Abstract:
The present example of transferring and organizing articles from a shelf into a container, (or “controlled transfer and packing”) also allows a warehouse distribution system to be provided that receives items from a manufacturer or distributor, and boxes or packages the items to produce a shipment to another reseller, or customer, according to a received order in a way that may be efficient than current methods. In particular, the system makes use of a specialized floor plan and equipment that aids in processing the order according to the pricing methods described. The processing also provides an example of transferring and organizing articles from a shelf into a container that controls article tumble when loading the article into a container that tends to increase packing efficiency. Loading of items to be packed into magazines to aid transferring of articles from a shelf into a container is also described.

Description:
CROSS-REFERENCE TO RELATED APPLICATION  
       [0001]     This application claims the benefit of U.S. Provisional Patent Application No. 60/790,346 filed Apr. 6, 2006, the contents of which are hereby incorporated by reference. 
     
    
     TECHNICAL FIELD  
       [0002]     This description relates generally to automatically transferring articles from a shelf and organizing those articles into a container without regard for the articles&#39; different shapes or packaging format. More specifically, this description relates to picking and packing articles included in inventory replenishing orders, processed in distribution or fulfillment centers or the like and are then delivered to retail locations or directly to customers.  
       BACKGROUND  
       [0003]     Distribution centers are generally operated by wholesale and retail businesses, fulfillment houses and e-retailers. Distribution centers may receive periodic inventory replenishment orders from stores, wholesale clients or directly from customers. To fill these orders, distribution center employees typically read each order and proceed to pull the ordered articles from inventory shelves. At the end of that process, the picked articles are typically packed into shipping containers. The shipping containers are then usually sent to their final destinations. In the past, the execution of these orders has been typically done utilizing manual labor. However, strong industry trends toward order fulfillment cost reduction combined with just-in-time replenishing requirements have created a demand for a more responsive, less costly and more efficient order fulfillment methodology. As a result, many businesses, especially retailers, have adopted “broken-case” inventory replenishment methodology.  
         [0004]     “Broken-case” inventory replenishment means that orders are filled in small quantities, typically less than a full case. Therefore, cases of products must be opened, thus the term broken-case and articles removed from those broken cases to fill replenishment or customers&#39; orders.  
         [0005]     Unfortunately, the benefits of broken case replenishing can carry a huge increase in operational cost. Additionally, customer service level expectations continue to put pressure upon distribution and fulfillment operations. Because of the above mentioned reasons, many retailers have identified chain supply logistics and specially inventory replenishing (order fulfillment), as strategic functions where competitive advantage can be realized and maintained.  
         [0006]     In an effort to control the ever-increasing cost of order fulfillment, distribution and fulfillment centers are typically making extensive use of computer aided inventory replenishment techniques. Computer aided inventory replenishment has helped distribution operations realize better efficiencies than in the past. However, these techniques can suffer drawbacks, and virtually all of them are heavily dependant on manual labor. This dependence on manual labor, can translate into continuously increasing uncertainty, risk and financial costs to replenishment operations.  
         [0007]     Hence, there may be a need for order fulfillment that improves on one or more of the drawbacks mentioned above. Namely, order fulfillment that is inexpensive, easy to implement and interface in existing distribution centers and which reduces reliance on human labor in the picking and packing operations while improving overall inventory flow. The present examples of transferring and organizing articles from a shelf into a container, addresses one or more of these needs.  
       SUMMARY  
       [0008]     The following presents a simplified summary of the disclosure in order to provide a basic understanding to the reader. This summary is not an extensive overview of the disclosure and it does not identify key/critical elements of the invention or delineate the scope of the invention. Its sole purpose is to present some concepts disclosed herein in a simplified form as a prelude to the more detailed description that is presented later.  
         [0009]     The present example of transferring and organizing articles from a shelf into a container, (or “controlled transfer and packing”) also allows a warehouse distribution system to be provided that receives items from a manufacturer or distributor, and boxes or packages the items to produce a shipment to another reseller, or customer, according to a received order in a way that may be efficient than current methods. In particular, the system makes use of a specialized floor plan and equipment that aids in processing the orders according to the pricing methods described. The processing also provides an example of transferring and organizing articles from a shelf into a container that controls article tumble when loading the article into a container that tends to increase packing efficiency. Loading of items to be packed into magazines to aid transferring of articles from a shelf into a container is also described.  
         [0010]     Many of the attendant features will be more readily appreciated as the same becomes better understood by reference to the following detailed description considered in connection with the accompanying drawings. 
     
    
     DESCRIPTION OF THE DRAWINGS  
       [0011]     The present description will be better understood from the following detailed description read in light of the accompanying drawings, wherein:  
         [0012]      FIG. 1  is a simplified perspective view of a typical distribution center.  
         [0013]      FIG. 2  is a flow chart showing the general sequence of typical material flow operations in a typical distribution center.  
         [0014]      FIG. 3  depicts an example of the distribution center&#39;s new floor plan layout which accommodates the necessary equipment for the new sequence of material flow operations carried-out when the distribution center is fitted as a controlled transfer and packing facility.  
         [0015]      FIG. 4  is a flow chart of the new sequence of material handling operations for a distribution center that is fitted as a controlled transfer and packing facility.  
         [0016]      FIG. 5  is a flow chart showing further detail of the presence of processing replenishing order, loading transfer channel clips, stocking shelves with transfer channel clips and transfer article into a container.  
         [0017]      FIG. 6  highlights the process of loading the transfer channel clip.  
         [0018]      FIG. 7  shows a transfer channel clip.  
         [0019]      FIG. 8  shows the anti-gravity table.  
         [0020]      FIG. 9  shows how the product may be brought down from bulk storage to the clip loading area in the clip loading process.  
         [0021]      FIG. 10  is a flow chart where the process of stocking the rack shelves with transfer channel clips ( 430  of  FIG. 5 ) is highlighted.  
         [0022]      FIG. 11  shows the clip trolley, which runs along the rack shelving track to place loaded transfer channel clips on the planar shelf surface.  
         [0023]      FIG. 12  shows how the process of transferring articles from the shelf into the container ( 440  of  FIG. 5 ) begins by determining the desired amount of tumble control for each article.  
         [0024]      FIG. 13  shows the pick trolley of the controlled transfer and packing facility that may be used to load items from shelves into storing boxes.  
         [0025]      FIG. 14  and  FIG. 15  show a C-channel rail, which serves as guide to pick trolley and clip trolley.  
         [0026]      FIG. 16  in a top view showing how the different components individual in the pick trolley interact with the transfer channel clip and the article feeding mechanism to perform an article transfer operation in loading a shipping box.  
         [0027]      FIG. 17  is a flow chart of the process of transferring articles into a container ( 565  of  FIG. 15 ).  
         [0028]      FIG. 18  shows in further detail the non-co-axial coupler that mechanically couples the pick trolley to the transfer channel clip to cause items to tumble from the shelves to a box on the pick trolley.  
         [0029]      FIG. 19  shows that the article feeder consists of a lead screw, which is attached to the planar shelf surface.  
         [0030]      FIG. 20  illustrates the dual traveling-nut system of the article feeder.  
         [0031]      FIG. 21  shows that when non-coaxial forces are applied to a screw through a single nut, the nut and the screw tends to bind.  
         [0032]      FIG. 22  illustrates how one or more substantially similar nuts are placed on the screw at a pre-calculated distance on either or both sides of the load carrying nut to prevent binding of the article feeder.  
         [0033]      FIG. 23  is a top view illustrating how the non-co-axial coupler is positioned in such a manner that the “U” engaging screw is substantially in-line with lead screw prior to removing articles from the shelf.  
         [0034]      FIG. 24  is a top view illustrating how the motor is energized, the “U” engaging fork advances through the stud and nut assembly, compresses spring and engages lead screw&#39;s “T” ending that may cause articles to be removed from the shelf.  
         [0035]      FIG. 25  shows the process of transferring articles from the shelf into the container begins by determining the desired amount of tumble control ( 565  of  FIG. 5 ) when transferring each article.  
         [0036]      FIG. 26  depicts the conventional uncontrolled transfer of an article from a horizontal planar surface into a container.  
         [0037]      FIG. 27  shows a method for controlling the transfer of an article from the planar surface into container.  
         [0038]      FIG. 28  illustrates how in order to control an article&#39;s transferring behavior, such as velocity or propensity to tumble, the planar surface attached on top of spanner beams are tilted about its longitudinal axis in such a manner that the transferring edge is higher than its opposite edge.  
         [0039]      FIG. 29  illustrates that as angles a and b change the pick trolley member, to which the non-co-axial coupler is attached, is maintained substantially parallel to the planar shelf surface, in order to be able to engage lead screw.  
         [0040]      FIG. 30  illustrates that this planar surface is supported on spanner beams in such a manner that the transferring edge overhangs with respect to spanner beam by a minimal distance equal or greater to the length of side of the container, which is substantially orthogonal to transferring edge and substantially parallel to the planar shelf surface, minus the length of the side of article which is in contact with planar shelf surface and closest to transferring edge.  
         [0041]      FIG. 31  is a flow diagram showing how to determine the optimal transfer control for an article which is a sub-process of transferring articles into a container ( 555  of  FIG. 15 ).  
         [0042]      FIG. 32  shows a process of determining a transfer location inside a container ( 560  of  FIG. 5 ) which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ).  
         [0043]      FIG. 33  shows further details of a process of determining a transfer location inside a container ( 560  of  FIG. 5 ) which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ).  
         [0044]      FIG. 34  shows a perspective view of the interaction between the planar shelf surface and the pick trolley.  
