System for loading or unloading a motorised carriage

Abstract

The present disclosure relates to an unloading or loading system (1) configured to load or unload at least one conveyed object (2), with a view to transferring the conveyed object from at least one motorised carriage (3) to a conveyor (Co) during unloading, or for transferring the conveyed object (2) from the conveyor (Co) to the motorised carriage during loading, the system (1) comprising at least one motorised carriage (3), a lifting fork system which comprises at least one fork (5), and a mechanism for pushing the conveyed object which comprises a motorised pushing member (6).

Description

Description Title: System for loading or unloading a motorized trolley

[0001] The present disclosure relates to an unloading system configured to unload at least one conveyed object, for the purpose of transferring the conveyed object from at least one motorized cart to an inlet of a conveyor.

[0002] The present disclosure further relates to a loading system configured to load at least one conveyed object, with a view to transferring said conveyed object from an outlet of a conveyor to a motorized trolley.

[0003] The present disclosure further relates to a loading and unloading assembly comprising: - a first system for unloading a motorized trolley configured to unload at least one first conveyed object, with a view to transferring the first conveyed object from at least one motorized trolley to a conveyor during unloading, - a second motorized cart loading system configured to load a motorized cart with a second conveyed object, for the purpose of transferring said second conveyed object from the conveyor to a motorized cart during loading. Technical field

[0004] This disclosure relates to the field of automated storage and retrieval systems (ASRS) configured to automate order picking.

[0005] The present disclosure relates more particularly to storage systems comprising motorized carts circulating in the warehouse ensuring the transfer of items typically received in a container, such as a bin or a tray.

[0006] The motorized trucks can typically be self-guided trucks, equipped with communication modules configured to communicate with a central control unit of the ASRS. The central control unit coordinates the trajectories of the trucks in the warehouse to ensure order preparation operations by transmitting guidance instructions to the motorized trucks.

[0007] The scope of the present disclosure particularly covers motorized carts traveling on a moving surface, following two horizontal directions of space, the moving surface being typically a warehouse floor or a platform raised above the floor. The warehouse comprises one or more storage racks containing storage locations for the items typically contained in the containers, typically resting on the floor.

[0008] The scope of this disclosure covers, by way of example, and not limited to: - storage systems (ASRS) ensuring the transfer of containers containing items, in particular between an order preparation station and the storage rack(s), by the movement of motorized trolleys on the movement surface, then the transfer of containers, from the motorized carts to the locations in the storage rack by a lifting system, distinct from the motorized carts, namely that the motorized carts typically travel in two directions only; - storage systems ensuring the transfer of containers containing articles, in particular between an order preparation station and up to the storage rack(s), by the movement of motorized trolleys on the movement surface, then a lifting of the motorized trolleys in the storage racks, by the activation of climbing means of the motorized trolleys, and a transfer of the containers onto the motorized trolleys at height in the storage rack in the storage locations, by the action of transfer devices of the motorized trolleys. In such a solution, the trolleys circulate in the three directions of the space.

[0009] Automated storage and retrieval systems still typically include - an unloading system which is configured to unload an object (typically an order automated by the ASRS) from the motorized trolley, with a view to transferring it to an entrance of a conveyor of the warehouse, for example with a view to a delivery, and - a loading system which is configured to load an object (e.g. articles in a container) onto the motorized trolley, from an outlet of the conveyor, and typically for transfer from the container to the storage rack, during restocking. Prior art

[0010] Document US20170166400 discloses an ASRS comprising a system for unloading an item from an autonomous transport vehicle moving on the ground, the vehicle having on its upper surface a lamellar structure on which an item can rest. The system for unloading an item comprises a separation conveyor comprising a plurality of motorized and inclined belt conveyors. When the autonomous vehicle passes under the separation conveyor, the belt conveyors engage in the lamellar structure of the vehicle to unload the item from the vehicle. A similar system for loading an item onto a vehicle is also described. These systems have the disadvantage of having to juxtapose a series of inclined conveyors to reach the height of the destination conveyor. In addition, the footprint of such a system is large.Alternatively, this document proposes a system for unloading or loading an article in which the separation conveyor is arranged horizontally at the height of the destination conveyor, the autonomous transport vehicle then being tall so that its upper surface is at the height of the separation conveyor. This system remains poorly adaptable to different conveyor heights.

[0011] Summary

[0012] This disclosure improves the situation.

[0013] According to a first aspect, there is provided an unloading or loading system configured to load or unload at least one conveyed object, with a view to transferring the conveyed object from at least one motorized trolley to a conveyor during unloading, or with a view to transferring said conveyed object from the conveyor to the motorized trolley during loading, said system comprising: - / a / said at least one motorized carriage which comprises an upper surface configured to provide support for said conveyed object, - / b / a lifting fork system which comprises at least one fork comprising fingers, preferably the fingers being passive elements, said lifting fork system comprising an actuator configured to move said at least one fork between a first position in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least a second position in which said fork is at a height distinct from the first position, to allow a transfer between said at least one carriage and said at least one fork which is inserted under the conveyed object supported by said at least one motorized carriage during the movement of said carriage in the direction of said fingers, - Here a mechanism for pushing said conveyed object which comprises a motorized pushing member, said mechanism configured to ensure, during unloading, a pushing of the object conveyed by said pushing member, from a position of said conveyed object on said at least one fork then in the first position towards said conveyor, in particular to the conveyor, or during loading, a pushing of the object conveyed by said pushing member to said at least one fork in said first position, in a direction oriented from the conveyor towards said at least one fork.

[0014] According to one embodiment, said at least one carriage is configured to travel on a movement surface, such as the ground, at a level lower than the conveyor, said upper surface of said motorized carriage at a level lower than the conveyor, and in which the first position is a high position, and said at least one second position is a low position in which said at least one fork is configured to be inserted between said conveyed object and said motorized carriage to separate said conveyed object from said motorized carriage, then raise said conveyed object to the height of said conveyor, by moving said at least one fork from said low position to said high position.

[0015] According to another embodiment, the carriage travels on a movement surface such that the upper surface of the motorized carriage is at a level higher than the height of the conveyor, and wherein the first position is a low position, and said at least one second position is a high position in which said at least one fork is configured to be inserted between said conveyed object and said motorized carriage to separate said conveyed object and lower said conveyed object to the height of said conveyor, by motorized movement of said at least one fork from said high position to a third position higher than said high position so as to lift said conveyed object from said motorized carriage, then after movement of the motorized carriage outside a movement zone of said at least one fork, by lowering said at least one fork to said low position at the height of said conveyor.

