the wheel linkage means 33 is advantageously faster than rotating the entire chassis of the motorized trolley. In particular, a saving of 2 seconds was observed for a 90° change in the direction of travel of the trolley 3. The unloading and loading rate is therefore increased.

[0119] 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.

[0120] Finally, the wheel 33 is pivoted about the vertical axis V without being positively driven in rotation about the axis of revolution R by the actuator. The orientation of the carriage 3 remains fixed during the change in the direction of travel of the carriage. Therefore, it is not necessary to act on the wheel 33 via the drive means to compensate for a rotation of the wheel 33 about its axis of revolution R when it pivots about the vertical axis V. This reduces the energy consumption of the carriage.

[0121] This can be achieved by a relative difference between a radius r of the wheel 33 and a distance d along 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 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 along the direction of the axis of revolution R of the wheel 33.

[0122] In general, the motorized trolley 3 can be a trolley intended to travel only on the travel surface.

[0123] The motorized trolley can also be a motorized trolley circulating not only in two directions of the travel surface, substantially horizontal, but also vertically.

[0124] For this purpose, the motorized trolley 3 may include, in addition to the rolling means, GP climbing means, such as motorized sprockets 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 in itself in document WO2019072432 (A1).

[0125] The motorized trolley may further include a transfer device comprising said telescopic arm 7 movable between a retracted position configured to ensure The loading of said conveyed object 2 onto the upper surface of the motorized trolley 3, to a deployed position in which the telescopic arm 7 is extended cantilevered from 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 include said protruding lugs EG, configured to be inserted into one or more cavities (or indentations) of the conveyed object or of said removable device DA, such as the tray, and as taught in itself in document WO2019072432 (A1). The insertion of the lugs of the telescopic arm into the cavities of the object to be transferred ensures correct positioning and coupling for the success of the transfer operations into a storage location of the rack.

[0126] Notably, and in the case of a trolley with a telescopic arm equipped with protruding lugs, particular attention may be paid to ensuring the coupling of the cavities with the lugs during the implementation of the loading process, in particular when placing said conveyed object 2 in support on said fork 5 on the upper surface of a motorized trolley 3 by lowering said at least one fork 5 to the lower position PB, during the implementation of the loading process.

[0127] 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).

[0128] 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 include a motorized adjustment of the telescopic arm's position to align the lugs and cavities vertically for interlocking during the lowering of the fork to its lowest position. In such an embodiment, the telescopic arm is actuated to ensure successful coupling during the motorized carriage loading operations.

[0129] 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, in this case, or more generally, only two fingers.

[0130] According to one embodiment, in particular illustrated in Figures 11 and 12, the present disclosure relates to an unloading and unloading assembly comprising: - a first IA unloading system for a motorized trolley according to the present disclosure, configured to unload at least a first conveyed object 21 for the purpose of transferring the conveyed object from at least one motorized trolley 3 to a conveyor Co during unloading, - a second IB system for loading a motorized cart according to this disclosure, configured to load a motorized cart for the purpose of transferring a second object conveyed 22 from conveyor Co to motorized trolley during loading.

[0131] The first system IA and the second system IB can be juxtaposed, parallel to each other, the fork of the first system IA being parallel to the fork of the second system IB, or even, where appropriate, the conveying unit 4 of the first system IA being parallel to the conveying unit 4 of the second system IB.

[0132] Such an assembly allows the motorized trolley to be unloaded in the unloading area under the fork of the first system IA, then successively a movement of the motorized trolley unloaded of the first object, into the loading area under the fork of the second system IB to allow the motorized trolley to be loaded with the second object.

[0133] Generally, the first system IA and the second system IB comprise a support chassis for said first system IA and a support chassis for the second system IB. According to one embodiment, the support chassis of systems 1 A, 1 AB may be separate, and as illustrated in [Fig. 12].

[0134] According to an advantageous embodiment, the support chassis of the first IA system and second IB system can be joined together by one or more shared structural elements, and in particular with a view to compactness and / or cost reductions.

[0135] According to one embodiment (not illustrated), said assembly may include a conveyed object transfer system such as a robotic arm, configured to transfer an object from the fork of the first AI system to the fork of the second IB system.

[0136] The technical solutions presented may offer all or some of the following advantages: - ease of insertion of the fork, preferably with passive fingers, the fingers possibly being of small height - a small height dimension for the grooves (on the surface of the motorized trolley or removable device) required for the insertion of the fork tines, - a reduced footprint of the loading / unloading system (or the loading and unloading assembly) compared to known devices, - adaptability of the loading / unloading system or even the assembly, to pre-existing equipment, and in particular to the height of the Co conveyor, by ease of height adjustment of the support chassis of the system.

