CN111665856A - Automatic guide vehicle, article supply device, article distribution system and control method - Google Patents

Abstract

The invention discloses an automatic guiding vehicle, comprising: a frame; a motor mounted on the frame; one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move; and a comb device mounted on the carriage to grab and/or release an object. By the embodiment of the invention, high-efficiency package sorting service can be realized, the smoothness of the operation flow is very high, the package supply is realized under the condition that the AGV does not stop, and the package supply time is greatly shortened. In addition, the embodiment of the invention automatically takes the workpiece by utilizing the thrust in the action direction of the AGV, does not need to slow down and stop, realizes the efficiency of the AGV at the workpiece supply point with lower cost, and simultaneously reduces the waste of the working capacity of workpiece supply workers.

Description

Automatic guide vehicle, article supply device, article distribution system and control method

Technical Field

The invention relates to the field of intelligent warehousing, in particular to an automatic guide vehicle, a piece supply device, an article distribution system and a control method, wherein the automatic guide vehicle can be used for taking and placing goods under a non-stop condition.

Background

In the current logistics warehousing field, Automatic Guided Vehicles (AGVs) have been increasingly used to replace or supplement manual labor. The automatic guided vehicle can automatically receive the object conveying task, reaches the first position under the control of a program, acquires the object, then travels to the second position, unloads the object, and continues to execute other tasks. For example, as shown in fig. 1, a prior art automated guided vehicle generally includes a base below and wheels mounted below the base, and is programmed to travel in a warehouse, with a load-holding platform mounted above the AGV for placing goods. When the automatic guided vehicle walks to the feeding point, the automatic guided vehicle stops moving, and goods are placed on the object placing table of the automatic guided vehicle through the mechanical arm or the jacking mechanism. After the goods are loaded, the automatic guided vehicle is restarted, travels to the target position, unloads the goods through the mechanical arm or other modes again in a static state, and finishes a goods carrying task.

In automatic guide car parcel letter sorting business, the automatic guide car that has now on the market can supply a little to slow down to stop at supplying, supplies to leave with higher speed again after a completion, and this acceleration and deceleration process has the extravagant problem of time, and automatic guide car accelerates, slows down simultaneously, can consume a large amount of battery electric energy, reduces AGV's the interval of charging for overall efficiency is lower.

In the application of sorting machine, there is the confession platform that realizes similar purpose, mainly divide into and supply a little, the point of keeping in, most sorting machine is loop configuration, in case start will all letter sorting dollies at the uniform velocity operation on the track, supply a platform to put the parcel back, can rotate forward to the position of keeping in, when meetting empty letter sorting dolly, letter sorting dolly belt and the point of keeping in belt can rotate simultaneously, rotate the parcel to the letter sorting dolly on, the supply package of not stopping of letter sorting dolly has also been realized on this process.

In AGV parcel letter sorting scheme, also can adopt similar confession a platform to reach the same destination, but can improve a lot to AGV and the synchronous requirement of confession a platform (AGV is flexible scheme, and AGV body uniformity, AGV current speed, road surface condition, communication quality reasons such as can lead to the operating mode of whole material loading process can be more complicated than the sorter), and this kind of confession a platform uses power equipment more in addition, and is with higher costs, and is not very suitable for large-scale commercial application.

The statements in the background section are merely prior art as they are known to the inventors and do not, of course, represent prior art in the field.

Disclosure of Invention

In view of the above, the present invention provides an automatic guided vehicle, including: a frame; a motor mounted on the frame; one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move; and a comb device mounted on the carriage to grab and/or release an object.

According to one aspect of the invention, the carriage includes a placement platform, and the comb device is mounted on one side of the placement platform and configured to grasp the item and place the item on the placement platform while the automated guided vehicle is moving.

According to one aspect of the invention, the comb device has comb teeth along the vertical direction, the comb teeth are preferably evenly distributed, and the automatic guided vehicle further comprises a navigation positioning device arranged on the vehicle frame.

The invention also provides a unit supply for items to be dispensed, comprising: a base; a comb device disposed on the base and configured to carry items to be dispensed.

According to one aspect of the invention, the base has a portal frame, and the comb device is disposed on a cross beam of the portal frame.

According to one aspect of the invention, further comprising a sensing device arranged on the base, the sensing device being configured to sense information of the item to be dispensed, the sensing device preferably being a scanner and/or a camera and/or a weighing device.