[0016] The system may further include the following optional features, taken alone or in combination: - the system may further comprise a conveying unit configured to ensure the transfer of said conveyed object onto a conveying surface formed of one or more conveying members, preferably motorized, said conveying surface in extension of said at least one fork at said first position, arranged at the height of said conveyor, which is distinct from the height of the upper surface of said at least one motorized carriage; - said conveying member or said conveying members can be configured to ensure a transfer of said conveyed object in a conveying direction, and in which the fingers of said at least one fork are oriented parallel to the conveying direction; - said thrust member may comprise a thrust crosspiece extending transversely to the conveying direction, over the entire width of said at least one fork, said thrust crosspiece configured to sweep lengthwise said at least one fork, in whole or in part, during a motorized displacement by thrust of said thrust crosspiece in the conveying direction; - the pushing member can be movable between at least one retracted position in which the pushing member is outside a space for movement of the object conveyed from said at least one fork in the first position to said conveyor and a pushing position in which the pushing member is in the space for movement of the object conveyed on said at least one fork in the first position to said conveyor; - the pushing mechanism may comprise an actuator with a transmission comprising at least one chain driving said pushing member in the conveying direction, above said at least one fork in the first position; - said at least one chain may comprise a first chain and a second chain, arranged in parallel, on either side of said at least one fork, in said first position of said at least one fork, said thrust crosspiece secured by a first end to the first chain and by a second end to the second chain; - the system may comprise means for detecting the position of the conveyed object on said at least one fork at said first position, and in which said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring movement of said pushing member, at a first speed over a first movement stroke of said pushing member, upstream of the position of the conveyed object, before contact between the pushing member and said conveyed object, and at a second speed, distinct from the first speed, after contact with the conveyed object during the thrust exerted by the pushing member on said conveyed object, said second speed for example greater than said first speed; - the system may comprise means for detecting the size of the object conveyed on said conveying surface, at least along the direction of said at least one fork, and wherein said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring, during loading, a pushing of said object conveyed by said pushing member, from the conveying surface and to a target position of said object conveyed on said at least one fork at said first position, in particular said target position being a position centered along the direction of the fingers of the fork; - said conveying unit may comprise one or more lateral deflectors, configured to ensure centering of the conveyed object on said at least one fork at said first position, during loading, and in a direction transverse to the direction of the fork fingers; - the system may comprise a removable device, such as a tray, arranged to rest on the upper surface of the motorized carriage, said removable device having a support surface for a conveyed object and grooves in depth of the support surface, and in which said grooves are configured for the passage of the fingers of said at least one fork in said at least one second position, in order to be inserted under the conveyed object during the movement of said at least one motorized carriage in the direction of the fingers, and to allow separation of the conveyed object and the removable device, during the elevation of said at least one fork; - said at least second position may comprise a second high position, for which the fingers of said at least one fork are inserted into the grooves of the removable device, and in which said at least second position comprises a second low position, of a lower level than the second high position, configured for the passage of the fingers of said at least one fork in second grooves on the upper surface of the motorized carriage to allow the separation of said removable device alone or in association with a product supported by the removable device, so that the conveyed object comprises said removable device, alone or associated with said conveyed object; - said at least one trolley may comprise a transfer device comprising a telescopic arm movable between a retracted position configured to ensure the loading of said conveyed object on the upper surface of the motorized trolley, to a deployed position for which the telescopic arm is deployed in cantilever of the chassis of said at least one motorized trolley to ensure the transfer of the conveyed object into a storage rack; - the second grooves may comprise two grooves arranged on either side of said telescopic arm; - said motorized trolley may comprise rolling means on a rolling surface, such as the ground, but also climbing means, such as motorized pinions configured to mesh with teeth of climbing elements, such as a roller chain or a rack, to ensure the vertical movement of said trolley according to the height of a storage rack; - said at least one fork can be movable in a vertical translation between said at least one first position and said second position.

[0017] According to a second aspect, there is proposed an unloading and loading assembly comprising: - a first system for unloading a motorized trolley according to the present disclosure, configured to unload at least one first conveyed object for the purpose of transferring the conveyed object from at least one motorized trolley to a conveyor during unloading, - a second motorized cart loading system according to the present disclosure, configured to load a motorized cart for the purpose of transferring a second conveyed object from the conveyor to the motorized cart during loading, and wherein the first system and the second system are juxtaposed, parallel to each other, the fork of the first system being parallel to the fork of the second system.

[0018] According to one embodiment, said assembly may comprise a system for transferring a conveyed object such as a robotic arm, configured to transfer an object from the fork of the first system to the fork of the second system. Brief description of the drawings

[0019] Other features, details and advantages will become apparent upon reading the detailed description below, and upon analyzing the attached drawings, in which: Fig. 1

[0020] [Fig. 1] is a perspective view of a system for unloading an object conveyed by a motorized trolley, after separation of the object by raising a fork, illustrating the fork in an intermediate position during lifting, a pushing member in a retracted, waiting position for unloading. Fig. 2

[0021] [Fig. 2] is a consecutive view of Figure 1, after the fork has reached a first position at the height of the conveying surface of a conveying unit of the system, and in an intermediate position for which the pushing member exerts a thrust on said object to transfer it from the fork to the conveying surface of the conveying unit, and with a view to its transfer to an inlet of the conveyor. Fig. 3

[0022] [Fig. 3] is a schematic view of the transmission of the thrust mechanism, with chain, illustrating various positions of the thrust member, namely in particular: - a retracted unloading position at the level of the fork fingers, - a retracted loading position at the second end of the conveyor unit, opposite the first end in extension with the fork. Fig. 4

[0023] [Fig. 4] is a schematic top view of the loading device illustrating the function of side deflectors to center the conveyed object in a direction transverse to the fork when said object is pushed from the conveying unit to said fork, in extension. Fig. 5

[0024] [Fig. 5] shows a system provided with a detection means (such as a camera) configured to detect the position of the object conveyed on the system in particular on the fork or on the conveying surface of the conveying unit, or even configured to detect the size of the object.

[0025] [Fig. 6] is a variant of figure 5 for which the motorized trolley is devoid of a removable device for supporting said object by the motorized trolley. Fig. 7

[0026] [Fig. 7] schematically illustrates a possibility of controlling the pushing member, with detection of the object conveyed on the fork, with notably, a control of said pushing member on a first displacement stroke at a first speed, before contact with the conveyed object, then a control of said pushing member on a second displacement stroke, after contact with the object, at a second speed higher than the first speed, in particular during unloading. Fig. 8

[0027] [Fig. 8] schematically illustrates a possibility of control during loading, with detection of the position and size of the object conveyed on the conveying surface of the unit, and control of the pushing member so as to ensure a transfer of the conveyed object to a target position on said fork, following the length of the fork, and in particular a target position centered following the length of said fork. Fig. 9

[0028] [Fig. 9] shows a motorized trolley comprising, at its upper surface, a telescopic arm of a transfer device, the arm illustrated in a retracted position configured to ensure the loading of said conveyed object onto the upper surface of the motorized trolley, the arm deployable to a deployed position (not illustrated) for which the telescopic arm is deployed cantilevered from the chassis of said at least one motorized trolley to ensure the transfer of the conveyed object into a storage rack, the motorized trolley being notable in that it comprises two grooves for the fingers of the fork, said grooves arranged on either side of the telescopic arm, parallel to the direction of deployment of the arm. Fig. 10

