Pallet Switching Systems and Conveyors

Abstract

The present invention relates to a system including an automated tower or vertical warehousing tower (13), a palletization system (18) consisting of pallets, and a pallet swapper (1) integrated at the base of the tower (13), the tower (13) storing and transporting loads using palletization, the swapper (1) including a support structure (2) and at least two movable frames (6) each including a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on its lateral sides, and a conveying system (3) arranged on the support structure (2) and enabling movement of the movable frames (6) and connected to a drive shaft (11), each movable frame (6) being capable of carrying a single pallet, whether loaded or not, when in use, the pallet being separate from the movable frame (6) that supports it.

Description

[Technical Field]

[0001] The present invention primarily relates to the field of automated storage warehouses, which include towers with horizontal racks supporting standardized metal pallets on which the stored goods are placed. The towers are generally arranged linearly in one or two rows, along which elevators, also known as "stacker cranes," circulate. The stacker cranes are equipped with chain mechanisms that allow the introduction and removal of pallets and their transfer to any other location within the warehouse. Various auxiliary devices enable the transportation of goods from the work area to the warehouse and vice versa.

[0002] More specifically, the present invention relates to a new principle of pallet conveyors that facilitates the optimization of article transfer operations between storage warehouses and work station locations. [Background technology]

[0003] In production, workstation and machine tool utilization is often hindered by machine stoppages due to handling operations associated with feeding raw material and removing parts after forming. Consequently, optimizing feeding and removal flows to improve tool productivity and utilization is a well-known challenge, especially when forming, cutting, welding, and machining sheet metal.

[0004] These machines are becoming increasingly automated to reduce the role of the machine operator and therefore the number of manual operations that must be performed during the production cycle. At the workstation, part of the surface is reserved for the pallets of material or parts to be formed. Another part of the surface is dedicated to the pallets that will receive the formed parts. Whether these cells are handled by an operator or operated by a more automated system, their utilization rate depends on the availability of the operator in charge of handling, or on the utilization rate of the stacker crane if the production cell is connected to an automated warehouse. Consequently, there is great interest in optimizing the utilization rate of the workstation by improving the speed of feeding and removal operations.

[0005] Manufacturers of automated warehouses offer a variety of devices to manage the inbound and outbound pallet flow between the warehouse and the workstations connected to it. Figure 1 shows a depalletizing interface, which allows bundles of metal sheets to be separated from the wooden pallets used for their transport and transferred onto standardized warehouse pallets. As shown in Figure 2, there are also chain devices attached to the exterior of the warehouse tower, which allow pallets to be removed from the tower by translating them horizontally and then introduced into, for example, a production cell. These systems have the disadvantage of relying on the availability of a stacker crane when a pallet needs to be removed from a workstation. The utilization rate of workstations and machine tools is doubly hindered by the time required to remove the pallet and replenish it in the warehouse, and by the time required for the stacker crane to bring in a new pallet and introduce it into the workstation.

[0006] As shown in Figures 3 and 4, some more recent systems include two carriages of different heights that each travel on dedicated rails, usually located on the ground. The lower carriage is narrower than the higher carriage. The system can therefore accommodate two pallets, allowing the automatic alternating introduction or removal of one pallet or the other, thereby reducing waiting times.

[0007] However, a minimum height is required for the space occupied by the stacker crane structure and its pallet removal mechanism, below which the lowest pallet is no longer accessible to the removal system. Therefore, the height of the first pallet support from the ground (measured at the bearing surface) typically varies between 50 and 65 cm, depending on the manufacturer. The height of the pallets circulating on the upper level is calculated by adding the height of the first pallet, the space that may be occupied by the load intended to be transported, and the thickness of the upper mechanism plus the thickness of the second pallet. Given a load height of 20 cm, the usable height of the upper pallet is therefore between 85 and 100 cm.

[0008] This height difference between low and high pallets can be problematic for several reasons. - When the workstation is automated, the programming of the pick and place operations must take into account two height criteria. - If a cell requires a double connection to the automated warehouse, programming becomes even more complex, especially in the case of punching cells, where it is necessary to introduce or remove bundles of sheet metal via one conveyor and pallets intended for cutting parts via a second conveyor. In this case, it is extremely difficult to predict the different possible combinations of pallet heights. In fact, it is possible that when the pallets of the second connection are in a low position, the pallets of the first connection are in a high position, and vice versa; these height parameters are variable for each connection throughout the entire production cycle. - In bending cells, when pallets cross, especially if they are stacked, the height separating lower pallets from higher pallets should be significantly increased to allow for the passage of large bending parts. Furthermore, in automated bending cells, when a robot handles large bending parts that require free space, the volume taken up by the two-level conveyor can become a problem during the bending operation. As shown in Figure 3, double-cart systems require the towers they are integrated into to be wider and, consequently, to be reinforced. This integration is therefore only possible at the expense of standardizing the tower width or enlarging the overall warehouse tower. This aspect is crucial, given the fact that as a company develops, the number of machines or cells connected to an automated warehouse may grow, making it necessary to increase production capacity by adding new machines. If it is necessary to integrate a wider tower into an existing warehouse, connecting the new machine to the warehouse will always be problematic. In this case, this implies dismantling other warehouse towers to allow for their movement, or sacrificing one or more towers to allow the placement of one or more wider towers. This problem arises every time a new machine or cell needs to be connected to the automated warehouse, resulting in costly dismantling and reassembly operations and significant disruptions to production.

[0009] Figures 5 and 6 show two other solutions, specifically two devices involving so-called "buffer" pallets that can be installed later anywhere in the warehouse. However, using these types of devices to replace one pallet with another requires four to six movements and two to three motors, respectively. These two devices also do not seem to be suitable for loading larger loads, such as stacks of bent parts. Furthermore, these solutions are not adaptable to different types of load supports.

[0010] Another reason justifies the pursuit of maximum possible standardization of warehouse structures and their control systems. Sheet metal factories face difficult decisions when they need to acquire new machinery. In fact, the problem is not limited to selecting the machine that best meets their expectations, but also includes selecting a machine with a standard control system that can be adapted to the automated storage warehouse selected by the factory. Choosing a warehouse manufacturer often means that machines from the same manufacturer must then be selected, or that connecting machines from another manufacturer to the warehouse is prohibited. One of the inventors' goals was to develop a universal, simple, and flexible interface that can accommodate machines from different manufacturers, giving metal factories complete freedom to then select the machine that best meets their needs and expectations.

[0011] During the design of a productive conveyor that would allow optimal exchange between work cells and automated warehouses, the inventors applied principles generally known from the state of the art in conveyors, such as the movement of the loads always being parallel in two planes arranged on different levels, with overlapping transport rails between the two levels, and a cam system guiding the load supports. Several earlier and already older documents employ these principles with application-dependent mechanical characteristics, which may be relevant for completely different technical problems that have now been solved, such as a garage that maximizes the number of vehicles that can be parked in a given volume, or the transport of bakery products in a masonry oven.

[0012] Thus, the patent describes a garage for automobiles. The cargo comprising the vehicle enters and leaves the parking spot laterally and perpendicularly to the direction of movement of the cargo support. It should be noted that the cargo is placed directly on the cargo support, and not on an auxiliary support separate from the cargo support.

[0013] Patent document 2 describes a bakery oven integrating an upper and lower conveyor made of a metal mesh stretched over a frame and equipped with several supports onto which the items to be baked are placed directly, these supports being brought one after the other to the opposite side of the opening, making it possible to remove the baked items using a spatula, as is customary for bakers. [Prior art documents] [Patent documents]

[0014] [Patent Document 1] Japanese Patent Application Publication No. 49-38374 [Patent Document 2] U.S. Patent No. 2,369,840 Summary of the Invention [Problem to be solved by the invention]

[0015] The present invention aims to utilize several known principles of "up and down" or "down return" conveyors and combine them with new principles to meet the specific operational constraints of the intended application, thereby solving problems not encountered with known solutions in the prior art.