[0137] In general, the loading / unloading system may also include one or more safety devices, in particular anti-pinch devices.

[0138] In particular, the actuation mechanism of said at least one fork 5 can be configured to avoid pinching the motorized carriage, or even the removable device in case of misalignment between the grooves (Ra, Ra2) and the fingers of said fork during removal operations, by lowering to the lowest position, or more generally to avoid pinching, when an obstacle comes to slide under said fork during its descent.

[0139] The drive mechanism may include a drive element configured to move up or down, 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.

[0140] In the case of an unwanted obstacle during the descent of the fork, said driving element can be driven down in a motorized manner, without the fork transmitting the driving effort of the motorization by compressing the obstacle: on the contrary, the fork moves away from the driving 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 it.

[0141] Notably, the aforementioned solutions may have the significant advantage of a design allowing high unloading (or even loading) rates, by allowing the trolleys to travel in a forward direction to the loading / unloading system, and 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 forward direction and those traveling in the return direction, and in particular as understandable from the methods disclosed below.

[0142] The present disclosure thus relates notably, 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 and then loading a second conveyed object, onto the motorized trolley unloaded of the first object, the second object being conveyed from an outlet of the conveyor.

[0143] Notably, said unloading and loading process, according to the first aspect, may include: - / A / Supply one or more motorized trolleys 3, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface being at a lower level than the conveyor, - / B / Supply: - / Bl / a first AI system configured for unloading motorized carts, comprising a first fork system, comprising at least one first fork 51 comprising fingers 50, said first motorized fork on the ascent and on the descent from a first low position PB to a first high position PH, the first fork being configured to unload a motorized trolley, onto an unloading zone ZD of the running surface, - / B2 / a second system IB configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork 52 including fingers, said second fork 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 truck onto a loading area ZC of the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area ZD being juxtaposed to 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 lowered waiting position, outside the unloading zone (see for example [Fig. 15]), - / D / Insert the fingers of the first fork 51 into the first lower position PB, between the first object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory Tl, in the unloading zone ZD (see for example [Fig. 16]), - / E / Raise the first fork to the 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 of the first object, from the unloading zone ZD to the loading zone ZC, along a second trajectory T2, in 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 area ZC (see for example [Fig.20]).

[0144] According to a particular embodiment, step / H / is followed by lifting said second fork 52 from the second lower position to the second upper position.

[0145] Thus, the second fork is ready to receive another object to be loaded onto a trolley.

[0146] The motorized trolley(s) 3, the first unloading system IA and the loading system IB, may be those of the aforementioned structures.

[0147] Generally, the fingers 50 of the first fork 51 are parallel to the fingers of the second fork 52.

[0148] 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 close together; the position of the center of the motorized trolley 3 in unloading zone ZD and the position of the center of the motorized trolley in the loading zone ZC can be separated by a dimension greater than the dimension of the motorized trolley 3, along the second direction, and preferably by a dimension less than three times, preferably less than two times the dimension of the motorized trolley along the second direction.

[0149] The gap between the unloading and loading centers allows, in particular, a first motorized trolley to be loaded with an object in the loading area ZC, and while a second motorized trolley is being unloaded in the unloading area ZD.

[0150] For example, the motorized carriage 3 may be longer than it is wide and thus include a longitudinal direction and a width direction. The longitudinal direction is preferably oriented along the first direction and the width direction along the second direction.

[0151] The width of the trolley can be, as an indication, 450 mm (plus or minus 30%), and the distance between the two centers of the unloading and loading areas 530 mm (plus or minus 30%).

[0152] According to one embodiment, the first trajectory T1 and the third trajectory T3 extend parallel to each other 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.

[0153] In general, 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 include the rolling assemblies 32 described above.

[0154] In general, 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 along the first trajectory T1, in the outward direction towards the unloading area ZD, on the one hand, and the motorized trolleys 3 circulating along the third trajectory T3, in the return direction, at the exit of the loading area ZC.

[0155] According to one embodiment and in general, the motorized trolley(s) of the fleet of motorized trolleys can travel along the same loading trajectory as the unloading and loading assembly, during implementation for example: - of a method of unloading (only by the first unloading system IA, and without loading of an object by the second loading system IB) of a motorized trolley by means of the aforementioned assembly having the first unloading system IA including the first fork 51, or, - of a method of loading (only by the second loading system IB, and without loading by the first loading method IA).