         [0045]      FIG. 35  shows how a container is positioned so article lands on the northeast corner of container.  
         [0046]      FIG. 36  shows how the container is again repositioned, this time by turning a motor (not shown), which extends and/or retracts the telescopic rail frame extension.  
         [0047]      FIG. 37  in a process flow diagram showing the navigation of isles and levels ( 570  of  FIG. 5 ) which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ).  
         [0048]      FIG. 38  shows how to determine the optimal transfer control for an article.  
         [0049]      FIG. 39  shows four planar surfaces and four pick trolley assemblies of the present example of the invention installed in two rack shelves.  
         [0050]      FIG. 40  shows how during the order assembly process, clip trolleys and pick trolleys typically ride along the track infrastructure typically in the same direction.  
         [0051]      FIG. 41  depicts an alternative example, having a pneumatic or a hydraulic motor, that may be connected by a coupler or equivalent methods, to the end of each lead screw which is part of the article pushing assembly.  
         [0052]      FIG. 42  illustrates a further alternative example, in which an electric motor, is connected by a coupler or any other means known in the art, to the end of each lead screw which is part of the article pushing assembly.  
         [0053]      FIG. 43  illustrates yet another alternative example of the invention.  
         [0054]      FIG. 44  is an alternative example of transfer channel clip&#39;s having a floor fitted with rollers.  
         [0055]      FIG. 45  shows another alternative example of a transfer channel clip&#39;s floor which would replace rollers with conveyor tape.  
         [0056]      FIG. 46  depicts another alternative example of a transfer channel having a single roller placed at transferring edge.  
         [0057]      FIG. 47  illustrates an additional alternative example of transfer channel alignment which can be helpful in ensuring satisfactory article transferring performance.  
         [0058]      FIG. 48  shows how the transfer channel clip can be tilted about its longitudinal axis to cause articles traveling through it to lean towards one of the two transfer channel clip walls.  
         [0059]      FIG. 49  shows a drive mechanism for clip trolleys, the pick trolleys or any other vehicle that may travel on the railing infrastructure.  
         [0060]      FIG. 50  shows an alternative example where a separate railing may be used for transporting clip trolleys.  
         [0061]      FIG. 51  shows a perspective view of an X-style clip loading system.  
         [0062]      FIG. 52  in a block diagram of the order fulfillment system utilizing controlled transfer and packing. 
     
    
       [0063]     Like reference numerals are used to designate like parts in the accompanying drawings.  
       DETAILED DESCRIPTION  
       [0064]     The detailed description provided below in connection with the appended drawings is intended as a description of the present examples and is not intended to represent the only forms in which the present example may be constructed or utilized. The description sets forth the functions of the example and the sequence of steps for constructing and operating the example. However, the same or equivalent functions and sequences may be accomplished by different examples.  
         [0065]     The examples below describe a packing facility for transferring and organizing articles from a shelf into a container. Although the present examples are described and illustrated herein as being implemented in a warehouse picking and packing system, the system described is provided as an example and not a limitation. As those skilled in the art will appreciate, the present examples are suitable for application in a variety of different types of order assembly and packaging systems.  
         [0066]     This description discloses transferring articles from a shelf into a container while at the same time positioning the articles in predetermined spaces inside said container. Also disclosed, are associated processes to support the application of the system and method of transferring articles from a shelf into a container, in an order fulfillment environment.  
         [0067]      FIG. 1  is a simplified perspective view of a typical distribution center. In  FIG. 1 , the basic sequence of material flow operations carried-out in a typical distribution center is depicted in general terms. These four main operations are: receiving, bulk storage, order assembly and shipping. From brief description of the drawings, in this figure, a typical distribution center floor plan  100  is presented. A distribution center typically includes at least two sidewalls  101 , one back wall  102 , one front wall  103 , a material receiving area  105 , a bulk storage area  109 , bulk storage racking  107 , an order assembly area  112  where human accessible rack shelving  128  is located and loaded with articles  140 , pickers  125  pushing article gathering carts  126  carrying one or more containers  150  where articles  140  picked from planar shelf surfaces  135  are placed.  
         [0068]      FIG. 2  is a flow chart showing the general sequence of current processes of typical material flow operations in a typical distribution center. First, manufacturers and suppliers send payloads of product to the distribution center. At the distribution center, receiving receives bulk product into the distribution center  201 . Next, the product is typically stored in the bulk storage area  205 . Then, the product is typically brought down from bulk storage to the order assembly area  210 , where it is typically stored until a replenishment order is filled. Then, as replenishment orders are received replenishment orders are processed  215  by computer software. Replenishment orders are then released to the personnel on the distribution center&#39;s production floor  220 . To fill the order, pickers obtain and load one or more article collecting containers into order assembly carts  225 , they have acquired. Pickers walk alongside the rack shelving picking and loading articles into containers per the replenishment order  235 . As containers are filled with articles, the containers are taken to the packing station (not shown)  240 . Quality control is often performed on assembled orders  245  at the packing station (not shown). Next, orders are consolidated and shipping units are closed for shipping  250 . Then, the filled containers are taken to shipping  255  where orders are shipped  265 . Order assembly area shelves are replenished with inventory, brought down from bulk storage by distribution center personnel  260 .  
         [0069]      FIG. 3  depicts an example of the distribution center&#39;s new floor plan layout  300  which accommodates the necessary equipment for the new sequence of material flow operations carried-out when the distribution center is fitted to implement controlled transfer and packing. Five operations can be carried out in this layout: receiving, bulk storage, transfer channel clip loading, order assembly and shipping. Receiving, bulk storage and shipping may be performed as previously described. The transfer channel clip loading process  310  and the order assembly process  315  are provided to implement controlled transfer and packing, which may require specialized equipment. As shown, the distribution center floor plan has a clip loading area  320 , including two anti-gravity tables  306  fed by conveyor  302 , a data processing facility  303 , an order assembly area  314  with human accessible rack shelving  128 . While continuing to be human accessible, the rack shelving  128  is fitted with a track railing infrastructure  319 , which carries the pick trolleys  318  and the clip trolleys  317  that may utilize controlled transfer and packing to load chipping boxes. On the rack shelving  128 , are the transfer channel clips  781  containing the articles  140  that will be loaded into the pick trolley&#39;s containers  150 . Attached to both ends of the rack shelving, are the turning turrets  316 , which convey pick and clip trolleys from one picking side to another or to a different planar shelf surface level  135 . Located in between the rack shelves  128 , are similar turning turrets  316  which facilitate the navigation of pick  318  and clip  317  trolleys between different rack shelves  128 .  
         [0070]      FIG. 4  is a flow chart showing the new sequence of material handling operations for a distribution center that is fitted as a controlled transfer and packing facility. First, the processes of receiving  201 , bulk storage  205  and shipping  265  are performed in the manner previously described. In the new sequence of operations, orders are received by the control software and are processed  215  by the control software to make them ready for order assembly. The computer software also releases transfer channel clip loading directions to the personnel in the distribution center&#39;s production floor to make sure items needed are available for packing. Transfer channel clips are loaded  420  with articles, which will be picked and packed to assemble orders. The loaded transfer channel clips  781  are then carried by the clip trolleys  317 , also known as replenishing trolleys, and disposed on the rack shelving  430  inside the order assembly area. Next, order assembly requests are typically distributed to substantially all pick trolleys  318  at once. The pick trolleys  318  rides along the rack shelving  128  and assemble the orders by transferring articles from the shelves into shipping containers  440 . Prior to transferring an item into the shipping container  440 , quality control, to ascertain the correct item is being transferred per replenishment order request, may be performed (not shown). Full shipping containers  150  can then sent to the shipping area  114  and sent to their final destinations  265 .  
         [0071]      FIG. 5  is a flow chart showing further detail of the process of processing replenishing orders  215 , loading transfer channel clips  420 , stock shelves with transfer channel clips  430 , and transferring articles into a container  440 . The process begins when the computer software that controls all operations related to order fulfillment receives replenishment order data from the host system or directly from stores or customers via ASCII or XML 505 or this equivalent. The control software is an application The control software is an application program suitable for execution on a conventional PC, mainframe or disturbed computer system. The controller software then verifies that the articles included in the order are in the inventory at hand  507 . Next, the control software determines the location of the requested articles within the distribution center  510 . Once availability and location are established, the control software uses product information furnished by the manufacturers, such as weight, height, width and thickness data to calculate the volume required  512  by each item when loaded into the shipping container  150 . Once those calculations are made, an optimal picking route is determined  514 , which accounts for all articles&#39; positions inside the shipping container  150 . Then, the control software prepares an order release schedule that takes advantage of the best time to release each order to comply with “just-in-time” fulfillment methodology  516 . When the order is ready to be released to the picking trolleys in production floor, shipping labels are generated  520 . These shipping labels are applied to each shipping container  150  by a label printer, which may be attached to each picking trolley  317 . Orders are now ready to be released simultaneously to all available picking trolleys  522  for the present picking cycle.  
         [0072]     During the transfer channel clips loading process  420 , bulk packaged, generally in pallets or cases, product are brought down from bulk storage  107 . The packages are opened and articles are emptied into the center of the anti-gravity tables  525 . The anti-gravity tables  306  then proceed to vibrate and distribute the articles to the sliding chutes, which are slanted downward and also vibrate to cause the articles to slide down towards the bottom of the slide chutes and away from the tables&#39; centers. Once the articles reach the bottom of the slide chute, operators line up the articles on a formation that parallels the slide chute&#39;s retaining wall  530 . Once sufficient items are lined up, the operator releases the trap door that serves as the flooring of the slide chute, causing all articles to fall, at substantially the same time into the transfer channel clip that has been previously positioned underneath the trap door via a conveyor belt  535 .  
