Automatic load loading and unloading device and system

Abstract

A material handling system (10, 110, 210) includes a storage device (12, 112, 212) having a frame (20, 120, 220) and a plurality of storage shelves, where the frame (20, 120, 220) is configured to support the plurality of storage shelves on a ground, and an automatic load handling device (14, 114, 214); the automatic load handling apparatus (14, 114, 214) has a base (28) configured to be supported on and movable over the ground, and the automatic load handling apparatus (14, 114, 214) includes a stabilizing member (18, 118, 218) configured to engage with the storage device (12, 112, 212) to stabilize the automatic load handling apparatus (14, 114, 214).

Description

Cross Reference to Related Applications

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 535,602, filed August 31, 2023, the disclosure of which is incorporated by reference herein in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates generally to automated load handling devices, and more particularly to automated load handling devices that transport loads to and from storage devices, such as one or more storage racks. BACKGROUND

[0003] Automated load handling devices include various load handling devices, including autonomous mobile robots, often referred to as AMRs, automated guided vehicles, often referred to as AGVs, advanced motor control systems, often referred to as ACRs, and forklifts, which are often unmanned vehicles commonly used for material handling purposes. These load handling devices are capable of transporting items from one location to another without the need for a driver on the vehicle, and often are also capable of self-driving from a first location to a second location, such as by using navigation sensors to determine its location and direction of travel, and safely navigate around people, equipment, and inventory.

[0004] Some automated load handling devices (automated load handling devices) can have telescoping load supports, such as forks mounted to be vertically movable, to reach higher heights, for example up to 7-10 meters, which increases the height range of the automated load handling device. Other automated load handling devices can have telescoping load supports in the form of robotic arms, which increases the work envelope and reachable distance of the automated load handling device. However, as the height and reachable distance increase, the automated load handling device can experience sway, which can affect the stability and accuracy of the load handling device when handling heavy loads. SUMMARY

[0005] According to one aspect of the present disclosure, a material handling system includes a storage device having a frame configured to support a plurality of storage racks on a floor and an automated load handling device having a base configured to be supported on and movable on the floor, and the automated load handling device includes a stabilizing member configured to engage with the storage device to stabilize the automated load handling device.

[0006] According to another form, the automated load handling device includes a base and an extendable load support mounted on the base for supporting a load, such as a pallet, tote or container. The automated load handling device also includes an extendable stabilizing device configured to engage with a storage device when extended to stabilize the automated load handling device when adjacent the storage device and configured to transport or retrieve a load from the storage device.

[0007] According to one particular aspect of the disclosure, the automated load handling device includes an extendable load support that is extendable or movable relative to the base. In one form, the stabilizing member is mounted relative to the extendable load support for movement therewith. In a particular configuration, the stabilizing member is movably mounted to the extendable load support and is selectively movable between a stowed position and an extended position, wherein the stabilizing member is configured to engage with a storage device in the extended position.

[0008] According to another particular aspect, the storage device includes a track mounted relative to a frame of the storage device, wherein the stabilizing member is configured to engage with the track.

[0009] Additionally or alternatively, the stabilizing member can be configured to couple to the storage device. In a particular embodiment, the stabilizing member includes a lock for releasably locking the stabilizing member to the storage device.

[0010] According to another aspect of the disclosure, the extendable load support includes a robotic arm.

[0011] In yet another aspect, the storage device includes a pair of storage devices separated by an aisle, wherein the automated load handling device is configured to traverse the aisle between the storage devices, wherein the stabilizing member is configured to engage with at least one of the storage devices to stabilize the automated load handling device. Optionally, the automated load handling device can include a pair of stabilizing members, wherein each stabilizing member is configured to engage with a separate one of the storage devices.

[0012] According to another aspect of the disclosure, a method of stabilizing a load handling device in a position adjacent an adjacent storage device includes providing the load handling device with at least one stabilizing member, positioning the stabilizing member in contact with the adjacent storage device or another storage device next to the adjacent storage device, and bringing the adjacent storage device or the other storage device into contact with the stabilizing member to facilitate stabilization of the load handling device.

[0013] In a particular form, the positioning includes pivoting the stabilizing member between a stowed position and a deployed position, and in the deployed position, the stabilizing member is positioned in contact with the storage device. Optionally, the positioning can further include extending a length of the stabilizing member. Still further, the contact with the stabilizing member can include engaging an adjacent storage device or other storage device with the stabilizing member.