[0029] [Fig. 10] schematically shows a loading or unloading system comprising a frame for the conveyor unit and the fork system, with adjustable height along legs. Fig. 11

[0030] [Fig. 1 1 ] schematically shows a view of an assembly comprising: - a first system for unloading a motorized trolley according to the present disclosure, configured to unload at least one first conveyed object for the purpose of transferring the conveyed object from at least one motorized trolley to a conveyor during unloading, - a second system for loading a motorized cart according to the present disclosure, configured to load a motorized cart for the purpose of transferring a second conveyed object from the conveyor to the motorized cart during loading, the first system and the second system being arranged juxtaposed, parallel to each other, the fork of the first system being parallel to the fork of the second system. Fig. 12

[0031] [Fig. 12] is a schematic and perspective view of the whole of Figure 11. Fig. 13

[0032] [Fig. 13] is a view of a system according to a variant of the present disclosure for which the second position of the fork configured to be inserted between the conveyed object and the motorized trolley, to ensure the unloading of said motorized trolley, is at a higher level than the first position of the fork to ensure the transfer of the object from the fork to the conveying surface of the conveying unit. Description of the embodiments

[0033] The present disclosure relates to an unloading system 1 configured to unload at least one conveyed object 2, with a view to transferring the conveyed object from at least one motorized trolley 3 to a conveyor Co during unloading, said system 1 comprising: - / a / said at least one motorized carriage 3 which comprises an upper surface configured to provide support for said conveyed object 2, - / b / a lifting fork system which comprises at least one fork 5 comprising fingers 50, said lifting fork system comprising an actuator configured to move said at least one fork 5 between a first position P1 in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least a second position P2 in which said fork is at a height distinct from the first position P1, to allow a transfer between said at least one motorized carriage 3 and said at least one fork 5 which is inserted under the conveyed object 2 supported by said at least one motorized carriage 3 during the movement of said carriage in the direction of said fingers 50, - Here a mechanism for pushing said conveyed object which comprises a motorized pushing member 6, said mechanism configured to ensure, during unloading, a pushing of the conveyed object 2 by said pushing member 6, from a position of said conveyed object 2 on said at least one fork 5 then in the first position towards said conveyor, in particular to the conveyor.

[0034] Generally speaking, the unloading system allows the implementation of an unloading process comprising: - / A / Move a motorized trolley supporting an object along a trajectory of the motorized trolley aligned with the fingers 50 of said at least one fork 5 then in said second position P2, waiting, until the fingers are inserted under the conveyed object supported by the motorized trolley 3, - / B / Actuate the fork in elevation to separate the conveyed object 2 from the upper surface of the motorized carriage 3 and to move said at least one fork to the first position P1 for which said at least one fork is at the height of an entrance of the conveyor, directly in extension of an entrance of the conveyor, or even indirectly by means of a unit conveyor belonging to the unloading system, - / C / Actuate said pushing member 6 to ensure a transfer of the conveyed object 2 resting on said at least one fork 5, towards said entrance of the conveyor Co, in particular up to said entrance of the conveyor, or even up to said intermediate conveying unit.

[0035] The present disclosure also relates to a loading system 1 configured to load at least one conveyed object 2, with a view to transferring said conveyed object 2 from the conveyor Co to the motorized trolley during loading, said system 1 comprising: - / a / said at least one motorized carriage 3 which comprises an upper surface configured to provide support for said conveyed object 2, - / b / a lifting fork system which comprises at least one fork 5 comprising fingers 50, said lifting fork system comprising an actuator configured to move said at least one fork between a first position P1 in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least a second position P2 in which said fork is at a height distinct from the first position, to allow a transfer between said at least one motorized trolley 3 and said at least one fork 5 which is inserted under the conveyed object 2 supported by said at least one motorized trolley 3, - Here a mechanism for pushing said conveyed object which comprises a motorized pushing member 6, said mechanism configured to ensure, during loading, a pushing of the conveyed object 2 by said pushing member 6 to said at least one fork at said first position, in a direction oriented from the conveyor towards said at least one fork 5.

[0036] Generally, the loading system allows the implementation of a loading process comprising: - / A1 / Actuate said pushing member 6 to ensure a transfer of the conveyed object 2 coming from an outlet of the conveyor, in one direction from said outlet of the conveyor Co to said at least one fork in said first position P1, - / B1 / Actuate said at least one fork 5 from the first position P1 to the first position P2 and place said conveyed object 2 resting on said fork 5 on the upper surface of a motorized trolley by lowering said at least one fork 5 to the second position P2.

[0037] Generally, the unloading system or the loading system may be non-reversible, i.e. operating only when unloading or loading.

[0038] According to one possibility, the loading system comprising said at least one motorized trolley 3, the fork system comprising said at least one fork 5, and said pushing mechanism can be reversible, selectively allowing the unloading operations of the motorized trolleys or the loading operations of the motorized trolleys to be carried out.

[0039] Generally, the transfer of the conveyed object 2 resting on said at least one fork 5, during unloading, beyond said at least one fork, or the reverse transfer of the conveyed object to a position on said fork, during loading, is carried out by the action of the pushing member 6, which is typically movable in the direction of the fingers 50 of said at least one fork 5, in a pushing space above said at least one fork 5. The fingers of the fork may be typically passive, namely devoid of motorized conveying members, such as rollers or belts to ensure such movement of the object conveyed on the fork.

[0040] The passive fingers may advantageously be of limited height, for example less than 30 mm, preferably less than 15 mm, and compared to an alternative where the fingers of greater height would comprise conveying members. Limiting the height of the fingers may make it easier to insert said at least one fork between the conveyed object resting on the upper surface of the motorized carriage, or even make it possible to limit the height of grooves Ra, Ra2, receiving the fingers of said at least one fork during insertion.

[0041] Generally, the fork fingers extend parallel to each other in a direction that may be horizontal, or close to horizontal by plus or minus 15°.

[0042] In general; said at least one fork 5 can be movable following a vertical translation between said at least one first position P1 and said second position P2, and in particular in order to limit the horizontal footprint of said unloading or loading system.

[0043] According to a possibility illustrated for information purposes in the figures (in particular No. 1, 2, 5, 6, 10 and 12), said at least one motorized trolley is configured to circulate on a movement surface, such as the ground, at a level lower than the conveyor, said upper surface of said motorized trolley at a level lower than the conveyor. The first position P1 is a high position PH, and said at least one second position P2 is a low position PB in which said at least one fork 5 is configured to be inserted between said conveyed object 2 and said motorized trolley 3 to separate said conveyed object from said motorized trolley (in particular during / A / ), then raise said conveyed object to the height of said conveyor (in particular in / B / ), by moving said at least one fork from said low position PB to said high position PH during unloading.