[0016] The invention has as its object in particular to optimize the availability of workstations by providing them with what is required for their operation instantly. The idea is to replicate the inflow and outflow flows of the workstations so that there is always a buffer stock, thus guaranteeing virtually uninterrupted operation of the machine and its operator, or of the cell if the machine is automated.

[0017] The present invention also aims to enable the simultaneous interchange of at least two pallets, with one pallet taking the exact place of the one it replaces or succeeds, and vice versa, without changing the orientation of the load throughout the operation.

[0018] Another objective is to make it possible to integrate a pallet switcher into the support structure of one or more storage towers in an automated warehouse, to ensure flexible handling operations at the interfaces of the automated warehouse and the different production cells connected to it.

[0019] Another important object of the present invention is to provide a switcher that is both very robust and very compact, and is adaptable to a wider variety of installations than the highly specialized switching devices of the current state of the art. [Means for solving the problem]

[0020] In the solution according to the invention, unlike other known "up and down" conveyors, the load supports are not designed to directly receive the loads to be transported, but are replaced by mobile frames that are specially designed to receive, on a case-by-case basis, different types of auxiliary palletization that constitute the support for the loads to be moved. These direct supports are preferably made of standardized pallets or standardized supports adapted to the materials and / or parts to be transported, these different standardized supports being adapted to the different handling systems used in the production area, such as forklifts, automated warehouse elevators, automated vehicles (AGVs or AMRs), etc.

[0021] This technical difference is an essential feature of the present invention, around which the other technical features of the present invention revolve: thanks to this feature, it is possible to separate the auxiliary load supports (such as pallets) from the movable frame that supports them, facilitating their movement by rolling, sliding or lifting using common devices such as scissor devices called "pantographs", chain drives or even cylinder devices, any of which can be adapted to the construction of a switcher (also called "permutateur" in French due to a misuse of the English word).

[0022] Another feature of the present invention, related to the above, is that several side-by-side switchers can be connected to a standardized tower of a linear automated warehouse, as shown in Figure 30. In this case, the standardized support structure of the switcher is designed to allow the integration of two side-by-side mechanisms while preventing the space taken up by the two side-by-side mechanisms from exceeding the dimensions of the support structure of the warehouse tower, i.e., approximately 20 cm (Figure 24). This feature is particularly important when the production cell involves the automatic management of several types of inbound and outbound flows.

[0023] Another feature of the present invention is that the beam forming the support structure of the switcher can be divided into two separate elements, one of which can be an integral part of the standardized support structure of the warehouse tower, as shown in Figure 27. The second element of the switcher support structure thus ensures its associated mechanical functions, and this second element can be subsequently connected to the support structure that is an integral part of the standardized tower of the warehouse, so as to combine the standardization of the switcher structure with the standardization of the tower structure. This makes it possible to connect a new production cell equipped with a switcher anywhere in the warehouse without costly work or interruptions to production.

[0024] The properties described in the previous paragraph offer significant advantages in terms of load distribution on the concrete: in fact, the bending strength of the lower beam ensures that the weight of the tower is distributed evenly over the entire surface of the wall foot that is in contact with the concrete, avoiding the punching effect that can occur when the load is concentrated at the base of the column, as is usually the case.

[0025] The present invention is also characterized by the fact that the number of movable frames included in the switcher can be directly linked to the number of successive operations included in the operating process of the machine to which the switcher is associated. It is interesting to provide a switcher including three movable frames, each supporting a comb table, which is typical of tables used with this type of machine in a laser cutting machine. For example, as shown in FIG. 26, each table corresponds to a step in the operating process of the machine. The first table supports the sheet that has just been cut, the second table supports the sheet being cut, and the third table supports the sheet being processed. The advantage of the switcher is that in this case, three tables are interchanged in one operation.

[0026] Furthermore, the pallet switcher differs from the other aforementioned principles thanks to the load-bearing capabilities of its structure, which can be combined with the support structure of the storage tower to form a coherent whole, reducing the footprint and therefore costs of the support structure for the control systems specific to the different types of machines to be connected to the storage warehouse.The support structure of the pallet switcher can therefore be used as a base for the linear movement axis of a robot handling a punching or laser cutting machine (see Figure 28), or even as a load-bearing structure for a suspended robot (see Figure 29).

[0027] Under these conditions, a first aspect of the invention relates to a system comprising an automated tower or vertical warehouse storage tower, a palletization system consisting of pallets, and a pallet switcher integrated at the base of said tower, said tower using palletization for the storage and transport of loads, said switcher comprising: a support structure having beams of sufficient dimensions to receive a load represented by the weight of the storage tower itself, with the maximum weight of a loaded pallet added to the load; at least two movable frames each including a first pair of rollers and a second pair of rollers on its lateral sides; a conveyor system disposed on the support structure, thereby enabling movement of the movable frame, and connected to the drive shaft; a set of guide grooves forming a closed loop with separate rails and guide paths for each movable frame, said grooves including a first path and a second path, and accommodating rollers of the movable frames; a cam switching system for the pair of rollers in the guide groove; Including, the cam switching system is adapted to guide the pairs of rollers such that, in use, a first pair takes a first path and a second pair takes a second path to move the moveable frame along a closed loop while remaining horizontally parallel to each other at all times and oriented in the same direction; Each movable frame is suitable, in use, to carry a single pallet, whether loaded or not, said pallet being separate from the movable frame which supports it, and the beam of the support structure comprises an assembly of at least three metal sheets, each of which includes a guide groove and specific cutouts which in combination form the housing required for the cam switching system of the pairs of rollers in the guide groove.

[0028] According to a preferred embodiment of the present invention, the system further comprises one of the following features, or a suitable combination thereof: - The beams of the supporting structure have sufficient dimensions to receive the load represented by the weight of the storage tower itself, to which the weight of the pallets loaded with their contents, amounting to 2.5 tons, is added. - the system comprises at least one standard storage tower without a pallet switcher, the beams of the support structure of the pallet switcher being symmetrical and having a shape that allows the duplication of the conveyor system when several switchers are placed side by side, respecting the height alignment with the standard storage tower and with a storage tower with an integrated pallet switcher at its base. - the system includes at least one standard storage tower without a pallet switcher, wherein the height of the storage tower associated with the switcher is reduced by the height of said switcher so that the storage tower is aligned with the height of the standard storage tower, and the storage level is also aligned with respect to the standard storage tower without the pallet switcher. - The system includes a particular hooked pallet supported by profiles, and the moveable frame of the switcher includes cross members aligned with the profiles that support the hooked pallet so that, in use, the hooked pallet can be transported from the switcher to the storage tower of the automated warehouse and vice versa, provided that the hooked pallet is compatible with the switcher and the storage tower. - The storage tower contains equally spaced pallet storage levels, and the distance between the first storage level and the maximum height of the movable frame in the tower is greater than the fixed distance between two storage levels of the tower so as to allow for the exchange of large parts also between the storage tower and workstations outside the storage tower. - the first pair of rollers include extension shafts and the second pair of rollers include protruding shafts, the conveyor system includes a plurality of sprockets, the shaft of the movable frame is located in a position in the median plane of the sprockets corresponding to the forward-most position of the pallet on the warehouse side, the pallet carried by the movable frame is then vertically aligned with other pallets in the warehouse, and the pallet is therefore also accessible to the removal system of the warehouse stacker crane.

[0029] Another aspect of the present invention relates to an automated manufacturing apparatus as set forth in claim 8.

