FR3128215A1 - Method for moving at least one object in an installation and associated installation - Google Patents

Abstract

Method of moving at least one object in an installation and associated installation The invention relates to a movement method comprising the following steps: - provision of an autonomous mobile structure (12) comprising a first suspended storage device (40) comprising a first rail (42) and a transfer device, the first rail receiving a first support element (46) supporting at least one first object (47), - provision of a fixed structure (14) comprising a second suspended storage device (50) comprising a second rail (52), - movement of the autonomous mobile structure opposite the fixed structure to align the first rail with the second rail, - transfer of the first support element and the first object between the mobile structure and the fixed structure by sliding of the first support element on the first rail then on the second rail by means of the transfer device. Figure for abstract: Figure 1

Description

Method for moving at least one object in an installation and associated installation

The present invention relates to a method for moving at least one object in an installation.

The present invention also relates to such an installation.

This installation is in particular an industrial installation such as a storage warehouse or a factory.

It is necessary to move many objects in such installations in order to change the objects of storage place or to bring them from one assembly line to another for example.

To this end, it is known to have conveyors allowing the transport of these objects in the installation using a motorized conveyor belt. However, these conveyors are structures fixed to the ground which consequently monopolize a large surface of the installation and offer limited flexibility, in particular when the path of the conveyors must be modified.

Also known are motorized devices such as forklifts which allow an operator driving these devices to move in particular pallets in the installations. These devices are therefore flexible but require the intervention of an operator for each object movement, which represents a significant cost in terms of time and organization.

One of the aims of the invention is to overcome these drawbacks by proposing a method allowing improved movement of these objects in the installation.

To this end, the invention relates to a method for moving at least one object in an installation comprising at least the following steps:

- supply of at least one autonomous mobile structure able to move in the installation, the mobile structure comprising a first suspended storage device comprising a first rail and a transfer device, the first rail receiving a first support element supporting at the at least one first object hooked reversibly to said support element, the transfer device being capable of causing the first support element to slide on the first rail,

- supply of a fixed structure comprising a second suspended storage device comprising a second rail fixed to the fixed structure,

- displacement of the autonomous mobile structure opposite the fixed structure to align the first rail with the second rail so that the first rail and the second rail together form a continuous rail, and

- Transfer of the first support element and the first object between the mobile structure and the fixed structure by sliding the first support element on the first rail and then on the second rail by means of the transfer device.

Thus, the displacement method according to the invention allows a simple and autonomous displacement of the object thanks to the autonomous mobile structure and therefore no longer requires the intervention of an operator each time this object is displaced. In addition, the autonomous mobile structure allows flexibility with respect to the place of loading and unloading of the object and thus makes it possible to optimize the layout of the surface of the installation.

According to other advantageous aspects of the invention, the displacement method comprises one or more of the following characteristics, taken in isolation or in all technically possible combinations:

• the fixed structure further comprises a third suspended storage device comprising a third rail fixed to the fixed structure apart from the second rail, the third rail receiving a second support element supporting at least a second object reversibly hooked to said second support member, the method further comprising the following steps:

+ displacement of the autonomous mobile structure opposite the fixed structure to align the first rail with the third rail so that the first rail and the third rail together form a continuous rail,

+ transfer of the second support element and of the second object between the fixed structure and the movable structure by sliding of the second support element on the third rail then on the first rail by means of the transfer device;

• the transfer device comprises a motorized carriage sliding on the first rail and able to cooperate with the or each support element, in particular by means of a hook, and to push or pull said support element along the rail on which said slide support element;
• the mobile structure comprises a base on which are fixed at least two wheels and a frame projecting vertically out of the base, the first rail being fixed horizontally on the frame;
• each wheel is an omnidirectional wheel;
• the autonomous mobile structure comprises a displacement sensor detecting a marking on the ground of the installation and an electronic device for autonomous driving of the mobile structure, the electronic autonomous driving device controlling the displacement of the mobile structure as a function of the marking on the ground ;
• the mobile structure comprises a presence sensor detecting an obstacle during the movement of the mobile structure in the installation, the electronic autonomous driving device controlling the avoidance of the obstacle by the mobile structure;
• the rail(s) of the fixed structure are connected to a conveyor moving objects in the installation;
• the first suspended storage device of the mobile structure comprises an additional rail arranged parallel to the first rail and an additional transfer device, the additional rail being capable of receiving one of the support elements, the additional transfer device being capable of sliding said support element on the additional rail;
• each object is an automobile seat upholstery element and/or an automobile seat structure.

