Transfer table

Abstract

The invention relates to a transfer table (1) comprising: first conveyor elements (22); second conveyor elements (42) movable vertically between a retracted position and an extended position; and a lifting-lowering mechanism (6) comprising a cam (61) having a profile such that the cam lifting curve includes at least three inflection points over a 180° interval. Abstract figure: Figure 1

Description

Title of the invention: Transfer table technical field

[0001] This disclosure falls within the field of automatic storage and retrieval systems (ASRS). These systems generally comprise a storage structure (warehouse) in which items are stored individually or on suitable supports (trays, pallets, etc.). The delivery and retrieval of items to and from the storage warehouse are carried out by a series of conveyors and switches, controlled with a high degree of automation. The conveyors can be of various types, such as roller conveyors, belt conveyors, chain conveyors, stacker cranes, robots, etc. The main challenges are related to the speed and reliability of item retrieval and handling, as well as the compactness of the system and ensuring that the handled items are not damaged.Indeed, changes of direction, accelerations and decelerations are potential sites of damage to items. This is the case, for example, with transfer tables, which are conveyor modules that allow an item to be directed in a direction transverse to the main direction in which the item is conveyed. Previous technique

[0002] Patent document EP4 458741 A1 describes a transfer table for changing the direction of a conveyor line. A number of conveyor rollers form a first conveyor assembly. A conveyor belt is inserted between each pair of adjacent rollers. When an item transported by the rollers in a first direction needs to be diverted, the rollers lower and the belts rise to support the item and convey it in a direction perpendicular to that first direction. The movement of the rollers and belts is controlled by a cam and follower rollers.

[0003] The speed at which the belts and rollers move up and down can cause jolts or misalignment of the conveyed item. It is therefore tempting to slow the movement of the cams to protect the conveyed items. This slowing comes at the expense of the item transfer speed. There is therefore room for improvement in a belt and roller raising and lowering mechanism that does not risk damaging the conveyed items, without, however, compromising the transfer speed. Summary

[0004] This disclosure fulfills that requirement.

[0005] A transfer table is proposed comprising: a first assembly including a first fixed frame, carrying a plurality of first conveyor elements spaced two by two and defining a first article conveying plane; a second assembly including a second frame, carrying a plurality of second conveyor elements spaced two by two and defining a second article conveying plane, the second assembly being vertically mobile between a retracted position in which the second plane is located below the first plane, and a deployed position in which the second plane is located above the first plane;and a raising and lowering mechanism of the second assembly, comprising a cam cooperating with a follower roller carried by the second frame, the cam comprising a profile including, over an interval of 180°, a first, a second and a third critical points defining three inflection points of the curve representing the distance from a point of the cam profile to the center of the cam as a function of the angular position of such a point.

[0006] Such a cam profile makes it possible to improve the smoothness with which the conveyed items are lifted from the first conveyor elements, without compromising the speed of the transfer. Indeed, there are no shocks when the second conveyor elements lift the items, nor at the end of the stroke (at the highest point), but the lifting of the second conveyor elements is nevertheless as rapid as possible except at these two specific points.

[0007] The 180° interval mentioned above is that which corresponds to the total rise of the second assembly. It is, however, evident that the rise can be carried out over a larger or smaller cam angle. Thus, in one embodiment, the three critical points corresponding to inflection points are confined to an interval smaller than 180° (for example 170°, 150°, 90°, etc.) or to a larger interval (for example 200°, 210°, 270°, etc.).

[0008] According to another aspect of the transfer table, an intermediate position of the second assembly is defined in which the first and second article conveying planes coincide, the cam profile being such that the intermediate position is reached when the follower roller is in contact with a point on the cam profile located between the second critical point and the third critical point. Before the second assembly reaches this intermediate position, the article to be conveyed is carried by the first conveyor elements. The intermediate position is that which characterizes the passage of the article from the first conveyor elements to the second conveyor elements. Beyond the intermediate position, the article to be conveyed is carried by the second conveyor elements. It is advantageous for the intermediate position to be reached after a deceleration, and therefore after the first inflection point of the profile curve. cam.