[0156] Thus, the present disclosure may further include, according to a second aspect, a method for unloading trolleys to ensure the unloading of at least one conveyed object 2 by at least one powered trolley, for the purpose of transferring a conveyed object from said at least one powered trolley 3 to an inlet of a conveyor Co, said method comprising: - / A / Supply one or more motorized trolleys 3, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of movement, and an upper surface for carrying an object, said surface being at a lower level than the conveyor, - / B / Supply: - / Bl / a first AI system configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork 51 including fingers, said first motorized fork moving up and down 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 running surface, - / B2 / a second IB system configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork 52 including 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 truck onto a loading area of ​​the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being adjacent to said loading area, said method comprising: - / Cl / 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 lowered waiting position, outside the unloading area, - / Dl / Insert the fingers of the first fork into a low position, between the object and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory Tl, in the unloading zone, - / El / Raise the first fork to the aforementioned first high position PH in order to unload the object from the motorized trolley, - / Fl / Move the motorized trolley, unloaded of the object, from the unloading area to the loading area, along a second trajectory T2, in a second direction, transverse to the first direction, in particular perpendicular to the first direction, - / Gl / Lower the second empty fork 52 from the second high position to the second low position on the motorized trolley unloaded of the object, - / Hl / Move the motorized trolley unloaded of the object, following a third trajectory T3 aligned with the fingers of the second fork in order to exit the loading area ZC.

[0157] According to a particular embodiment, step / Hl / is followed by lifting said second fork 52 from the second lower position to the second upper position.

[0158] Alternatively, in this unloading method, the step / Gl / of lowering the second empty fork 52 is not implemented, the second fork remaining in the second high position if the motorized trolley has no object to load.

[0159] This disclosure further relates, according to a third aspect, to a method for loading trolleys to ensure the loading of at least one conveyed object 2 onto a motorized trolley, for the purpose of loading a conveyed object onto the motorized trolley, said object being conveyed from an outlet of the conveyor, said method comprising: - / A / Providing one or a plurality of motorized trolleys 3, each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of travel, and an upper surface for carrying an object, said surface being lower than the conveyor, - / B / Providing: - / Bl / a first AI system configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork 51 including fingers, said first motorized fork moving up and down 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 running surface, - / B2 / a second IB system configured for loading motorized trucks, comprising a second IB fork system, comprising at least one second fork 52 including fingers, said second fork motorized for raising and lowering from a second high position to a second low position, the second fork being configured for loading a motorized truck onto a loading area ZC of the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area ZD being juxtaposed to said loading area ZC, said method comprising: - / C2 / Move an empty motorized trolley 3 towards the unloading area of ​​the first fork 51, following a first trajectory T1, aligned with the fingers of the first fork in the lowered waiting position, outside the unloading area, - / D2 / Continue the movement of the motorized trolley along the first trajectory Tl, in the unloading area, - / E2 / Raise 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, in 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.

[0160] According to a particular embodiment, step / H2 / is followed by lifting said second fork 52 from the second lower position to the second upper position.

[0161] Alternatively, in this loading process, step / E2 / is implemented, if necessary, before step / C2 / .

[0162] In general: - the unloading and loading process according to the first aspect, - the unloading process according to the second aspect, or - the loading process according to the third aspect, can be operated alternately, on the first unloading system IA and the second loading system IB, for the motorized trolleys 3 circulating each other behind the others, in the same direction of scrolling, following the trajectory consisting of the first trajectory T1, second trajectory T2 and the third trajectory T3.

[0163] Thus, all motorized trolleys follow the same route on the portion of the trajectory (consisting of the first, second and third trajectories), whether all or part of the trolleys are: - unloaded of a first object 21 and loaded with a second object 22, - unloaded of one object, and departing again empty of object, - arriving empty and leaving loaded with an object.

[0164] Thus, for example, the unloading and loading process according to the first aspect is followed by the unloading process according to the second aspect, a process 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 and second aspects being common, the process comprising: - an implementation of said steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the first aspect for the first motorized trolley - an implementation of said steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the process according to the second aspect and in which the first trolley and the second trolley circulate one behind the other following the same trajectory.

[0165] For example, and during the implementation of such a method, the first motorized trolley can be loaded with the second object in the loading area, while the second motorized trolley is unloaded in the unloading area.

[0166] Again, and according to another example, the unloading and loading process according to the first aspect can be followed by an unloading process according to the third aspect, a process 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 and third aspects being common, the process comprising: - an implementation of said steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the process of the first aspect for the first motorized trolley - an implementation of said steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the process according to the third aspect, and in which the first cart and the second cart travel one behind the other along the same trajectory.