The invention also relates to an installation comprising:

- at least one autonomous mobile structure capable of moving in the installation, the autonomous mobile structure comprising a first suspended storage device comprising a first rail and a transfer device, the first rail being capable of receiving a first support element supporting at least one first object hooked reversibly to said support element, the transfer device being capable of causing the first support element to slide on the first rail,

- a fixed structure comprising a second suspended storage device comprising a second rail fixed to the fixed structure,

the mobile structure and the fixed structure being suitable for implementing the method for moving at least one object in the installation as defined above.

Other aspects and advantages of the invention will appear on reading the following description, given by way of example and made with reference to the appended drawings, in which:

- Figures 1 to 4 are a perspective view of the installation according to the invention comprising a fixed structure and an autonomous mobile structure, the fixed structure and the mobile structure implementing a displacement method according to the invention at different stages ,

- there is a schematic representation of the self-contained mobile structure of Figures 1 to 4, and

- there is a perspective view of an omnidirectional wheel of the self-contained mobile structure of Figures 1 through 5.

An installation 10 is represented on the .

The installation 10 comprises at least one mobile structure 12 and at least one fixed structure 14.

“Fixed structure” means a structure that is not capable of being moved as a whole relative to the floor of the installation. The structure includes in particular feet permanently fixed to the floor of the installation. However, the person skilled in the art will understand that a fixed structure possibly comprises mobile components with respect to the feet of the fixed structure and therefore to the floor of the installation.

Conversely, the term "mobile structure" means a structure capable of moving as a whole relative to the floor of the installation. The structure comprises in particular wheels in contact with the floor of the installation allowing the movement of the mobile structure as a whole in the installation.

The installation 10 also advantageously comprises at least one conveyor 16.

The mobile structure 12 is able to move in the installation 10.

The mobile structure 12 comprises a base 18 on which are fixed at least two wheels 20 and a frame 22 projecting in a direction of elevation out of the base 18.

The direction of elevation corresponds for example to the vertical when the mobile structure 12 circulates on horizontal ground.

The base 18 extends mainly in a main direction A-A'.

The frame 22 comprises in particular four uprights extending in the direction of elevation from the four corners of the base 18. The four uprights are connected two by two by four crosspieces substantially parallel to the base 18 fixed to the end of the uprights opposite the base 18. Additional bars advantageously connect the uprights together to improve the rigidity of the frame 22.

The frame 22 extends in particular over an elevation height of between 1 m and 3 m.

The mobile structure 12 here comprises four wheels 20, including two front wheels and two rear wheels.

Each wheel 20 is advantageously an omnidirectional wheel, as shown in the . An omnidirectional wheel is also called a "mecanum wheel". Each omnidirectional wheel is motorized and controlled in rotation speed independently of the other wheels. The main axis of rotation X-X' of each omnidirectional wheel is perpendicular to the main direction A-A'. Each omnidirectional wheel comprises freely rotating rollers 24 arranged over the entire periphery of the wheel and whose axis of rotation Y-Y' is oriented substantially at 45 degrees with respect to the main axis of rotation X-X' of the wheel. In a variant not shown, the axis of rotation Y-Y' essentially parallel to the main axis of rotation X-X' of the wheel.

The omnidirectional wheels allow the mobile structure 12 to move in all directions of the plane formed by the floor of the installation 10, both forwards and backwards in the main direction A-A' like a conventional wheel. also on the sides. In particular, the possible movements of the mobile structure 12 are:

• a translation forwards or backwards in the main direction A-A' by causing all the wheels 20 to turn together in the same direction,
• a pure rotation movement, by rotating the right and left wheels 20 in opposite directions,
• a translation to the right/left, by rotating the right front wheel 20 and the left rear wheel 20 in the opposite direction to the left front wheel 20 and the right rear wheel 20.

These movements are optionally combined by being performed simultaneously.

