Abstract:
A machine for loading a load carrier ( 20 ) such as a pallet with packing units (cardboard boxes, collis etc.), which form a load stack ( 21 ) on the load carrier, is presented. The machine includes handling and support mechanism ( 52–57 ), that allows a packing unit ( 15 ) to be loaded. The handling and support mechanism supports the load from below throughout the operation of loading from a feed device ( 51 ) onto the load stack. By virtue of the handling and support mechanism, the packing unit may be deposited at any selectable spatial position on the load stack. It is therefore possible to form an optimized load stack on the load carrier in which the packing units are always supported from below, with the result that the loading is not dependent upon the material quality of the packaging of the packing unit.

Description:
FIELD OF THE INVENTION 
     The invention relates to an apparatus and a method of loading a load carrier such as e.g. a pallet with packing units, which form a load stack on the load carrier. 
     TECHNICAL BACKGROUND 
     In the development of logistics systems there is a trend towards an ever greater degree of automation in order to save costs and time and increase the profitability of the systems. Storage into, and retrieval from, a high-rise installation is therefore frequently effected by automated, computer-controlled rack-mounted storage/retrieval machines. In the output area of a storage system the articles required for an order are loaded onto a means of transport, such as a lorry. For many applications, such as e.g. in the retail trade, a delivery order comprises a plurality of different articles which are loaded by means of load carriers, such as e.g. pallets provided with rollers, onto lorries which deliver them to the individual branches. 
     Loading the load carriers and/or pallets with the articles, which generally take the form of packing units or collis (e.g. cardboard boxes or shrink-wrapped product packs), has hitherto been done mostly by hand. Building up such a load stack on a pallet requires a lot of skill in order on the one hand to form a stable loading stack, which for transportation is wrapped e.g. in stabilizing film, and on the other hand to achieve optimum utilization of space and as high a loading stack as possible for transportation in the lorry. Manual pallet loading is therefore time-consuming, requires skilled and experienced workers and is a factor limiting the profitability of the logistics system. The manual loading of load carriers with occasionally heavy packing units under ergonomically unfavourable conditions is moreover bad for the health of the workers engaged in loading. 
     It is therefore known to load pallets by means of a gripper system. In said case, the packing units (collis) to be handled, such as cardboard boxes and the like, are gripped laterally by gripping arms of the robot or from above by vacuum suckers and then loaded according to predetermined rules onto the pallet. The drawback of this is, however, that vacuum grippers are usable only with smooth and stable materials and lateral gripping arms may easily slide off or cause damage to delicate packaging. What is more, the use of laterally applied gripping arms inevitably leaves gaps between the packing units in the loading stack on the load carrier, thereby preventing optimum utilization of space and stability owing to the gaps left between the packing units. 
     OBJECT OF THE INVENTION 
     The object of the present invention is therefore to provide an apparatus and a method of loading load carriers, which avoid the described drawbacks of prior art and enable the automatic loading of load carriers with packing units of widely differing size and quality. 
     The object is achieved by an apparatus for loading a load carrier with packing units forming a load stack, comprising handling and support means, by means of which a packing unit to be loaded is supported from below throughout the operation of loading from a feed device onto the load stack and which are designed so as to deposit the packing unit at any selectable spatial position on the load stack. 
     The apparatus according to the invention enables fully automatic loading of the packing units onto a load carrier such as e.g. a pallet and the formation of a stable load stack, which is optimized with regard to space utilization. The packing units in said case rest on a support surface throughout the loading operation, with the result that grippers or the like are not needed. Packing units of various shapes and qualities of material may therefore be loaded safely and reliably. 
     The invention further proposes a method of automatically loading a load carrier with packing units forming a load stack, which method comprises the steps: determination of a three-dimensional loading configuration of the packing units in the load stack, determination of a loading sequence enabling said loading configuration and the successive automated conveying of the packing units onto the load carrier in a loading order corresponding to the determined loading sequence into the position in the load stack determined by the loading configuration. 
     In the method according to the invention an, in terms of stability and/or space utilization, optimized spatial (three-dimensional) loading configuration of the packing units in the load stack is determined and on said basis an advantageous loading order is determined. In accordance with said order and the determined configuration the packing units are then loaded onto the load carrier automatically, without manual assistance. The method makes it possible to form optimized load stacks and to reduce costs while simultaneously increasing the loading capacity. 
     The loading apparatus preferably comprises a lifting device for lifting and lowering the load carrier so that during the loading operation, as the load stack grows, the load carrier may be continuously lowered. 