[0030] Another aspect of the invention relates to a switcher as claimed in claim 9.

[0031] Another aspect of the invention relates to a laser cutting device as claimed in claim 10.

[0032] The invention also relates to the use of the above-mentioned palette switcher as claimed in claim 11. [Brief explanation of the drawings]

[0033] [Figure 1] FIG. 1 illustrates a prior art depalletizing interface that allows bundles of metal sheets to be separated from the wooden pallets used for their transportation and transferred to standard pallets in a warehouse. [Figure 2] FIG. 1 shows a prior art chain device placed on the exterior of a warehouse tower, which allows pallets to be removed from the tower by horizontal movement. [Figure 3] FIG. 1 shows a prior art device that accommodates two pallets and automatically introduces or removes one of the pallets in turn. [Figure 4] FIG. 1 shows another prior art device that accommodates two pallets and automatically introduces or removes one of the pallets in turn. [Figure 5] FIG. 1 illustrates another prior art device that can be installed later anywhere in a warehouse and includes a buffer pallet. [Figure 6] FIG. 1 illustrates another prior art device that can be installed later anywhere in a warehouse and includes a buffer pallet. [Figure 7] FIG. 1 shows a schematic three-dimensional view of one embodiment of a pallet switcher / conveyor implemented in accordance with the present invention, the system in this case including two moveable frames. [Figure 8] FIG. 8 is an exploded view of the switcher shown in FIG. 7. [Figure 9] 1 shows a three-dimensional view of a first example of a movable frame of a pallet conveyor according to the invention (shown with a pallet resting on the movable frame); FIG. [Figure 10] FIG. 10 is a detailed view of the rollers of the movable frame shown in FIG. 9. [Figure 11] FIG. 1 shows a detailed view of a first example of a movable frame combined with a conveyor system of a pallet switcher / conveyor according to the present invention. [Figure 12] Corresponds to FIG. 11, but with details of the reference numbers. [Figure 13]FIG. 1 shows a plan view of an example of a pallet switcher / conveyor transmission system in accordance with the present invention. [Figure 14] 14 shows different embodiments of the support structure of the switcher.The support structure of FIG. 14 is made of a standardized and normalized hot rolled profile. [Figure 15] 15A-15C show different embodiments of the support structure of the switcher.The support structure of FIG. 15 is made of a mechanically welded assembly. [Figure 16] 16 shows different embodiments of the support structure of the switcher. The support structure in Fig. 16 is made of sheet metal profiles bent into a "C" shape and placed back to back. [Figure 17] 10 illustrates the formation of guide grooves for roller and cam housings using three metal sheets assembled together. FIG. [Figure 18] 1A-1C are elevational views of different types of rails of an example conveyor system of a pallet switcher / conveyor according to the present invention. [Figure 19] 10 is another view of the first example of a mobile frame according to FIG. 9, designed to receive load supports consisting of standardized pallets typical of automated storage warehouses. In this case, the arms of the mobile frame serve as bearing races for the warehouse's metal pallets. [Figure 20] 2 shows a second example of a movable frame according to the invention, which is open on one side to facilitate positioning of the pallets, for example using a forklift. [Figure 21] 10A and 10B are diagrams showing a third example of a movable frame of a conveyor according to the present invention; [Figure 22] FIG. 1 shows a three-dimensional view of a switcher according to the invention comprising two movable frames that move symmetrically and oppositely to replace each other. [Figure 23A] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23B]10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23C] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23D] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23E] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23F] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23G] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 23H] 10A-10C illustrate successive steps of a complete interchange cycle of a moveable frame with different switches according to one embodiment of the present invention. [Figure 24] 1 shows a detailed view of an insertion element of a switcher according to the invention in an automated warehouse tower; FIG. [Figure 25] FIG. 1 shows a three-dimensional view of a pallet switcher according to the present invention, including three movable frames, each supporting a comb table. [Figure 26] FIG. 26 shows a three-dimensional view of the switcher shown in FIG. 25, where a first frame supports the metal sheet that has just been cut, a second frame supports the sheet being cut, and a third frame supports the sheet being processed. [Figure 27] FIG. 1 illustrates an automated warehouse including at least one tower, where a beam forms the support structure for the switcher, the beam being divided into two separate elements, one of which is an integral part of the standardized support structure for the warehouse tower. [Figure 28]1 shows an automated warehouse with a switcher according to the invention, the support structure of which is used as a base for the linear movement axis of a robot handling a punching or laser cutting machine. [Figure 29] 1 shows an automated warehouse with a switcher according to the present invention, the support structure of which is used as a base for the support structure of a suspended robot. [Figure 30] 1 shows a linear automated warehouse including several switchers according to the invention, which are connected to each other and arranged side by side in a standardized tower in the warehouse (only one complete switcher is shown in the figure). [Figure 31] FIG. 1 shows a three-dimensional view of a pallet switcher according to the present invention, with three sets of two movable frames, which are open on one side for easy placement of pallets using a forklift. [Figure 32] FIG. 2 shows a three-dimensional view of a pallet switcher according to the invention with two movable frames in relation to a storage tower of a linear automated warehouse. [Figure 33A] FIG. 1 illustrates a portion of an automated warehouse in which workstations such as bending cells are connected to warehouse towers by switchers. [Figure 33B] 1 shows a part of an automated warehouse in which workstations such as bending cells are connected to a warehouse tower by two switchers each according to the invention; [Figure 34] A diagram showing a segment of an automated warehouse, where workstations such as bending cells are connected to a warehouse tower by three switchers. [Figure 35] 1 shows a plan view of an example of an apparatus combining, on the one hand, a switcher according to the invention equipped with three movable frames and integrated into a cutting laser, and, on the other hand, three switchers according to the invention equipped with two movable frames and integrated into a tower of an automated warehouse, which also includes a robot moving on a track. [Figure 36] FIG. 36 shows a three-dimensional view of the device of FIG. 35. [Figure 37]1 shows the combination of different modes used to manage the supply flow of an automated cell equipped with a switcher according to the invention; [Figure 38] FIG. 1 shows different automated cells arranged around a linear automated warehouse so as to connect all machines with each other and thus increase the autonomy and availability of the production tool as a whole for autonomous operation. [Figure 39A] 10 shows in detail how a switcher according to the invention can be integrated into the towers of an automated warehouse so as to avoid changing the standard dimensions of these towers; FIG. [Figure 39B] 10 shows in detail how a switcher according to the invention can be integrated into the towers of an automated warehouse so as to avoid changing the standard dimensions of these towers; FIG. [Figure 40] 10A and 10B show more precisely how, during the exchange procedure of the two movable frames of the switcher according to the invention, said frames do not at any time intrude into the path of travel of the stacker crane. [Figure 41] FIG. 10 illustrates a storage tower with a switcher integrated at its base, showing that in the parked position, the switcher's movable frame and the pallet it supports are perfectly aligned with the other pallets in the storage tower. [Figure 42] 10 is a diagram showing that in the stopped position, the height of the upper surface of the movable frame of the switcher according to the present invention corresponds to the minimum height accessible to the removal system equipped on the stacker crane. FIG. [Figure 43] 1 is a diagram showing the position of the pallet on the switcher according to the present invention, the pallet being positioned in the workspace. In the parked position, the pallet cannot be at a lower level than the support structure of the switcher. [Figure 44] FIG. 10 shows the offset of the axes of the bearing rollers of the movable frames of the switcher according to the present invention, so that the rest positions of the bearing rollers of the two movable frames are located in the median plane of the gear sprocket when they are symmetrically opposed. [Figure 45]1 shows a switcher according to the present invention having an extension structure with an auxiliary horizontal movement device for the pallet. [Figure 46] FIG. 1 is a detailed view of a switcher according to the present invention installed in a tower of an automated warehouse. [Figure 47] FIG. 1 shows a switcher with three movable frames and auxiliary vertical movement devices for the pallets (specifically, a lifting table including a pantograph system that brings the center table to the same level as the other two tables). DETAILED DESCRIPTION OF THE INVENTION

[0034] The present invention relates to a pallet switcher / conveyor, a system that allows the simultaneous interchange of at least two pallets, one taking the place of the other or the one following it on the conveyor, and vice versa, without changing the orientation of the load, thereby achieving true flow automation. This pallet switcher / conveyor allows the creation of buffer stock that ensures limited interruption in production operations. In the remainder of the description, the pallet switcher / conveyor will be referred to simply as a "switcher."

