Material box carrying and storing integrated AGV

Abstract

The invention discloses a material box carrying and storing integrated AGV, relates to the technical field of material box transportation, and has the advantage that an AGV trolley can store a plurality of material boxes in a centralized mode. According to the technical scheme, the AGV trolley comprises a trolley body and a bottom plate arranged on the trolley body, and a plurality of layers of storage racks for storing the material boxes are arranged on the upper end face of the bottom plate; the bottom plate is provided with a taking and placing piece used for taking out and placing the material boxes on the storage rack.

Description

Technical Field

[0001] The present invention relates to the technical field of material box transportation, and in particular to an AGV integrating material box transportation and storage. Background Art

[0002] AGV is the abbreviation of automatic guided vehicle, also known as automatic guided transport vehicle and automatic guided transport vehicle.

[0003] In the semiconductor packaging process, the wafers need to be sliced ​​or die-cast, so an AGV is needed to move the boxes that store the wafers.

[0004] At present, the existing AGV cart has a simple structure and cannot realize centralized storage of multiple material boxes.

[0005] Therefore, the applicant has developed a new technical solution in the actual production process to solve the above technical problems. Summary of the invention

[0006] In view of the above-mentioned technical deficiencies, an object of the present invention is to provide an integrated AGV for material box transport and storage, which has the advantage of enabling the AGV vehicle to centrally store multiple material boxes.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides an integrated AGV for material box transport and storage, comprising a trolley body and a bottom plate arranged on the trolley body, wherein the upper surface of the bottom plate is provided with a plurality of layers of racks for storing material boxes, and the bottom plate is provided with a pick-and-place member for taking out and putting in the material boxes on the racks.

[0008] By adopting the above technical solution, the picking and placing component puts the material box containing the material sheets into the storage rack for storage. The setting of the storage rack enables the trolley body to store multiple material boxes, so that one trolley body can connect to multiple devices, which improves intelligence and reduces manual intervention.

[0009] Preferably, the pick-and-place component includes a 3-axis robotic arm arranged on the bottom plate through a moving component, the robotic arm is located on one side of the storage rack, a slot is provided at the upper end of the material box, and an insert plate inserted into the slot is provided on the robotic arm.

[0010] Preferably, the moving part includes a linear motor arranged on the bottom plate, the linear motor is located on one side of the storage rack and is distributed along the length direction of the storage rack, a slider on the linear motor is provided with a vertically distributed driving plate, the driving plate is slidably connected to the sliding plate through a sliding groove, the sliding groove is distributed along the height direction of the driving plate, the mechanical arm is arranged on the sliding plate, and a screw rod distributed along the height direction of the driving box is rotatably connected on the relative inner wall of the sliding groove, the sliding plate is provided with a connecting block threadedly connected to the screw rod, the connecting block slides in the sliding groove, the lower end of the driving plate is provided with a placement groove for the lower end of the screw rod to pass through, one end of the screw rod is coaxially fixed with a passive synchronous belt wheel after passing through the placement groove, the driving motor is provided on the driving plate, the rotating shaft of the driving motor enters the placement groove and is coaxially fixed with an active synchronous belt wheel, the active synchronous belt wheel and the passive synchronous belt wheel are connected by an annular synchronous belt.

[0011] Preferably, a protective cover is provided on the upper end of the base plate and covers the storage rack and the movable part, and a slide rail parallel to the linear motor is provided on the inner wall of the protective cover. The upper end of the driving plate is slidably connected to the slide rail, and an opening distributed along the height direction of the driving plate is provided on one side of the protective cover, and the opening is used for the robot arm and the material box to move in and out of the protective cover.

[0012] Preferably, an L-shaped fixing plate is provided on the skateboard, and the mechanical arm includes a Z-shaped first swing arm rotatably connected to the upper end of the horizontal part of the fixing plate, a first joint motor for driving the first swing arm to rotate is provided on the lower end surface of the horizontal part of the fixing plate, an end of the first swing arm away from the first joint motor is rotatably connected to the second swing arm, the first swing arm is provided with a second joint motor for driving the second swing arm to rotate, one end of the plug plate is rotatably connected to an end of the second swing arm away from the first swing arm, the second swing arm is provided with a third joint motor for driving the plug plate to rotate, and the first joint motor, the second joint motor and the third joint motor are respectively located on the lower end surfaces of the first swing arm, the second swing arm and the plug plate.

[0013] Preferably, the upper end surfaces of the first swing arm and the second swing arm are provided with wire grooves for laying power supply wires, the bottoms of the wire grooves near the second joint motor and the third joint motor are provided with through grooves, both ends of the first swing arm and the second swing arm are provided with through holes coaxial with the first joint motor or the second joint motor or the third joint motor, and the upper end surfaces of the first swing arm and the second swing arm are provided with cover plates for closing the wire grooves by screws.