     For loading the load carrier a loading aid is preferably provided, which encloses at least one, preferably three sides of the load stack and hence offers a support surface during loading of the packing units. 
     In order upon removal of the loading aid to form a stable load stack, preferably at the same time as the loading aid is lowered relative to the load carrier a stabilizing film is wrapped around the load stack. 
     For loading laterally enclosed load carriers, such as boxes, containers or mesh boxes, a load-carrier tilting device may be provided, by means of which the enclosed load carrier is tilted e.g. through 90° in a forward direction so that it may be loaded “from above” by the loading device according to the invention. In a corresponding manner a packing-unit tilting device is then preferably provided upstream of the loading apparatus for tilting the packing units through 90 degrees in accordance with the determined loading configuration. 
     The handling and support means of the loading apparatus preferably comprise a stationary loading plate and a displacement device for displacing the packing units on the loading plate in the direction of the broad side of the load carrier, which is defined as x-direction. 
     From a feed device, e.g. a conveyor belt, the packing units are preferably lifted by means of lifting pins off the trays, which trays have openings for engagement of the lifting pins. The lifted packing unit is then conveyed by means of a displaceable rake onto the loading plate, wherein the emptied trays are conveyed back into the storage facility. 
     From the loading plate the packing unit is conveyed preferably by means of a loading tongue into the previously determined position on the load stack. The loading tongue is in said case movable both in x-direction and in the direction of the loading depth of the load carrier (z-direction). For depositing a packing unit from the loading tongue on the load stack a scraper is preferably provided, which is displaceable independently of the loading tongue in z-direction and together with the loading tongue in x-direction. 
     In order to check the loading operation, a movable scanning device, e.g. by means of lasers, is preferably provided for detecting the instantaneous height of the load stack. 
     Once a load carrier is full, it is exchanged preferably by means of a load-carrier changing device for a fresh, empty load carrier. 
     In order to feed a packing unit in a defined position to the loading machine, a rotary apparatus for rotating the trays, which each carry a packing unit, as well as a tray-vibrating device for defined positioning of a packing unit on the tray are preferably provided. 
     The three-dimensional loading configuration, which in the method according to the invention is determined for automated loading of a load carrier, may be optimized with regard to the loading stability of the load stack, the three-dimensional space utilization and/or the greatest possible height of the load stack. To said end, the three-dimensional loading configuration may be split into individual load planes having packing units as identical in height as possible, wherein the loading sequence or loading order is determined preferably in such a way that the packing units of a plane are introduced always from the back towards the front and from left to right or from right to left. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       There now follows a description of concrete embodiments of the invention with reference to the accompanying drawings. 
         FIG. 1  is a diagrammatic plan view of a storage system, to which the invention is applicable. 
         FIG. 2  is a cross-sectional view along the line II—II of  FIG. 1 . 
         FIG. 3  diagrammatically illustrates central steps of a method of operating an automated warehouse. 
         FIG. 4  is a diagrammatic perspective view of a tray with packing units, which are usable with the invention. 
         FIG. 5  diagrammatically illustrates the stations, through which a packing unit runs from the tray storage facility up to loading onto the lorry. 
         FIG. 6  diagrammatically illustrates in a flow chart the method steps of an embodiment of the method according to the invention of automatically loading a load carrier. 
         FIG. 7  diagrammatically illustrates in the form of a flow chart a commissioning method, to which the present invention is applicable. 
         FIG. 8  is a diagrammatic view of a tray storage facility, an embodiment of the loading apparatus according to the invention and the associated conveying system. 
         FIGS. 9   a   1 ,  9   a   2 ,  9   b   1 ,  9   b   2 ,  9   c   1 , and  9   c   2  diagrammatically illustrate the mode of operation of an embodiment of a tray-vibrating device according to the invention. 
         FIG. 10  is a diagrammatic perspective view of an embodiment of the loading apparatus according to the invention. 
         FIGS. 11-1  through  11 - 10  schematically illustrate the sequence of the loading operation according to an embodiment of the invention. 
         FIGS. 12   a  through  12   e  are a sequence of diagrammatic side views of an embodiment of the loading apparatus according to the invention illustrating the mode of operation of the invention. 
         FIG. 13  shows a film wrapping apparatus according to an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
       FIG. 1  shows in plan view an embodiment of a rack storage facility, to which the invention is applicable, and  FIG. 2  shows a cross-sectional view along the line II—II of  FIG. 1  of the rack storage facility. 