[0035] Explanation of the pallet switcher support structure As shown in Figure 7, this device consists of a support structure 2 formed by two parallel beams, and a conveyor system 3. The conveyor system 3 comprises a set of mechanical elements arranged on or integrated into each of the beams of the support structure 2, which allow the movement of at least two movable frames 6 arranged between the two beams. These movable frames 6 serve as supports for handling pallets, in particular pallets of standard dimensions such as European pallets (EPAL).

[0036] Several technical solutions can be considered for designing the switcher's support structure 2. It can be made either of standardized hot-rolled profiles (see Figure 14) or of machine-welded assemblies (see Figure 15) or even of "C"-shaped sheet metal profiles placed back to back (see Figure 16).

[0037] The support structure 2 of the switcher 1 can be placed on the ground or spaced from the ground by legs 21 whose height can vary according to the intended use. The two parallel beams of the support structure 2 can be independent or connected to each other.

[0038] The dimensions and design of the support structure 2 are determined by the type of application envisaged and by the size and weight of the elements to be supported. Since the pallet switcher 1 is primarily designed to be integrated into the storage towers 13 (see Figure 32) of a linear automated warehouse, the beams of the support structure 2 are dimensioned to receive a load represented by the weight of the storage tower 13 itself, to which is added the weight of the palletizing system 18 loaded with its contents.

[0039] As shown in Figures 33A and 33B, if the structure of the switcher 1 is adapted to integrate tracks 14 and robots 15, for example in the case of a (micro) bending cell, the beams of the support structure 2 must also have dimensions sufficient to support the linear axis structures (for example ground tracks, suspended tracks) that ensure the guidance of the robot's movements, as well as the linear axis structures of the movements of the gripping devices for the metal sheets and cut parts.

[0040] With regard to the integration of the switcher 1 into an automated warehouse, the height of the ladders (or rows of racks) of the storage tower 13 associated with the switcher 1 is reduced by the height of the switcher 1 so that these ladders are aligned with the ladders of the standard towers of the warehouse at the same overall height. Due to its shape, the pallet switcher 1 can then advantageously fit into the storage tower 13 of the automated warehouse.

[0041] Movable frame description The movable frame 6 is designed to receive an auxiliary palletizing system 18 (see Figures 20, 25, 26, and 31), which constitutes the main support for the loads to be moved. This auxiliary palletizing system 18 is made of standardized or non-standardized pallets, which are compatible with different handling devices commonly used in production sites, such as linear automated warehouse stacker cranes, automated guided vehicles (AGVs), elevators, etc. As explained above, this allows the switcher 1 of the present invention to be fully integrated into a linear automated warehouse. The standardization of the switcher 1 and the auxiliary palletizing system 18 provides the switcher 1 with interface functions between different workstations in the production site, such as laser cutting and material transport or storage. Thus, loads to be placed on the switcher 1 are placed not directly on the movable frame 6, but rather via the auxiliary palletizing system 18, which acts as an intermediary between the movable frame 6 and the loads to be stored. The movable frame is made of two parallel arms equipped with bearing rollers and connected to each other by one or more cross members. Different configurations of the movable frame are contemplated and can be adapted on a case-by-case basis to the auxiliary load supports they are intended to carry, as well as to the different handling systems typically used to move said auxiliary load supports.

[0042] Each movable frame is equipped with four rollers that ensure the frame's rolling and guiding during the transport process, two of which are mechanically linked to the transmission chain.

[0043] Figure 19 shows a movable frame designed to receive load supports consisting of standardized pallets typical of automated storage warehouses, where the arms of the movable frame act as bearing races for the warehouse's metal pallets.

[0044] Figure 20 shows a movable frame designed to receive a load support consisting of a Euro pallet, with one of its sides open to allow placement or removal of the Euro pallet using a forklift or AGV.

[0045] FIG. 21 shows a movable frame designed to receive the payload support consisting of the comb table characteristic of the laser cutting table.

[0046] Conveyor system description The conveyor system 3 of the switcher 1 of the present invention operates in a closed loop to switch the position of the movable frames 6 within a few seconds, as will be described in more detail below. The conveyor is of the "up and down" or "down return" type, meaning that when there are at least two movable frames 6, one in a high position and the other in a low position, these positions are interchanged through movements operated by the conveyor system 3 according to a so-called double rail or offset rail system.

[0047] A switcher cannot be likened to a conveyor insofar as its function is not to transport multiple loads from point A to point B, but rather to reverse the position of two pallets by substituting one for the other.

[0048] In most cases, the switcher will be dedicated to a single operation and will therefore include two movable frames that move symmetrically and oppositely to replace each other, for example to remove an empty pallet and replace it with a loaded pallet and vice versa (see, for example, Figure 22).

[0049] For an operation process that includes two operations to be performed simultaneously, the switcher can include three movable frames. As shown in Figure 26, a switcher with three movable frames can be useful for efficient handling of a laser cutting machine, for example, by removing a freshly cut metal sheet and introducing a new sheet to be cut that awaits processing in one operation.

[0050] The mechanism for shunting load supports, i.e., conveyor system 3, includes a set of mechanical elements for moving movable frame 6, as described above. More specifically, this system includes an assembly of segments forming bearings and guide grooves, as well as a transmission system consisting of a set of sprockets 4, 41-49 and transmission chains 51-53, and two conveyor chains 5 (FIGS. 11 and 12). Sprockets 4, 41-49 and chains 5, 51-53 form an undercarriage that facilitates parallel and simultaneous movement of movable frame 6, which in turn drives movable frame 6, as described below. In some applications where the load to be transported is light, sprockets 4, 41-49 and chains 5, 51-53 can be advantageously replaced by pulleys and toothed belts.

[0051] Each movable frame 6 is equipped with bearings and guide rollers 8, 81-84, as shown in Figures 9 and 10. These are located on the lateral sides of the movable frame 6 and cooperate with the guide grooves 7. In the context of this specification, the so-called lateral sides of each movable frame 6 are considered to be the sides parallel to the beams of the support structure 2, and the so-called transverse sides are those perpendicular to these beams. The movable rollers 8 operate in pairs, with the first pair (front pair) comprising rollers 81 and 82 and the second pair (rear pair) comprising rollers 83, 84 (see Figure 9). In the context of this specification, the front part of the system is considered to be the part located on the side where the frame is in its forward position when it is in its high position (just before moving downward to its low position), and vice versa for the rear part. Preferably, the conveyor system 3 and the guide grooves are distributed symmetrically on each of the beams of the support structure, so that the movable frame 6 is moved between the two beams by the conveyor system 3.

[0052] The guide grooves 7 constitute bearing races for the rollers 8 of the movable frame 6, as shown in Figure 18. A distinctive element of the invention lies in the fact that a first pair of rollers 81, 82 and a second pair of rollers 83, 84 of the same movable frame 6 take different paths within the guide grooves 7, resulting in the two movable frames 6 remaining horizontal throughout their movement. These two different paths are taken due to a switching system as will be explained below.