[0009] According to another aspect, the cam profile comprises a first angular section extending from an origin point of the cam profile to the first critical point over a first angle between 25° and 45°, preferably between 30° and 38°. This angular range is sufficient for the transient phase of the engine during acceleration to be complete before initiating the first deceleration.

[0010] According to another aspect, the cam profile includes a second angular section extending from the first critical point to the second critical point over a second angle between 15° and 35°, preferably between 20° and 28°. In this section of the cam, the cam can be driven at a constant rotational speed and the ascent of the second assembly slows down, just before receiving the article to be conveyed.

[0011] According to another aspect, the cam profile includes a third angular section extending from the second critical point to the third critical point over a third angle between 25° and 45°, preferably between 30° and 40°. In this section, the second assembly accelerates.

[0012] According to another aspect, the cam profile includes a fourth angular section extending from the third critical point to the fourth critical point over a fourth angle between 65° and 85°, preferably between 75° and 80°. This section corresponds to the slowing of the second assembly as it approaches the high point, where the belts will be driven to move the article.

[0013] According to another aspect, the cam profile includes a fifth cylindrical section, the fifth angular section extending over a fifth angle, additional to the sum of the first through fourth angles. This section eliminates any intolerance of angular positioning of the cam by ensuring that the second assembly is precisely in the upper position at the end of the cam's movement.

[0014] The selection of the various angles mentioned above thus makes it possible, over a range of 180°, to optimize the acceleration before and after the conveyed item is placed on the second assembly, while minimizing shocks when the conveyed item swings from the first assembly to the second assembly, and eliminating the risk of a final jolt at the high point. Also, the positions of the first and fourth critical points limit the effects of oscillations when the second assembly moves from the low and high positions, respectively.

[0015] According to another aspect, the retracted position is separated from the deployed position by a distance of between 5 mm and 20 mm, preferably between 8 mm and 12 mm. The use of a cam with the profile described above allows for precise control of the vertical displacement of the second assembly and thus permits a small vertical stroke. Such a stroke increases the speed of the transfer accordingly.

[0016] According to another aspect, the cam has a symmetrical profile, such that from the retracted position, a rotation of the cam in one direction or the opposite direction produces the same displacement of the second assembly. Similarly, when the second assembly is in the deployed position, a rotation in one direction or the other results in the same vertical displacement.

[0017] In one embodiment, the cam is asymmetrical, allowing a downward movement that is not symmetrical (in speed / acceleration) to the upward movement. Indeed, during the downward movement, the item has been transferred and is no longer supported by the second assembly. The downward movement can therefore be faster than the upward movement.

[0018] The invention also relates to a method of transferring articles using the transfer table according to one of the embodiments described above, the method comprising: conveying an article by the first assembly, moving the second assembly from the retracted position to the deployed position, then conveying the article by the second assembly, the movement of the second assembly comprising: a first acceleration phase when the follower roller travels the cam profile between an origin and the first critical point; a first deceleration phase when the follower roller travels the cam profile between the first critical point and the second critical point; a second acceleration phase when the follower roller travels the cam profile between the second critical point and the third critical point;and a second deceleration phase when the follower roller travels along the cam profile between the third critical point and a point 180° from the origin.

[0019] These different phases of acceleration and deceleration correspond to the cam profile and its inflection points described above. Such a process minimizes transfer time without risking damage to the conveyed items.

[0020] According to another aspect, during the first acceleration, the article to be conveyed is carried by the first conveyor elements.

[0021] According to another aspect, during the second acceleration, the article to be conveyed is carried by the second conveyor elements.

[0022] According to another aspect, at least during the first deceleration phase and the second acceleration phase, the cam pivots at a constant rotational speed. This makes it possible to precisely control the movement of the second assembly in a reliable and repeatable manner.