     The rack storage facility  100  is designed as a pallet storage facility, i.e. the articles or goods delivered to a delivery station  110  are stored on the delivery pallets in the pallet storage facility or input storage facility in rack rows  110 . In a known manner rack-mounted storage/retrieval machines are movable in the aisles  103  formed between the rack rows  101  (see  FIG. 2 ) and store the delivered storage pallets in the rack storage facility. Connected by an automated conveying system to the rack storage facility is a tray storage facility  130 , which in turn comprises storage racks  131 , which are separated by aisles  133  and in which the articles to be stored are stored on trays. According to the embodiment illustrated in  FIG. 2  the tray storage, facility  130  has a lower overall height than the pallet storage facility  100 . 
       FIG. 4  is a diagrammatic view of an embodiment of the trays  10  used in the tray storage facility  130 . The trays are generally of a shallow, tablet-shaped design and preferably have a circumferential edge  12 . The trays may have different dimensions depending on the articles  15  to be stored. In their base the trays  10  preferably have holes or openings  11 , through which—as will be described in detail below—a lifting device for lifting an article stored on the tray may engage. Situated on each tray  10  there is preferably just one article  15 , e.g. a packing unit (colli), for loading onto an order pallet of a lorry  200 . 
     As is diagrammatically shown in  FIG. 1 , between pallet storage facility  100  and tray storage facility  130  a depalletizing device  105  is provided, which in a known manner by means of gripping and suction means automatically splits the storage pallet stacks into the packing units forming the pallet stack. Adjoining the pallet storage facility and the tray storage facility is a functional area  120 , which is used for maintenance and repair and may comprise e.g. a warehouse management computer. Adjoining the tray storage facility  130  is a loading zone  140 , which comprises one or more loading apparatuses  50  according to the invention for load carriers, on which apparatuses load carriers such as e.g. order pallets are loaded with the packing units  15  required for a pick order. The load carriers with a complete load stack  21  are loaded via a lorry ramp  141  (see  FIG. 2 ) at the same level into the lorry  200 . 
     The most important operations effected in the storage facility are illustrated diagrammatically in the flow chart of  FIG. 3 . In a first step Si the goods are delivered, e.g. by lorry, to the delivery station  110  and are stored by means of the preferably automated conveying system in the pallet storage facility  100  (step S 2 ). 
     The tray storage facility  130  adjoining the pallet storage facility serves as a buffer so that, whenever there is a scarcity of articles in the tray storage facility  130 , e.g. there is stock only for a 24-hour or 48-hour period, the articles are requested from the pallet storage facility  100 , removed from the pallets and separated in a step S 3 , before being loaded individually onto the trays  10  (step S 4 ). By means of a suitable conveying system (not shown) the articles on the size-adapted trays are provisionally stored or buffered in tray storage facility  130 . Preferably, smaller articles are stored four-deep on small trays or large articles are stored two-deep on larger trays in tray racks. 
     As soon as one or more pick orders, i.e. orders to collate and load a delivery of goods, e.g. for a retail trade branch, are logged, the articles and/or packing units required for the pick order are removed from the tray storage facility by the automated conveying system (rack-mounted storage/retrieval machine  135 , retrieval paths  42 , see  FIG. 8 ) and fed in a specific order (to be explained in detail below) to the loading zone  140 . There, the packing units are loaded onto order pallets (step S 6 ), protective means such as a film, strips or the like are wrapped around the load stacks (step S 7 ) and the latter are finally loaded onto lorries (step S 8 ). 
     A diagram illustrating the individual stations, through which the individual packing units run from the tray storage facility up to loading onto the lorry, is shown in  FIG. 5 . The packing units are removed from the tray storage facility  130  by suitable rack-mounted storage/retrieval machines  135  (see  FIG. 8 ) and transferred onto retrieval paths  42 , which take the form of endless conveying devices. The retrieval paths preferably have one or more sorting devices  45 , which may be designed as overtaking devices with a parallel track or passing track of the retrieval path  42 , which track is provided with two sorting gates, and enable an overtaking operation or a change of the retrieval sequence of two or more trays removed from the tray storage facility. 
     A packing-unit tilting device  85  may then be provided for tilting a packing unit on the tray through 90 degrees. For said purpose, lifting pins for lifting the packing unit and/or suitable grippers may be used. A tray then moves onto a tray-vibrating device  70 , the mode of operation of which is described in detail later with reference to  FIG. 9 , where the packing unit  15  may be positioned in a defined manner relative to the tray  10 , e.g. in a corner of the tray. The tray plus packing unit then moves to a rotary apparatus  48 , at which the tray may be rotated through 90°, 180° or 270° in order to assume a defined position relative to the downstream load-carrier loading apparatus  50 . There, the packing units are loaded onto a load carrier and/or order pallet  20  and form a load stack  21 , around which for the purpose of stabilization a film is wrapped by a film wrapping machine  80 . The load stack thus produced on the pallet may then be loaded onto a lorry and transported to the place of delivery, e.g. a retail trade branch. 