         [0073]     To stock the picking shelves with loaded transfer channel clips, the article loaded transfer channel clips may be loaded into the clip trolleys. The clip trolleys enter the dual use C-channel transport medium that is attached, and is the conduit infrastructure to the rack shelving, and proceed to deposit the loaded transfer channel clips on the order assembly area shelves. To do this, the clip trolleys first arrive to a pre-determined location and if there is an empty transfer channel clip, the empty clip is removed by the clip trolley and a full transfer channel clip is set in its place. The location is then validated, via wireless communication (or equivalent methods, including hard wired connector), between the clip trolley and the controller software. The stocking of the picking shelves process can take place at the same time that order assembly is taking place. This allows for dynamically changing an article&#39;s location to make it more easily accessible to a picking trolley for faster order assembly. In addition, this dynamic process allows for simultaneously picking and replenishing the order assembly area doing away with the need to stop one process to carry out the other.  
         [0074]     The process of transferring articles from the shelf into the container begins by determining the desired amount of tumble control when transferring each article. It may be desirable to have a way to control the transfer behavior of an article as it goes from the shelf and into the container. To control the transfer behavior, the shelf&#39;s transferring edge is raised, in relation to its opposite end in such a way the transfer channel clip form an angle with respect to a horizontal plane. The picking trolley is also tilted in such a manner that it maintains substantially orthogonal to the transfer channel clip. As the tilt angle is increased, the article&#39;s projected center of gravity stays within the transfer channel clip&#39;s floor. The article then can be made to transfer into the container without tumbling. Moreover, the tilt angle can me modulated to slow down the article&#39;s transferring to the point that a vibration should have to be introduced to usher the article away from the transfer channel and into the container.  
         [0075]     Once the optimal transfer angle has been determined, the container may be positioned in a manner that the space that has been pre-determined to be occupied by the transferring article is directly underneath its transfer channel. This can be done by moving the container towards or away and to the right or left with respect to the transfer channel location (in the X and Y directions with respect to the transfer channel transferring edge).  
         [0076]     To transfer the article from the shelf into the container, the control software instructs pick trolley to select and load the appropriate size container, place a shipping label on the container and proceed to the location of the first article to be transferred. Once the pick trolley reaches the desired location, it can perform pre-emptive quality control by capturing an image of the article to be picked. The pick trolley compares the captured image to the one passed to it along with the order request and verifies that the article on the shelf is in fact the requested article. The pick trolley then powers the non-orthogonal coupler&#39;s motor. The non-orthogonal coupler advances and reaches over to the shelf and engages transfer channel&#39;s the lead screw. Power is continually applied causing the lead screw to turn and push the articles in the transfer channel towards the transferring edge. The article that is closest to the transferring edge begins to come out of the transfer channel clip, eventually falling out of the transfer channel clip and into the pre-assigned space inside the container. A vibration, produced by the non-orthogonal connection between the non-orthogonal coupler and the lead screw aids in the separation of the transferring article and the pushing article behind it, and ushers the article into transferring to the container. A sensor, which can be part of the pick trolley, detects, counts and records each successful article transfer into the container. After each transfer of an article, the container can be repositioned to place the pre-assigned space that will be occupied by the next article inside the container. Once the requested number of articles has been successfully transferred into the container, the coupler&#39;s motor may be stopped. Then, the coupler&#39;s motor rotation may be reversed. The reversal of the motor&#39;s rotation des-engages the non-orthogonal coupler from the lead screw. The non-orthogonal couple continues to retract clearing the shelf. At this time, another sensor also part of the pick trolley and which can be mounted in line with the non-orthogonal coupler, measures and calculates the amount of articles left on the transfer channel clip and verifies the results with the controller software. The pick trolley is now ready to go to the next picking location.  
         [0077]     In addition to helping perform quality control, the pick trolleys camera can also be used to continuously grab frames of each article it passes by when traveling along the rack shelving and validating that the correct product is located where the control software has directed and that no human error has been introduced by placing the incorrect article in a transfer channel clip. The track infrastructure  128  as well as the clip trolleys  317  and the pick trolleys  318  are designed to, and may, work inside refrigerated (cooled and freezer) distribution centers. During order assembly, clip trolleys  317  and pick trolleys  318  typically ride along the track infrastructure  128  in the same direction. When a trolley reaches the end of the aisle, it proceeds in one of several alternative ways according to the progress of the task at hand as directed by the control software. For example, if the container is full, the trolley releases the container to shipping and proceeds to be ferried, by the turning turret  316  located at the end of the aisle, to the opposite side of the rack shelving where it receives another order assembly request and starts a new order assembling cycle. However, if the container is not full, the trolley is ferried by the turning turret  316  located at the end of the aisle, to the opposite side of the rack shelving where it continues assembling the order. If the articles that remain to be picked to complete the assembly of the order at hand are located in other levels or in other rack shelving, the trolley will make use of the network of turning turrets  316  to navigate from rack to rack throughout the distribution center until it finally comes to the desired article&#39;s pick location.  
         [0078]      FIG. 6  highlights the process of loading the transfer channel clip ( 420  of  FIG. 5 ). This process may typically occur after order processing ( 215  of  FIG. 5 ). The purpose of this process is to speed up the bringing down of articles from bulk storage and the loading of the articles into the transfer channel clips in an efficient manner that may free the personnel from having to read, scan or otherwise having to handle the articles for purposes of identification or differentiation. To load transfer channel clips, bulk packaged articles, generally packaged in pallets or cases, are brought down from bulk storage and may be transferred via conveyer or any other suitable manner of moving material in the distribution center, to the center of the anti-gravity tables Operators, then break the bulk packages and empty the contents of the bulk package in the center of the anti-gravity table  525 . The anti-gravity table vibrates making the articles slide down to the bottom of the sliding chutes. As articles reach the end of the slide chute  530 , operators line them up, and open trap doors that release the articles directly into the transfer channel clips  535 .  
         [0079]      FIG. 7  shows a transfer channel clip  781 . The transfer channel clip  781  is made up of a substantially flat flooring surface  736 , two substantially parallel and substantially straight walls  780 , and one orthogonal end wall  779 , located near optional edge  739 . The flooring  737  and the parallel walls  780  form a U-channel. The U-channel walls  780  serve as guide rails, and are attached to the flooring by snaps, brackets, studs, screws, or their equivalent. The U-channel is substantially orthogonal to the planar flooring surface  737 . The distance between guide rails  780  can be adjustable to accommodate articles  140  between them. The U-channel forms transfer channel clip  781 . Transfer channel clip  781  meets, and is substantially orthogonal to transferring edge  736 . The distance separating the U-channel walls  780  should be slightly greater than the width of articles  140 , which will travel along the U-channel. In addition, the height of the guide railings  780  should be adjustable to ensure that the articles do not fall out of the transfer channel clip  781  as the planar shelf surface they may be placed on is tilted. Each of the ends of the guide railings  780  that are closest to transferring edge  736  may be elongated  789  beyond transferring edge  736 . The purpose of these elongations  789  is to prevent the transferring article  140  from developing a yaw, to the right or to the left when the article  140  is in free fall. The guide railings  780  may be substantially rigid and generally made of metal, wood, plastic or other suitable material.  
         [0080]     To one side and substantially parallel to the transfer channel clip  781 , is a lead screw assembly  782  attached to the transfer channel clip&#39;s  781  flooring  737 , by a conventional end bearing  783  located opposite to transferring edge  736 , and a conventional loop-stud  784 , located nearest to transferring edge  736 . A conventional Lead screw  782 , which may be metallic and can be threaded according to ACME standards, re-circulating ball screw thread patterns and the like. The Lead screw may be fitted with a load-carrying nut-system  785 . Attached to the load-carrying nut  785 , by a generally metallic arm  786 , is a push-up surface  787  which is substantially orthogonal to the planar shelf surface  135  and which pushes articles  140  towards transferring edge  736 . Push-up surface  787  is generally rigid and metallic but can be made of other materials such as wood or plastic or the like. The end of the lead screw  782  closest to the transferring edge  736  may be fitted with a rigid “T” ending  788  or an equivalent engaging structure.  
         [0081]      FIG. 8  shows the anti-gravity table  306 . The anti-gravity table tends to lighten objects by vibrating them. The anti-gravity table  306  is a specially designed piece of equipment that loads the transfer channel clips  781  with articles  140  which may be sent to the order assembly area to be picked, packed and shipped. The anti-gravity table  306  consists of a circular center  811  and radial slide chutes  307  which may be slightly slanted downwards as the distance increases from the anti-gravity tables&#39;  306  center. The radial slide chutes  307  may be walled  813  and  814  on all sides to prevent articles ( 140  of  FIG. 7 ) from falling off. The anti-gravity table  306  may be fitted with first motor  801 , second motor  803  and solenoid  805 . First motor  801  is used to create vibrations along the horizontal direction while second motor  803  causes alternating vibrations in the vertical direction. Alternatively, other vibration methods may be used such as pneumatic or the like. The radial chutes&#39;  307  end walls  814  which may be perpendicular to the radius of a concentric circle centered at the anti-gravity table&#39;s  306  center, and thus, form tangential walls  814 . The radial slide chutes&#39;  307  end flooring  812 , is fitted with trap doors  815  which may be located next to the tangential walls  814 . Underneath the anti-gravity table  306  may be a conveyor system  820  that delivers and places transfer channel clips  781  bellow each trap door  815 . The anti-gravity table  306  rests on top of legs  822 . The anti-gravity table  306  and its elements are generally made of metal, low friction plastic, resin covered wood or any other equivalent material.  