[0023] According to another aspect, the first acceleration phase comprises a first maximum acceleration and the second acceleration phase comprises a second maximum acceleration, the ratio of the first maximum acceleration to the second maximum acceleration being between 1.3 and 1.8, preferably between 1.5 and 1.6. The first maximum acceleration (before the article is on the second assembly) may be limited only by the ability of the motor to deliver a given torque. The second maximum acceleration can be limited to a predetermined acceleration that ensures the conveyed item is not damaged.

[0024] According to another aspect, an intermediate position of the second assembly is defined in which the first and second article conveying planes coincide, the speed of the second assembly as it passes through the intermediate position being less than 10%, preferably less than 5%, of the maximum speed of the second assembly when it rises from the retracted position to the deployed position. The speed can be as low as possible during the transition of the article from the first assembly to the second assembly.

[0025] According to another aspect, the maximum acceleration of the second assembly is less than 2 m / s², preferably less than 1.1 m / s², when the item to be conveyed is carried by the second conveyor elements. The inventors have determined that beyond this acceleration, the items could be damaged. Also, such acceleration implies a sudden deceleration at the end of the travel, which can cause the item to jolt. It may not maintain its position on the second conveyor elements, or its contents may move, which is undesirable.

[0026] According to another aspect, the cam is pivotally driven by a motor according to a trapezoidal speed law, comprising a speed ramp, a constant speed plateau, and a speed ramp. This type of speed law is simple and robust; it does not require closed-loop control means. Brief description of the drawings

[0027] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analysis of the accompanying drawings, on which:

[0028] [Fig. 1] shows an exploded view of the transfer table according to one embodiment.

[0029] [Fig.2] represents a cam usable in the transfer table according to one embodiment.

[0030] [Fig.3] shows an example of a cam lift law.

[0031] [Fig.4] shows the double derivative of the cam profile.

[0032] [Fig.5] illustrates the acceleration of the table. Description of the implementation methods

[0033] Figure 1 shows an exploded view of a transfer table 1 according to the invention. The transfer table 1 is composed of three main elements, a first conveyor assembly 2, a second conveyor assembly 4 and a lifting-lowering mechanism 6 for the second assembly 4, the first assembly being fixed.

[0034] The first assembly 2 is a conveyor that transports articles (not shown) in direction A. The second assembly 4 is a conveyor that transports articles (not shown) along direction B. Direction B is not parallel to direction A and may be perpendicular to direction A.

[0035] The first assembly 2 comprises a first frame 21 on which a plurality of first conveyor elements 22 are arranged. In the example illustrated in [Fig. 1], these elements are rollers 22. Alternatively, these elements may be sections of conveyor belts, chains, or any other equivalent type of conveyor. At least one of the conveyor elements 22 may be driven, either by drive means carried by the frame 21 or by remote drive means, in kinematic connection with at least one of the conveyor elements 22. Alternatively, none of the elements 22 are driven, and the items are conveyed by gravity or driven by external means.

[0036] The first elements 22 are arranged so as to leave at least a gap between some of them. This gap is small enough not to impede the proper conveying of the conveyed articles.

[0037] The rollers 22 may be of different lengths and / or diameters. However, they are aligned along a plane 23, which is a plane on which the conveyed articles rest. The plane 23 may be horizontal or inclined with respect to the horizontal.

[0038] The second assembly 4 comprises a second frame 41 on which a plurality of second elements 42 are arranged. In the illustrated example, the second elements are belts, but other types of conveying elements may be provided (chains, rollers, etc.). The second elements 42 may be of the same length or of different lengths. For example, belts of different lengths may be used to pivot the conveyed articles around a vertical axis in order to change their orientation before and / or during transport. The second elements 42 are aligned to define a second conveying plane 43.

[0039] At least one of the conveyor elements 42 can be motorized, by motor means carried by the chassis 41 or by remote motor means, in kinematic connection with at least one of the elements 42.

[0040] The second assembly 4 is vertically movable, so that the conveying plane 43 can be below or above the conveying plane 23.