[0167] In general, the first trajectory T1 and the third trajectory T3 extend parallel to each other on the same side of the second trajectory T2, the portion of the trajectory consisting of the first trajectory, second trajectory, and third trajectory forming a U-shaped trajectory, and as can be seen by way of example in [Fig.21],

[0168] 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 separated by the same gap as the distance between the trolley centers in the unloading zone and the loading zone, and thus be separated by a dimension greater than the dimension of the motorized trolley 3, along the second direction, and preferably by a dimension less than three times, preferably less than two times the dimension of the motorized trolley along the second direction.

[0169] A motorized trolley traveling on the first path T1 can be controlled, following a fourth path T4, in the second direction, before reaching the unloading area, in order to insert itself at an intermediate portion of the third path T3. This allows the motorized trolley to bypass the unloading area and the loading area, if the motorized trolley does not need to be unloaded or loaded.

[0170] According to one embodiment, the descent in / G / of said second fork of the process according to the first aspect, can be initiated before the motorized trolley reaches the loading area in / F / .

[0171] According to one embodiment, the descent in / Gl / of said second fork of the process according to the second aspect, can be initiated before the motorized trolley reaches the loading area in / Fl / .

[0172] According to one embodiment, the descent in / G2 / of said second fork of the process according to the third aspect, can be initiated before the motorized trolley reaches the loading area in / F2 / .

[0173] In order to maintain the same orientation of the trolley during changes of direction between trajectories (first trajectory T1, second trajectory T2, and third trajectory T3), the rolling means may include 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 to link the wheel to the chassis, - means for changing the direction of movement including pivoting means for pivoting the wheel and means for connecting around a vertical axis V relative to the chassis, the vertical axis preferably being intersecting the axis of revolution of the wheel.

[0174] In such a case, the process according to the first, second, or third aspect may provide for said bearing assembly, or each bearing assembly: - / CF / Rotate the wheel around said vertical axis, while the motorized trolley is in the unloading zone, 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 / Cl / and the second trajectory in / Fl / 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 / Rotate 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 / Fl / and the third trajectory in / Hl / according to the method according to the second aspect,or, alternatively, 1 change of direction between the second trajectory in / F2 / and the third trajectory in / H2 / according to the third aspect.

[0175] According to an advantageous embodiment: - Turning the wheel in / CF / can be done while lifting the fork in / E / according to the procedure of the first aspect and / or - Turning the wheel in / FH / can be done during the descent of the fork in / G / according to the procedure of the first aspect.

[0176] According to an advantageous embodiment: - Turning the wheel in / CF / can be done while lifting the fork in / El / according to the procedure of the second aspect and / or - Turning the wheel in / FH / can be done during the descent of the fork in / Gl / according to the procedure of the second aspect.

[0177] According to an advantageous embodiment: - Turning the wheel in / CF / can be done while lifting the fork in / E2 / according to the third aspect procedure and / or - Turning the wheel in / FH / can be done during the descent of the fork in / G2 / according to the process of the third aspect.

[0178] According to one embodiment provided in / B / , it may include: - the first system which includes a first conveying unit 41 comprising one or more conveying elements 40 forming a first conveying surface at the height of said conveyor inlet, - the second system which includes a second conveying unit 42 comprising one or more conveying elements 40 forming a second conveying surface at the height of the conveyor outlet.

[0179] According to one embodiment of the unloading and loading process 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 inlet of said conveyor and, - / G / is preceded by the transfer of the second object from one outlet of the conveyor to the second fork in the second high position PH2

[0180] In particular, after the transfer of the first object out of said first fork, the step / E / may include the descent of the first fork from the first high position PH to the first low position PB.

[0181] Thus, the first fork 51 is ready to unload another object from another motorized trolley 3.

[0182] In particular and following the process according to the first aspect, / E / can be followed by: - ​​ / E01 / Transferring said first object supported by said first fork in the first high position to the first conveying unit, - / E02 / Transfer the first object from said conveyor unit to said conveyor inlet, and in which / G / is preceded by: - / G01 / Transfer the second object from said conveyor exit to said second conveyor unit, - / G02 / Transfer the second object from the second conveyor unit to said second fork in said second high position.

[0183] According to one embodiment of the unloading process of the second aspect: - / El / is followed by the transfer of the object supported by said first fork in said first high position PH to said inlet of said conveyor

[0184] According to one embodiment, after the transfer of the first object out of said first fork, the step / El / may include the descent of the first fork from the first high position PH to the first low position PB.

[0185] In particular, and according to the unloading procedure according to the second aspect, / El / can be followed by: - / El 1 / 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 inlet.