[0044] Notably, the motorized trolley located in an unloading area under said fork can be moved, after separation of the conveyed object by raising the fork from the low position PB, and without waiting for said fork to reach said high position PH.

[0045] According to another possibility, the motorized trolley 3 travels on a surface such that the upper surface of the motorized trolley is at a level higher than the height of the conveyor. The movement surface on which said at least one motorized trolley 3 travels may be at a level higher than the level of the conveyor Co, or even be lower than the level of the conveyor Co, for example visible in Figure 13, by way of example. The first position P1 is then a low position, and said at least one second position P2 is a high position in which said at least one fork 5 is configured to be inserted between said conveyed object 2 and said motorized trolley 3 to separate said conveyed object 2 during unloading, then lower said conveyed object to the height of said conveyor, by motorized movement of said at least one fork 5 from said high position to a third position higher than said high position so as to lift said object conveyed from said motorized trolley, then after moving the motorized trolley outside a movement zone of said at least one fork, by lowering said at least one fork 5 to said low position at the height of said conveyor.

[0046] Generally, the unloading or loading system may comprise a conveying unit 4, configured to ensure the transfer of said conveyed object 2 onto a conveying surface SC formed of one or more conveying members 40, preferably motorized, said conveying surface SC in extension of said at least one fork 5 at said first position P1, arranged at the height of said conveyor, which is distinct from the height of the upper surface of said at least one motorized carriage.The conveying members may be rollers, typically mounted in parallel, motorized and actuated in rotation to ensure the conveying of the object on the conveying surface SC, in particular in a conveying direction oriented from said at least one fork 5 at the first position P1 towards the entrance of the conveyor during unloading, or in a conveying direction oriented from the exit of the conveyor towards said at least one fork 5 at said first position P1, during loading.

[0047] According to one embodiment, notably illustrated, said conveying member 40 or said conveying members 40 are configured to ensure a transfer of said conveyed object 2 in a conveying direction of, the fingers 50 of said at least one fork 5 are oriented parallel to the conveying direction of.

[0048] Generally, the absence or presence of the object can be detected by one or more sensors, and in particular all or part of the following sensors: - a sensor associated with the motorized trolley, typically on board the motorized trolley, configured to detect the presence or absence of the object conveyed on said motorized trolley, - a sensor associated with said at least one fork, arranged to detect the presence or absence of the object conveyed on said at least one fork, in particular on said at least one fork at the first position P1, - where appropriate a sensor associated with the conveying unit, arranged to detect the presence or absence of the conveyed object on the conveying surface SC of the conveying unit 4.

[0049] Generally, the loading or unloading system may comprise a control unit comprising a processor and a memory comprising instructions for implementing the unloading method, in particular steps / A / , / B / , C / , and / or for implementing the loading method, in particular steps ZA1Z and ZB1 / .

[0050] When the system includes a conveyor unit 4, the memory instructions can allow: - during unloading, to actuate the conveying member(s) 40 in the conveying direction from said at least one fork (at position P1) towards the entrance of the conveyor Co, during unloading, in particular simultaneously with the pushing of the pushing member 6 at / C / , - during loading, to actuate the conveying member(s) 40 in the conveying direction from the conveyor towards said at least one fork (at the first position P1), in particular simultaneously with the pushing of the pushing member at A1.

[0051] Generally, the pushing member 6 can be movable between at least one retracted position PEsc in which the pushing member is outside a space for movement of the object conveyed from said at least one fork at the first position P1 to said conveyor and a pushing position in which the pushing member 6 is in the space for movement of the object conveyed on said at least one fork at the first position P1 to said conveyor.

[0052] Generally, the thrust member 6 may comprise a thrust crosspiece 60 extending transversely to the conveying direction, over the entire width of said at least one fork 5, namely transversely to the fingers.

[0053] The thrust crossbar 60 is configured to sweep the length of said at least one fork 5, in whole or in part, during a motorized displacement by the thrust of said thrust crossbar 60 in the conveying direction.

[0054] In particular, during unloading, the pushing crossbar 60 can sweep the entire length of said at least one fork 5, above said at least one fork 5 at said first position P1, by a movement in a direction S1 oriented from the distal ends of the fingers 50, to the base of the fingers of the fork, the pushing crossbar 60 still being able to continue the pushing action on the conveyed object 2, on all or part of the conveying surface SC of the conveying unit 4, by moving above the conveying surface SC and the conveying member(s) 40 along the conveying direction of.

[0055] During unloading, the pushing crossbar 60 is actuated in a direction S2, oriented from the outlet of the conveyor towards said at least one fork 5 at the first position P1, the pushing crossbar being able to exert the pushing action on the conveyed object, on all or part of the conveying surface SC of the conveying unit, and at least on a first length section of said fork from the base of said fork 5.

[0056] Thus and generally, said pushing mechanism can be configured to ensure a movement of said pushing member 6 along the conveying direction of, over a part or preferably over the entire length of said conveying unit 4 and the fork, to ensure a pushing of said conveyed object 2 on the conveying surface of said conveying unit and the fork, along a direction S1, during unloading, directed from said at least one fork 5 then at said first position P1, towards a second end E2 of the conveying unit, opposite a first conveying end E1 in extension of said at least one fork 5 at said first position P1, or along a direction S2, during loading, directed from the second end E2 of the conveying unit, opposite the first conveying end E1 in extension of said at least one fork towards said at least one fork 5, at said first position P1.

[0057] In particular, said at least one retracted position PEsc may comprise a retracted unloading position PEscd, arranged on the fork side at the distal ends of the fingers 51, and a retracted loading position PEscc, arranged at a second end E2 of the conveying unit opposite the first end of the conveying unit 4, in extension of said at least one fork 5 at said first position P1.

[0058] Generally, the pushing mechanism may comprise an actuator with a transmission comprising at least one chain CH driving said pushing member 6 in the conveying direction, in the area of ​​movement of the conveyed object 2, above said at least one fork then in the first position P1.

[0059] Said at least one chain CH may comprise a first chain CH1 and a second chain CH2, arranged in parallel, on either side of said at least one fork 5, in said first position P1 of said at least one fork 5. Said thrust crosspiece 60 is secured by a first end to the first chain CH1 and by a second end to the second chain CH2.

[0060] The chain, first chain CH1 or second chain CH2, forms a guided loop between two toothed wheels arranged respectively at two ends of a support frame CHA, said thrust crosspiece 60 being in the thrust position when secured to a section of chain length CH1, CH2, then arranged greater than the two toothed wheels.