[0041] The respective gaps between the first elements 22 and between the second elements 42 are such that the second elements 42 can enter the gaps between the second elements and vice versa, in accordance with the vertical movement of the second chassis 4L. Thus, the items are conveyed in direction A when they rest on the plane 23 of the first elements 22 or in direction B when they rest on the plane 43 of the second elements 42. The lowest extreme position of the second assembly will be referred to here as the "retracted" position. The highest position will be the "extended" position.

[0042] In an absolute frame of reference, the planes 23 and 43 can occupy the same altitude at the time of the transition between the transport of an article by the first elements 22 and by the second elements 42. When the conveying planes 23, 43 coincide, the position of the second set 4 will be referred to here as "intermediate".

[0043] The vertical movement of the second assembly 4 is achieved by a raising-lowering mechanism 6. This mechanism 6 includes a cam 61 which cooperates with a follower roller 62 carried by the second chassis 4L. The cam 61 can be carried by the first chassis 21. Its pivot axis is fixed.

[0044] Thus, the pivoting of the cam 61 causes the roller 62 to move up and down. Since the axis of the follower roller 62 is fixed relative to the frame 41, the pivoting of the cam 61 causes the vertical translation movement of the second assembly 4.

[0045] In an embodiment not illustrated, a single cam is sufficient for the vertical movement of the chassis 4L II. Indeed, it is sufficient for a point on the chassis 41 to be raised / lowered for the second conveyor elements 42 to assume their function of conveying the transported articles. The plane 43 can thus vary in inclination to convey the articles. The plane 43 can also be held horizontally by any suitable means, for example by passive actuators (slides, springs, leveling compensation, etc.) or active actuators (tilt sensors, cylinders, electric motors, etc.). Thus, the raising-lowering mechanism 6 can comprise a single cam.

[0046] In the illustrated example, the mechanism 6 includes a second cam 71 cooperating with a second follower roller 72.

[0047] The kinematics of the second cam 71 can be identical to those of the first cam 61 in order to maintain the horizontal plane 43. In one embodiment, the second cam 71 can pivot independently of the first cam 61 in order to adjust the altitude of two points of the chassis 41 independently.

[0048] However, in the example illustrated in [Fig. 1], the two cams 61, 71 are connected by a chain 80 cooperating with sprockets 63, 73 attached respectively to each cam 61, 71, such that the pivoting of the cams 61, 71 is synchronous. The raceway of the cams 61, 71 can be chosen so that the heights of the respective rollers are different, but in a preferred example, the raceways are such that the rollers 62, 72 are at the same height for any angular position of the cams 61, 71.

[0049] In an unshown variant, the chain 80 can be replaced by a belt or a connecting rod system.

[0050] A second pair of cams and follower rollers can be arranged on the opposite side of the chassis 41 (part not visible on [Fig.1]).

[0051] The cam 61 or at least one of the cams 61,71 can be driven in pivoting by an electric motor (not shown).

[0052] Thus, the general operating principle of the transfer table 1 is as follows: an item from a conveyor (not shown) arrives at the transfer table 1. It is conveyed in direction A by the first assembly 2. The motor is driven to pivot the cam(s) 61, 71, so that the platform 43 rises, the second elements 42 being inserted between the gaps separating the first elements 22. The drive of the first elements 22 may have ceased before or during the raising of the frame 4L. The motor is stopped when the second assembly 4 has reached its deployed position. The second elements 42 are then set in motion to transport the item in direction B.

[0053] Once the article has been evacuated from the transfer table 1, the motor can be engaged in the opposite direction (or in the same direction) to bring the plane 43 down under the plane 23.

[0054] Fig. 2 shows in detail an example of a cam 61 which can be used in the transfer table 1.

[0055] The cam 61 has a profile 611 (or "roller race" or "roller strip") which is formed of a continuous surface without angularity. The follower roller 62 rests, due to its own weight and that of the assembly 4, on this profile 611. The roller 62 rolls mainly without slipping on the profile 611.

[0056] The rolling path 611 is here symmetrical with respect to the Y axis. For simplicity we will essentially comment on one half of the rolling path 611. In a variant, the rolling path is not symmetrical and the descent of the second assembly 4 can follow a different dynamic than the ascent.