[0186] 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.

[0187] In particular, and following the procedure according to the third aspect, / G2 / is preceded by: - / G21 / Transfer said object from said conveyor exit to said second conveyor unit, - / G22 / Transfer said object from the second conveyor unit to said second fork in said second high position.

[0188] 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 in / E01 / and / or in / 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 high position, in particular the transfer in / G01 / and / or in / G02 / , is obtained by the pushing action of the second motorized pushing member 62.

[0189] According to an embodiment of the unloading process according to the second aspect, the transfer of the object supported by said first fork in the first high position PH to said inlet of said conveyor, in particular the transfer in / El 1 / and / or in / El2 / according to the second aspect, is obtained by the pushing action of the first motorized pushing member 61.

[0190] According to an embodiment of the loading process according to the third aspect, the transfer of the object 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 motorized pushing member 62.

[0191] This disclosure further relates to a trolley loading and unloading installation for unloading at least one conveyed object 2 by at least one powered trolley, for the purpose of transferring a first conveyed object from said at least one powered trolley 3 to an inlet of a conveyor Co, and then loading a second conveyed object onto the powered trolley unloaded of the first object, the second object being conveyed from an outlet of the conveyor, said installation comprising: - a plurality of three motorized trolleys, each comprising a chassis and means of rolling on a running surface configured to ensure a change of direction of movement, - a first AI system configured for unloading motorized trolleys, comprising a first fork system, including at least one first fork 51 comprising fingers 50, said first fork 51 being motorized for raising and lowering from a first lower position PB to a first upper position PH, the first fork 51 being configured to unload a motorized trolley onto an unloading area of ​​the running surface - a second IB system configured for loading motorized trucks, comprising a second fork system, including at least one second fork 52 comprising fingers, said second fork being motorized for raising and lowering from a second high position PH2, up to a second position PB2 base, the second fork being configured to load a motorized trolley, onto a loading area of ​​the running surface and wherein said first system and second system are arranged side by side, said unloading zone ZD being juxtaposed to said loading zone ZC, - a control unit comprising one or more microprocessors and at least one memory containing instructions for the implementation of steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to the first aspect, and / or instructions for the implementation of steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the process according to the second aspect, and / or instructions for the implementation of steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the process according to the third aspect.

[0192] According to one embodiment, said installation may comprise: - the first system which includes a first conveying unit 41 comprising one or more conveying elements forming a first conveying surface at the height of said conveyor inlet, - the second system which includes a second conveying unit 42 comprising one or more conveying elements forming a second conveying surface at the height of said conveyor outlet, the first conveying unit 1A and the second conveying unit IB being juxtaposed, and in which the memory contains instructions for the command: - 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 inlet of said conveyor and / or - of the second pushing member 62 to ensure the transfer of the second object 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 process of the first aspect, or to ensure the implementation of steps / E1 / , / E12 / , of the process the second aspect, or to ensure the implementation of steps / G21, / G22 / according to the process of the third aspect. List of reference signs

[0193] -1. Loading or unloading system, - AI. First unloading system, - IB. Second loading system - 2. Object being transported, - 21. First item transported, - 22. Second item transported, - 3. Motorized trolley, - 32. Bearing assembly, - 33. Wheel, - 37, 38. First sprocket and second sprocket, - VS. Vis, - RO. Gear wheel, - SR. Running surface (Motorized trolley) - 4. Conveyor unit, - 40 Motorized conveying component(s) - 41, 42 respectively first conveying unit and second conveying unit - SC. Conveying surface (conveying components), - of. Convoy direction, - CH1, CH2 Chain, in particular first chain and second chain, - 5. Fork, - 50. Fingers (fork), -51. First fork, - 52. Second fork, - 6. Pushing organ, - 60. Thrust cross member, -61. First thrust crossbeam, - 62. Second thrust crossbeam -IF. Direction of push during unloading, - S2. Direction of thrust during loading, - PEsc. Retracted position, (in particular under the conveyor surface), - PEscd. Retracted unloading position, - PEscc. Retracted loading position, - CHA. Support chassis (push mechanism and conveying unit), - 8. Feet, - 80. Means of adjusting the height of the support frame relative to the feet, - SL1. First length section (of the supporting frame and positioned between the feet), - SL2. Second length section (cantilevered) - 7. Telescopic arm (motorized trolley), - Dt. Detection methods, - CD1. First movement stroke (without contact between the conveyed object and the pushing element), -VI. First gear (on CD1), - CD2. Second movement run - V2. Second speed (on CD2) (after contact between the conveyed object and the thrusting element), - DA. Removable device, - Ra. Grooves (deep into the upper surface supporting the removable device), - Ra2. Second grooves (motorized trolley, in particular those arranged on either side of the telescopic arm), - DF. Side deflectors, - GP. Climbing aids (in particular motorized gears), - ZD. Unloading zone, - ZC. Loading area, -Tl. First trajectory, - T2. Second trajectory, - T3. Third trajectory, - T4. Fourth trajectory, - PB, PH. Low position and high position (in particular the first high position and first low position of the first unloading system), - PB2, PH2 Second low position and second high position (especially of the second charging system).