[0061] The retracted unloading position PEscd can be obtained when the thrust crosspiece 60 is moved by the chain CH beyond the distal ends of the fingers of the fork 5, and in particular tilted below the conveying surface SC by the toothed wheel on this side, and as visible on the right in Figure 3. In this retracted unloading position, said thrust crosspiece leaves the passage free to ensure a movement of said at least one fork 5 from the second position P2 to the first position P1, without risk of interference between, on the one hand, said conveyed object resting on said at least one fork 5, and, on the other hand, the thrust crosspiece during the movement of said fork. The retracted unloading position PEscd is preferably advantageously close relative to the distal end of the fingers to ensure rapid actuation of the thrust during unloading.

[0062] The retracted loading position PEscc can be obtained when the thrust crossbar is moved by said at least one chain CH, on the side of the second end E2 of the conveying unit E2, and in particular tilted below the conveying surface SC by the toothed wheel on this side. In this retracted position PEscc, the thrust crossbar is tilted below the conveying surface SC, between the outlet of the conveyor Co and the second end E2 of the conveying unit in extension. The retracted loading position PEscc thus allows the transfer of the conveyed object from the outlet of the conveyor to said conveying unit, during loading, the retracted loading position being advantageously close to the second end E2, to ensure rapid actuation of the thrust during loading.

[0063] Thus, in general, said at least one chain CH can be configured to move the pushing member 6 from said at least one retracted position PEsc to the pushing position, said retracted position PEsc comprising a retracted loading position PEscc arranged at a second end E2 of the conveying unit 4, opposite a first end E1 of the conveying unit 4 in extension of said at least one fork 5 at the first position P1, or even a retracted unloading position PEscd, arranged at the distal ends of the fingers of said at least one fork 5, at said first position P1.

[0064] Generally, said at least one fork 5 can be guided vertically along vertical guides GD secured to two of the feet 8 facing each other.

[0065] Generally, said conveying unit 4 comprising the conveying member(s) 40 and the pushing mechanism comprising said pushing member 6 are mounted on a support frame CHA, supported by feet 8, relative to a support surface, such as the ground. The support frame CHA may comprise two side members extending parallel to each other in the conveying direction of, on either side, the conveying members 40 of the conveying unit 4, and along a first section of length SL1 extending along the conveying unit 4, but also, and along a second section of length SL2, on either side of said at least one fork 5 at the first position P1.

[0066] The feet 8 are arranged so as to position the second section of length SL2 of the support frame, in lateral overhang of the feet, and in particular in overhang of the two facing feet ensuring the guidance of said at least one fork 5. Such a cantilevered positioning of the support frame CHA on the second section of length SL2 leaves a clearance entirely free under the second section SL2 of the support frame allowing the movement of the motorized trolley 3, without interference with the feet. On the contrary, the first section of length SL1 of the support frame can be stabilized between four feet 8.

[0067] In particular, such cantilevered positioning allows, in particular, not only the movement on the ground of the motorized trolley in a first direction of movement, aligned with the fingers of said at least one fork 5, for example to allow the insertion of said at least one fork 5 during unloading, but also advantageously allows, once the trolley has been unloaded by said at least one fork, an exit of the motorized trolley from the zone of action of said at least one fork, by a movement, in a second direction on the ground, perpendicular to the first direction.

[0068] Such an arrangement allows in particular the unloading system to unload the motorized trolleys, with an entry of the trolleys into the action zone of said at least one fork under the support frame, and an exit of the trolleys from the action zone, distinct from the entry. This allows the motorized trolleys to circulate one after the other, without interference between the trolleys arriving and leaving the action zone of said fork and with the aim of increasing unloading capacities.

[0069] When the unloading or loading system is a first unloading system 1A attached to a second loading system 1B, as described below for the unloading and loading assembly, such a cantilever can allow the motorized trolley leaving the action zone of the fork of the first unloading system 1A, unloaded with a first object, to move in the second direction by entering the action zone of the fork of the second loading system. Once loaded with a second object by said at least one fork 5 of the second system, the motorized trolley can move in the direction of the fingers of the fork of the second system to evacuate, and without interference with the following motorized trolleys in circulation, not yet unloaded, circulating in the opposite direction following the first direction towards the action zone of the fork of the first unloading system.

[0070] Generally, the loading or unloading system may comprise a mechanism 80 for adjusting the height of the support frame to the height of the feet 8, configured to ensure adjustment of the height of the conveying surface SC, and in particular to allow height alignment with a conveyor Co. The adjustment mechanism may comprise a plurality of adjustment openings, allowing various height mounting positions of the support frame.

[0071] The loading or unloading system may comprise a means Dt for detecting the position of the conveyed object 2 on said at least one fork 5 at said first position P1. The detection means Dt may be a camera whose field of vision targets at least said fork at said first position P1, or even the conveying surface SC of the conveying unit 4, and as seen in particular in Figures 5 and 6.

[0072] Said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring a movement of said pushing member 6, at a first speed V1 on a first movement stroke CD1 of said pushing member, upstream of the position of the conveyed object 2, before contact between the pushing member 6 and said conveyed object 2, and at a second speed V2, distinct from the first speed V1 after contact with the conveyed object 6, on a second movement stroke CD2, during the thrust exerted by the pushing member 6 on said conveyed object, said second speed V2 for example greater than said first speed V1. The second movement stroke CD2 can extend to the entrance of the conveyor or the conveying unit.Such control of the pushing member makes it possible to quickly move the conveyed object out of said at least one fork 5, towards the conveyor or even to the conveyor, while limiting the impact of the pushing member on the conveyed object, then static on the fork during unloading.

[0073] According to one embodiment, the loading system may comprise a means Dt for detecting the size of the object conveyed on said conveying surface, at least along the direction of said at least one fork 5. The detection means Dt may be the same means described previously, and in particular said camera. The system may comprise a control unit comprising a microprocessor and a memory containing instructions for ensuring, during loading, a pushing of said object conveyed by said pushing member 6, from the conveying surface SC and to a target position PCE of said conveyed object 2 on said at least one fork 5 at said first position P1. In particular, said target position PCE may be a position centered along the direction of the fingers of said at least one fork 5. This results in the centering of the conveyed object 2 along the length of the fingers of the fork.

[0074] As illustrated in Figure 4, said conveying unit 4 may also comprise one or more lateral deflectors DF, configured to ensure centering of the conveyed object 2 on said at least one fork 5 at said first position P1, during loading, and in a direction transverse to the direction of the fingers 50 of the fork 5. The deflector(s) may comprise a inclined guide surface, and configured to ensure movement of the conveyed object 2 towards the median axis of the conveying surface SC when the object is moved towards said at least one fork 5, and in particular when said conveyed object is forced to move by the pushing member 6 to said at least one fork 5. This results in centering of the conveyed object along the width of said at least one fork 5, namely along the direction transverse to the fingers 50.

[0075] Generally speaking, centering the conveyed object on the fork, in length and width, then allows, when loading and moving the fork from the first position P1 to the second position P2, to deposit the conveyed object 2 on the upper surface of the motorized trolley 3, in a target position on the robotic trolley. Depositing the conveyed object 2 in a target position on the motorized trolley may be of interest, in particular when the motorized trolley comprises a transfer device comprising a telescopic arm 7, in order to ensure a nesting between lugs EG of the telescopic arm, the lugs projecting upwards, of said arm, and cavities on the lower face of the conveyed object.