The present invention also provides an item dispensing system comprising: the automatic guided vehicle as described above; the supply device as described; and the control device is coupled with the automatic guiding vehicle and is configured to issue a task of taking the parts from the parts supply device to the automatic guiding vehicle, and the automatic guiding vehicle takes away the objects to be distributed borne on the comb tooth device of the parts supply device in a moving state without interfering with the parts supply device.

According to an aspect of the invention, the control device is configured to: before the automatic guided vehicle takes the articles to be distributed away, the automatic guided vehicle is positioned relative to the workpiece supply device so that comb tooth devices of the automatic guided vehicle and the workpiece supply device are staggered.

The present invention also provides a control method for dispensing items, comprising: placing an item to be dispensed on a supply as described above; issuing a pick-up task corresponding to the article to the automatic guided vehicle; and taking away the articles to be distributed carried on the comb teeth device of the piece feeding device under the moving state of the automatic guiding vehicle and under the condition of not interfering with the piece feeding device.

According to an aspect of the present invention, the control method further comprises: and sending a message of successful pickup after the item to be distributed is picked up.

According to an aspect of the present invention, the control method further comprises: before the automatic guided vehicle takes the articles to be distributed away, the automatic guided vehicle is positioned relative to the workpiece supply device so that the comb teeth devices of the automatic guided vehicle and the workpiece supply device are staggered.

According to an aspect of the present invention, the control method further comprises: placing the item to be dispensed into a receiving container. By the embodiment of the invention, high-efficiency package sorting service can be realized, the smoothness of the operation flow is very high, the package supply is realized under the condition that the AGV does not stop, and the package supply time is greatly shortened.

In addition, the embodiment of the invention automatically takes the workpiece by utilizing the thrust in the action direction of the AGV, does not need to slow down and stop, realizes the efficiency of the AGV at the workpiece supply point with lower cost, and simultaneously reduces the waste of the working capacity of workpiece supply workers.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 shows a schematic view of an automatic guided vehicle of the prior art;

FIG. 2 illustrates an item dispensing system according to one embodiment of the present invention;

FIG. 3 schematically illustrates an automatic guided vehicle according to a preferred embodiment of the present invention;

FIG. 4 shows an automatic guided vehicle according to a variation of the present invention;

FIG. 5 illustrates a unit for supplying items to be dispensed according to one embodiment of the present invention;

FIG. 6 illustrates a control method for dispensing items according to one embodiment of the present invention; and

fig. 7A to 7D show a control method and working processes of a feeding device and an automatic guided vehicle according to an embodiment of the present invention.

Detailed Description

In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection, either mechanically, electrically, or in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

FIG. 2 shows a schematic view of an item distribution system 100 according to one embodiment of the present invention. As shown in fig. 2, the item distribution system 100 of the present embodiment includes: an Automatic Guided Vehicle (AGV)6 at position 101 for performing a sorting task of the articles or packages; a supply device 7 at position 102, on which a plurality of articles or parcels to be sorted can be placed, to be picked up and carried to other positions by the automatic guided vehicle 6; a receiving device 8 located at position 103 to receive the articles or packages handled by the automated guided vehicle 6, the receiving device 8 being a receiving container, or a next-level handling device, etc.; and a control device 9. The control device 9 may be, for example, a dispatching system and/or a web server, and the control device 9 is communicatively coupled to the automatic guided vehicle 6 and may issue a task of picking up the item from the item feeding device 7 to the automatic guided vehicle 6, so that the automatic guided vehicle 6 picks up the item to be dispensed carried on the item feeding device in a moving state and without interfering with the item feeding device 7.

The control device 9 is shown in fig. 2 as a separate device, but it will be understood by a person skilled in the art that the invention is not limited thereto, and that the control device 9 may be integrated into other components, for example with the supply device 7, all within the scope of the invention. The control device 9 may be implemented by software, hardware, or a combination of software and hardware, and may be implemented by a single computer, a single chip microcomputer, a microprocessor, a microcontroller, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), etc., or other integrated formats, which are within the scope of the present invention. In addition, the control device 9 can simultaneously control a plurality of automatic guided vehicles 6 so that a plurality of article sorting tasks are performed simultaneously in the warehouse.

It is also preferred that the control device 9 can be communicatively coupled to the supply device 7 in order to timely know the objects to be sorted placed on the supply device 7 and to timely issue sorting tasks to the available automated guided vehicles 6.