As seen on the , the mobile structure 12 further comprises a motor 26 mechanically connected via a transmission chain (not shown) to the rear and/or front wheels 20 for driving said wheels 20 in rotation around their main axis of rotation X-X' , a steering system (not shown), adapted to act on the wheels 20 so as to modify the orientation of its trajectory, and a braking system (not shown), adapted to exert a braking force on the wheels 20.

The mobile structure 12 is typically constituted by a vehicle with electric traction and/or propulsion. For this purpose, the motor consists of an electric motor, and the mobile structure 12 comprises an electric battery 28 electrically connected to the motor 26 for supplying the motor 26 with electricity.

The mobile structure 12 is an autonomous mobile structure.

As visible in Figures 1 to 4, the mobile structure 12 is in particular an autonomous motor vehicle.

To this end, the mobile structure 12 comprises an electronic autonomous driving device 30 suitable for piloting the mobile structure 12 autonomously by receiving information on the environment of the mobile structure 12 via environment sensors and by acting on the engine 26, the steering system and the braking system, so as to modify the speed, the acceleration and the trajectory of the mobile structure 12 in response to the information received.

In particular, the mobile structure 12 comprises a displacement sensor 32 detecting for example at least one marking on the floor of the installation 10.

The electronic autonomous driving device 30 then controls the movement of the mobile structure 12 according to the at least one marking.

The marking is in particular a strip 34 placed on the floor, such as a colored strip or a magnetic strip glued to the floor of the installation 10.

As seen on the , each strip 34 is for example straight or curved.

The electronic autonomous driving device 30 then controls the movement of the mobile structure 12 along the strip 34 on the ground.

Advantageously, the marking is also at least one marker 35 placed on the floor of the installation. The mark 35 is for example a barcode or an RFID tag.

The marker 35 includes at least one direction change or speed change command intended for the mobile structure 12. For example, the command is a change of strip 34 on the ground to follow or a slowdown command. A marker 35 is for example placed at an intersection between two strips 34, as shown in the figures.

The electronic autonomous driving device 30 then controls the movement of the mobile structure 12 as a function of the reference mark(s) 35 on the ground.

As a variant, the electronic autonomous driving device 30 comprises an on-board map of the installation 10 in order to guide the movement of the mobile structure 12 in the installation 10.

In addition, the mobile structure 12 may include a presence sensor 36 suitable for detecting an obstacle, such as an operator, another mobile structure, an object fallen on the ground, etc., during the movement of the mobile structure 12 in the facility 10.

The electronic autonomous driving device 30 is capable of controlling the avoidance of the obstacle by the mobile structure 12 when the presence sensor 36 detects said obstacle.

The mobile structure 12 further comprises a first suspended storage device 40 comprising a first rail 42 and a transfer device 44.

The first rail 42 extends in a plane substantially parallel to the main direction A-A on the frame 22.

In particular, the first rail 42 is fixed on the transverses of the frame 22.

The first rail 42 extends for example at least over the entire length of the frame 22 in the main direction A-A'.

The first rail 42 is capable of receiving a first support element 46 supporting at least one first object 47 hooked reversibly to said support element 46.

Each object 47 is advantageously an automobile seat trim element such as a cover or a foam and/or an automobile seat structure such as an automobile seat frame or mechanism. As visible in Figures 1 to 4, the objects 47 are here automotive seat frames.

However, those skilled in the art will understand that the invention is applicable to any type of industrial object.

The first support element 46 comprises a vertical bar on which rollers cooperating with the first rail 42 are fixed. The first support element 46 thus slides on the first rail 42 in the direction in which the first rail 42 extends.

The transfer device 44 is capable of causing the first support element 46 to slide on the first rail 42.

The transfer device 44 comprises a motorized carriage sliding on the first rail 42 and adapted to cooperate with the support element 46 and to push or pull said support element 46 along the rail on which said support element 46 slides.

In particular, the transfer device 44 cooperates with the support element 46 by means of a hook 49.

In an embodiment not shown, the first suspended storage device 40 of the mobile structure 12 comprises an additional rail arranged parallel to the first rail 42 and an additional transfer device. The additional rail is capable of receiving one of the support elements and the additional transfer device is capable of causing said support element to slide on the additional rail.

Thus, the first suspended storage device 40 is suitable for receiving two support elements 46 in parallel and thus makes it possible in particular to exchange support elements 46 on a rail of the fixed structure 14, as will be described later.