[0014] Preferably, a protrusion is provided on one side of the upper end of the material box, and the slot is opened on the protrusion. When one end of the plug board is inserted into the slot, a position sensor 1 is provided on the upper surface of the plug board facing the protrusion.

[0015] Preferably, one end of the plug plate entering the slot is provided with a hook that bends and extends upward, the slot opening diameter of the slot is larger than the plug plate, and a movable slot for the hook to move into is opened on the slot wall at the upper end of the slot, and a card slot for the hook to be inserted is opened on the slot wall of the movable slot.

[0016] Preferably, the periphery of the bottom plate extends out of the upper end surface of the trolley body, and a positioning plate is provided at the extended bottom, and two positioning grooves are provided on the positioning plate, each of the positioning grooves is distributed correspondingly to the positioning blocks on the equipment, and a position sensor 2 is provided at the bottom of each of the positioning grooves.

[0017] Preferably, the storage rack is provided with a plurality of placement plates with a U-shaped longitudinal section for inserting the feed boxes, the placement plates are also U-shaped in cross section, and the height of the U-shape in the cross section is higher than the height of the U-shape in the longitudinal section.

[0018] The beneficial effect of the present invention is that the pick-and-place component places the material box containing the material sheets on the storage rack for storage. The setting of the storage rack enables the trolley body to store multiple material boxes, so that one trolley body can be connected to multiple devices, the intelligence is improved, and manual intervention is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of this embodiment; Figure 2 This is a schematic diagram of the structure of the linear motor according to the present embodiment; Figure 3 This is a schematic diagram of the structure of the positioning plate of this embodiment; Figure 4 This is a schematic diagram of the structure of the robot arm in this embodiment; Figure 5 This is a schematic diagram of the structure of the first swing arm of this embodiment; Figure 6 This is a schematic diagram of the structure of the screw rod in this embodiment; Figure 7 This is a schematic diagram of the structure of the placement plate of this embodiment; Figure 8 This is a schematic diagram of the structure of the material box in this embodiment; Fig. 9 It is a structural schematic diagram for reflecting the hook in this embodiment.

[0021] Description of reference numerals: In the figure: 1, the trolley body; 11, the bottom plate; 12, the rack; 121, the placement plate; 13, the mechanical arm; 131, the first swing arm; 1311, the horizontal plate; 1312, the extension plate; 132, the first joint motor; 133, the second swing arm; 134, the second joint motor; 135, the third joint motor; 136, the wire groove; 137, the through groove; 138, the through hole; 139, the cover plate; 14, the slot; 15, the plug plate; 151, the hook; 16, the linear motor; 161 , driving plate; 162, slide groove; 163, slide plate; 164, screw rod; 165, connecting block; 166, placement groove; 167, passive synchronous pulley; 168, driving motor; 169, active synchronous pulley; 17, protective cover; 171, slide rail; 172, opening; 18, fixing plate; 19, positioning plate; 191, positioning groove; 192, position sensor 2; 2, material box; 21, bump; 22, position sensor 1; 23, moving groove; 24, card slot; 25, groove. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] An AGV that integrates material box handling and storage, such as Figure 1 and Figure 2 , including a trolley body 1, a bottom plate 11 arranged on the trolley body 1, the bottom plate 11 is horizontally arranged on the upper end surface of the AGV trolley body 1, and a plurality of layers of storage racks 12 for storing material boxes 2 are arranged on the upper end surface of the bottom plate 11. The structure of the rack 12 may include but is not limited to two opposite vertical plates arranged at both ends of the bottom plate 11, and a plurality of horizontally distributed plates arranged between the two vertical plates, each plate is arranged in an array along the height direction of the vertical plate, the material box 2 is placed on the horizontally distributed plates, and a pick-and-place component for taking out and putting in the material box 2 on the rack 12 is provided on the bottom plate 11.

[0024] like Figure 1 and Figure 2 The pick-and-place device places the material box 2 containing the material sheets on the storage rack 12 for storage. The setting of the storage rack 12 enables the trolley body 1 to store multiple material boxes 2, so that one trolley body 1 can connect to multiple devices, which improves intelligence and reduces manual intervention.

[0025] like Figure 1 and Figure 2The pick-and-place part includes a 3-axis robot arm 13 arranged on the bottom plate 11 through a moving part. The robot arm 13 is located on one side of the rack 12. A slot 14 is arranged on the upper end of the material box 2. The robot arm 13 is provided with a plug-in plate 15 inserted into the slot 14. At this time, the moving part drives the robot arm 13 to move back and forth along the length direction of the rack 12, that is, the X-axis direction, so that the robot arm 13 can pick up the material box 2 in the length direction of the rack 12. In addition, the moving part also drives the robot arm 13 to move back and forth along the height direction of the rack 12, that is, the Z-axis direction, so that the robot arm 13 can pick up the material box 2 in the height direction of the rack 12. At this time, the X-axis and the Z-axis cooperate to facilitate the robot arm 13 to pick up and place the material box 2 on the rack 12.