An article dispensing system 100 according to one embodiment of the present invention is schematically illustrated in fig. 2, and the specific structure of the automatic guided vehicle 6 and the supply device 7 will be described in detail below.

Fig. 3 schematically shows the structure of the automatic guided vehicle 6 according to a preferred embodiment of the present invention. As shown in fig. 3, the automatic guided vehicle 6 includes a vehicle frame 61, a traveling device 63, and a comb-tooth device 65. The vehicle frame 6 includes, for example, a chassis, a pillar, a support base, and the like, and is used to mount other components of the automatic guided vehicle 6. The running gear 63 is mounted on the bottom of the frame 61. In fig. 3, the running gear 63 is shown as a roller, but may of course be implemented in other ways, such as a track arrangement, which are within the scope of the invention. The automatic guided vehicle 6 further comprises a motor, not shown, which is mounted on the frame 61, for example coupled to the running gear 63 via a gearbox, and drives the running gear 63, so that the automatic guided vehicle 6 can move on the support plane. The number of the walking devices 63 can be set according to the needs, for example, two, three, or four walking devices can be set to realize the walking actions such as forward, backward, turning, stopping, etc. on the supporting plane. Comb tooth devices 65 are mounted on the carriage to grip and/or release items. Compared with the automatic guided vehicle shown in fig. 1, the automatic guided vehicle shown in fig. 3 can realize the grabbing of the articles without stopping, so that the efficiency of article sorting and carrying is greatly improved. Preferably, as shown in fig. 3, the comb teeth device 65 of the automatic guided vehicle 6 may be provided at the rear end of the automatic guided vehicle in the traveling direction thereof, so that the comb teeth device may directly capture the articles to be sorted when the automatic guided vehicle travels forward, and then transport to the next destination.

According to a preferred embodiment of the present invention, the carriage 61 further comprises a placement platform 67 for placing the sorted and handled items. The comb device 65 is mounted on one side (e.g., the rear side in the traveling direction) of the placement platform 67. The comb device 65 preferably has comb teeth in the vertical direction, which are preferably evenly distributed. The pitch of the comb teeth can be set arbitrarily as required. The spacing of the comb teeth may be larger, for example, when the size of the items in the warehouse is larger; when the size of the articles to be sorted in the warehouse is small, the pitch of the comb teeth can be set to be appropriately small.

According to a preferred embodiment of the present invention, the automatic guided vehicle 6 may further include a navigation positioning device (not shown) provided on the vehicle frame 61. The navigation-positioning device is configured to position the current position of the automated guided vehicle 6 and/or to navigate the movement of the automated guided vehicle 6. The navigation and positioning device may comprise, for example, a code scanning device that can read a ground code on the ground to determine the current position of the automated guided vehicle 6 and/or to navigate. The navigation and positioning device can also comprise a magnetic induction device which can induce the magnetic guide rail on the ground. The navigational positioning device may also include a camera to position and navigate (e.g., via SLAM techniques) based on the captured images (e.g., ground texture).

Figure 4 shows an automatic guided vehicle according to a variant of the invention. In contrast to the automated guided vehicle of fig. 3, the automated guided vehicle of fig. 4 has a plurality of rollers on the storage platform. Besides drum-type automatic guided vehicles, the technical solution of the present invention can also be applied to other types of automatic guided vehicles, such as belt pulley type, flap type, push-pull type automatic guided vehicles.

A unit feeder 7 for items to be dispensed according to one embodiment of the invention is described below with reference to fig. 5. As shown in fig. 5, the feeder 7 includes a base 75 and a comb device 74. Comb device 74 is disposed on base 75 and is configured to carry items to be dispensed. The feeding device 7 may also comprise a separate robotic arm (not shown) for placing the items to be dispensed onto the comb device 74. The robot arm may also be provided by means other than the feeder device 7, which are within the scope of the invention.

In the embodiment shown in fig. 7, the base 75 is, for example, a frame having a gate shape, and includes, for example, a pillar and a beam. The comb tooth device 74 is provided on the cross beam of the gate frame. The comb device has, for example, an L-shaped structure, wherein the vertical part of the L-shaped structure can be suspended from the cross-beam of the door frame and the horizontal part of the L-shaped structure is used for carrying the items to be dispensed.

The feeder 7 shown in fig. 5 does not have rollers and can be placed in a fixed position. But those skilled in the art can also conceive that the workpiece supply device 7 can also be provided with a walking device, so that the position of the workpiece supply device can be adjusted according to the requirement, and the operation is more flexible.