[0053] More specifically, the guide grooves 7 are detailed in FIG. 18. Groove 71 corresponds to the upper horizontal movement plane. Groove 72 corresponds to the lower horizontal movement plane. Semicircular grooves 73A and 73B allow downward movement from the upper plane to the lower plane, while semicircular grooves 74A and 74B allow upward movement from the lower plane to the upper plane. The bearing races of the two pairs of rollers 8 are partially common in the horizontal sections but differ in the semicircular grooves, thereby allowing the upward and downward movement of the movable frame 6. More specifically, the grooves 71, 72, 73A, 73B, 74A, 74B, which define the two aforementioned paths, have oval shapes and are horizontally offset from each other. In use, the first pair of rollers 81 and 82 will take the outer path 73B for descending and the inner path 74A for ascending, while the second pair of rollers will take the inner path 73A for descending and the outer path 74B for ascending. This example is provided to ensure a good understanding of the invention; just like the definition of front and rear, this can obviously be reversed, since it depends on the direction of rotation of the rollers 8 on the closed loop. With this offset rail type movement, translation between the two movable frames 6 is always maintained. A small vertical separation between the two horizontal levels is preferred, but depends on the type of application. For example, a distance of 20 cm to 30 cm between the horizontal surfaces of the two movable frames 6 can be envisaged, although a distance of 24 cm or more is preferred if necessary.

[0054] To enable the movable frame 6 to follow the appropriate path in the groove 7, the system is equipped with a switching system, e.g., a set of cam bridges 12, 121-123 as shown in Figures 11 and 23A-23H (specifically, first and second pairs of rollers (81, 82, 10; 83, 84, 9) are guided into the first and second paths of the guide grooves (71, 72, 73A, 73B, 74A, 74B), respectively). The operation of an example switching system is described in the next section.

[0055] As shown in Figure 25, there may be more than two movable frames 6. The illustrated case is an embodiment of a switcher with three movable frames 6. The principles of the invention remain the same, specifically the conveyor system 3 with the chains, sprockets and switching system that correctly orients the front and rear pairs of rollers of each movable frame 6. The number of movable frames 6 can be increased in this way.

[0056] Furthermore, according to the invention, the guide grooves 7 (or bearing races) of the bearing rollers are designed in a particular way so as to be able to support the high weights associated with the particular use of the switcher 1. As shown by Fig. 17, these grooves are made of three thick metal sheets assembled together to form bearings and guide grooves capable of withstanding high mechanical stresses and supporting the cams. More specifically, these bearings and guide grooves of the moving frame are, as shown in Fig. 17, a main segment 19A connected to the switcher's support structure and forming the outer portion of the bearing race; an intermediate segment 19B which constitutes a guide path and into which an articulated cam is integrated; a closure segment 19C forming the inner portion of the bearing race; Includes.

[0057] This solution has many advantages, such as extreme simplicity, low implementation costs, and compactness.

[0058] The mechanism is also characterized by the fact that it is extremely compact yet capable of transporting loads of several tons, even when two switchers are placed side by side or when the mechanism has to be duplicated.

[0059] Description of the bearing race of the moving frame and its driving principle 9 and 10 schematically show a pair of rollers, e.g., the second pair of rollers 83 and 84, which include protruding shafts 9, allowing the rollers to be supported by the sprockets 4 during movement in the semicircular grooves 73A and 74B connecting the two horizontal movement planes. This is possible because different sprockets 4 are arranged inside each of the aforementioned semicircles, with the gears of the sprockets 4 coinciding with the semicircular grooves 73A and 74B (see FIGS. 11 and 12). The first pair of rollers 81 and 82 have extension shafts 10, which allow the rollers to be supported by the sprockets 4 during movement in the semicircular grooves 73B and 74A connecting the two horizontal movement planes, as well as to be connected to the conveyor chains 5 arranged on both sides of the switcher 1. It should be noted that the extension shafts 10 and protruding shafts 9 can be arranged in either the first or second pair of rollers, depending on the position of the conveyor chain relative to the sprockets. Taking into account the function to be performed, the extension shafts 10 are longer than the protruding shafts 9.

[0060] The detailed view of FIG. 11 shows the principle of coupling the rollers 81, 82, 10 to the conveyor chain 5 and the principle of accompanying the rollers 83, 84, 9 by the sprocket 4 during the upward and downward movement of the movable frame 6.

[0061] As shown in Figure 12, drive shaft 11 simultaneously drives a pair of sprockets located on either side of switcher 1. A sprocket on drive shaft 49 drives a sprocket on shaft 111 via chain 51. Corresponding sprocket 41 drives a sprocket on shaft 112 via chain 52. Sprocket 44 in turn drives sprocket 45 on shaft 113, which is itself connected by chain 53 to sprocket 48 on shaft 114.

[0062] Figure 13 shows three parallel arrangement planes of the sprockets and the arrangement of the transmission chains 51 to 53 and the conveyor chain 5. The sprockets are therefore all driven simultaneously and at the same angular velocity.

[0063] Bearing roller position explanation The position of the bearing rollers 8 (81-84) on the arms of the movable frame 6 of the switcher 1 influences the stopping position of the pallets moved by the switcher. The following description relates, on the one hand, to pallets arranged vertically aligned with the storage tower 13 in which the switcher is integrated, called "warehouse pallets" 61, and, on the other hand, to pallets arranged in the workspace, called "cell pallets" 62.

[0064] In applications where the switcher is used as a functional interface between an automated warehouse and a work cell, it must simultaneously meet several requirements.

[0065] The first condition is that the two movable frames 6 must not at any time enter the travel path of the stacker crane during the exchange procedure (see FIG. 40).

[0066] The second condition requires that in the rest position, the movable frame 6 and the pallet 62 supported by it are perfectly aligned with the other pallets 61 in the storage tower (see Figure 41).

[0067] The third condition is that in the stopped position, the height of the upper surface of the movable frame 6, which constitutes the bearing race of the pallet 25, corresponds to the minimum height accessible to the removal system integrated into the stacker crane. This height varies according to the warehouse base point and is usually between 55 cm and 60 cm (see Figure 42).

[0068] The fourth condition concerns the position of the pallet 62 placed in the workspace: in the stopped position, the top plane of the pallet 62 cannot be at a lower level than the support structure 2 of the switcher 1 to avoid the risk of collision with the control system used to grip and place the incoming and outgoing parts (see Figure 43).

[0069] A solution that simultaneously satisfies all the conditions described in the previous paragraph consists in offsetting the axes 9 and 10 and the bearing rollers 8 of the movable frames 6 so that the rest positions of the bearing rollers 8 of the two movable frames 6 are located in the median plane of the sprocket 4 (gear) when they are symmetrically opposite each other (see Figure 44).

[0070] In this exact position, the two pallets 62, 62 carried by the movable frame 6 are at exactly the same level, fulfilling the four aforementioned conditions. - The warehouse pallet at the rest position is perfectly aligned with the other pallets in the warehouse. - During the swapping movement, the pallets move inwards and therefore do not intrude into the path of the stacker crane. - The height of the upper plane of the arms of the mobile frame places the warehouse pallet at the lowest height that is still accessible by the stacker crane's removal system. - The height of the top plane of the cell pallet is flush with or slightly protrudes from the top plane of the switcher's support structure.

[0071] FIG. 9 shows a perspective view of the movable frame 6 with the offset shaft 10 and bearing rollers 8 .

[0072] Description of an exemplary solution mode for a complete interchange cycle of the moving frame and for the routing problem of bearing rollers through an articulated cam bridge 23A-23F show a complete switching cycle of the moveable frames 6, according to one non-limiting embodiment of the present invention. A switching system, represented here by a set of cam bridges (or simply cams) 121-123, allows the rollers 8 to be guided into the appropriate grooves 7 to keep each moveable frame 6 level.