     The diagram of  FIG. 6  diagrammatically illustrates the method steps of an embodiment of the method according to the invention of automatically loading a load carrier with packing units forming a load stack. In the first step S 10  a pick order, which may comprise one or more load carriers (pallets)  20 , is logged by the warehouse management computer (not shown). On the basis of the articles being identified by identification codes and their pack sizes being stored in a memory, in a method step S 11  a three-dimensional loading configuration of one or more load stacks on the order pallet(s) is determined. In so doing, a wide variety of aspects have to be considered. Firstly, the complete load stack has to be as stable as possible and easily transportable, i.e. heavy articles are preferably stored in the bottom part of the load stack and lighter articles preferably in the top part of the load stack. Equally, more delicate articles or packing units are better accommodated in the top part of the load stack. What is more, the load space of the delivery lorry should be optimally utilized, i.e. the load stack should be as densely packed and as high as possible. Furthermore, the loading configuration has to be such that with the automatic loading machine it is possible to load the load stack in a fixed loading sequence, which is determined in the next step S 12 . In the following method step S 13  the at least one order pallet is loaded in accordance with the loading sequence with the packing units  15  in accordance with the previously determined three-dimensional loading configuration. 
     There now follows a detailed description of a further embodiment of the loading method according to the invention with reference to the flow chart of  FIG. 7 . 
     In the method step S 20  the packing units  15  forming a pick order are logged and in the next method step S 21  the required number of order pallets is determined from the stored volume and/or stored weight of the logged packing units. Then, in the manner described above with reference to  FIG. 6  a three-dimensional loading configuration of the load stack on the order pallet and/or load carrier  20  is determined, wherein various marginal conditions such as the stability of the load stack or optimum utilization of space are to be taken into account. In said case, it is advantageous to form individual loading layers (step S 23 ), which comprise packing units each of a similar size or at least of a similar height. 
     In the next method step S 24  the loading layers are used as a basis to determine a loading sequence or loading order, in which the load stack  21  derived in step S 22  is built from the bottom up. In said case, on an order pallet each loading layer is built up from the back towards the front and from left to right or from right to left. 
     Once the loading configuration and loading sequence of the load stack have been determined by means of the warehouse management computer, the packing units lying on trays are removed from the buffer—or tray storage facility and fed to the loading machine  50 . In said case, it would be possible for the individual packing units to be removed already in the correct order (loading sequence) from the tray storage facility or to be brought into the correct order by means of one or more sorting devices  45  (step S 26 ). By means of a packing-unit tilting device  85  the packing units may be rotated through 90°, 180° etc., by suitable means such as e.g. pins or grippers and then replaced in the rotated position on the tray. Packing units are then aligned horizontally on the tray by means of a rotary apparatus  48  and a tray-vibrating device  70  and fed, optionally via a lift  47  (see  FIG. 8 ), to the loading apparatus  50 , where they are disposed in accordance with the loading sequence on the load carrier  20  at the load stack location determined by the spatial (three-dimensional) loading configuration. 
     The tray-vibrating device used to align an article or packing unit  15  on the tray  10  is now described with reference to  FIGS. 9   a   1 ,  9   a   2 ,  9   b   1 ,  9   b   2 ,  9   c   1 , and  9   c   2  (herein collectively referred to as  FIG. 9 ). The tray-vibrating device  70  comprises a tilting support  71  and a lifting piston  72 , which supports a support plate  73  at the corner lying diagonally opposite the tilting support  71 , and by virtue of a downward movement of the lifting piston effects a diagonal tilting of the support plate  73  and hence of a tray  10  resting thereon. 
     The operation of aligning the packing unit  15  on the tray  10  is diagrammatically illustrated in  FIG. 9  in the diagram sequence  9   a   1 ,  9   b   1 , and  9   c   1  in side view and in the diagram sequence  9   a   2 ,  9   b   2 , and  9   c   2  in plan view. In  FIGS. 9   a   1  and  9   a   2 , the tray  10  carrying the packing unit  15  passes from the conveying device onto the support plate  73  of the tray-vibrating device  70 . In  FIGS. 9   b   1  and  9   b   2 , the lifting piston  72  is lowered with simultaneous horizontal vibrating motions (to overcome frictional forces) so that the packing unit  15  moves towards the lowered corner of the tray  10  (see arrow in  FIG. 9   b   2 ), with the result that the packing unit  15  is aligned on the tray. The lifting piston is then raised again so that the support plate is situated in a horizontal position and the tray  10  with the aligned packing unit  15  may be conveyed further. 
       FIG. 10  is a perspective view of an embodiment of the load-carrier loading apparatus  50  according to the invention. The mode of operation of this embodiment is further clarified by the sequence diagrams shown in  FIGS. 11 and 12 . 