[0014] According to another aspect, the method can include providing a track on the adjacent storage device or other storage device, wherein the engaging includes engaging the track with the stabilizing member. Alternatively and / or optionally, the engaging can further include locking the stabilizing member to the adjacent storage device or other storage device.

[0015] According to yet another embodiment, a method of stabilizing a load handling device between two opposing storage devices includes providing the load handling device with at least one stabilizing member, positioning the stabilizing member in contact with one of the opposing storage devices, and contacting the one of the opposing storage devices with the stabilizing member to facilitate stabilization of the load handling device.

[0016] In a particular form, the load handling device is provided with two stabilizing members, and the contacting includes contacting both of the opposing storage devices with the stabilizing members, which can include engaging at least one of the opposing storage devices.

[0017] A material handling system according to the present disclosure provides a system and method for stabilizing an automated load handling device relative to a storage device. Such a stabilized system provides improved safety and accuracy in storing and removing goods from a storage device. These and other objects, advantages, goals, and features of the present invention will become more apparent when reviewed in conjunction with the following specification, which is to be read in conjunction with the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a perspective view of a material handling system having storage devices and automated load handling devices;

[0019] Figure 2 is a perspective view of an automated load handling device with a mechanical arm; Figure 1 is a perspective view of an automated load handling device of

[0020] Figure 3 is a perspective view of an automated load handling device of another embodiment adjacent to a storage device;

[0021] Figure 4 is a perspective view of an automated load handling device of Figure 3 is an enlarged perspective view of an automated load handling device of

[0022] Figure 5 is a perspective view of an automated load handling device of Figure 4A similar view, in which the shuttle is in its fully raised position, shows a pair of extended stabilizing members;

[0023] Figure 6 Is with Figure 5 A similar view, in which the shuttle is in its fully raised position, shows a single stabilizing element;

[0024] Figure 7 This is a perspective view of an automated load-unloading device according to yet another embodiment, located between two storage devices; and

[0025] Figure 8 This is a partial view of a telescopic stabilizing member with a retractable pin. Detailed Implementation

[0026] See Figure 1 The number 10 typically represents a material handling system. In the illustrated embodiment, the material handling system 10 includes a storage device 12, such as a storage rack 13 with multiple shelves; and an automated load handling device 14, such as an automated mobile robot (AMR) as shown, which may alternatively include an automated guided vehicle (AGV), an advanced motor control system (ACR), and a forklift. The automated load handling device 14 includes a retractable load support 16, such as a robotic arm or forklift, for transporting loads to or from the storage device 12. As will be described in more detail below, when the retractable load support 16 extends (whether raised and / or extended outward), the automated load handling device 14 is adapted to reduce the degrees of freedom of the retractable load support to stabilize the automated load handling device 14.

[0027] As in Figure 1 As can be clearly seen, the automatic load loading and unloading device 14 is equipped with one or more stabilizers or stabilizing members 18, which are mounted on the automatic load loading and unloading device 14 and move as shown in the image. Figure 2 The collapsible position shown, or moved to such a position. Figure 1 The deployed position is shown. When deployed, the stabilizing member 18 is configured and positioned to engage with the storage device 12 to reduce one or more degrees of freedom of the automated load-unloading device 14 and thus increase the stability of the automated load-unloading device 14 without increasing the footprint of the automated load-unloading device. Although shown as engaging only with an adjacent shelf, the automated load-unloading device 14 can also engage with another shelf next to the adjacent shelf. Furthermore, reference will be made below. Figure 7 More fully, the automatic load handling device 14 may be located between and engaged with both shelves, or it may be located between two shelves but engaged with only one shelf.

[0028] For example, the engagement between the stabilizing member 18 and the storage device 12 can be located between the stabilizing member 18 and the frame 20 of the storage device 12, or between the stabilizing member 18 and the track 22 mounted on the frame 20 of the storage device 12. Furthermore, this engagement can be merely a support contact, primarily providing reaction force along one axis to act as a guide, or it can be a mechanical connection that provides reaction force along two or more axes, thereby stabilizing the stabilizing member 18 relative to the storage device.