[0073] In Figure 23A, cam 122 is in a lowered position (horizontal portion on the right, inclined portion on the left) that prevents roller 10 (the extended shaft of the first pair of rollers 81, 82) from following the first downward groove 73A that it encounters. Cam 121 is also in a horizontal position that allows roller 9 (the protruding shaft of the second pair of rollers 83, 84) to cross the opening formed where upward groove 74A and upper horizontal groove 71 meet.

[0074] 23B, roller 10 encounters the inclined portion (left side) of cam 122, tilting it horizontally and simultaneously lifting the right side portion of cam 122. Roller 9 can thus enter downward groove 73A, the opening of which is accessible.

[0075] FIG. 23C shows rollers 10 and 9 in two respective downward grooves 73B, 74A.

[0076] In Figure 23D, roller 10, driven by linked chain 5, has reached the groove corresponding to the lower travel plane. The same applies to roller 9, which is supported by cam 123 at the end of its travel.

[0077] It should be noted that if roller 10 is the "front" roller and roller 9 is the "rear" roller when movable frame 6 is in the upper plane of movement, then when the movable frame is in the lower plane of movement the front-to-rear positions of rollers 10 and 9 are reversed.

[0078] In Figure 23E, the movable frame continues its movement within the lower horizontal groove. The roller 10 encounters the cam 123, lifts it, and continues its stroke.

[0079] In Figure 23F, roller 10, driven by chain 5 fixed and supported by sprocket 44, is now in upward groove 74A. The same applies to roller 9, which is supported by corresponding sprocket 42 during transfer from the lower to the upper travel plane.

[0080] In FIG. 23G, roller 10 lifts cam 121 to rejoin upper horizontal groove 71.

[0081] In Figure 23H, rollers 9 and 10 are in the upper transfer groove 71. Cams 122 and 121 are again in a horizontal position. At the end of the cycle, all cams have returned to their initial position by gravity or by a special mechanism. For example, the volume of cam 122 is hollowed out (more significantly) on its inclined side to the left, which allows it to return to its initial position by gravity as soon as roller 10 or roller 9 has passed.

[0082] Switching system and manual handling mode compatibility In workshops where the handling flows are not automated, the presence of a switcher according to the invention will have a double advantage: on the one hand, the flows into and out of the workstations will be constantly duplicated by the buffer stock, ensuring virtually uninterrupted operation of the machine and its operator (or of the cell, if the machine is automated); on the other hand, the work of the handler will become more flexible, since it will be able to better prioritize the handling flows between the different workstations for which he is responsible.

[0083] Some workshops already rely on automated handling: the functions of workstation supply and removal and replacement of formed parts are thus increasingly ensured by fully programmed automated vehicles.

[0084] As explained above, the switcher according to the present invention is compatible with many types of devices, making it useful for performing multiple tasks.

[0085] As shown in Figure 31, the pallet switcher 1 can be equipped with a movable frame 6 that is open on one of its sides perpendicular to the beams of the support structure (see also Figure 20). This allows easy access to the pallets by different types of motor vehicles, including those that do not have forks that can slide under the pallet and lift it out of its housing to remove it.

[0086] As shown in Figure 24, the cross members 2A of the switcher 1's movable frame 6 are aligned with the profiles 2B supporting the pallets with hooks 2C specific to the automated warehouse, allowing the pallets with hooks 2C to be transferred from the switcher 1 to one of the warehouse stalls and vice versa. In this way, the pallets are compatible with the storage towers 13, whether they are standard storage towers or storage towers 13 that include a pallet switcher 1 integrated into its base. This transfer operation is carried out by a pallet elevator that circulates parallel to the storage tower. The symmetry of the beams that form the support structure of the switcher 1 makes it possible to replicate the mechanism when several switchers 1 are placed side by side, while respecting the alignment with the tower ladders in the automated warehouse.

[0087] As previously explained, the switcher 1 structure can be adapted to integrate trucks 14 and robots 15, as shown in Figures 33A and 33B. For example, this configuration is particularly interesting for a (micro) bending cell 16A, which offers virtually unlimited autonomous operation and maximized utilization thanks to the presence of the switcher 1. In the configuration shown in Figure 33B, the automated cell 16 is connected to two of the automated warehouse towers 13 by two switchers 1. This dual connection allows parts to be automatically introduced into the cell and the bent parts to be placed on the second switcher 1 according to a pre-established interlocking and stacking program. If there is only one switcher 1 connecting the cell 16A to the warehouse, as shown in Figure 33A, the switcher 1 can introduce pallets into a microcell connected to one tower of the automated warehouse, with part of the pallet surface occupied by flat parts to be bent and another part left free to receive bent parts. These same parts can also be placed together in containers placed on the pallets. An advantage of the pallet switcher of the present invention is that it is modular and can be adapted to fit an entire line of equipment, saving time and increasing productivity on the production floor.

[0088] The configuration of the switcher 1 including three movable frames 6 (as shown in Figures 25 and 35) is a particularly advantageous embodiment. Indeed, this embodiment makes it possible to switch three elements simultaneously in a single operation lasting a few seconds. This is particularly interesting when the method is divided into three stages. This is the case, for example, with the laser cutting machine 16B, where the steps of the method, namely cutting, removal of the cut part, and preparation of a new metal sheet, are often not performed simultaneously but sequentially, resulting in waiting times during which the machine is not productive. This configuration is also distinguished by its very simple and compact design.

[0089] In some cases, it may be advantageous to triple-connect the automated cell 16A to the warehouse (see FIG. 34). The third entry may serve, by way of example and not exhaustive, to introduce into the cell 16A tools that are shared between several bending cells 16A connected to the warehouse, specific tools dedicated to a customer, elements that allow for optimization of the stacking of bent parts, large grippers, etc.

[0090] The example shown in Figures 35 and 36 shows an apparatus that combines, on the one hand, a switcher 1 equipped with three movable frames 6 (like the one shown in Figure 25) integrated into a laser cutter, and, on the other hand, three switchers 1 equipped with two movable frames 6 each integrated into an automated warehouse tower 13. The apparatus also includes at least one robot 15 moving on a track 14. This figure highlights the compactness of the laser and its control system consisting of a switcher 1 with three movable frames and a robot mounted on a track. Once the laser completes a cutting procedure, the three laser tables start moving simultaneously to deliver a new metal sheet to the machine within a few seconds, thus maximizing machine utilization. As soon as the laser starts a new cutting procedure, the robot 15 picks up the new sheet from the first switcher 1 in the warehouse and places it on the laser table located on the opposite side. It then picks up the parts cut during the previous procedure and places them on the second switcher 1 in the warehouse. Once this task is completed, the robot 15 removes the sheet frame to the third switcher 1 in the warehouse. The different grippers required for the robot 15 to carry out the handling of parts of various sizes as well as framework scrap can be advantageously arranged, for example, on the exterior of the warehouse storage tower 13. The robot 15 is dimensioned such that its extension length allows it to reach the farthest point from the laser table or from the pallet of the warehouse switcher 1. The support structure of the switcher can be used to support the tracks and the robot. A variant with columns and hanging tracks is also conceivable (not shown).

[0091] Figure 37 shows the combination of different procurement flow management modes for cell 16A. In addition to being directly connected to the automated warehouse, cell 16A is equipped with a switcher 1 dedicated to Euro pallets (EPALs) and faces the workshop, allowing for the management of part of the inbound and outbound flow using an assisted elevator 17 or an automated guided vehicle (AGV).