         [0082]      FIG. 9  shows how that in the clip loading process the cased product  901  may be brought down from bulk storage  109  to the clip loading area  320 . The transfer channel clips  781  may be loaded with articles through one or more sub-process. During this process, the articles are loaded into transfer channel clips  781  which in turn are placed in the rack shelving (not shown) to ready the articles for order assembly. Next, clip trolleys (not shown) may take article-laden transfer channel clips  781  to the order assembly area. The purpose of the transfer channel clip loading area  320  is to replenish the inventory in the rack shelves in a typically speedy and efficient manner.  
         [0083]     The present illustration is a top view depicting the transfer channel clip  781  loading process. Product cases  901  arrive from bulk storage  109  area via conveyor  902 . Conveyor  820  brings empty transfer channel clips  781  and places them under the anti gravity table&#39;s  306  slide chutes  307 . The cases&#39; contents can be emptied into the center of each anti-gravity table  306  by an operator  125 . At this point, the center of the anti-gravity table  306  distributes articles to one or more slide-chute(s)  307 . The articles then slide down the slide chute  307  aided by the vibration generated by the anti-gravity table  306 . The articles group together at the bottom of the slide-chute  812 . Next, an operator may line up the articles in a straight line and against the peripheral wall  814  closest to the operator  125 . Once the articles are lined up, the operator  125  activates a mechanism (not shown) that slides the flooring  815  away from the lined up articles  140 . The articles  140  then fall simultaneously into the transfer channel clip  781 . Alternately, the articles may slide into the transfer channel clip. After this, the clip trolleys may take the filled transfer channel clips  781  to the rack shelving to replenish the planar shelf surface. The process repeats for each different set of articles  140 .  
         [0084]      FIG. 10  is a flow chart where the process of stocking the rack shelves with transfer channel clips ( 430  of  FIG. 5 ) is highlighted. To do this, the laden transfer channel clips are loaded into the clip trolleys  540 . The clip trolleys then enter the dual use track railing attached to the rack shelving, and proceed to deposit the loaded transfer channel clips on the order assembly area rack shelves  542 . To do this, the clip trolleys first arrive to a pre-determined location and if there is an empty transfer channel clip, the empty clip is removed  545  by the clip trolley and a full transfer channel clip is set in its place. The newly loaded transfer channel location is then validated, via wireless communication, between the clip trolley and the controller software. The stocking of rack shelves process can take place at the same time that order assembly process is taking place. This constitutes a useful feature because it allows for dynamically changing an article&#39;s location to make it more easily accessible to a picking trolley for faster order assembly. In addition, this dynamic process allows for simultaneously picking and replenishing the order assembly area doing away with the need to stop one process to carry out the other.  
         [0085]      FIG. 11  Shows the clip trolley  317 , which runs along the rack shelving  128  on a track  319  to place loaded transfer channel clips  781  on the planar shelf surface  135 . The clip trolley  317  includes a motor  1105 , which translates the trolley on track  319 , a frame structure  1115  that supports a tray  1110  where the loaded and empty transfer channel clips are transported. Motor  1117  raise the tray&#39;s  1110  flooring to deposit the loaded transfer channel clips  781  on to the planar shelf surface  135 . The replenishing process places articles  140  onto the planar shelf surface  135  to make the articles  140  available for picking and packing by the pick trolleys. In addition, clip trolleys  317  run concurrently, sharing the same slide rail infrastructure  319  with the pick trolleys, to replace depleted transfer channel clips  781 , in just-in-time fashion (“JIT”).  
         [0086]      FIG. 12  shows the process of transferring articles from the shelf into the container ( 440  of  FIG. 5 ). In transferring articles from the shelf into the container, the pick trolley selects and loads the appropriate size container, places a shipping label onto the container and proceeds to the location of the first article to be transferred  1202 . Once it reached the desired location, it may perform pre-emptive quality control by capturing an image of the article to be picked  1204 . The pick trolley compares the captured image to the one passed to it along with the order request and verifies that the article on the shelf is in fact the requested article  1206 .  
         [0087]     The process next determines the desired amount of tumble control  555  for each article. Once the optimal transfer angle has been determined, the controller software determines the transfer location of each article inside the container  560 . This is done by moving the container towards or away, and to the right or left, with respect to the transfer channel location. Then, the next process is to transfer the article from the shelf into the container  565 . The pick trolley then powers the non-orthogonal coupler&#39;s motor. The non-orthogonal coupler advances and reaches over to the shelf and engages transfer channel&#39;s the lead screw. Power is continually applied causing the lead screw to turn and push the articles in the transfer channel towards the transferring edge. The article that is closest to the transferring edge begins to come out of the transfer channel clip, eventually falling out of the transfer channel clip and into the pre-assigned space inside the container. A vibration, produced by the non-orthogonal connection between the non-orthogonal coupler and the lead screw aids in the separation of the transferring article and the pushing article behind it, and ushers the article into transferring to the container. A sensor, which is part of the pick trolley, detects, counts and records each successful article transfer into the container. After each transfer of an article, the container is repositioned to place the pre-assigned space that will be occupied by the next article inside the container. Once the requested number of articles have been successfully transferred into the container, the coupler&#39;s motor is stopped. Then, the coupler&#39;s motor rotation is reversed. The reversal of the motor&#39;s rotation dis-engages the non-orthogonal coupler from the lead screw. The non-orthogonal couple continues to retract clearing the shelf. At this time, another sensor also part of the pick trolley and which is mounted in line with the non-orthogonal coupler, measures and calculates the amount of articles left on the transfer channel clip and verifies the results with the controller software. The pick trolley is now ready to go to the next picking location. After transferring items from one picking location, the pick trolley advances to the next location. When the end of the rack shelving structure is reached, pick and clip trolleys make use of the turning turrets to navigate along the order assembly area  570 .  
         [0088]      FIG. 13  shows the pick trolley  318  of the controlled transfer and packing facility that may be used to load items from shelves into shipping boxes. The controlled transfer and packing facility is comprised of a typical commercially available warehouse shelving rack  128  which includes a typical commercially available warehousing rack frame structure having typical commercially available rack shelving upright frames  1331 , connected by typical commercially available rack shelving spanner beams  1332  and  1333 . Securely attached, by screws, to spanner beams  1332  and  1333  is a planar shelf surface  135 . The planar shelf surface  135  generally made of wood, metal or polymer or any other suitable material carries a plurality of transfer channel clips  781 , which in turn, carry a plurality of articles  140 , ready to be picked. Examples of articles that may be on the shelf ready for picking, packing and shipping are: soda bottles, soup cans, shoe boxes, engine blocks, bags of rice, sugar or other staples, boxes of tools, cases of wine, cases of pet food and so on. As illustrated in this figure, spanner beams  1332  and  1333  are attached to the upright frames  1331  in staggered fashion so that the planar surface  135  attached to them is tilted, forming an angle from a substantially level plane.  
         [0089]     The side length  1337  of the planar surface  135  may be sufficiently long to create a cantilever overhang  1338  from spanner beam  1333 . Not all forms of the present example include or require the cantilever overhang  1338 . However, it is included for illustrating purposes.  
         [0090]     Included in this figure are also a pick trolley  318 , which carries a non-co-axial coupler  1370  as well as a place for container  150  (not shown), where articles  140  are transferred into. Pick trolley  318  can be fabricated out of wood, polymer, steel, iron, aluminum, titanium or any alloy which makes it lightweight while being rigid and having sufficient load bearing capacity.  
         [0091]     Referring back to the present illustration, it is shown that pick trolley  318  slides along C-channel  1355  powered by motor  1360 . Attached to pick trolley  318  by screws, welding or any other equivalent methods are platforms  1361  and  1362 . These platforms  1361  and  1362  ride on telescopic arm  1375  (in the upward direction), and telescopic arm  1376  in the side-to-side direction. Platforms  1361  and  1361  carry a container or tote, where articles  140  are transferred into. Pick trolley  318  also carries a non-co-axial coupler  1370 , which is powered by motor  1364 . Motor  1364  can be electrically, hydraulically, and pneumatically or powered by any other means known in the art. Pick trolley  318  carries computer enclosure  1368 , which includes a processor (not shown) and pertinent electronic circuitry (not shown) to wirelessly communicate with a main controller computer (not shown), which manages all motion functions mentioned above.  
         [0092]      FIG. 14  and  FIG. 15  show a C-channel rail  1355 , which serves as guide to pick trolley and clip trolley. Securely connected by screws to spanner beam  1333  is a C-channel rail  1355 , which serves as guide to pick trolley  318 . The C-channel rail  1355  is made out of iron, steel or any other suitable material and is commercially available from a plurality of fabricators. Bellow C-channel  1355  and also secured by screws to spanner beam  1333  is a conductor bar  1457 , which delivers electric power, by means of conductors  1454 , over the length of the C-channel  1355  to a plurality of power sources  1360 ,  1363  and  1364 , which form part of pick trolley  318 . Conductor  1457  also delivers power to linear actuators (not shown), motor drives (not shown) and computer circuitry (not shown) enclosed in computer enclosure  1368 , which form part of pick trolley  318 . Conductor bar  1457  can be sourced from numerous enclosed conductor system manufactures. However, for the example presently described, conductor bar  1457  is constructed out of fiberglass with aluminum conductor bars. Other materials suitable for the construction of conductor bar  1457  are polymers, plastics, ceramics and/or other electrically conductive and non-conducting materials. Further, bellow conductor bar  1457  and also secured by screws to spanner beam  1333  is, for purposes of this example, a cogged rack  1458  component of a rack and pinion system which is used as the propulsion system to translate pick trolley  318  along C-channel  1355 . Alternatively, other equivalent propulsion systems may be used. The rack and pinion system is conventionally constructed. Inside the C-channel  1355  runs a slide  1551  which includes roller bearings  1552  and looped studs  1553 . Pick trolley  318  attaches to the slide&#39;s  1551  looped studs  1560 .  