Claims

1. Demands A method for unloading and loading trolleys to ensure the unloading of at least one conveyed object (2) by at least one motorized trolley, for the purpose of transferring a first conveyed object (21) from said at least one motorized trolley (3) to an input of a conveyor (Co), and then loading a second conveyed object (22) onto the motorized trolley unloaded of the first object, the second object being conveyed from an output of the conveyor, said method comprising: - / A / Supply one or more motorized trolleys (3), each comprising a chassis, means for rolling on a running surface (RS) configured to ensure a change of direction of travel, and an upper surface for carrying an object, said surface being lower than the conveyor, - / B / Supply: — / B 1 / a first system (IA) configured for unloading motorized trolleys, comprising a first fork system, comprising at least one first fork (51) comprising fingers (50), said first fork being motorized in the upward and downward direction from a first lower position (PB) to a first upper position (PH), the first fork being configured to unload a motorized trolley, on an unloading zone (ZD) of the running surface, — / B2 / a second system (IB) configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork (52) including fingers (50), said second fork being 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 truck onto a loading area (ZC) of the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being adjacent to said loading area, said method comprising: - / C / Move a motorized trolley (3) supporting a first object (21) towards said unloading zone (ZD), following a first trajectory (Tl), aligned with the fingers of the first fork (51) in the first lower position (PB), waiting, outside the unloading zone, - / D / Insert the fingers of the first fork (51) in said first lower position (PB), between the first object (21) and the motorized trolley, by continuing the movement of the motorized trolley along the first trajectory (Tl), in the unloading zone (ZD), - / E / Raise the first fork (51) to said first upper position (PH) in order to unload the first object (21) from the motorized trolley, - / F / Move the motorized trolley unloaded of the first object, from the unloading zone (ZD) to the loading zone (ZC), along a second trajectory (T2), along 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, along a third trajectory (T3) aligned with the fingers of the second fork in order to exit the loading zone (ZC).

2. A method of unloading and loading 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 separated by a dimension greater than the dimension of the motorized trolley along the second direction, and preferably by a dimension less than three times, preferably less than two times the dimension of the motorized trolley along the second direction.

3. Unloading and loading method according to any one of claims 1 or 2 wherein the descent in / G / is initiated before the motorized trolley reaches the loading zone (ZC) in / F / .

4. Unloading and loading method according to any one of claims 1 to 3, wherein the chassis of the motorized trolley (3) maintains the same orientation during the trajectory comprising the first, second and third trajectory (T1, T2, T3).

5. A method for 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 (R) perpendicular to the vertical direction, axis of revolution (R) about which the wheel pivots to move the motorized trolley, and connecting means for linking the wheel to the chassis, - means for changing the direction of travel comprising pivoting means for pivoting the wheel and connecting means about a vertical axis (V) relative to the chassis, the vertical axis preferably intersecting the axis of revolution (R) of the wheel, and wherein the method provides for said rolling assembly, or each rolling assembly: - / CF / Rotating the wheel about said vertical axis, while the motorized trolley is in the unloading zone (ZD),to ensure the change of direction of movement of the motorized trolley between the first trajectory (T1) in / C / and the second trajectory (T2) in / F / , and - / FH / Rotate the wheel around said vertical axis, while the motorized trolley is in the loading zone (ZC), to ensure the change of direction of movement of the motorized trolley between the second trajectory (T2) in / F / and the third trajectory (T3) in / H / .,

6. Unloading and loading method according to claim 5 wherein: - Turning the wheel in / CF / is carried out during the lifting of the first fork (51) in / E / , and / or - Turning the wheel in / FH / is carried out during the lowering of the second fork (52) in / G / .

7. A method for unloading and loading according to any one of claims 1 to 6, wherein supplying in / B / comprises: - the first system (IA) which comprises a first conveying unit (41) comprising one or more conveying elements (40) forming a first conveying surface (SC) at the level of said conveyor inlet (Co), - the second system which comprises a second conveying unit (42) comprising one or more conveying elements (40) forming a second conveying surface at the height of the conveyor outlet.