The fixed structure 14 comprises for example a frame 48. As visible in Figures 1 to 4, the frame 48 comprises two arches each formed of two uprights projecting vertically out of the floor of the installation 10 and a horizontal bar connecting the two transverse .

The fixed structure 14 comprises a second suspended storage device 50 comprising a second rail 52 fixed to the fixed structure 14 and, according to one embodiment, furthermore a third suspended storage device 54 comprising a third rail 56 fixed to the fixed structure 14 away from the second rail 52.

In particular, the second rail 52 and, where applicable, the third rail 56 each extend parallel and horizontally between the two arches of the frame 48 of the fixed structure 14.

In a variant not shown, the second rail 52 and the third rail 56 extend in a non-parallel manner, for example at an angle equal to 45° or extend orthogonally to each other.

As a further variant, the second rail 52 and the third rail 56 are each supported by a different frame 48.

The second rail 52 and the third rail 56 are each capable of receiving a support element 46, said support element 46 sliding on the rail.

As seen on the , the rails of the fixed structure 14 are advantageously connected to one of the conveyors 16 moving objects in the installation 10.

A method for moving an object in the installation 10 will now be described with reference to Figures 1 to 4.

Initially, at least one autonomous mobile structure 12 is provided in the installation 10.

As seen on the , the first support element 46 supports at least a first object 47 hooked reversibly to said support element 46. Here, the first support element 46 supports six car seat frames fixed in pairs on three hooks arranged along the first element support 46.

At least one fixed structure 14 is also provided in the installation 10. As visible on the , the fixed structure 14 comprises a second rail 52 initially receiving no support element 46 or object 47.

Then, the mobile structure 12 moves autonomously opposite the fixed structure 14, for example by following the marking on the floor of the installation 10, in particular along the strips 34 and according to the marks 35.

In particular, as seen in the , the movable structure 12 moves opposite the fixed structure 14 to align the first rail 42 with the second rail 52 so that the first rail 42 and the second rail 52 together form a continuous rail.

The mobile structure 12 moves opposite the second rail 52 in particular by means of the presence sensor 36 which detects the second rail 52.

Then, the displacement method comprises a step of transferring the first support element 46 and the first object 47 between the mobile structure 12 and the fixed structure 14 by sliding the first support element 46 on the first rail 42 then on the second rail 52 by means of the transfer device 44, as shown in the .

In particular, the transfer device 44, here comprising a motorized carriage, pushes the first support element 46 along the continuous rail formed by the first rail 42 and the second rail 52 until the support element 46 is entirely arranged under the second rail 52.

Then, the transfer device 44 separates from the support element 46, in particular by lifting the hook 49 cooperating with the support element 46.

The mobile structure 12 then moves away from the fixed structure 14, the mobile structure 12 no longer supporting the support element 46 and the object 47.

The fixed structure 14 thus supports the first support element 46 and the object 47 on the second rail 52.

Then, as seen in the , the mobile structure 12 moves again facing the fixed structure 14, in particular facing the frame 48, to align the first rail 42 with the third rail 56 so that the first rail 42 and the third rail 56 together form a continuous track.

Alternatively, the third rail 56 is supported by another frame 48 and the mobile structure 12 moves opposite this other frame 48 of the installation 10.

The third rail 56 supports a second support element 46 and a second object 47.

The transfer device 44 of the mobile structure 44 moves on the first rail 42 and is secured with the second support element 46, in particular by means of the hook 49.

Then, the second support element 46 and the second object 47 are transferred between the fixed structure 14 and the mobile structure 12 by sliding the second support element 46 on the third rail 56 then on the first rail 52 by means of the transfer device 44.

In particular, the transfer device 44 pulls the second support element 46 along the continuous rail formed by the third rail 56 and the first rail 42 until the support element 46 is completely disposed under the first rail 42.

Then, as seen in the , the mobile structure 12 then moves away from the fixed structure 14, the mobile structure 12 then supporting the second support element 46 and the second object 47. The fixed structure 14 no longer supports the second support element and the second object 47 .

The mobile structure 12 then moves for example opposite another fixed structure 14 of the installation 10 in order to unload the second object 47.

It is understood that the present invention has a number of advantages.