[0076] Generally, said loading or unloading system may comprise a removable device DA, such as a tray, arranged to rest on the upper surface of the motorized trolley 3.

[0077] Said removable device has a support surface for a conveyed object 2, and grooves Ra in depth of the support surface. The grooves Ra are configured for the passage of the fingers 50 of said at least one fork 5 in said at least one second position P2, in order to be inserted under the conveyed object 2 during the movement of said at least one motorized carriage 3 in the direction of the fingers 50, and to allow separation of the conveyed object and the removable device, during the elevation of said at least one fork 5.

[0078] According to one embodiment, said at least second position may comprise: - a second high position, for which the fingers of said at least one fork are inserted into the grooves Ra of the removable device DA, - a second low position, lower than the second high position, configured for the passage of the fingers of said at least one fork 5 in second grooves Ra2 on the upper surface of the motorized carriage 3 to allow the separation of said removable device DA alone or in association with a product supported by the removable device DA, so that the conveyed object 2 comprises said removable device DA, alone or associated with said conveyed object.

[0079] Generally speaking, and in particular when the fingers of said at least one fork are passive, namely without conveying members, the height of the fingers can be advantageously limited, which in turn makes it possible to limit the height of the grooves (Ra or Ra2), which are for example less than 35 mm in height.

[0080] The removable device DA may be a tray comprising the grooves Ra, extending parallel to each other and following a spatial configuration compatible with the fingers of said at least one fork. The typically rectangular tray may comprise edges projecting from the support surface of the conveyed object, on the four sides of the tray. The grooves in depth of the upper surface of the tray extend through two of the edges to allow the passage of the fingers 50 of the fork 5.

[0081] In general (and as illustrated in figure 1) the spatial configuration of the grooves Ra of the removable device, and the spatial configuration of the second grooves Ra2 on the upper surface of the motorized carriage 3 can allow the same fork to be used in the second high position for insertion into the grooves Ra and in the second low position for insertion into the second grooves.

[0082] According to another embodiment (not illustrated), said at least one fork may comprise a first fork with a spatial configuration of the fingers allowing insertion into the grooves Ra of the removable device, and a second fork with a spatial configuration of the fingers allowing insertion into the second grooves Ra. On the other hand, neither of the two forks (first or second) is simultaneously compatible with said grooves Ra and the second grooves Ra2.

[0083] In such an embodiment, the first fork is used to unload the conveyed object from the removable device DA during unloading operations. To separate the removable device DA from the motorized trolley, the first fork is removed and replaced by the second fork, distinct from the first fork.

[0084] According to one embodiment (not illustrated), the removable device DA may be devoid of grooves Ra, said at least one fork 5 allowing the separation of the removable device DA, alone or in association with the conveyed object, by insertion of the fingers 50 of the fork into grooves on the surface of the motorized carriage.

[0085] According to one embodiment, said motorized trolley 3 comprises means for rolling on the movement surface which is a rolling surface SR, such as a floor.

[0086] The rolling means may comprise a mechanism allowing a change in direction of movement on the rolling surface. For example, the rolling means may comprise drive wheels intended to roll on the rolling surface, capable of pivoting at least 90°, said drive wheels being mounted on pivoting and driving devices fixed to the chassis of said trolley, each of said pivoting and driving devices comprising a motor for actuating means for pivoting a drive wheel about a vertical axis, intended to allow a drive wheel to pivot about itself. It may in particular be a motorized trolley according to document W02023001449 (A1) comprising a single motor for driving rotation of said drive wheels intended to actuate means for driving rotation of said drive wheels.

[0087] Generally speaking, the pivoting and drive devices allow a change of direction of the motorized trolley, without changing the orientation of the chassis during the change of direction.

[0088] Generally, the motorized trolley 3 can be a trolley intended to travel only on the travel surface.

[0089] The motorized trolley can also be a motorized trolley moving not only in two directions of the movement surface, substantially horizontal, but also vertically.

[0090] For this purpose, the motorized trolley 3 may comprise, in addition to the rolling means, climbing means GP, such as motorized pinions configured to mesh with teeth of climbing elements, such as a roller chain or a rack, to ensure the vertical movement of said trolley according to the height of a storage rack, and as taught per se in document WO2019072432 (A1).

[0091] The motorized trolley may further comprise a transfer device comprising said telescopic arm 7 movable between a retracted position configured to ensure the loading of said conveyed object 2 on the upper surface of the motorized trolley 3, to a deployed position for which the telescopic arm 7 is deployed in cantilever of the chassis of said at least one motorized trolley to ensure the transfer of the conveyed object 2 into a storage rack. The distal segment of the telescopic arm may comprise the protruding lug(s) EG, configured to be inserted into one or more cavities (or imprint) of the conveyed object or of said removable device DA such as the tray, and as taught per se in document WO2019072432 (A1). The insertion of the lugs of the telescopic arm into the cavities of the object to be transferred guarantees correct positioning and coupling for the success of the transfer operations in a storage location of the rack.

[0092] Notably, and in the case of a trolley with a telescopic arm provided with projecting lugs, particular attention may be paid to ensuring the coupling of the cavities with the lugs during the implementation of the loading method, in particular during the depositing of said conveyed object 2 resting on said fork 5 on the upper surface of a motorized trolley 3 by lowering said at least one fork 5 to the second position P2, in particular during step / B1 / of the loading method.

[0093] For this purpose, the motorized trolley, in particular the telescopic arm, 7 may include a sensor (in particular optical or laser), oriented upwards, configured to detect the position of the cavities of the conveyed object (or of the removable device).

[0094] In the event of misalignment between the lugs and the cavities, depending on the direction of deployment of the telescopic arm, the loading method may comprise a motorized adjustment of the position of the telescopic arm in order to align the lugs and the cavities vertically, with a view to their nesting, during the removal carried out in / B1 / during the descent of said fork to the second position. In such an embodiment, the telescopic arm is actuated to ensure successful coupling during loading operations of the motorized trolley.

[0095] According to one embodiment, the grooves on the motorized carriage 3, in particular the second grooves Ra2, comprise two grooves arranged on either side of said arm. telescopic 7. Said at least one fork may comprise, in this case, or even more generally, only two fingers.

[0096] According to one embodiment, in particular illustrated in Figures 11 and 12, the present disclosure relates to an unloading and discharging assembly comprising: - a first system 1 A for unloading a motorized trolley according to the present disclosure, configured to unload at least one first conveyed object 21 with a view to transferring the conveyed object from at least one motorized trolley 3 to a conveyor Co during unloading, - a second system 1 B for loading a motorized trolley according to the present disclosure, configured to load a motorized trolley for the purpose of transferring a second conveyed object 22 from the conveyor Co to the motorized trolley during loading.