Further according to a preferred embodiment, the feeder device 7 may further comprise a sensing device arranged on the base 75. Two sensing devices, a vision device 72 and a weighing device 73, are shown in fig. 5. The weighing device 73 is used to measure the weight of the item to be dispensed. The visual means may be, for example, a camera or a scanner, for example, for taking a picture of the item to be dispensed, reading a two-dimensional code of a label on the item. Other types of sensing devices, such as NFC readers, may of course also be included. In this case, the article to be distributed has an NFC tag thereon, and the NFC reader can read data information in the article NFC tag. The item information measured by the sensing means, such as two-dimensional code information, destination information, weight information, etc., can be communicated to the control means 9, and the control means 9 can assign the work tasks to the appropriate automatic guided vehicles 6 according to the information of the items to be dispensed.

FIG. 6 illustrates a control method 600 for dispensing items according to one embodiment of the invention. As shown in fig. 6, the control method 600 includes:

in step S601, the item to be dispensed is placed on a piece supply device, such as a comb device of the piece supply device. The feeder is for example the feeder 7 described above.

In step S602, a pick-up task corresponding to the item is issued to the automatic guided vehicle. An automatic guided vehicle such as the automatic guided vehicle 6 described above.

In step S603, the automatic guided vehicle is moved and the articles to be dispensed carried on the comb device of the feeding device are taken away without interfering with the feeding device.

According to a preferred embodiment of the present invention, the control method 600 further comprises: in step S604, after the item to be distributed is taken away, a pickup success message is sent.

According to a preferred embodiment of the present invention, the control method 600 further comprises: in step S605, the item to be distributed is transported to a destination and placed in a receiving container.

According to a preferred embodiment of the present invention, the control method 600 further comprises: before the automatic guided vehicle takes the articles to be distributed away, the automatic guided vehicle is positioned relative to the workpiece supply device so that the comb teeth devices of the automatic guided vehicle and the workpiece supply device are staggered.

The control method 600 of the present invention is implemented by, for example, the automatic guided vehicle 6, the supply device 7, and the control device 9 in fig. 2.

The control method of the present invention and the working process of the parts feeding apparatus and the automatic guided vehicle will be described with reference to fig. 7A to 7D.

Fig. 7A shows an article 10 to be sorted being placed on the comb arrangement 74 of the component feeder 7, the automatic guide carriage 6 having traveled towards the position of the component feeder 7 after receiving a sorting task.

Preferably, the delivery device 7 can measure various parameters of the cargo 10 through the sensing devices thereon, such as one or more of weight, specification, target delivery location, etc. After collecting the corresponding information, the information is communicated to the control device 9, and the control device 9 selects an available automatic guided vehicle 6 from the fleet of automatic guided vehicles for pickup tasks. During the selection the control device 9 may need to match the parameters of the respective automatic guided vehicle 6, for example if the weight of the load is large, the loading capacity and/or the power level of the selected automatic guided vehicle 6 must be able to complete the delivery of the load. If no available automatic guided vehicle exists at present, the information needs to be fed back to a controller, or the pickup task is added into a task queue, and when the available automatic guided vehicle is waited, the automatic guided vehicle is matched and the pickup task is issued.

Fig. 7B shows that when the automatic guided vehicle 6 approaches the workpiece feeder 7, the comb teeth device of the automatic guided vehicle 6 and the comb teeth device of the workpiece feeder 7 perform "combing" in a mutually staggered manner, that is, the comb teeth of the automatic guided vehicle 6 pass through the comb teeth gaps of the workpiece feeder 7, and the articles 10 on the carrier comb teeth device 74 are separated without interference between the comb teeth and the workpiece feeder. Fig. 7C shows a rear view of the state of fig. 7B. As shown in fig. 7C, the comb tooth devices of the automatic guided vehicle 6 and the comb tooth devices of the workpiece supply device 7 are staggered with each other. It is therefore preferred that the tooth spacing of the comb device of the automatic guide carriage 6 and the comb device of the feed device 7 is equal. The person skilled in the art will understand that the "non-intrusive" pick-up of goods from the supply device 7 by the automatic guided vehicle 6 can be achieved by a number of technical means. For example, a navigation module may be provided on the automated guided vehicle so that the automated guided vehicle travels in a predetermined trajectory. For example, according to a preferred embodiment, the ground can be provided with magnetic guides, the automatic guided vehicle achieving its relative positioning with respect to the feeder device 7 by sensing the position of the magnetic guides of the ground while travelling. Alternatively, the ground may be provided with a ground code or a ground texture, which the automated guided vehicle can recognize by visual means to achieve positioning relative to the workpiece supply device 7. Or alternatively, the automated guided vehicle may include SLAM technology to effect the location. These are all within the scope of the present invention. The automatic guide car has corresponding navigation and locate function promptly, and the relative position of confession a device can mark in advance, and the accurate passing mark point of passing through of automatic guide car can ensure not taking place the passing through of interfering. Specifically, can will supply a device to install to certain ground sign indicating number top, the automatic guided vehicle can guarantee oneself accurate through this ground sign indicating number position, guarantees to stagger with the broach that supplies a device.