     The trays  10  each carrying a packing unit  15  are fed by a tray conveyor  51  to the loading apparatus  50 . At the end of the tray conveyor  51  lifting pins  54  of a lifting device act from below through the openings  11  in the tray upon the packing unit  15  and hence lift the latter out of the tray  10 . A rake  55  then acts upon the packing unit  15  and pushes it onto a horizontal loading plate  52 . The lifting pins may then be dropped back under the tray conveyor  51  so that the empty tray  10  may be conveyed by a tray-returning conveyor  62  back into the tray storage facility. The packing unit  15  situated on the loading plate  52  is moved by means of a displacement device (pusher)  53  in x-direction, i.e. in the direction of the longitudinal side of the load carrier  20 , to the intended x-position of the packing unit in the loading configuration of the load stack  21 . The packing unit  15  is then pushed by means of a scraper  57  onto a loading tongue  56 , which projects in z-direction (depth direction of the load stack), and moved by means of said loading tongue in z-direction to the intended z-position of the three-dimensional loading configuration of the load stack. Then the loading tongue  56  is retracted, while the scraper  57  initially remains in position, with the result that the packing unit  15  is deposited at its intended position on the load stack. Loading tongue and scraper are then retracted in order to receive the next packing unit. In order to perform the described loading task, loading tongue and scraper have to be movable simultaneously in x-direction and independently of one another in z-direction. 
     The order load carriers may be e.g. commercially available pallets such as so-called Euro pallets. The invention is however also suitable for use with laterally enclosed load carriers such as e.g. boxes, containers or mesh boxes. For loading such enclosed load carriers by means of the loading apparatus a load-carrier tilting device (not shown in the drawings) is provided, which tilts an enclosed load carrier through 90° in a forward direction so that it is accessible and may be loaded, as it were, from above. With the aid of the previously mentioned packing-unit tilting device  85  the packing units may be brought into the corresponding tilted position prior to loading. 
     The loading operation is described once more in detail below with reference to the sequence diagrams in plan view of  FIGS. 11-1  through  11 - 10  (herein collectively referred to as  FIG. 11 ). In  FIG. 11-1 , the packing unit  15  situated on the tray  10  is acted upon by the lifting pins  54  and then conveyed by the rake  15  onto the loading plate  52 . The packing unit  15  is then displaced by the displacement device  53  in x-direction to the loading position ( FIGS. 11-2  and  11 - 3 ). Once the correct x-position has been reached ( FIG. 11-4 ), the packing unit is pushed by the scraper  57  onto the loading tongue  56  ( FIG. 11-5 ) and then, while lying on the loading tongue  56 , is pushed in z-direction to the intended position ( FIGS. 11-6  and  11 - 7 ) and then pressed by a slight movement of the loading tongue in (in said case) negative x-direction against a packing unit already provided in the load plane ( FIG. 11-7 ). The loading tongue is then retracted, while the scraper  57  initially remains in position (diagram  8 ), with the result that the packing unit  15  is deposited in its intended position. Finally, loading tongue and scraper are both retracted so that the next packing unit  15   a  may be positioned. 
     As is evident from  FIG. 11-6 , as the first packing unit  15  is being loaded by the loading tongue onto the load stack, the next packing unit is already being pushed by the rake  55  onto the loading plate  52 , then in  FIGS. 7 ,  8 , and  9  displaced by the displacement device  9  in x-direction into the correct position and in  FIG. 11-10  acted upon by the scraper  57 . 
     The individual trays and packing units follow one another at a distance that allows each of the individual movements to be non-interacting and to be executed independently of one another. 
     The sequence of  FIGS. 12   a  through  12   e  (herein collectively referred to as  FIG. 12 ) shows the mode of operation of the loading apparatus according to the invention in side view. Here, mention should be made of the pallet-lifting device  61 , which effects the positioning of a packing unit in the load stack in y-direction by lifting and/or lowering the load carrier. It is also clearly evident from  FIG. 12  how in  FIGS. 12   a ),  12   b ),  12   c ) the packing unit  15  (“cardboard box”) is conveyed by loading tongue  56  and scraper  57  to the correct depth position on the load stack. In the method step shown in  FIG. 12   d ) the loading tongue  56  is already retracted and the packing unit is held in position only by the scraper  57 , which in  FIG. 12   e ) likewise retracts in order to be able to act upon the next packing unit. 
     Also provided in the illustrated embodiment is a scanning device  65 , e.g. in the form of a laser scanner for detecting the actual height of the load stack and for checking whether the loading operation corresponds to the calculated stipulations. The scanning device  65  is preferably disposed in a movable manner. 
     Also evident from  FIGS. 10 to 12  is the loading aid  60 , which encloses the developing load stack  21  on three sides and hence may serve as a support surface for a pushing movement of the packing units in horizontal direction. 
     As soon as a load carrier has been fully loaded with a load stack  21 , a load-carrier changing device  58  exchanges the full load carrier for a fresh, empty load carrier ( FIG. 13 ). The full load carrier passes, as is likewise shown in  FIG. 13 , to a film wrapping machine  80 , in which the loaded load carrier  20  is lifted out of the loading aid  60  and simultaneously wrapped in a film to stabilize the load stack. The wrapped load stack is then moved by means of a lift or the like to a loading ramp for loading of the lorry, while the empty loading aid is provided with a pallet and then returned to the loading apparatus. 
     The invention therefore allows automated loading of load carriers such as pallets with articles supplied in various packing units, wherein material-independent and careful loading may be ensured. It is moreover possible to form stable load stacks with good utilization of space and at the same time economically achieve a high commissioning capacity. 
     