[0029] For example, the stabilizing member 18 may have one or more guide rollers 18a ( Figure 2 This allows the stabilizing member 18 to move relative to the storage device 12 by engaging with the frame 20 or rail 22. In one embodiment, the storage device 12 may be configured as an EXOTEC® rack structure with vertical rack rails, which can be engaged by guide rollers to stabilize the automated load unloading device 14.

[0030] In another example, when the automated load-handling device 14 is located in an aisle between two storage units 12, such as in an Automated Storage and Retrieval System (ASRS) or a Dematic MULTISHUTTLE® racking system, the automated load-handling device 14 may have two stabilizing members 18 that extend outward from opposite sides of a retractable load support (e.g., a robotic arm or forklift) and extend to the respective two storage units to form a support, thereby stabilizing the automated load-handling device 14. When forming a support, each respective stabilizing member 18 may include a pad at its distal end to provide support contact with the respective storage unit. Furthermore, the size and extent of extension of the stabilizing members 18 may be designed to generate compressive forces on the respective storage units.

[0031] See you again Figure 1 and Figure 2 One or more stabilizing members 18 may be mounted to the retractable load support 16. The one or more stabilizing members 18 may have a fixed length or be formed of a telescopic member. Furthermore, the one or more stabilizing members 18 may be movable relative to the retractable load support, such as by mechanical means (e.g., using linkages or racks and pinions or springs), pneumatic means (e.g., using cylinders), electromechanical means (e.g., using actuators such as linear actuators or motors), or by using magnetic devices (e.g., electromagnets controlled by the control system of the automatic load loading / unloading device 14, as described below) by pivoting or linearly extending from the retractable load support 16.

[0032] Additionally or alternatively, in any of the above-described cases, the stabilizing member 18 may include a locking mechanism to grip the corresponding storage device and thus (e.g., via a gripper) provide reaction forces along at least two axes. A suitable locking mechanism may include a deployable pin mounted on the distal end of the stabilizing member 18, configured to releasably engage with an engagement structure on the corresponding storage device (e.g., a hopper positioning hole in the storage device). For example, the pin may be moved from a retracted position to an deployed, operable position by an actuator (e.g., an electromagnet, electromagnetic device, or pneumatic device), where it engages with the corresponding storage device. In one form, the pin may extend linearly. Alternatively, the pin may be rotated from its retracted position to its deployed, operable position. Figure 8 An exemplary telescopic stabilizer or stabilizer arm 318 is shown, which has a telescopic pin 319, wherein the pin 319 can engage in a hole on a track (such as track 22).

[0033] To selectively control the deployment of the stabilizing member 18 and the optional locking pin, the automated load handling device 14 may include one or more sensors 24. Sensors 24 may be provided to detect the proximity of the storage device, and based on signals from the sensors (or alternatively, the state of the sensors), the control system, as described below, will actuate signals to the actuators of the stabilizing member 18 and the optional locking pin, causing the stabilizing member 18 to move or extend to its deployed position, and similarly, the pin to move or extend to its extended operating position to engage with the storage device. The proximity detection device 24, configured to detect when the automated load handling device 14 is very close to the storage device 12, may consist of any of a variety of different types of sensors, such as capacitive sensors, sonar devices, or any other sensing technology suitable for the material handling system 10.

[0034] As described above, the automated load handling device 14 can take various forms, including automated mobile robots (AMRs), automated guided vehicles (AGVs), advanced motor control systems (ACRs), humanoid robots, robotic devices with movable arms, and forklifts. Figure 1 and Figure 2 In the depicted embodiment, the automated load handling device 14 is shown as an AMR 26 with a base 28 and a robotic arm 30, the robotic arm being mounted on the base and movable about a vertical axis 28a. While the robotic arm 30 is capable of a variety of applications, it is particularly useful in performing the various techniques disclosed in commonly assigned international patent application publication number WO2015 / 035300 (titled "AUTONOMOUS MOBILE PICKING"), the disclosure of which is incorporated herein by reference in its entirety.

[0035] The robotic arm 30 includes two articulated arms 30a and 30b configured to pivot about pivot axes 32a and 32b. One end of the robotic arm 30 has an end-effector tool 30c for grasping and manipulating objects and is interchangeable with other tools at a tool changing station. The robotic arm 30 may include a vision system, such as a camera, for detecting objects to allow the end-effector tool 30c to grasp and manipulate them.