         [0093]      FIG. 16  is a top view showing how the different components included in the pick trolley  318  interact with the transfer channel clip  781  and the article feeding mechanism  1693  to perform an article  140  transfer operation in loading a shipping box. The pick trolley  318  is seen on the lower right hand side of this illustration. The pick trolley  318 , consisting of its frame  1605 , a container  150 , the non-orthogonal coupler  1370 , sensors (not shown), connectors (not shown) and several motors (not shown). The pick trolley  318  slides along c-channel track  1455  and stops in front of the article  140  to be picked. Once the pick trolley  318  has stopped, the container  150  is positioned in the X and Y directions to be directly under the article  140  to be transferred. Next, the non-orthogonal coupler  1370  is powered to reach over to the planar shelf surface  135  and engage the transferring mechanism  1693  to cause one or more articles  140  to transfer into the container  150 . On the right hand sides of the present illustration are: the planar shelf surface  135 , a plurality of transfer channel clips  781 , containing different articles  140 . Also, a lead screws  782  and the push up surfaces  787 .  
         [0094]      FIG. 17  is a flow chart of the process of transferring articles into a container ( 565  of  FIG. 5 ). The coupler motor is disengaged  1700 . The pick trolley then powers the non-orthogonal coupler&#39;s motor. The non-orthogonal coupler advances and reaches over to the shelf and engages transfer channel&#39;s the lead screw  1702 . Power is continually applied causing the lead screw to turn and push the articles in the transfer channel towards the transferring edge  1704 . The article that is closest to the transferring edge begins to come out of the transfer channel clip, eventually falling out of the transfer channel clip and into the pre-assigned space inside the container  1705 . Vibration, produced by the non-orthogonal connection between the non-orthogonal coupler and the lead screw aids in the separation of the transferring article and the pushing article behind it, and ushers the article into transferring to the container  1706 . A sensor, which is part of the pick trolley, detects, counts and records each successful article transfer into the container  1708 . After each transfer of an article, the container is repositioned to place the pre-assigned space that will be occupied by the next article inside the container. Once the requested number of articles have been successfully transferred into the container, the coupler&#39;s motor is stopped. Then, the coupler&#39;s motor rotation is reversed  1710 . The reversal of the motor&#39;s rotation des-engages the non-orthogonal coupler from the lead screw. The non-orthogonal couple continues to retract clearing the shelf. At this time, another sensor also part of the pick trolley and which is mounted in line with the non-orthogonal coupler, measures and calculates the amount of articles left on the transfer channel clip and verifies the results with the controller software. The pick trolley is now ready to go to the next picking location. A spring located around the coupler shaft in between the coupler&#39;s motor and the stud and which was compressed as the coupler advanced to engage the transfer lead screw, forces the coupler screw thread to re-engage into the stud  1712 . Then the motor continues retracting in reverse rotation until is dis-engages the “T” and clears the shelf  1714 . Then the pick trolley is free to move to the next item to be transferred and the cycle is repeated until the box is filled  1716 .  
         [0095]      FIG. 18  shows in further detail the non-co-axial coupler that mechanically couples the pick trolley to the transfer channel clip to cause items to tumble from the shelves to a box on the pick trolley. The non-co-axial coupler  1370 , consisting of a sliding base  1871 , which is attached by screws, welding or any other means known in the art to pick trolley  318 . Sliding base  1871  slides by means of a plurality of commercially available re-circulating ball bearing linear or control motion slide systems. Sliding base  1871  is substantially flat and supports, by means of a bracket or any other means known in the art, motor  1364 . Attached to frame  318  and located in front of the metallic sliding base  1871  is a stud and nut combination  1872 . Engaging screw  1873 , which is an extension of power source&#39;s  1364  axle, threads in both directions, through the stud and nut combination  1872 , according to the direction that motor  1364  turns. The threaded portion of engaging screw  1873  begins at the “U” ending and continues to a distance determined by the advancing length required to fully engage the lead screw&#39;s  782  “T” ending  788 . After the engaging screw&#39;s  1873  threaded portion ends, the engaging screw&#39;s  1873  are devoid of threads and thus its diameter is reduced to substantially the internal diameter if the engaging screws  1873 . When engaging screw  1873  to advance through the stud and nut combination  1872 , it compresses spring  1865  until it reaches the end of the threads. When the engaging screw  1873  reaches the end of the threads, it stops advancing even as motor  1364  continue to rotate. To transfer an article  140  into container  150 , power is applied to motor  1364  which rotates and causes the non-co-axial coupler  1370  to advance in the manner just described until the “U” engaging fork having ends  1873   a  and  1873   b  meets and engages the lead screw&#39;s  782  “T” ending  788 . As lead screw  782  turns, articles  140  are pushed towards the transferring edge  736  and into a container  150 .  
         [0096]     The current figure is also an exploded view of the power transfer mechanism and includes detailed aspects of the non-orthogonal coupler  1370 , the thread re-engaging spring  1865 , the motor  1364 , the lead screw  782 , the “T”-ending  788 , the load-carrying nut-system  785 , the push-up surface  787  and the planar shelf surface  135 . Pick trolley  318 , carries at least a container  150  and the non-co-axial coupler  1370  and travels to the location of an article  140  which is to be transferred into container  150 . To cause the article  140  to transfer from the shelf  135  into the container  150 , the software stops pick trolley  318  at the point where the axial line of the “U” engaging fork  1873  is in front and nearly orthogonal to the axial line of lead screw  782 . The software then causes motor  1364  to turn in the appropriate direction. As the “U” engaging fork  1873  turns, it threads through the nut, which is part of the stud and nut  1872  assembly. Since the stud and nut  1872  are fixed to the pick trolley  318 , the non-co-axial coupler  1370  advances, riding on the sliding base  1871 , towards lead screw  782 . The “U” engaging fork  1873  engages the lead screw&#39;s  782  “T” ending  788 . As the “U” engaging fork  1873  engages the lead screw&#39;s “T” ending  788 , the lead screw  782  begins to turn and articles  140  are pushed towards the transferring edge  736  of the planar shelf surface  135 . When the end of the threads of the “U” engaging fork  1873  is reached, the non-co-axial coupler  1370  ceases to advance. However, as motor  1464  continue to turn, articles  140  continue to be pushed towards the transferring edge  736  until the article  140  closest to the edge transfers into the container  150 . As the article  140  transfers into the container  150 , one or more sensors (not shown) detect the transfer and cause the software to stop motor  1364 . If a second article  140  from the present location is to be transferred into container  150 , the software repositions container  150  by turning on and off power sources  1362  and/or  1363  (not shown) until an empty location is under the article. Motor  1364  is caused to turn again repeating the transferring cycle. When all the articles  140  that were desired to be transferred from the present location have been transferred into container  150 , the software reverses the rotation of motor  1364 . Spring  1865 , which has been compressed between motor  1364  and the stud and nut  1872 , forces the “U” engaging fork&#39;s  1873  to re-thread itself through the nut component of the stud and nut  1872  thereby retracting the non-co-axial coupler  1370  and dis-engaging the “U” engaging fork  1873  from the lead screw  782 . At this point, pick trolley  318  is ready to advance along to the next transfer (pick-up) location or to the end of the run where the loaded container  150  is taken away.  
         [0097]      FIG. 19  shows that the article feeder  1893  consists of a lead screw  782 , which is attached to the planar shelf surface  135 . It may be attached by screws, welds or any other equivalent methods, and is supported by an end-bearing  783  and a loop-stud  784 . The end of the lead screw  782  closest to the transferring edge  736  is fitted with a “T” ending  788 . The “T” ending  788  is usually made from a metallic stud, which is pressure-fitted into a hole previously drilled on lead screw  782 . Lead screw  782  can be supported by numerous other means such as a flange bearing, a pillow block bearing or a take-up frame bearing. In the present example, the lead screw  782  is supported by a PVC pipe-end cap  783 , which is attached by means of a loose screw and nut to an “L” bracket  792 . The end “L” bracket  792  thereof is attached by means of screws, welding, or any other means known in the art, to planar shelf surface  135 . In addition, lead screw&#39;s  782  ends closest to the “T” ending  788  can be supported by numerous other means such as “Y” studs, wood, polymer or metal plates with thru holes and stop clips, or any other means known in the art. Loop stud&#39;s  784  internal diameter is large enough for lead screw  782  to loosely fit through it. There is a dual purpose for the loop-stud&#39;s  784  oversized diameter. First, it allows the lead screw to maintain coupling even if there isn&#39;t a precise co-axial coupling between the lead screw  782  and the non-co-axial coupler  1370 . Second, as articles  140  are placed one behind the other in a line and tilted at an angle, sometimes their weight makes them stick to each other and thus, not transfer expediently. In those instances, the larger diameter on the loop-stud  784  allows the lead screw  782  to swing from side to side and up and down as it turns, creating a desired vibrating effect which serves to loosen and separate a transferring article  140  from its neighbor behind it. The diameter of the PVC pipe-end cap  783  supporting the lead screw  782  is large enough for lead screw  782  to loosely fit inside it. In this manner, drag—due to friction is minimized, while sparing the expense and maintenance needs associated with end-bearings.  