[0092] Figure 38 shows how it would be possible to arrange cutting cells 16B, such as laser or punching machines, as well as bending cells 16A around a linear automated warehouse, connecting all the machines to each other and thus increasing the overall autonomy and availability of the independent operation of the production tools.

[0093] In prior art switchers, a wide variety of loads, light or heavy, are moved parallel to one another from a high level to a low level and vice versa with numerous load supports. In the applications envisaged for the switcher according to the invention, the objective is limited to switching at most two or three movable frames / pallets simultaneously. The number of pallets is directly linked to the operating procedure of the machine, which consists in exchanging empty pallets for full pallets and vice versa in a very short time (buffer effect). In applications with laser cutters, the switcher advantageously includes three movable frames, and the operating procedure of this type of machine is based on three factors: A dedicated table for processed metal sheets, A dedicated table for the next metal sheet to be processed, and A table dedicated to freshly processed metal sheets.

[0094] The aim is to perform three operations simultaneously using a mechanism that stands out from the state of the art thanks to its extreme simplicity and compactness.

[0095] Figure 39A shows that when the two movable frames 61, 62 intersect, the useful distance separating the top of the pallet 2C carried by the movable frame 61, which circulates in the lower bearing race, from the bottom of the structure of the movable frame 62, which circulates in the upper plane, must allow the passage of empty pallets or low-height loads such as stacks of metal sheets or flat cut pieces.

[0096] On the one hand, the right-hand side of Figure 39B shows the position of pallet 2C arranged inside the cutting or bending cell when axes 9 and 10 of the movable frame 62 are located in the median plane of sprocket 4. The height of the movable frame is selected so that the top of pallet 62 is at least flush with or protrudes from the support structure of the switcher. On the other hand, the left-hand side of the figure shows the forward-most position of pallet 61 in a situation where axes 9 and 10 of the movable frame are in the median plane of sprocket 4, and pallet 61 carried by movable frame 2C is vertically aligned with other pallets 63 in the warehouse. The height position of this pallet 61 must correspond to the height of the lowest point 21 accessible to the pick-up system of the stacker crane.

[0097] In the storage tower 13 arranged above the switcher 1, the pallet storage levels are equally spaced, as in a standard storage tower. The distance 23 between the first storage level (from bottom to top) and the maximum height of the movable frame in the tower is greater than the fixed distance 22 between the two storage levels of the tower and will then be selected to allow for the exchange of larger parts between the storage tower 13 and workstations outside the storage tower, such as bending cells. This distance 23 will therefore be selected so that, for example, after bending, the bent parts can be transported to an automated warehouse.

[0098] The distance between the lowest position of the pallet 63 in the warehouse during the cycle and the highest position of the pallets 61, 62 in the switcher must be such that the largest volume parts, especially curved parts, can always pass through the gap from above. [Explanation of symbols]

[0099] 1 Palette Switcher 2 Switcher support structure 21 Beam leg 2A Movable frame cross member 2B Support Profile 2C Pallet with Hooks 3 Conveyor System 4 sprockets (codes 41-49 for various sprockets) 5 Conveyor Chain 51~53 Transmission chain 6 Movable frame (reference numbers 61 and 62) 7 Guide grooves (numbers 71, 72, 73A, 73B, 74A, 74B for different grooves) 8 Bearings and guide rollers (numbers 81 to 84 for various rollers) 9 Protruding roller shaft 10 Extension roller shaft 11 Drive shaft 111~114 Transmission shaft 12 Cam Bridges (codes 121-123 for various cams) 13 Storage Tower (Automated Warehouse) 14 tracks 15. Robot 16A Micro Bending Cell 16B Laser Cutting 17 Forklifts or motor vehicles 18 Direct Load Support System (or Auxiliary Palletization) 19A-19C Metal sheet forming guide groove 20 Warehouse Pallet Hooks 21 Minimum access point for stacker cranes in warehouses 22 Spacing between two storage levels in a warehouse tower 23 Distance between the first storage level in the storage tower and the maximum height of the switcher's movable frame

Claims

1. A system including an automated tower or vertical warehouse storage tower (13), a palletization system (18) consisting of pallets, and a pallet switcher (1) integrated at the base of said storage tower (13), said storage tower (13) using palletization for storing and transporting loads, said pallet switcher (1) comprising: a support structure (2) having beams of sufficient dimensions to receive a load represented by the weight of the storage tower (13) itself, the maximum weight of a loaded pallet being added to said load; At least two movable frames (6) each including a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on its lateral sides, respectively; a conveyor system (3) arranged on the support structure (2) and thereby enabling the movement of the movable frame (6) and connected to a drive shaft (11); a set of guide grooves (71, 72, 73A, 73B, 74A, 74B) forming a closed loop with separate rails and guide paths for each movable frame (6), the set of guide grooves (71, 72, 73A, 73B, 74A, 74B) including a first path and a second path, the guide grooves (71, 72, 73A, 73B, 74A, 74B) accommodating the rollers (81, 82, 83, 84) of the movable frame (6); a cam switching system (12, 121, 122, 123) for the first pair of rollers (81, 82) and the second pair of rollers (83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B); Including, the cam switching system (121, 122, 123) is suitable for guiding the first pair of rollers (81, 82, 10) and the second pair of rollers (83, 84, 9) so that, in use, the first pair of rollers (81, 82, 10) takes the first path and the second pair of rollers (83, 84, 9) takes the second path to move the movable frame (6) along the closed loop while always remaining horizontally parallel to each other and oriented in the same direction; each movable frame (6), in use, is suitable for carrying a single pallet, whether loaded or not, said pallet being separate from the movable frame (6) which supports it, and the beams of the support structure (2) comprise an assembly of at least three metal sheets (19A, 19B, 19C), each of said metal sheets comprising a specific cutout which in combination forms the housing required for said guide grooves (71, 72, 73A, 73B, 74A, 74B) and for the cam switching systems (12, 121, 122, 123) of said first pair of rollers (81, 82) and said second pair of rollers (83, 84) in said guide grooves (71, 72, 73A, 73B, 74A, 74B), system.

2. 2. The system according to claim 1, characterized in that the beams of the support structure (2) are of sufficient dimensions to receive a load represented by the weight of the storage tower (13) itself, to which the weight of a pallet loaded with its contents amounting to 2.5 tons is added.

3. 3. The system according to claim 1 or 2, characterized in that the system comprises at least one standard storage tower without a pallet switcher (1), the beams of the support structure (2) of the pallet switcher (1) being symmetrical and having a shape that allows duplication of the conveyor system (3) when several switchers (1) are placed side by side, respecting height alignment with the standard storage tower and with the storage tower (13) comprising a pallet switcher (1) integrated at its base.

4. 4. The system according to claim 1, wherein the system includes at least one standard storage tower without a pallet switcher (1), and the height of the storage tower (13) associated with the switcher (1) is reduced by the height of the switcher (1) so that the storage tower (13) is aligned with the height of the standard storage tower, and the storage level is also aligned with respect to the standard storage tower without the switcher.

5. 5. The system according to claim 1, wherein the system includes a particular hooked pallet (2C) supported by a profile (2B), and the movable frame (6) of the switcher (1) includes cross members (2A) aligned with the profile (2B) that support the hooked pallet (2C) so that, in use, the hooked pallet (2C) can be transported from the switcher (1) to the storage tower (13) of the automated warehouse and vice versa, provided that the hooked pallet (2C) is compatible with the switcher (1) and the storage tower (13).

6. 6. The system according to any one of claims 1 to 5, characterized in that the storage tower (13) comprises equally spaced pallet storage levels, the distance (23) between a first storage level and the maximum height of the movable frame (6) in the tower being greater than the fixed distance (22) between two storage levels of the tower so as to allow also larger parts to be exchanged between the storage tower (13) and a workstation outside the storage tower (13).