[0057] Point O represents an origin point which corresponds to the retracted position of the second set 4.

[0058] The profile 611 moves progressively away from the center Q from the point O. This progression is characterized by a monotonic evolution of r(0), the distance of a point of the profile from the center Q as a function of the angle (the Y axis defining the angle 0 zero).

[0059] According to the invention, the profile comprises at least three critical points, here denoted A, B and C and located using the angles a, [3, and y. A fourth point D is disposed at an angle ô.

[0060] The angle may be between 25° and 45°, preferably between 30° and 38°.

[0061] The angle [3 can be between 15° and 35°, preferably between 20° and 28°.

[0062] The angle y can be between 25° and 45°, preferably between 30° and 40°.

[0063] Angle ô defines the highest point of the second set 4. Angle ô can be understood between 65° and 85°, preferably between 75° and 80°.

[0064] In a preferred embodiment, the angles a, [3, y and ô are respectively about 34°, about 25°, about 34° and about 76° (+ / -2°C each time).

[0065] Beyond point D, and up to point F intersecting with the Y axis, the cam has a cylindrical profile. The angle formed by the arc DF is supplementary to the sum of the angles a, [3, y and ô.

[0066] Point E corresponds to the intermediate position of the second assembly: when the follower roller 62 is in contact with this point of the cam profile, the second assembly 4 is in a vertical position such that the two planes 23, 43 coincide.

[0067] Point E is located between points B and C. The position of point E is represented by the angle e. Point E is closer to point B than to point C. For example, e / y is less than 30%, preferably less than 10%.

[0068] The difference between the radius at points O and F determines the vertical stroke of the second assembly: A = r(1800) - r(0°) = Y(F) - Y(0). The stroke can be between 5 mm and 20 mm, preferably between 8 mm and 12 mm.

[0069] These points are also shown on [Fig.3] which illustrates the variations r(0), from 0 to 180°. The curve r(0) is the cam lift law.

[0070] At point O, the position of the second set 4 is retracted.

[0071] In a first section, between O and A, r(0) evolves increasingly rapidly. This means that this section corresponds to a first phase of acceleration Al of the second assembly in its vertical translational motion. A second-degree polynomial approximation with a positive coefficient of x² is possible. An example of an approximation could be of the form ax² + bx + c, with a between 40 and 60, preferably around 50; b between 2 and 3, preferably around 2.8; and c close to zero.

[0072] Angle α is an inflection point of the curve. Indeed, between points A and B, r(0) changes speed progressively. This means that this section corresponds to an initial phase of deceleration DI of the second assembly in its vertical translational motion. An approximation of this section using a second-degree polynomial with a negative coefficient of x² is possible. An example of an approximation could be of the form ax² + bx + c, with α between -30 and -25, preferably around -27; β between 20 and 40, preferably around 30; and β between -3 and -2, preferably close to -2.5.

[0073] In these first two phases, the item to be conveyed is carried by the first assembly and is not yet carried by the second assembly. The acceleration phase A1 saves time for the item transfer operation, and the deceleration phase D1 allows for a smooth transition to the intermediate position.

[0074] Point B is again an inflection point for the curve r(0) since between B and C, the curve r(0) evolves more and more rapidly upwards. This means that this section corresponds to a second acceleration phase A2 of the second set in Its vertical translational motion can be approximated by a second-degree polynomial with a positive coefficient of x². An example of an approximation could be of the form ax² + bx + c, with a between 10 and 14, preferably around 12; b between 2.5 and 3, preferably around 2.8; and c between 2 and 3, preferably close to 2.2.

[0075] Point C is still an inflection point, the curve r(0) slowing down beyond this point. The portion of the curve between C and D can be a deceleration D2 with a negative x2 coefficient. An example of an approximation can be of the form ax2+bx+c with a between -25 and -20, preferably around -23; b between 30 and 50, preferably around 42; and c between -10 and -8, preferably close to -9.