[0097] The first system 1A and the second system 1B may be juxtaposed, parallel to each other, the fork of the first system 1A being parallel to the fork of the second system 1B, or even where appropriate, the conveyor unit 4 of the first system 1A being parallel to the conveyor unit 4 of the second system 1B.

[0098] Such an assembly allows the unloading of the motorized trolley in the unloading zone under the fork of the first system 1 A, then successively a movement of the motorized trolley unloaded from the first object, in the loading zone under the fork of the second system 1 B to allow the loading of the motorized trolley with the second object.

[0099] Generally, the first system 1A and the second system 1B comprise a support frame for said first system 1A and a support frame for the second system 1B. According to one embodiment, the support frames of the systems 1A, 1AB may be distinct, and as illustrated in figure 12.

[0100] According to an advantageous embodiment, the support frames of the first system 1A and second system 1B can be secured to each other by one or more shared structural elements, and in particular with the aim of compactness and / or cost reduction.

[0101] According to one embodiment (not shown), said assembly may comprise a system for transferring a conveyed object such as a robotic arm, configured to transfer an object from the fork of the first system 1 A to the fork of the second system 1 B. Industrial application

[0102] These technical solutions (namely loading / unloading system or said unloading and loading assembly) can be applied in particular in an automated storage and retrieval system (ASRS), configured to automate the preparation of orders, and in particular to separate the conveyed object (in particular an order) from the motorized trolleys of the ASRS, whether these are two-dimensional motorized trolleys, namely circulating on the movement surface only, or three-dimensional motorized trolleys, also capable of climbing to the height of the storage racks of the ASRS.

[0103] The technical solutions presented may present all or part of the following advantages: - ease of insertion of the fork, preferably with passive fingers, the fingers being able to be of small height, - a small height dimension of the grooves (on the surface of the motorized trolley or removable device) necessary for the insertion of the fork fingers, - a footprint of the loading / unloading system (or of the unloading and loading assembly), which is reduced compared to known devices, - a design allowing high unloading (or even loading) rates, by allowing the trolleys to travel in an outward direction to the loading / unloading system, then in a return direction, after unloading (of a first object) or even loading (of a second object), without interference between the trolleys traveling in the outward direction and those traveling in the return direction, without traffic interference between the motorized trolleys in the outward direction and the return direction, - adaptability of the loading / unloading system or even of the whole system to pre-existing equipment, and in particular to the height of the Co conveyor, through ease of height adjustment of the system support frame.

[0104] Generally speaking, the loading / unloading system may also include one or more safety devices, in particular anti-pinch devices.

[0105] In particular, the actuating mechanism of said at least one fork 5 can be configured to avoid pinching of the motorized carriage, or even of the removable device in the event of misalignment between the grooves (Ra, Ra2) and the fingers of said fork during removal operations, by descent to the second position P2, or more generally to avoid pinching, when an obstacle slides under said fork during its descent.

[0106] The drive mechanism may comprise a drive element configured to rise or fall, while said at least one fork, in particular guided vertically along the guides, is simply supported on said drive element, by the action of gravity.

[0107] In the case of an unwanted obstacle during the lowering of the fork, said drive element can be driven to descend in a motorized manner, without the fork transmitting the drive force of the motorization by compressing the obstacle: on the contrary, the fork moves away from the drive element as soon as the reaction of the obstacle on the fork is greater than the action of the weight of the fork and the object resting on the latter. List of reference signs

[0108] - 1. Loading or unloading system, - 2. Object conveyed, - 3. Motorized trolley, - SR. Rolling surface (Motorized trolley) - 4. Conveyor unit, - 40 Conveyor unit(s), motorized, - SC. Conveyor surface (conveyor components), - of. Conveyor direction, - CH. CH1, CH2 Chain, in particular first chain and second chain, - 5. Fork, - 50. Fingers (fork), - 6. Thrust organ, - 60. Thrust crosspiece, - S1. Direction of thrust when unloading, - S2. Direction of thrust when loading, - PEsc. Retracted position, (in particular under the conveyor surface), - PEscd. Retracted unloading position, - PEscc. Retracted loading position, - CHA. Support frame (pushing mechanism and conveyor unit), - 7. Telescopic arm (motorized trolley), - 8. Feet, - 80. Means for adjusting the height of the support frame relative to the feet, - SL1. First length section (of the support frame and arranged between the feet), - SL2. Second length section (cantilevered) - Dt. Means of detection, - CD1. First movement stroke (without contact between the conveyed object and the pushing member), - V1. First speed (on CD1), - CD2. Second travel race - V2. Second speed (on CD2) (after contact between the conveyed object and the thrust member), - DA. Removable device, - Ra. Grooves (in depth of the upper supporting surface of the removable device), - Ra2. Second grooves (motorized carriage, in particular arranged on either side of the telescopic arm), - DF. Side deflectors, - GP. Climbing equipment (especially motorized gears), - EG. Lugs (mounted on a segment of the telescopic arm).

Claims

Claims

1. Unloading or loading system (1) configured to load or unload at least one conveyed object (2), for the purpose of transferring the conveyed object from at least one motorized trolley (3) to a conveyor (Co) during unloading, or for the purpose of transferring said conveyed object (2) from the conveyor (Co) to the motorized trolley during loading, said system (1) comprising: - / a / said at least one motorized carriage (3) which comprises an upper surface configured to provide support for said conveyed object (2), - / b / a lifting fork system which comprises at least one fork (5) comprising fingers (50), preferably the fingers being passive elements, said lifting fork system comprising an actuator configured to move said at least one fork between a first position (P1) in which the fork is at the height of said conveyor to allow a transfer of said conveyed object between said fork and said conveyor and at least a second position (P2) in which said fork is at a height distinct from the first position, to allow a transfer between said at least one carriage and said at least one fork which is inserted under the conveyed object (2) supported by said at least one motorized carriage (3) during the movement of said carriage in the direction of said fingers (50), - Here a mechanism for pushing said conveyed object which comprises a motorized pushing member (6), said mechanism configured to ensure, during unloading, a pushing of the conveyed object (2) by said pushing member (6), from a position of said conveyed object (2) on said at least one fork (5) then in the first position towards said conveyor, in particular up to the conveyor, or during loading, a pushing of the conveyed object (2) by said pushing member (6) up to said at least one fork at said first position, in a direction oriented from the conveyor towards said at least one fork (5).

2. The system of claim 1, wherein said at least one carriage is configured to travel on a travel surface, such as the ground, at a level lower than the conveyor, said upper surface of said motorized carriage at a level lower than the conveyor, and wherein the first position (P1) is a high position (PH), and said at least one second position (P2) is a low position (PB) in which said at least one fork is configured to be inserted between said conveyed object and said motorized carriage to separate said conveyed object from said motorized carriage, then raise said conveyed object to the height of said conveyor, by moving said at least one fork from said low position (PB) to said high position (PH).

