i think you can achieve it using session for store the items after that 
checkout and then submit it (like online shopping cart method)
ref:
https://github.com/mdipierro/web2py-appliances/tree/master/PosOnlineStore

or if you want grid solution (create the header first and then you can add, 
edit, delete the detail items for the header created)
ref:
http://www.web2pyslices.com/slice/show/1658/invoice2py

if you want to use autocomplete/suggest in form field, please take a look 
at book :
http://web2py.com/books/default/chapter/29/07/forms-and-validators#Autocomplete-widget

best regards,
stifan

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