[0076] Between D and F, the value of r(0) can be constant (the cam profile is cylindrical at this point). Alternatively, point D can be slightly (for example, less than 5%) further from Q than point F so that point F is an equilibrium point.

[0077] Point E, the angle at which the conveyed item passes from the first conveyor elements to the second conveyor elements, is located between points B and C, as mentioned above. The position of point E is such that the velocity at point E (the tangent to the curve shown) is less than 10%, preferably less than 5%, of the maximum velocity over acceleration A2.

[0078] Figure 4 illustrates the double derivative of the climbing law r(0). Reference points A to E are plotted on this curve. The fact that points A, B, C, and D correspond to inflection points of the curve r(0) is evident here from the fact that the ordinate of the double derivative is zero. The acceleration changes sign on either side of these points.

[0079] In this example, point D is farther from Q than point F so that point F is an equilibrium point. Point D thus forms a fourth inflection point. In the variant where arc DF is a cylinder, the right-hand end of the curve in [Fig. 4] would be horizontal, the double derivative being zero.

[0080] If the cam is driven at constant speed, the curve of [Fig.4] corresponds to the rising law of the second assembly 4.

[0081] Figure 5 illustrates a variant in which the rotational speed of the cam varies. It is indeed possible to drive the cam with a trapezoidal speed profile, that is to say with a speed ramp up, a plateau, and a speed ramp down.

[0082] Thus, [Fig.5] represents the vertical acceleration (in m / s2) of the second set 4 as a function of time (in seconds).

[0083] Preferably, the acceleration phases Al and A2 are carried out at constant speed.

[0084] Figure 5 shows that the maximum acceleration of the second set 4 during the The first acceleration, denoted here as almax, is much greater than the maximum acceleration of the second assembly 4 during the second acceleration, a2max. This is because phase A1 occurs with no item to be conveyed, while phase A2 takes place while the item to be conveyed is carried by the second assembly 4. The ratio almax / a2max can be between 1.3 and 1.8, preferably between 1.5 and 1.6.

[0085] The acceleration a2max can be less than 2 m / s2, preferably less than 1.1 m / s2. List of reference signs

[0086] - 1: Transfer table - 2: First conveyor assembly - 21: Chassis of the first conveyor assembly - 22: Conveyor elements of the first assembly - 23: First convoy plan - 4: Second conveyor assembly - 41: Chassis of the second conveyor assembly - 42: Conveyor elements of the second assembly - 43: Second convoy plan - 6: Ascent-descent system - 61: came - 611: Cam bearing track - 62: follower roller cooperating with cam 61 - 63: pinion - 71: second cam - 72: follower roller cooperating with cam 71 - 73: pinion - 80: chain - A, B, C, D: point on the track corresponding to a bend - E: point on the track corresponding to the intermediate position

Claims

Demands

1. Transfer table (1) comprising: a first assembly (2) comprising a first fixed frame (21) carrying a plurality of first conveyor elements (22) spaced two by two and defining a first article conveying plane (23); a second assembly (4) comprising a second frame (41) carrying a plurality of second conveyor elements (42) spaced two by two and defining a second article conveying plane (43), the second assembly being vertically movable between a retracted position in which the second plane (43) is located below the first plane (23), and a deployed position in which the second plane (43) is located above the first plane (23);and a raising-lowering mechanism (6) of the second assembly (4), comprising a cam (61) cooperating with a follower roller (62, 64) carried by the second frame (41), the cam (61) comprising a profile (611) comprising, over an interval of 180°, a first, a second and a third critical point (A, B, C) defining three inflection points of the curve representing the distance (r) from a point of the cam profile to the center (Q) of the cam (61) as a function of the angular position (0) of such a point.;

2. Transfer table (1) according to claim 1, wherein an intermediate position of the second assembly (4) is defined in which the first (23) and the second article conveying plane (43) coincide, the profile (611) of the cam (61) being such that the intermediate position is reached when the follower roller (62) is in contact with a point (E) of the profile (611) of cam (61) included between the second critical point (B) and the third critical point (C).