3. The system of claim 1, wherein the carriage travels on a travel surface such that the upper surface of the motorized carriage is at a level higher than the height of the conveyor, and wherein the first position (P1) is a low position, and said at least one second position (P2) is a high position in which said at least one fork is configured to be inserted between said conveyed object and said motorized carriage to separate said conveyed object and lower said conveyed object to the height of said conveyor, by motorized movement of said at least one fork from said high position to a third position higher than said high position so as to lift said conveyed object from said motorized trolley, then after moving the motorized trolley outside a movement zone of said at least one fork, by lowering said at least one fork to said low position at the height of said conveyor.

4. System according to one of claims 1 to 3, further comprising a conveying unit (4) configured to ensure the transfer of said conveyed object (2) onto a conveying surface (SC) formed of one or more conveying members (40), preferably motorized, said conveying surface (SC) in extension of said at least one fork at said first position (P1), arranged at the height of said conveyor, which is distinct from the height of the upper surface of said at least one motorized carriage.

5. System (1) according to claim 4 wherein said conveying member (40) or said conveying members (40) are configured to ensure a transfer of said conveyed object (2) in a conveying direction (de), and wherein the fingers (50) of said at least one fork (5) are oriented parallel to the conveying direction (de).

6. System (1) according to one of claims 1 to 5 wherein said pushing member (6) comprises a pushing crosspiece (60) extending transversely to the conveying direction (de), over the entire width of said at least one fork (5), said pushing crosspiece (60) configured to sweep lengthwise said at least one fork (5), in whole or in part, during a motorized displacement by pushing of said pushing crosspiece (60) in the conveying direction (de).

7. System according to one of claims 1 to 6, in which the pushing member (6) is movable between at least one retracted position (PEsc) in which the pushing member is outside a space for movement of the object conveyed from said at least one fork at the first position (P1) to said conveyor and a pushing position in which the pushing member (6) is in the space for movement of the object conveyed on said at least one fork at the first position (P1) to said conveyor.

8. System according to one of claims 1 to 7, wherein the pushing mechanism comprises an actuator with a transmission comprising at least one chain (CH) driving said pushing member (6) in the conveying direction (de), above said at least one fork in the first position (P1).

9. System according to claims 6 and 8, wherein said at least one chain (CH) comprises a first chain and a second chain, arranged in parallel, on either side of said at least one fork (5), in said first position (P1) of said at least one fork (5), said thrust crosspiece (60) secured by a first end to the first chain (CH1) and by a second end to the second chain (CH2).

10. System according to one of claims 1 to 9, comprising means for detecting (Dt) the position of the conveyed object (2) on said at least one fork (5) at said first position (P1), and in which said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring a movement of said pushing member (6), at a first speed (V1) over a first movement stroke (CD1) of said pushing member, upstream of the position of the conveyed object (2), before contact between the pushing member (6) and said conveyed object (2), and at a second speed (V2), distinct from the first speed (V1), after contact with the conveyed object (2) during the thrust exerted by the pushing member (6) on said conveyed object, said second speed (V2) for example greater than said first speed (V1). [Claim 1 1 ] System according to claim 4 or 5 alone or in combination with one of claims 6 to 10 comprising a means for detecting (Dt) the size of the object conveyed on said conveying surface, at least in the direction of said at least one fork (5), and in which said system comprises a control unit comprising a microprocessor and a memory containing instructions for ensuring, during loading, a pushing of said conveyed object by said pushing member (6), from the conveying surface (SC) and up to a target position (PCE) of said conveyed object (2) on said at least one fork (5) at said first position (P1 ), in particular said target position (PCE ) being a position centered in the direction of the fingers of the fork.

12. System according to claim 4 or 5 alone or in combination with one of claims 6 to 11, wherein said conveying unit (4) comprises one or more lateral deflectors (DF), configured to ensure centering of the conveyed object (2) on said at least one fork (5) at said first position (P1), during loading, and in a direction transverse to the direction of the fingers (50) of the fork (5).

13. System according to one of claims 1 to 12, comprising a removable device (DA), such as a tray, arranged to rest on the upper surface of the motorized carriage (3), said removable device having a support surface for a conveyed object (2) and grooves (Ra) in depth of the support surface, and in which said grooves (Ra) are configured for the passage of the fingers (50) of said at least one fork (5) in said at least one second position (P2), in order to be inserted under the conveyed object (2) during the movement of said at least one motorized carriage (3) in the direction of the fingers (50), and to allow separation of the conveyed object and the removable device, during the elevation of said at least one fork (5).

14. System according to claim 13, wherein said at least second position comprises a second high position, for which the fingers of said at least one fork are inserted into the grooves (Ra) of the removable device (DA), and wherein said at least second position comprises a second low position, of lower level than the second high position, configured for the passage of the fingers of said at least one fork (5) in second grooves (Ra2) on the upper surface of the motorized carriage (3) to allow the separation of said removable device (DA) alone or in association with a product supported by the removable device (DA), so that the conveyed object (2) comprises said removable device (DA), alone or associated with said conveyed object.

15. System according to one of claims 1 to 14, wherein said at least one carriage comprises a transfer device comprising a telescopic arm (7) movable between a retracted position configured to ensure the loading of said conveyed object (2) on the upper surface of the motorized carriage (2), to a deployed position for which the telescopic arm (7) is deployed in cantilever of the chassis of said at least one motorized carriage to ensure the transfer of the conveyed object (2) into a storage rack.

16. System according to claims 14 and 15, wherein the second grooves (Ra2) comprise two grooves arranged on either side of said telescopic arm (7).

17. System according to one of claims 1 to 16, in which said motorized trolley (3) comprises means for rolling on a rolling surface (SR), such as the ground, but also climbing means (GP), such as motorized pinions configured to mesh with teeth of climbing elements, such as a roller chain or a rack, to ensure the vertical movement of said trolley according to the height of a storage rack.

18. System according to one of claims 1 to 17, in which said at least one fork (5) is movable in a vertical translation between said at least one first position (P1) and said second position (P2).

19. Unloading and loading assembly comprising: - a first system (1 A) for unloading a motorized trolley according to one of claims 1 to 18, configured to unload at least one first conveyed object (2) with a view to transferring the conveyed object from at least one motorized trolley (3) to a conveyor (Co) during unloading, - a second system (1 B) for loading a motorized trolley according to one of claims 1 to 18, configured to load a motorized trolley for the purpose of transferring a second conveyed object (2) from the conveyor (Co) to the motorized trolley during loading, and in which the first system (1 A) and the second system (1 B) are juxtaposed, parallel to each other, the fork of the first system (1 A) being parallel to the fork of the second system (1 B).

20. Loading and unloading assembly according to claim 19 comprising a system for transferring a conveyed object such as a robotic arm, configured to transfer an object from the fork of the first system (1 A) to the fork of the second system (1 B).

Images