         [0098]      FIG. 20  illustrates the dual traveling nut system of the article feeder. Two nuts  785  are connected to each other by connector  2089  and connector-arm  786  to form traveling-nut system  785 . Traveling-nut system  785  travels along lead screw  782  and spans length  1000 . The connections between connectors  786  and  2089  and the load carrying nuts  785  can be made out of welds, screws, clamps or any other means know in the art. Placed above each load carrying nut  785 , are two height-adjustment blocks  2090 , which allow arm  786  to clear the top of loop stud  784  and thus travel beyond loop-stud  784 , towards transferring edge  736 . Attached to the load-carrying nuts  785 , by means of a generally metallic connecting arm  786 , is a push-up surface  787 , which is substantially orthogonal to the planar shelf surface  135  and which travels along transfer channel clip  781 . As lead screw  782  turns, the load carrying nuts  785  advance towards transferring edge  736  and articles are pushed by push-up surface  787  along transfer channel clip  781 , towards transferring edge  736  and eventually into the container  150 .  
         [0099]      FIG. 21  shows that when non-coaxial forces  3000  are applied to a screw  782  through a single nut  785 , the nut  782  and the screw  785  tends to bind. This may make it difficult for the nut  785  to thread though the screw  782  while the force  3000  is exerted. This is because the nut  785  does not travel co-axially with the screw&#39;s  782  center line  3100  and thus, the force&#39;s moment arm  3200  acting on the screw&#39;s  782  axis  3100  is non-orthogonal to the screw&#39;s  782  axis. This translates into binding because component vectors  3300  and  3400  concentrate their forces in a small contact area between the nut  785  and the screw  782  threads and do not spread evenly throughout all contact surfaces between the threads of the screw  782  and the nut  785 . In order to minimize the binding problems associated with carrying a non-axial load on a nut which travels along a screw,  
         [0100]      FIG. 22  illustrates how one or more substantially similar nuts  785  are placed on the screw  782  at a pre-calculated distance 13500 on either or both sides of the load carrying nut  785  tending to prevent binding of the articles feeder. These nuts  785  are then rigidly tied together by two or more connectors  2089 . Flanges, screws, a cylinder or any other means known in the art, can be used to form a traveling-nut system  2205  that thread through lead screw  782  even though a force may be exerted through an arm  786 . When force  3000  is applied through connecting arm  786 , to the traveling-nut system  2205 . The resultant force exerted upon the screw  782 , is substantially spread to all thread areas of contact between the nuts  785  and the lead screw&#39;s  782 .  
         [0101]     The current figure also shows that since there are two (or more) nuts rigidly tied together forming the traveling-nut system  785 , the “force per area” is reduced. In addition, when two or more nuts  785  are rigidly tied together, if a non axial force  3000  is applied, each nut&#39;s  785  tendency to rotate axially in relation to the screw&#39;s  782  center line  3100  is greatly minimized. Thus, each nut  785  keeps in-line with the screw&#39;s center line  3100  and the contact area between the screw  782  and the nut&#39;s  785  threads is maximized as well as bringing the load&#39;s moment arm  3200  substantially orthogonal to the screw&#39;s  782  center line  3100 .  
         [0102]      FIG. 23  is a top view illustrating how the non-co-axial coupler  1370  is positioned in such a manner that the “U” engaging screw  1873  is substantially in-line with lead screw  782  prior to removing articles from the shelf.  
         [0103]      FIG. 24  is a top view illustrating how a motor  1364  is energized, the “U” engaging fork  1873  advances through the stud and nut  1872  assembly, compresses spring  1865  and engages lead screw&#39;s  782  “T” ending  788  that may cause articles to be removed from the shelf. This causes the lead screw  782  to turn and thus advances the load-carrying nut-system  785 , the metallic arm  786  and the push-up surface  787 . The push up surface  787  pushes the articles  140  toward transferring edge  736  and into container  150 . When the end of the threads of the “U” engaging fork  73  is reached, the non-co-axial coupler  1370  ceases to advance and spring  1865  is fully compressed. As motor  1364  continue to turn, articles  140  continue to be pushed towards the transferring edge  736  until the article  140  closest to the edge transfers into the container  150 . When all the articles  140  that are desired to be transferred from the present shelf location, have been transferred into container  150 , the software program reverses the rotation of motor  1364 . Spring  1865 , which is has been compressed between motor  1364  and the stud and nut  1872 , forces the “U” engaging fork&#39;s  1873  to re-thread itself through the nut component of the stud and nut  1872  thereby retracting the non-co-axial coupler  1370  and des-engaging the “U” engaging fork  1873  from the lead screw  782 . The different assemblies&#39; positions will again be in accordance with  FIG. 23 .  
         [0104]      FIG. 25  shows the process of transferring articles from the shelf into the container begins by determining the desired amount of tumble control ( 565  of  FIG. 5 ) when transferring each article. If the transfer is allow to happen without any control, the article will tumble during the free fall into the container and it is impossible to accurately predict where the article will land inside the container. Since one of the features of the present example is to organize the articles inside the container as the articles are picked from the shelves, it is necessary to provide a way to control an article&#39;s transfer behavior. To do this, an example of a solution for controlling the transfer of an article from the planar surface into container will be hereby described. Furthermore, the example solution shown also addresses the problem of placement of an article into a desired space inside the container and the problem presented by the transfer of fragile articles  140 .  
         [0105]     To determine the optimal transfer control for an article. The controlling software first gathers physical information about the article  2506 . This information relates to the characteristics of the article and may include such parameters as weight, size, volume, and fragility, location of the center of gravity, content settling characteristics, physical state (solid, liquid, and gas) or any combination thereof. Then, the controlling software performs a series of calculations which predict the amount tilt needed  1508  to transfer the article in the controlled manner described above. Articles&#39; physical information is generally received from the manufacturer. Other pertinent information can be independently acquired and recorded as an article is duly registered in the distribution center&#39;s inventory database.  
         [0106]     The example solution calls for tilting the planar surface and the container with respect to the horizontal plane  2502 . The angle formed between the level plane and the planar surface may or may not be equal to the angle formed by the bottom of container. As the angle increases towards the vertical plane, the articles tend to transfer in a slower and more controlled fashion to the point that a mechanical vibration may have to be introduced  2504  to aid in the transfer of an article from the shelf.  
         [0107]     In other examples of transferring and organizing articles from a shelf into a container, additional transfer control may be necessary when articles have a tendency to rotate to the right or to the left when they transfer from the shelf into the container. In addition to the transfer control process described above, the pick trolley&#39;s frame is fitted with two or more article fall control wands. The fall control wands are located above the container and directly across the article that is being transferred. These fall control wands are positioned by the controlling software on each side of the falling article&#39;s pre-calculated fall path. Thus, is the article tends to fall to the right, or the left, the fall control wands tend to control this tending and helps the item centered as it falls.  
         [0108]     In applications where it may not be required to organize the transferring articles as they are picked from the shelves into the containers, the angle is left substantially horizontal. In these cases, transferring speed is gained, helping make the operation faster and more efficient.  
         [0109]      FIG. 26  depicts the conventional uncontrolled transfer of an article  140  from a horizontal planar surface  135  into a container  150 . Uncontrolled transfers represent a problem when it is desired to transfer an article  140  into a predetermined space inside the container  150 . Uncontrolled transfers are also undesirable when transferring fragile articles  140 . However, there are applications where uncontrolled transfers do not represent a problem. In this figure, it can be seen that when the planar surface&#39;s  135  angle is at or nearly horizontally level, the article  140  tumbles uncontrolled and violently into the box as it is pushed from behind. This tumbling happens when the article&#39;s  140  center of gravity is no longer supported by the planar surface  135 . The amount of tilt is measured from a level plane  1400 , which intersects the planar shelf  135 , may vary from zero degrees to an angle that meets or exceeds the following example condition: the cosine of angle a must be equal or greater than half the length  300  of the side of the article  140  which is in contact with the planar surface shelf  135 . This is given by the following equation:
 Cos a=&gt;Length 300  (1) 
         [0110]      FIG. 27  shows a method for controlling the transfer of an article  140  from the planar surface  135  into container  150 . Furthermore, the solution shown also addresses the problem of placement of an article  140  into a desired space inside the container  150  and the problem presented by the transfer of fragile articles  140 . The problem is resolved by tilting the planar surface  135  and the container  150  with respect to the horizontal plane  300 . The angle formed between the level plane  300  and the planar surface  135  may or may not be equal to the angle formed by the bottom of container  150 . As the angle increases towards the vertical plane, the articles  140  tend to transfer in a slower and more controlled fashion to the point that a mechanical vibration may have to be introduced to aid in the transfer of an article  140  from the shelf.  
         [0111]      FIG. 28  illustrates how in order to control an article&#39;s  140  transferring behavior, such as velocity or propensity to tumble, the planar surface  135  attached on top of spanner beams  1332  and  1333  is tilted about its longitudinal axis in such a manner that the transferring edge  736  is higher than its opposite edge  739 . The amount of planar surface  135  tilts from a substantially level position is determined by the desired behavior of an article  140  as it transfers from the transferring edge  736  into a container  150 . For example, as transferring edge  736  is higher in relation to opposite edge  739 , the velocity at which an article  140  transfers from the transferring edge  736  to the container  150  is diminished. Equally, as transferring edge  736  is higher in relation to opposite edge  739 , an article&#39;s  140  propensity to tumble as it transfers from the transferring edge  736  to the container  150  is diminished. The planar shelf surface  135  is tilted about its longitudinal axis in such a manner that the transferring edge  736  is higher than its opposite edge  739 .  