[0036] The robotic arm 30 may have an onboard controller 60 for controlling the movement of arms 30a and 30b. This controller is connected to the control unit or control system 50 of the AMR26, or can be directly controlled by the control unit 50 of the AMR26. Therefore, the mechanical controller 60 can have considerable autonomy relative to the control unit 50. Both the AMR26 and the robotic arm 30 can operate autonomously or in response to commands received from a central external control unit (not shown) (e.g., via RF or other communication methods). By making the mechanical controller 60 independent of the control unit 50, the process of picking up and placing items is separated from the process of positioning the robotic arm to a position where picking and placing can be performed.

[0037] Furthermore, the robotic arm 30 may include one or more stabilizing members 18, one on each side of the arm 30b. Optionally, as previously described, each stabilizing member 18 may be formed of a telescopic or fixed-length member, which is deployed via an onboard controller or directly via the AMR control system. Similarly, as described above, one or more sensors 24 may be mounted on the robotic arm 30, for example, on the articulated arm 30b as shown, which provide input directly or indirectly to the control system of the AMR 26.

[0038] To enable the AMR to move on the ground, the AMR26 has a propulsion system for propelling and maneuvering the AGV. For example, the base 28 of the AMR26 may have two, three, or more wheels 34, such as casters, to support the base 28 on the ground, wherein at least one wheel forms a drive wheel and is biased on the ground to propel the AMR to move on the ground.

[0039] Furthermore, as previously described, the material handling system 10 includes a control unit 50 with a navigation and guidance system 52, which is capable of accurately determining and controlling the position and orientation of the AGV 26 to follow a preferred trajectory (also known as a guide path). The control unit 50 includes forward and backward optical imaging, detection, and ranging (LIDAR) systems 54 to detect features around the AGV 26 and the orientation and distance of those features. Additionally, the control unit 50 can receive input from sensors 24 and a vision system and directly control the actuators of the robotic arm 30, stabilizing member 18, arm tool 30c, and / or optional locking pins, or can control them via an onboard controller 60 provided for the robotic arm 30. For further details regarding the base 28, wheels 34, base housing, and navigation and guidance system 50 and control unit 60, refer to U.S. Patent No. 10,434,924, jointly owned by Dematic Corporation, Grand Rapids, Michigan, which is incorporated herein by reference in its entirety.

[0040] As mentioned above, see Figures 3 to 6 Alternative material handling systems 110 and automated load unloading devices 114 can take various forms, including an AMR 114 with a retractable load support mounted on a telescopic frame 114a in the form of a shuttle 116, capable of vertical movement. Similar to the aforementioned embodiments, the shuttle 116 may include one or more stabilizers or stabilizing members 118. Figure 5 and Figure 6 These stabilizers or stabilizing members extend from the retractable load support (shuttle 116 in this embodiment). As shown, the AMR 114 can be used with a storage device 112, which includes a storage rack 113 having a frame 120 and a track 122, the track being engaged via a stabilizing member 118.

[0041] As in Figure 5 As can be clearly seen, the shuttle 116 includes two stabilizing members 118 that extend outward from opposite sides of the shuttle 116 and, for example, in the two storage devices 112 ( Figure 3 (Only one is shown in the image) extends between them to form a support, thereby stabilizing the automatic load loading and unloading device 114 between the two storage devices 112.

[0042] Similar to the automatic load-unloading device 14, the automatic load-unloading device 114 may have an onboard controller to control the movement of the shuttle 116 and its telescopic arm, as well as the stabilizing member 118. To enable the automatic load-unloading device 114 to move on the ground, it may have a propulsion system for propelling and maneuvering it, similar to that of the automatic load-unloading device 10. For example, the base of the automatic load-unloading device 114 may have two, three, or more wheels, such as casters, to support the base on the ground, with at least one wheel forming a drive wheel and biased towards the ground to propel the automatic load-unloading device 114 on the ground.

[0043] For more detailed information on the stabilizing components, optional sensors and how they are mounted on the shuttle 116, as well as optional control and navigation systems, refer to the description above of the automatic load-loading device 14 with retractable load support 16.