3. Transfer table (1) according to claim 1 or 2, wherein the profile (611) of the cam (61) comprises a first angular section (OA) extending from an origin point (0) of the profile (611) of cam (61) to the first critical point (A) over a first angle (a) between 25° and 45°, preferably between 30° and 38°.

4. Transfer table (1) according to any one of the preceding claims, wherein the profile (611) of the cam (61) comprises a second angular section (AB) extending from the first critical point (A) to second critical point (B) on a second angle (|3) between 15° and 35°, preferably between 20° and 28°.

5. Transfer table (1) according to any one of the preceding claims, wherein the profile (611) of the cam (61) comprises a third angular section (BC) extending from the second critical point (B) to the third critical point (C) over a third angle (y) between 25° and 45°, preferably between 30° and 40°.

6. Transfer table (1) according to any one of the preceding claims, wherein the profile (611) of the cam (61) comprises a fourth angular section (CD) extending from the third critical point (C) to the fourth critical point (D) over a fourth angle (ô) between 65° and 85°, preferably between 75° and 80°.

7. Transfer table (1) according to claims 3 to 6 in combination, wherein the profile (611) of the cam (61) comprises a fifth cylindrical section, the fifth angular section extending over a fifth angle, additional to the sum of the first to fourth angles.

8. Transfer table (1) according to any one of the preceding claims, wherein the retracted position is separated from the deployed position by a distance of between 5 mm and 20 mm, preferably between 8 mm and 12 mm.

9. Transfer table (1) according to any one of the preceding claims, wherein the cam (61) has a symmetrical profile (611), in such a way that from the retracted position, a rotation of the cam (61) in one direction or in the opposite direction produces the same displacement of the second assembly (4).

10. Method of transferring articles by means of the transfer table (1) according to any one of claims 1 to 9, the method comprising: conveying an article by the first assembly (2), moving the second assembly (4) from the retracted position to the deployed position, then conveying the article by the second assembly (4), the movement of the second assembly (4) comprising: a first acceleration phase (A1) when the follower roller (62) travels along the cam profile (611) between an origin (O) and the first critical point (A); a first deceleration phase (D1) when the follower roller (62) travels along the cam profile (611) (61) between the first critical point (A) and the second critical point (B); a second acceleration phase (A2) when the follower roller (62) travels along the cam profile (611) (61) between the second critical point (B) and the third critical point (C); a second deceleration phase (D2) when the follower roller (62) travels along the cam profile (611) (61) between the third critical point (C) and a point 180° from the origin.

11. Method according to claim 10, wherein during the first acceleration (A1), the article to be conveyed is carried by the first conveyor elements (22).

12. Method according to claim 10 or 11, wherein during the second acceleration (A2), the article to be conveyed is carried by the second conveyor elements (42).

13. A method according to any one of claims 10 to 12 wherein at least during the first deceleration phase (D1) and during the second acceleration phase (A2), the pivoting of the cam (61) is carried out at a constant rotational speed.

14. A method according to any one of claims 10 to 13, wherein the first acceleration phase (Al) comprises a first maximum acceleration (almax) and the second acceleration phase (A2) comprises a second maximum acceleration (a2max), the ratio of the first maximum acceleration (almax) to the second maximum acceleration (a2max) being between 1.3 and 1.8, preferably between 1.5 and 1.

6.

15. A method according to any one of claims 10 to 14, wherein an intermediate position of the second assembly is defined in which the first (23) and the second article conveying plane (43) coincide, the speed of the second assembly (4) passing the intermediate position being less than 10%, preferably less than 5%, of the maximum speed of the second assembly when it rises from the retracted position to the deployed position.

16. A method according to any one of claims 10 to 15, wherein the maximum acceleration of the second assembly (4) is less than 2 m.s2, preferably less than 1.1 ms 2, when the article to be conveyed is carried by the second conveyor elements (42).

17. A method according to any one of claims 10 to 16, wherein the cam (61) is driven in pivoting by a motor according to a trapezoidal speed law, comprising a speed ramp up, a constant speed plateau and a speed ramp down.

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