       
         
               
             
               
               
               
             
           
               
                   
               
               
                 List of reference characters 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                   
                 10 
                 tray 
               
               
                   
                 11 
                 tray openings 
               
               
                   
                 12 
                 edge 
               
               
                   
                 15 
                 packing unit, cardboard box 
               
               
                   
                 20 
                 load carrier, order pallet 
               
               
                   
                 21 
                 load stack 
               
               
                   
                 41 
                 storage paths 
               
               
                   
                 42 
                 retrieval paths 
               
               
                   
                 45 
                 sorting device/overtaking device 
               
               
                   
                 47 
                 lift 
               
               
                   
                 48 
                 rotary apparatus 
               
               
                   
                 50 
                 pallet-loading machine, COM 
               
               
                   
                 51 
                 tray conveyor 
               
               
                   
                 52 
                 loading plate 
               
               
                   
                 53 
                 displacement device, pusher 
               
               
                   
                 54 
                 lifting pins 
               
               
                   
                 55 
                 rake 
               
               
                   
                 56 
                 loading tongue 
               
               
                   
                 57 
                 scraper 
               
               
                   
                 58 
                 load-carrier changing device 
               
               
                   
                 60 
                 loading aid 
               
               
                   
                 61 
                 pallet-lifting device 
               
               
                   
                 62 
                 tray-returning conveyor 
               
               
                   
                 65 
                 scanning device 
               
               
                   
                 70 
                 tray-vibrating device 
               
               
                   
                 71 
                 tilting support 
               
               
                   
                 72 
                 lifting piston 
               
               
                   
                 80 
                 73 support plate 
               
               
                   
                 80 
                 film wrapping machine 
               
               
                   
                 85 
                 packing-unit tilting device 
               
               
                   
                 100 
                 pallet storage facility 
               
               
                   
                 101 
                 storage racks 
               
               
                   
                 103 
                 aisles 
               
               
                   
                 105 
                 depalletizing device 
               
               
                   
                 110 
                 delivery 
               
               
                   
                 120 
                 functional area 
               
               
                   
                 130 
                 tray storage facility 
               
               
                   
                 131 
                 storage racks 
               
               
                   
                 133 
                 aisles 
               
               
                   
                 135 
                 rack-mounted storage/retrieval machines for tray 
               
               
                   
                   
                 storage facility 
               
               
                   
                 140 
                 loading 
               
               
                   
                 141 
                 lorry ramps 
               
               
                   
                 200 
                 lorry