[0044] See Figure 7 Number 210 indicates another embodiment of a material handling system having an automated load-loading device in the form of a telescopic forklift 214. This forklift has a telescopic load support in the form of forks 216 mounted on a telescopic frame 214a, which can extend to raise or lower the forks 216. Similar to the previous embodiments, the forks 216 may include one or more stabilizing members 218 extending from the telescopic load support (forks 216 in this embodiment). As shown, the telescopic forklift 214 can be used with a storage device 212 including storage racks 213, each rack including a frame 220 and rails 222, which can be engaged via the stabilizing members 218.

[0045] As in Figure 7 As clearly seen, the fork 216 includes two stabilizers or stabilizing members 218, which extend outward from opposite sides of the fork 216 and, for example, between the two storage units 212 to form a support, thereby stabilizing the telescopic forklift 214 between the two storage units 212. However, as mentioned above, only a single stabilizing member 218 can be deployed to engage with only one of the shelves.

[0046] Similar to automated loaders 14 and 114, automated loader 214 may have an onboard controller to control the movement of the forks 216 and the stabilizing member 218. To enable automated loader 214 to move on the ground, it may have a propulsion system for propelling and maneuvering it, similar to automated loaders 14 and 114. For example, the base of automated loader 214 may have two, three, or more wheels, such as casters, to support it on the ground, with at least one wheel forming a drive wheel and biased towards the ground to propel the automated loader 214. For more details regarding the stabilizing member 218, optional sensors and how they are mounted on the forks 216, and optional control and navigation systems, refer to the description above.

[0047] The airborne computers, control systems, navigation and guidance systems, and vision systems described with reference to the accompanying drawings typically include a processor configured to perform computational and control system functions, including executing instructions contained in computer code. These instructions are tools and programs capable of implementing management methods for automated load-handling devices and storage systems in warehouses during order fulfillment. According to some embodiments, the instructions of the computer code can be executed by the processor via a storage device or storage module. The computer code may include software or program instructions that implement one or more algorithms to implement one or more of the aforementioned methods. The onboard computer, control system, navigation and guidance system, and vision system that execute computer code can be any processor, such as a vision processing unit (VPU), tensor processing unit (TPU), digital signal processor (DSP), general-purpose core processor, graphics processing unit (GPU), computer processing unit (CPU), field-programmable gate array (FPGA), artificial intelligence application-specific integrated circuit (AI-ASIC), microprocessor, AI / ML processing unit, cryptographic processor unit, neural processing unit, cognitive computing unit, silicon-on-a-chip (SPC), graphene-on-a-chip (PAC), neural network-on-a-chip (NNRRAM), system-on-a-chip (SoC), system-in-package (SIP) configuration, single-core or multi-core processor, or any suitable combination of components. Other processors specifically designed for AI and Internet of Things (IoT) computing can also be used in the above systems. The virtual processor can be incorporated into a controller, controller module, PLC, or WES.

[0048] A storage device or storage module may include input data. Input data includes any input required by the computer code. An output device displays the output of the computer code. The storage device may serve as a computer-usable storage medium (or program storage device) having a computer-readable program contained therein and / or other data stored therein, wherein the computer-readable program includes computer code. Typically, the computer program product (or alternatively, the article of manufacture) of a system may include the computer-usable storage medium (or the program storage device).

[0049] Networks between airborne computers, control systems, sensors, etc., can include wired communication, wireless communication, or a combination thereof. Wireless communication can include, but is not limited to, wireless local area networks (WLANs), wireless wide area networks, local area networks (LANs), personal area networks (PANs), cloud-based networks, public networks (such as the Internet), private networks (such as Frame Relay networks), wired networks, short-range and long-range radio communication, and wireless communication protocols such as Bluetooth, Bluetooth Low Energy, Purple Bee, infrared and radio frequency, Wi-Fi, Ultra Wideband (UWB), wireless mesh networks, cellular networks, satellite networks, Mobile Ad Hoc Networks (MANETs), Long Term Evolution (LTE) networks, Global Microwave Access Interoperability (WiMAX), Universal Mobile Telecommunications System (UMTS), etc., or any combination suitable for a particular environment.

[0050] As those skilled in the art will understand, this disclosure can be a computer program product. Any component in the embodiments of this disclosure can be deployed, managed, maintained, etc., by a service provider offering computing infrastructure deployment or integration services related to embodiments of the inventive concept. Therefore, one embodiment of this disclosure discloses a process for supporting a computer infrastructure, wherein the process includes providing at least one support service for integrating, hosting, maintaining, and deploying at least one of computer-readable code (e.g., program code) in a computer system including one or more processors, wherein the processors execute instructions contained in the computer code to cause the computer system to generate the technology described in the embodiments. In another embodiment, this disclosure discloses a process for supporting a computer infrastructure, the process including integrating computer-readable program code into a computer system including a processor.