Indeed, the invention allows simple and rapid movement of objects in the installation 10 thanks to the mobile structure 12. The movement of this mobile structure 12 is fast, flexible and autonomous. Thus, the movements of the objects in the installation do not require the intervention of an operator at each movement and the spatial organization of the installation 10 is optimized. The invention therefore allows time savings and flexibility in the handling of the installation 10.

Claims (11)

Method for moving at least one object (47) in an installation (10) comprising at least the following steps:

• provision of at least one autonomous mobile structure (12) able to move in the installation (10), the mobile structure (12) comprising a first suspended storage device (40) comprising a first rail (42) and a device (44), the first rail (42) receiving a first support element (46) supporting at least a first object (47) hooked reversibly to said support element (46), the transfer device (44) being capable of causing the first support element (46) to slide on the first rail (42),
• providing a fixed structure (14) comprising a second suspended storage device (50) comprising a second rail (52) fixed to the fixed structure (14),
• movement of the autonomous mobile structure (12) opposite the fixed structure (14) to align the first rail (42) with the second rail (52) so that the first rail (42) and the second rail (52) form together a continuous rail, and
• transfer of the first support element (46) and the first object (47) between the mobile structure (12) and the fixed structure (14) by sliding the first support element (46) on the first rail (42) then on the second rail (52) by means of the transfer device (44).

A method according to claim 1, wherein the fixed structure (14) further comprises a third suspended storage device (54) having a third rail (56) attached to the fixed structure (14) remote from the second rail (52 ), the third rail (56) receiving a second support element (46) supporting at least one second object (47) reversibly attached to said second support element (46),
the method further comprising the following steps:

• displacement of the mobile structure (12) autonomous opposite the fixed structure (14) to align the first rail (42) with the third rail (56) so that the first rail (42) and the third rail (56) form together a continuous rail,
• transfer of the second support element (46) and the second object (47) between the fixed structure (14) and the mobile structure (12) by sliding the second support element (46) on the third rail (56) then on the first rail (42) by means of the transfer device (44).

Method according to claim 1 or 2, in which the transfer device (44) comprises a motorized carriage sliding on the first rail (42) and capable of cooperating with the or each support element (46), in particular by means of a hook (49), and pushing or pulling said support member (46) along the rail on which said support member (46) slides. A method according to any preceding claim, wherein the movable structure (12) comprises a base (18) to which are fixed at least two wheels (20) and a frame (22) projecting vertically from the base (18 ), the first rail (42) being fixed horizontally on the frame (22). A method according to claim 4, wherein each wheel (20) is an omnidirectional wheel. Method according to any one of the preceding claims, in which the autonomous mobile structure (12) comprises a displacement sensor (32) detecting a marking (34, 35) on the floor of the installation (10) and an electronic device for autonomous driving (30) of the mobile structure (12), the electronic autonomous driving device (30) controlling the movement of the mobile structure (12) according to the marking (34, 35 on the ground. Method according to claim 6, in which the mobile structure (12) comprises a presence sensor (36) detecting an obstacle during the movement of the mobile structure (12) in the installation (10), the electronic autonomous driving device ( 30) controlling the avoidance of the obstacle by the mobile structure (12). Method according to any one of the preceding claims, in which the rail or rails (52, 56) of the fixed structure (14) are connected to a conveyor (16) moving objects (47) in the installation (10). Method according to any one of the preceding claims, in which the first storage device (40) suspended from the mobile structure (12) comprises an additional rail arranged parallel to the first rail (42) and an additional transfer device, the additional rail being able to receive one of the support elements (46), the additional transfer device being able to cause said support element (46) to slide on the additional rail. A method according to any preceding claim, wherein each object (47) is an automotive seat trim member and/or an automotive seat structure. Installation (10) comprising:

• at least one autonomous mobile structure (12) able to move in the installation (10), the autonomous mobile structure (10) comprising a first suspended storage device (40) comprising a first rail (42) and a transfer device (44), the first rail (42) being able to receive a first support element (46) supporting at least one first object (47) hooked reversibly to said support element (46), the transfer device (44) being capable of causing the first support element (46) to slide on the first rail (42),
• a fixed structure (14) comprising a second suspended storage device (54) comprising a second rail (56) fixed to the fixed structure (14),

the mobile structure (12) and the fixed structure (14) being suitable for implementing the method of moving at least one object (47) in the installation (10) according to any one of the preceding claims.