         [0112]      FIG. 29  illustrates that as angles a and b change, pick trolley member  56   a , to which the non-co-axial coupler  70  is attached, maintains substantially parallel to the planar shelf surface  135 , in order to be able to engage lead screw  782 . However, as depicted in  FIG. 20 , the rest of the pick trolley  56  does not have to maintain substantially orthogonal to planar shelf surface  135 . The tilt angle b of container  150  is independently modified with respect to level plane  1400 . This is to allow different transfer effects of articles  140  into container  150 .  
         [0113]      FIG. 30  illustrates that the planar surface  135  is supported on spanner beams  1332  and  1333  in such a manner that the transferring edge  736  overhangs with respect to spanner beam  1333  by a minimal distance  200  equal or greater to the length of side  210  of the container  150 , which is substantially orthogonal to transferring edge  736  and substantially parallel to the planar shelf surface  135 , minus the length  220  of the side of article  140  which is in contact with planar shelf surface  135  and closest to transferring edge  736 . This is given by the following equation:
 Length 200&gt;=length 210−length 220  (2) 
         [0114]      FIG. 31  is a flow diagram showing how to determine the optimal transfer control for an article which is a sub-process of transferring articles into a container ( 555  of  FIG. 5 ). The controlling software first gathers physical information about the article. This information relates to the characteristics of the article and may include such parameters as weight, size, volume, and fragility, location of the center of gravity, content settling characteristics, physical state (solid, liquid, and gas) or any combination thereof. Then, the controlling software performs a series of calculations, which predict the amount tilt required to transfer the article in the controlled manner described above.  
         [0115]      FIG. 32  shows a process of determining a transfer location inside a container ( 560  of  FIG. 5 ) which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ). Once the optimal transfer angle has been determined, the next process is to successfully organize the articles inside the container and determine the order in which articles are transferred into the container to insure that heavy articles will not be transferred on top of fragile articles. To do this, the controller software calculates and pre-determines when and where an article is transferred into the container. Once the space inside the container is determined for an article, the space must be brought underneath the article and positioned according to the pre-calculated transfer behavior for that article. This is done by moving the container towards or away and to the right or left with respect to the transfer channel location (in the X and Y directions with respect to the transfer channel transferring edge). The process described in the following paragraphs.  
         [0116]     The controlling software first gathers physical information  3202  about each article. This information relates to the physical characteristics of the article and may include such parameters as weight, size, volume, and fragility, location of the center of gravity, content settling characteristics, physical state (solid, liquid, and gas) or any combination thereof. An articles&#39; physical information is generally received from the manufacturer. Other pertinent information can be independently acquired and recorded as an article is duly registered in the distribution center&#39;s inventory database. Then, the controlling software performs a series of calculations  3204 , which include taking into consideration the previously determined transfer angle to predict each article&#39;s free falling behavior. Next, the controller software makes a new series of calculations using an article&#39;s fragility index to determine where in the container is the optimal location for the article and what other articles, if any, may be transferred on top of it  3206 . The result of these calculations also yields the optimal pick location and time where an article should be transferred. This information is used by the controlling software to slot the shelves prior to order assembly. Once an article&#39;s free falling behavior, pick location and pick time are determined,  3208  the container&#39;s position is pre-calculated and the coordinates, slot address and pick time are passed along to the pick trolley  3210 .  
         [0117]      FIG. 33  shows further details of a process of determining a transfer location inside a container ( 560  of  FIG. 5 ) which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ). Shown is how to determine the optimal transfer control for an article  3302 . If needed, physical characteristics are completed independently  3314 . Next, the characteristics may be entered in a database  3316 . The controlling software first gathers physical information about the article. This information relates to the physical characteristics of the article and may include such parameters as weight, size, volume, and fragility, location of the center of gravity, content settling characteristics, physical state (solid, liquid, and gas) or any combination thereof. Then, the controlling software uses the articles&#39; information to perform a series of calculations to determine the optimal transfer location within the container  3304 . The calculations also predetermine the shelf location where the article is to be transferred from and the order in which the articles will be picked from the shelf. Then the controlling software verifies the article&#39;s availability at the pre-designated transfer location  3306 . Next, the controlling software calculates the article&#39;s optimal transfer time. Then, the resulting information is passed to the appropriate pick trolley and verification of the article successful transfer into the container is performed.  
         [0118]      FIG. 34  shows a perspective view of the interaction between the planar shelf surface  135  and the pick trolley  318 . Pick trolley  318 , carrying the container  150  and the non-co-axial coupler  1370 , arrives to an article&#39;s  140  location and stops when the non-co-axial coupler  1370  is substantially in line with the article pushing assembly  1991 . The container is then positioned, by activating the telescopic screws  1375  and/or  1376  so the article  140  will transfer into the container in the desired pre-determined space. The non-co-axial coupler  1370  is then powered by motor  1364  to engage the article pushing assembly  1991  and cause it to transfer one or more articles  140  into the container  150 . This figure also illustrates pick trolley  318  and the telescoping extensions  1376  and  1375  in the X and Y directions respectively. These telescoping extensions extend and retract to position container  150  in a pre-calculated location so that articles  140  transfer into and lay next to each other inside container  150 . Once an article  140  has been transferred into the container  150 , and is resting inside it, power sources  1362  and  1363  re-position container  150  by extending or retracting in the appropriate directions (X and Y directions, with respect to edge  736 ), so that the next article  140  to be transferred lands in a free and pre-determined place inside container  150 . The article  140  transferred could be made to land in an empty space at the bottom of the container  150  or on top of another article  140 , which was previously transferred into container  150 . It is noted in this figure, that the article feeding mechanism  1991 , which advances articles towards transferring edge  736 . The article feeding mechanism  1991  consists of two main parts. The article pushing assembly  1991 , which is attached to the planar shelf surface  135  and is stationary, and the non-co-axial coupler  70 , attached to pick trolley  318 . Pick trolley  318  rides along the C-channel rail  1455  (described in  FIG. 14 ) bringing container  150  and the non-co-axial coupler  1370  assembly. The non-co-axial coupler  1370  couples with the article pushing assembly  1991  to deliver mechanical power and cause the article pushing assembly  1991  to transfer articles  140  into container  150 .  
         [0119]      FIG. 35  shows how a container  150  is positioned so article  140  lands on the northeast corner of container  150 . This is done by turning on motor  1363  (not shown), which extends and/or retracts telescopic rail frame extension  1375 . As telescopic rail frame extension  1375  extends or retracts, container  150  moves in the Y direction with respect to transfer edge  736 .  
         [0120]      FIG. 36  shows how the container  150  is again repositioned, this time by a turning motor  1362  (not shown), which extends and/or retracts the telescopic rail frame extension  1376 . As telescopic rail frame extension  1375  extends or retracts, container  150  moves in the X direction with respect to transfer edge  736 . Once container  150  is in the desired position, article  140   a  will land alongside article  140 , which is already inside container  150 .  
         [0121]     During order assembly, clip trolleys  317  and pick trolleys  318  typically ride along the track infrastructure  128  in the same direction. When a trolley reaches the end of the aisle, it proceeds in one of several alternative ways according to the progress of the task at hand. For example, if the container is full, the trolley releases the container to shipping and proceeds to be ferried, by the turning turret  316  located at the end of the aisle, to the opposite side of the rack shelving where it receives another order assembly request and start a new order assembling cycle. However, if the container is not full, the trolley is ferried by the turning turret  316  located at the end of the aisle, to the opposite side of the rack shelving where it continues assembling the order. If the articles that remain to be picked to complete the assembly of the order at hand are located in other levels or in other rack shelving, the trolley will make use of the network of turning turrets  316  to navigate from rack to rack throughout the distribution center until it finally comes to the desired article&#39;s pick location.  
         [0122]      FIG. 37  is a process flow diagram showing navigation of isles ( 570  of  FIG. 5 ) and levels which is a sub-process of transferring articles into a container ( 440  of  FIG. 5 ). First, a determination is made to find where to insert the trolley into the existing traffic flow in the distribution center  3702 . Next, the trolley is launched into the traffic flow  3702 . Then, the trolley travels to predetermined shelves to load articles  3706 . In traveling to the predetermined shelves, coordination is made to determine the shortest route of travel in filling a given order. Next, coordination is made between clip loading with the trolley travel  3708 . Clip loading coordination is made to insure that a sufficient number of goods are present to fill the order when the trolley arrives at the shelf location.  
         [0123]      FIG. 38  shows how to determine the optimal transfer control for an article. The controlling software first gathers physical information about the article  3802 . This information relates to the physical characteristics of the article and may include such parameters as weight, size, volume, and fragility, location of the center of gravity, content settling characteristics, physical state (solid, liquid, and gas) or any combination thereof. Then, the controlling software uses the articles&#39; information to perform a series of calculations to determine the optimal transfer location  3804  within the container. The calculations also predetermine the shelf location where the article is to be transferred from and the order in which the articles will be picked  3806  from the shelf. Then the controlling software verifies the article&#39;s availability  3808  at the pre-designated transfer location. Next the controlling software calculates the article&#39;s optimal transfer time  3810 . Then, the resulting information is passed to the appropriate pick trolley and verification of the article successful transfer into the container is performed  3812 .  