[0051] While the foregoing description has described several embodiments of the invention, those skilled in the art will understand that variations and modifications of these embodiments can be made without departing from the spirit and scope of the invention as defined by the following claims. The invention encompasses all combinations of various embodiments or aspects of the systems and automated load-handling devices described herein. It should be understood that any and all embodiments of the described systems and automated load-handling devices can be used in conjunction with any other features and embodiments described herein. Furthermore, any element in the embodiments can be combined with any and all other elements in any additional embodiments described herein.

Claims

1. A material handling system, comprising: A storage device having a frame and a plurality of storage racks, the frame being configured to support the plurality of storage racks on the ground; as well as An automatic load-unloading device has a base configured to be supported on and movable on the ground, and includes a stabilizing member configured to engage with the storage device to stabilize the automatic load-unloading device.

2. The material handling system according to claim 1, wherein the automatic load loading and unloading device further includes a retractable load support member that can extend or move relative to the base.

3. The material handling system according to claim 2, wherein, The stabilizing member is mounted relative to the retractable load support so as to move together with the retractable load support.

4. The material handling system according to claim 3, wherein, The stabilizing member is movably mounted to the retractable load support and is movable between a stowed position and an extended position, in which the stabilizing member is configured to engage with the storage device.

5. The material handling system according to any one of claims 1 to 4, wherein, The storage device includes a track mounted relative to the frame of the storage device, and wherein the stabilizing member is configured to engage with the track.

6. The material handling system according to any one of claims 1 to 4, wherein, The stabilizing component is configured to be coupled to the storage device.

7. The material handling system according to any one of claims 1 to 4, wherein, The stabilizing member supports the locking element to releasably lock the stabilizing member to the storage device.

8. The material handling system according to any one of claims 2 to 4, wherein, The retractable load support includes a robotic arm.

9. The material handling system according to any one of claims 1 to 4, wherein, The storage device includes a pair of storage devices separated by an aisle, and wherein the automatic load-unloading device is configured to pass through the aisle between the storage devices, and the stabilizing member is configured to engage with at least one of the storage devices to stabilize the automatic load-unloading device.

10. The material handling system according to claim 9, wherein, The automatic load loading and unloading device includes a pair of stabilizing members, wherein each of the stabilizing members is configured to engage with a single one of the storage devices.

11. A method for stabilizing a load loading / unloading device in a position adjacent to an adjacent storage device, the method comprising: Provide at least one stabilizing component for the load loading and unloading device; Positioning the stabilizing member to contact the adjacent storage device or another storage device adjacent to the adjacent storage device; and The adjacent storage device or other storage device is brought into contact with the stabilizing member to facilitate the stability of the load loading and unloading device.

12. The method according to claim 11, wherein, The positioning includes pivoting the stabilizing member between a stowed position and an extended position, wherein the stabilizing member is positioned to contact the storage device in the extended position.

13. The method according to any one of claims 11 or 12, wherein, The positioning includes extending the length of the stabilizing member.

14. The method according to any one of claims 11 or 12, wherein, The contact includes engaging the adjacent storage device or other storage device with the stabilizing member.

15. The method of claim 14, further comprising providing a track on the adjacent storage device or other storage device, and the engagement comprising engaging the track with the stabilizing member.

16. The method according to claim 15, wherein, The engagement includes locking the stabilizing component to the adjacent storage device or other storage device.

17. A method for stabilizing a load loading / unloading device, the load loading / unloading device being located between two opposing storage devices, the method comprising: Provide at least one stabilizing component for the load loading and unloading device; Position the stabilizing component to contact one of the opposing storage devices; as well as One of the relative storage devices is brought into contact with the stabilizing member to facilitate the stability of the load loading and unloading device.

18. The method according to claim 17, wherein, The provision includes providing two stabilizing members for the load loading / unloading device, and the contact includes contacting the two opposing storage devices with the stabilizing members.

19. The method according to claim 17 or 18, wherein, The contact includes engaging at least one of the relative storage devices.

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