8. Unloading and loading method according to any one of claims 1 to 7, wherein: - / E / is followed by the transfer of the first object (21) supported by said first fork (51) in the first high position (PH) to said inlet of said conveyor and, - / G / is preceded by the transfer of the second object from an outlet of the conveyor to the second fork (52) in the second high position (PH2).

9. Unloading and loading method according to claim 7 and 8 wherein / E / is followed by: - ​​ / E01 / Transfer said first object (21) supported by said first fork (51) in the first high position (PH) to the first conveying unit, - / E02 / Transfer the first object (21) from said first conveying unit (41) to said conveyor inlet, and wherein / G / is preceded by: - ​​ / G01 / Transfer the second object (22) from said conveyor outlet to said second conveying unit (42), - / G02 / Transfer the second object (22) from the second conveying unit (42) to said second fork (52) in the second high position (PH2).

10. Unloading and loading method according to claim 8 or 9, wherein the transfer of the first object (21) supported by said first fork (51) in the raised position to said inlet of said conveyor, in particular the transfer to / E01 / and / or to / E02 / according to claim 9, is obtained by the pushing action of a first motorized pushing member (61), and wherein the transfer of the second object from an outlet of the conveyor to the second fork (52) in the raised position, in particular the transfer to / G01 / and / or to / G02 / according to claim 9, is obtained by the pushing action of a second motorized pushing member (62).

11. A loading and unloading method according to any one of claims 1 to 10, wherein the first trajectory (T1) and the third trajectory (T3) extend parallel to each other 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.

12. A method of unloading and loading according to any 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).

13. A method for unloading trolleys to ensure the unloading of at least one conveyed object (2) by at least one powered trolley (3), for the purpose of transferring a conveyed object from said at least one powered trolley (3) to an inlet of a conveyor (Co), said method comprising: - / A / Providing one or a plurality of powered trolleys (3), each comprising a chassis, means for rolling on a running surface configured to ensure a change of direction of travel, and an upper surface for carrying an object, said surface being lower than the conveyor, - / B / Providing: — / B 1 / a first system (IA) configured for unloading the powered trolleys, comprising a first fork system, comprising at least one first fork (51) comprising fingers (50), said first fork being powered in the upward and downward direction from a first lower position (PB) to a first upper position (PH),the first fork being configured to unload a motorized trolley, on an unloading zone (ZD) of the running surface, — / B2 / a second system (IB) configured for loading motorized trolleys, comprising a second fork system (IB), comprising at least one second fork (52) including fingers (50), said second fork (52) being motorized in 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 zone (ZC) of the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading zone (ZD) being juxtaposed to said loading zone (ZC), said method comprising:,

14. - / Cl / Move a motorized trolley (3) supporting an object (2) towards the unloading zone (ZD), following a first trajectory (Tl), aligned with the fingers of the first fork (51) in the lowered waiting position, outside the unloading zone, - / Dl / Insert the fingers of the first fork (51) into the first lowered position (PB), between the object and the motorized trolley, by continuing the movement of the motorized trolley (3) along the first trajectory (Tl), into the unloading zone (ZD), - / El / Raise the first fork (51) to the said first high position (PH) in order to unload the object from the motorized trolley, - / Fl / Move the motorized trolley, unloaded of the object, from the unloading zone (ZD) to the loading zone (ZC), along a second trajectory (T2), in a second direction, transverse to the first direction, in particular perpendicular to the first direction, - / Gl / Lower the second empty fork (52) from the second high position (PH2) to the second low position (PB2) on the motorized trolley unloaded of the object, - / Hl / Move the motorized trolley, unloaded of the object, along a third path (T3) aligned with the fingers of the second fork (52) in order to exit the loading zone (ZC). Trolley loading method to ensure the loading of at least one conveyed object (2) onto a motorized trolley, for the purpose of loading a conveyed object onto the motorized trolley, said object being conveyed from an outlet of the conveyor, said method comprising: - / A / Supply one or more motorized trolleys (3), each comprising a chassis, means for rolling on a running surface (RS) configured to ensure a change of direction of travel, and an upper surface for carrying an object, said surface being lower than the conveyor, - / B / Supply: — / B 1 / a first system (IA) configured for unloading motorized trolleys, comprising a first fork system, comprising at least a first fork (51) comprising fingers (50), said first fork motorized for raising and lowering from a first lower position (PB) to a first upper position (PH), the first fork being configured