         [0124]      FIG. 39  shows four planar surfaces  135  and four pick trolley  318  assemblies of the present example of the invention installed in two rack shelves  128 . The rack shelves  128  are mirror images of each other separated by a distance  400 . Pick trolleys  318  are transferred from the left side rack shelf  128  to the right side rack shelf by the turning-t-turret  316 . The turning-t-turrets  316  are located at each end of the rack shelf structure  128  and can transfer pick trolleys  318  from side to side horizontally or vertically by means of a telescopic raising/lowering shaft  3905 . In this manner, the pick trolleys  318  are always going forward in a circuit fashion and may navigate the rack shelves to reach any pick location.  
         [0125]      FIG. 40  shows how during the order assembly process, clip trolleys  317  and pick trolleys  318  typically ride along the track infrastructure  319  typically in the same direction. When a trolley reaches the end of the aisle, it proceeds in one of several alternative ways according to the progress of the task at hand. For example, if the container  150  is full, the trolley releases the container to shipping and proceeds to be ferried, by the turning turret  316  located at each end of the aisle, to the opposite side of the rack shelving where it receives another order assembly request and start a new order assembling cycle. However, if the container is not full the trolley is ferried, by the turning turret  316  located at the end of the aisle, to the opposite side of the rack shelving where it continues assembling the order. If the articles that remain to be picked to complete the assembly of the order at hand are located in other levels or in other rack shelving  128 , the pick trolley  318  will make use of the network of turning turrets  316  to navigate from rack shelf  128  to rack shelf  128  throughout the distribution center until it finally comes to the desired article&#39;s  140  pick location.  
         [0126]      FIG. 41  depicts an alternative example  4140 , having a pneumatic or a hydraulic motor  4101  that may be connected by a coupler or any equivalent method, to the end of each lead screw  782  which is part of the article pushing assembly  1991 . One or more valves  4102 , belonging to a computer controlled network of valves  4104 , drive each pneumatic motor  4103 . The valves  4103  open allowing pressurized air, steam, or any other suitable liquid or gas to enter and turn each pneumatic motor  4103 . As the pneumatic motor  4103  turns, the article pushing assembly  1991  pushes articles towards the transferring end  736  of planar surface  135  and eventually into container  150 . Valve  4102  closes to prevent the article pushing assembly  1991  from transferring any additional articles  140 .  
         [0127]      FIG. 42  illustrates a further alternative example, in this example, an electric motor  4205 , is thereby connected by means of a coupler or any other means known in the art, to the end of each lead screw  782  which is part of the article pushing assembly  1991 . One or more switches  4207 , belonging to a computer controlled switch network  4204 , drive each electric motor  4205 . The switch  4207  turns on each electric motor  4205 . As the electric motor  4205  turns, the article pushing assembly  1991  pushes articles towards the transferring edge  736  of planar surface  135  and eventually into a container. Switch  4207  is turned off to prevent the article pushing assembly  1991  from transferring any additional articles.  
         [0128]     Many distribution and fulfillment centers process fulfillment orders in whole cases, as opposed to by the piece. For such operational needs, the present example can be configured to pick and build pallets of cases.  
         [0129]      FIG. 43  illustrates yet another alternative example of the invention designated by the reference number  170 . However, in the immediate example, stationary walls  4301  which are attached by means of screws, welding or any other manner known in the art to the pick trolley  318  and which form a topless and bottomless box  4307 . The pick trolley&#39;s floor  4308 , which is located inside box  4307 , can be telescopically raised to the top of the box  4307 , by means of a jack screw  4309 , or any other means known in the art, to a position where the floor  4308  is flush with the transferring edge  736 , from an initial position at the bottom of the box  4307 . As cases are transferred into the box  4307 , repositioning of the box in the X and Y directions is carried out, and the floor  4308  is lowered to accommodate the next case well within the box&#39;s  4307  walls  4301 . The planar shelf surface  135  tilt angles can be increased or decreased to maintain a desired case  140  transfer controls.  
         [0130]      FIG. 44  is an alternative example of the present invention illustrating the transfer channel clip&#39;s  781  having a floor fitted with rollers  4402 .  
         [0131]      FIG. 45  shows another alternative example of a transfer channel clips floor which would replace rollers with travel tape. Another alternative example is depicted in  FIG. 45 , which would replace rollers  4402  in  FIG. 44 , with conveyor tape  4502 . Transfer channel clip  781  flooring can also be fitted with different surface textures to minimize friction.  
         [0132]      FIG. 46  depicts another alternative example of a transfer channel having a single roller placed at transferring edge  736 . This single roller  4602  is used to assist in transferring cylindrical shaped articles  140  which when standing on-end, tend to rotate right or left, relative to the line of travel, due to misalignment between the pushing vector and the article&#39;s  140  center of mass  
         [0133]      FIG. 47  illustrates an additional alternative example of transfer channel alignment of the present invention, which can be helpful in ensuring satisfactory article  140  transferring performance.  FIG. 46  shows an additional example where transfer channel clip  781  turned to be substantially non-orthogonal to transferring edge  736 .  
         [0134]      FIG. 48  shows how the transfer channel clip  781  can be tilted about its longitudinal axis to cause articles traveling through it to lean towards one of the two transfer channel clip  781  walls.  
         [0135]      FIG. 49  shows a drive mechanism for clip trolleys  317 , the pick trolleys  318  or any other vehicle that may travel on the railing  319  infrastructure. The figure shows a track bed  4902  into which a groove  4905  in the form of a wave is carved. A wheel  4907  is set inside the groove  4905 . The wheel  4907  is attached to one end of a flat connecting rod  4912 , the opposite end  4944  of the flat connecting rod  4912  is fixed to the vehicle&#39;s frame  4950 . The connecting rod  4912  is slit lengthwise  4924 . A stud  4925  is inserted through the slit  4924  in the flat connecting rod  4912  and fixed to a crank arm  4927 , which is in turn connected to a motor  4930 . As the motor  4930  turns, the end of the flat connecting rod  4912  where the wheel  4907  is attached moves back and forth in a sweeping manner. When the wheel  4907  attached to the sweeping end of the connecting rod  4912  is inside the track groove  4905  and the motor  4930  is made to turn with sufficient force, the wheel  4907  presses against one of the walls of the grove  4905  and the result of this pressure is orthogonal, with respect to the groove  4905 , translation motion of the vehicle frame. This motion and its direction are indicated by arrows  4951   a  and  4951   b.    
         [0136]     In addition, the flat connecting rod  4912  can be extended lengthwise in a manner that a second wheel  4908  being similar to wheel  4907  can be attached to the elongated end and position within the groove  4905  at substantially one half wave phase away, to make it possible to move a trolley, regardless of the point where it may stop in the groove  4905 .  
         [0137]      FIG. 50  shows an alternative example where a separate railing may be used for transporting clip trolleys  5001 . The separate railing infrastructure  5002  facilitates the loading of transfer channels clips  781  which may be of different dimensions or where the planar shelf surface  135  may be substantially different to the one described in this example.  
         [0138]      FIG. 51  shows a perspective view of an X-style clip loading system.  
         [0139]      FIG. 52  in a block diagram of the order fulfillment system utilizing controlled transfer and packing. The pick  5128  trolley may include a microprocessor  5202  that is coupled to a conventional display  1506  suitable for displaying information to an operator. The microprocessor is may also be coupled to a label printer  5108  that is conventionally constructed or may be constructed to automatically apply the labels to the side of a shipping container when it is placed on the pick trolley. The microprocessor is also coupled to a wireless interface  5104  suitable for communicating with a computer network supplying instructions to the pick trolley. The microprocessor may also be coupled to a drive motor control  5114  that is constructed to drive the trolley system along the track and channel system. The drive motor control may also be connected to the drive system  5116  which is the actual mechanical system for driving the trolley. Alternatively, the wobble drive system described in  FIG. 49  may be substituted for the drive system and the drive motor control.  
         [0140]     The microprocessor is also coupled to a X-Y motor control  5118  for positioning the shipping container underneath the shelf transfer edge. The X-Y motor control is coupled to a conventional X-drive motor  5120  and a conventional Y drive motor  5122 . The microprocessor may also be coupled to a conventional sensor  5124  and a conventional camera  5126 . The conventional camera and sensor may include suitable interface circuitry for sensing an article on a shelf, sensing trolley location and the like. The camera is also used for, and equipped with suitable interface software to image and item on a shelf and transfer that image to the PC with the control software.  
         [0141]     The microprocessor may also be coupled to the orthogonal coupler control interface circuit  5144  for driving the motor  5146  engaging the orthogonal coupler. The orthogonal coupler control interface and or orthogonal coupler are as previously described. In addition, the microprocessor may also be coupled to a vibrator interface  1510  and a vibrator assembly  5112 . The vibrator assembly is conventionally constructed and may be used to break a package from others disposed in a transfer clip.  
         [0142]     The turret control  5104  includes a microprocessor  5138  and a wireless interface  5136  for coupling a turret control to the PC with the control software  5130 . A suitable motor interface  5140  and motor  5142  are included to drive the turret according to commands received from the PC with control software. Alternatively, the pick trolley may issue commands through a wireless interface to control the turret as the trolley approaches the turret.  
         [0143]     A computer network  5132  may be provided which may include a PC with control software  5130  and a wireless interface for communicating with the pick trolley  5128 , the clip trolley and the turret controller. The computer network may also be coupled to various other client computers such as clip loading computers station terminals for data processing and like.  
         [0144]     The clip trolley may be constructed similarly to the pick trolley. However, the XY motor control and the X &amp; Y motors may be replaced with the suitable control circuit for removing a clip from the shelf for releasing and installing a new clip onto the shelf.