7. 7. The system according to claim 1, wherein the first pair of rollers (81, 82) comprises an extension shaft (10), the second pair of rollers (83, 84) comprises a protruding shaft (9), the conveyor system (3) comprises a plurality of sprockets (4, 41-49), the protruding shaft (9) and the extension shaft (10) of the movable frame are located in a position on the median plane of the sprockets (4) corresponding to the forward-most position of a pallet (61) on the warehouse side, and the pallet (61) carried by the movable frame (2C) is then vertically aligned with other pallets (63) in the warehouse, and the pallet (61) is therefore also accessible to a removal system of a warehouse stacker crane.

8. 8. An automated manufacturing apparatus comprising an automated warehouse and at least one bending cell (16A) and / or laser cutting cell (16B), the automated warehouse comprising one or more standard storage towers and at least one system comprising a storage tower and a pallet switcher (1) according to any one of claims 1 to 7 integrated at the base of the tower.

9. a support structure (2); at least two movable frames (6) each including a first pair of rollers (81, 82) and a second pair of rollers (83, 84) on its lateral sides; a conveyor system (3) arranged on said support structure (2) and thereby enabling the movement of said movable frame (6) and connected to a drive shaft (11); a set of guide grooves (71, 72, 73A, 73B, 74A, 74B) forming a closed loop with separate rails and guide paths for each movable frame (6), the set of guide grooves (71, 72, 73A, 73B, 74A, 74B) including a first path and a second path, the guide grooves (71, 72, 73A, 73B, 74A, 74B) accommodating the rollers (81, 82, 83, 84) of the movable frame (6); a cam switching system (12, 121, 122, 123) for the first pair of rollers (81, 82) and the second pair of rollers (83, 84) in the guide grooves (71, 72, 73A, 73B, 74A, 74B); Including, the cam switching system (121, 122, 123) is suitable for guiding the first pair of rollers (81, 82, 10) and the second pair of rollers (83, 84, 9) so that, in use, the first pair of rollers (81, 82, 10) takes the first path and the second pair of rollers (83, 84, 9) takes the second path to move the movable frame (6) along the closed loop while always remaining horizontally parallel to each other and oriented in the same direction; each movable frame (6) is suitable, in use, to carry a single pallet, whether loaded or not, said pallet being separate from said movable frame (6) which supports it; the beam of the support structure (2) comprises an assembly of at least three metal sheets (19A, 19B, 19C), each of said metal sheets comprising a specific notch that in combination forms the guide grooves (71, 72, 73A, 73B, 74A, 74B) and the housing required for the cam switching systems (12, 121, 122, 123) of the first pair of rollers (81, 82) and the second pair of rollers (83, 84) in said guide grooves (71, 72, 73A, 73B, 74A, 74B), Palette Switcher (1).

10. 10. A laser cutting device comprising a laser cutting cell (16B), at least one robot (15) moving on a track (14), and a switcher (1) according to claim 9, each of which: A dedicated table for processed metal sheets, A dedicated table for the next sheet to be processed, and A table dedicated to freshly processed sheets 1. A laser cutting device, equipped with three movable frames (6) for carrying out the operating procedures of said laser cutting device, thanks to which:

11. 2. Use of a pallet switcher (1) in a system according to claim 1 for carrying out a next cycle of movement for exchanging initial positions of a first movable frame (61) and a second movable frame (62), each suitable for supporting a pallet (18), wherein the guide grooves (7) of the switcher include a groove (71) corresponding to an upper horizontal movement plane, a groove (72) corresponding to a lower horizontal movement plane, two semicircular grooves (73A, 73B) allowing downward movement from the upper horizontal movement plane to the lower horizontal movement plane, and two semicircular grooves (74A, 74B) allowing upward movement from the lower horizontal movement plane to the upper horizontal movement plane, the grooves (71, 72, 73A, 73B, 74A, 74B) defining two aforementioned paths, the two aforementioned paths having an oval shape and being parallel to each other. the rollers of the first pair of rollers (81, 82) include an extension shaft (10) that allows a set of sprockets (44, 46) to support the rollers (81, 82) during their movement in the semicircular grooves (73B, 74A) connecting the two horizontal movement planes and also allows the rollers (81, 82) to be connected to a conveyor chain (5); the rollers of the second pair of rollers (83, 84) include a protruding shaft (9) that allows a set of sprockets (42, 45) to support the rollers (83, 84) during their movement in the semicircular grooves (73A, 74B) connecting the two horizontal movement planes; the conveyor system (3) includes the conveyor chain (5); and the use of the switcher (1) comprises the following steps: At the beginning of a cycle, when the first movable frame (61) is in a position on the upper horizontal movement plane, the conveyor system (3) is actuated by the rotation of the drive shaft (11), and each roller of the first pair of rollers (81, 82) has its extension shaft (10) driven by the conveyor chain (5) and adapted to engage with the sprockets (44, 46) during movement in the semicircular grooves (73B, 74A) connecting the two horizontal movement planes, and each roller of the second pair of rollers (83, 84) has its extension shaft (9) adapted to engage with the sprockets (42, 45) during movement in the semicircular grooves (73A, 74B) connecting the two horizontal movement planes, The rollers of the first pair of rollers (81, 82, 10) thus driven reach the intersection of the upper horizontal groove (71) and the first downward groove (73A), a first cam (122) arranged at this intersection is in a lowered position, with a straight portion followed by an inclined portion, the bearing rollers of the first pair of rollers (81, 82, 10) remaining guided in the upper horizontal groove (71) and then in the second downward groove (73B) thanks to the sprocket (46), the rollers (81, 82, 10) encountering the inclined portion of the first cam (122) causes the first cam (122) to be lifted, the inclined portion to be inclined horizontally, the straight portion to be lifted, and thus the bearing rollers of the second pair of rollers (83, 84, 9) pass freely through the first downward groove (73A); a second cam (121) is disposed in a horizontal position at the intersection of the upper horizontal groove (71) and the first upward groove (74A), so that the bearing rollers of the second pair of rollers (83, 84) cross the opening into the first upward groove (74A) and continue their path within the upper horizontal groove (71); the first cam (122) is raised and the bearing rollers of the second pair of rollers (83, 84) are guided in the first downward grooves (73A); When the bearing rollers of the first pair of rollers (81, 82, 10) reach the lower horizontal groove (72), they are driven further in this groove by the conveyor chain (5), while the bearing rollers of the second pair of rollers (83, 84, 9) simultaneously reach a third cam (123) at the end of their travel in the first downward groove (73A), which third cam (123) is in a lowered position, thereby allowing the rollers of the second pair of rollers (83, 84, 9) to pass; The movable frame (61) continues its movement in the lower horizontal groove (72), and the bearing rollers of the first pair of rollers (81, 82, 10) lift the third cam (123) to continue its stroke; the bearing rollers of the second pair of rollers (83, 84, 9) supported by the sprocket (42) are driven into the second upward grooves (74B), and the bearing rollers of the first pair of rollers (81, 82, 10) supported by the sprocket (44) are driven into the first upward grooves (74A), thus enabling a transition from the lower horizontal movement plane to the upper horizontal movement plane; by lifting the second cam (121), the bearing rollers of the first pair of rollers (81, 82) reach the upper horizontal groove (71) simultaneously with the bearing rollers of the second pair of rollers (83, 84, 9); the first movable frame (61) returns to its initial position in the upper horizontal groove (71), and the second cam (121) and the first cam (122) are both in the lowered position for the next cycle by gravity or are returned to the lowered position by a special mechanism; The movement is similar for a second movable frame (62), which is in a position on the lower horizontal movement plane at the beginning of the cycle. Use of Palette Switcher (1).

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