15. to unload a motorized trolley, on a designated unloading zone (ZD) of the running surface, — / B2 / a second system (IB) configured for loading motorized trucks, comprising a second fork system, comprising at least one second fork (52) comprising fingers (50), said second fork being 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 truck, on a loading area (ZC) of the running surface, and wherein said first fork system and said second fork system are arranged side by side, said unloading area being juxtaposed to said loading area, said method comprising: - / C2 / Move an empty motorized trolley (3) towards the unloading zone (ZD) of the first fork (51), following a first trajectory (Tl), aligned with the fingers of the first fork (51) in the lowered waiting position, outside the unloading zone (ZD), - / D2 / Continue the movement of the motorized trolley along the first trajectory (Tl), in the unloading zone (ZD), - / E2 / Raise the first fork (51) to said first high position (PH), - / F2 / Move the motorized trolley from the unloading area (ZD) to the loading area (ZC), along a second path (T2), in a second direction, transverse to the first direction, in particular perpendicular to the first direction, - / G2 / Lower the second fork (52) 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 (52) in order to exit the loading area. A loading and unloading method according to claim 1, followed by an unloading method according to claim 13, wherein said motorized trolleys comprise a first trolley and a second trolley, the first fork system (IA) and the second fork system (IB) 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 trolley - an implementation of said steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the method according to claim 13 for the second motorized trolley, and wherein the first trolley and the second trolley travel one behind the other along the same trajectory.

16. A method of unloading and loading according to claim 1, followed by a method of loading according to claim 14, a 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 claim 1 and according to 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 trolley - an implementation of said steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the method according to claim 14 for the second motorized trolley, and in which the first trolley and the second trolley travel one behind the other along the same trajectory.

17. A trolley loading and unloading installation for unloading at least one conveyed object (2) by at least one powered trolley, for the purpose of transferring a first object (21) conveyed from said at least one powered trolley (3) to an inlet of a conveyor (Co), and then loading a second object (22) conveyed onto the powered trolley unloaded from the first object, the second object being conveyed from an outlet of the conveyor, said installation comprising: - a plurality of powered trolleys (3), each comprising a chassis and means for rolling on a running surface (SR) configured to provide a change of direction of travel; - a first system (IA) configured for unloading the powered trolleys, comprising a first fork system, comprising at least one first fork (51) comprising tines (50), said first fork (51) being motorized for upward movement and on the descent 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 area of ​​the running surface (SR), the first system comprising a first conveying unit (41) comprising one or more conveying elements (40) forming a first conveying surface at the height of said conveyor inlet (Co), - a second system (IB) configured for loading motorized trolleys, comprising a second fork system, comprising at least a second fork comprising fingers, said second fork (52) being motorized on the ascent and descent 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 running surface (SR),the second system comprising a second conveying unit (42) comprising one or more conveying elements (40) forming a second conveying surface at the level of said conveyor outlet and wherein said first system and the second system are arranged side by side, said unloading zone being juxtaposed to said loading zone, - a control unit comprising one or more microprocessors and at least one memory containing instructions for the implementation of steps / C / , / D / , / E / , / F / , / G / , / H / of the process according to claim 1, and / or instructions for the implementation of steps / Cl / , / Dl / , / El / , / Fl / , / Gl / , / Hl / of the unloading process according to claim 13, and / or instructions for the implementation of steps / C2 / , / D2 / , / E2 / , / F2 / , / G2 / , / H2 / of the loading process according to claim 14.

18. Installation according to claim 17, wherein the first conveying unit (IA) and the second conveying unit (IB) are juxtaposed.

19. An installation according to any one of claims 17 or 18, wherein - the first system (IA) further comprises a first motorized thrust member (61), configured to ensure the transfer of a first object (21) supported by said first fork (51) in the raised position to said conveyor inlet, - the second system (IB) further comprises a second motorized thrusting element (62), configured to ensure the transfer of a second object (22) from an outlet of the conveyor to the second fork (52) in the raised position, and in which the memory contains instructions for the implementation of a process in which / E / is followed by - / E01 / Transfer said first object (21) supported by said first fork (51) in the first high position (PH) to the first conveyor unit (41), - / E02 / Transfer the first object from said first conveyor unit (41) to said conveyor inlet, and in which / G / is preceded by: - / G01 / Transfer the second object (22) from said conveyor outlet to said second conveyor unit (42), - / G02 / Transfer the second object from the second conveyor unit (42) to said second fork (52) in the second high position (PH2) and in which the transfer of the first object (21) in / E01 / and / or in / E02 / is obtained by the pushing action of a first motorized pushing member (61), and in which the transfer of the second object in / G01 / and / or in / G02 / is obtained by the pushing action (62) of the second pushing member (62).

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