As will be understood by those skilled in the art, the term "without interference" in the present invention means that the interaction between the automatic guided vehicle 6 and the parts feeder 7 during the transfer of the goods does not significantly hinder the movement of the automatic guided vehicle, so that the automatic guided vehicle 6 can obtain the goods while moving. For example, it may be the case that the automatic guided vehicle 6 is not in contact with the comb teeth device of the workpiece feeding device 7 at all, or it may be the case that only a slight frictional contact occurs between the two.

Fig. 7D shows the automated guided vehicle 6 moving away after acquiring the cargo 10, and the cargo 10 is located on the platform of the automated guided vehicle 6 and moving to the target location for unloading the cargo. After the automatic guided vehicle 6 acquires the goods, the information of successful pickup can be fed back by selecting the machine.

According to the embodiments of the invention, the packages or articles can be taken away by the AGV without stopping after being placed, and the system has a stable structure and low cost. In addition, the control difficulty of the AGV is fully reduced (the logic is simple, and the hardware cost of the AGV body can be saved).

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. An automated guided vehicle comprising:

a frame;

a motor mounted on the frame;

one or more traveling devices which are arranged at the bottom of the frame and can be driven by the motor to drive the automatic guided vehicle to move; and

and the comb tooth device is arranged on the frame and used for grabbing and/or releasing the object.

2. The automated guided vehicle of claim 1, wherein the frame includes a placement platform, the comb device being mounted on one side of the placement platform and configured to grasp and place the item on the placement platform while the automated guided vehicle is in motion.

3. Automatic guided vehicle according to claim 1 or 2, characterized in that the comb device has comb teeth in the vertical direction, which comb teeth are preferably evenly distributed,

the automatic guided vehicle further comprises a navigation positioning device arranged on the vehicle frame.

4. A unit feeder for items to be dispensed, comprising:

a base;

a comb device disposed on the base and configured to carry items to be dispensed.

5. A supply device according to claim 4, characterized in that the base has a portal frame, the comb device being arranged on a cross beam of the portal frame.

6. A package device according to claim 4 or 5, further comprising sensing means provided on the base, the sensing means being configured to sense information of the item to be dispensed, the sensing means preferably being a scanner and/or a camera and/or a weighing device.

7. An item dispensing system, comprising:

the automated guided vehicle of any of claims 1-3;

the supply device of any one of claims 4-6; and

the control device is coupled with the automatic guiding vehicle and configured to issue a task of taking the parts from the parts supply device to the automatic guiding vehicle, and the automatic guiding vehicle takes away the objects to be distributed borne on the comb tooth device of the parts supply device in a moving state without interfering with the parts supply device.

8. The item dispensing system of claim 7, wherein the control device is configured to: before the automatic guided vehicle takes the articles to be distributed away, the automatic guided vehicle is positioned relative to the workpiece supply device so that comb tooth devices of the automatic guided vehicle and the workpiece supply device are staggered.

9. A control method for dispensing items, comprising:

placing an item to be dispensed on a supply device according to any one of claims 4-6;

issuing a pick-up task corresponding to the item to the automated guided vehicle of any of claims 1-3; and

the automatic guided vehicle is enabled to take away the articles to be distributed carried on the comb teeth device of the feeding device under the moving state and under the condition of not interfering with the feeding device.

10. The control method according to claim 9, characterized by further comprising:

after the item to be distributed is taken away, sending a message that the pickup is successful;

placing the item to be dispensed into a receiving container.

11. The control method according to claim 9 or 10, characterized by further comprising:

before the automatic guided vehicle takes the articles to be distributed away, the automatic guided vehicle is positioned relative to the workpiece supply device so that the comb teeth devices of the automatic guided vehicle and the workpiece supply device are staggered.

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