[0026] like Figure 2 and Figure 6 The moving part includes a linear motor 16 arranged on the bottom plate 11, the linear motor 16 is located on one side of the rack 12 and is distributed along the length direction of the rack 12, a vertically distributed driving plate 161 is provided on the slider on the linear motor 16, a slide plate 163 is slidably connected to the driving plate 161 through a slide groove 162, the slide groove 162 is distributed along the height direction of the driving plate 161, the mechanical arm 13 is arranged on the slide plate 163, a lead screw 164 distributed along the height direction of the driving box is rotatably connected to the relative inner wall of the slide groove 162, a connecting block 165 threadedly connected to the lead screw 164 is provided on the slide plate 163, and the connecting block 165 slides in the slide groove 162, at this time, the slide Plate 163 is located on one side of the driving plate 161, and slides in the slide groove 162 through the connecting block 165. A placement groove 166 is opened at the lower end of the driving plate 161 for the lower end of the screw rod 164 to pass through. After one end of the screw rod 164 passes through the placement groove 166, a passive synchronous pulley 167 is coaxially fixed thereto. A driving motor 168 is provided on the driving plate 161. At this time, the outer wall of the lower end of the driving plate 161 extends to one side to facilitate the installation of the driving motor 168. The rotating shaft of the driving motor 168 enters the placement groove 166 and is coaxially fixed thereto with an active synchronous pulley 169. The active synchronous pulley 169 and the passive synchronous pulley 167 are connected by an annular synchronous belt.

[0027] like Figure 2 and Figure 6 The X-axis is driven by a linear motor 16, and the left and right ends of the linear motor 16 correspond to the left and right ends of the rack 12 respectively, so that the linear motor 16 drives the left and right ends of the driving plate 161 to move back and forth through the slider, tending to the left and right ends of the rack 12, so that the robot arm 13 can pick up and place the material box 2. The Z-axis uses a driving motor 168 to drive the active synchronous pulley 169 to rotate, and drives the passive synchronous pulley 167 to rotate through the annular synchronous belt, thereby driving the screw rod 164 to rotate. At this time, the rotating screw rod 164 drives the connecting block 165 to move back and forth up and down, thereby driving the robot arm 13 to move back and forth up and down.

[0028] like Figure 1 and Figure 2 A protective cover 17 is provided at the upper end of the bottom plate 11 to cover the rack 12 and the moving part. The cover wall of the protective cover 17 is distributed along the periphery of the bottom plate 11. A slide rail 171 parallel to the linear motor 16 is provided on the top inner wall of the protective cover 17. The upper end of the driving plate 161 is slidably connected to the slide rail 171, which stabilizes the movement of the driving plate 161. An opening 172 distributed along the height direction of the driving plate 161 is provided on one side of the protective cover 17. The opening 172 is located on one side of the rack 12, and the opening 172 is used for the robot arm 13 and the material box 2 to move out of and into the protective cover 17.

[0029] like Figure 1 and Figure 4 and Figure 5 An L-shaped fixing plate 18 is provided on the skateboard 163, and both the skateboard 163 and the fixing plate 18 are located in the direction of the driving plate 161 toward the opening 172. The vertical portion of the fixing plate 18 is fixed on the skateboard 163, and the horizontal portion extends toward the opening 172. The robotic arm 13 includes a Z-shaped first swing arm 131 rotatably connected to the upper end of the horizontal portion of the fixing plate 18, and a first joint motor 132 is provided on the lower end surface of the horizontal portion of the fixing plate 18 to drive the first swing arm 131 to rotate on the fixing plate 18. The Z-shaped first swing arm 131 includes a horizontal plate 1311 rotatably connected to the fixing plate 18, the horizontal plate 1311 is located on the upper end surface of the fixing plate 18, and an L-shaped extension plate 1312 is provided at one end of the horizontal plate 1311 away from the fixing plate 18. A fastening screw is threadedly connected to the bottom of the horizontal plate 1311, and the fastening screw passes through the horizontal plate 1311 and is threadedly connected to the vertical portion of the extension plate 1312. At this time, the first swing arm 131 is divided into two parts for easy disassembly, installation and replacement.

[0030] like Figure 1 and Figure 4 and Figure 5 The end of the first swing arm 131 away from the first joint motor 132 is rotatably connected to the second swing arm 133, and the first swing arm 131 is provided with a second joint motor 134 for driving the second swing arm 133 to rotate. The second swing arm 133 is rotatably connected to the upper end surface of the first swing arm 131, that is, rotatably connected to the upper end surface of the horizontal part of the extension plate 1312, and the second joint motor 134 is fixed to the lower end of the horizontal part of the first swing arm 131, that is, fixed to the lower end surface of the horizontal part of the extension plate 1312. One end of the insert plate 15 is rotatably connected to the end of the second swing arm 133 away from the first swing arm 131. The second swing arm 133 is provided with a third joint motor 135 for driving the insert plate 15 to rotate, and the third joint motor 135 is located at the lower end surface of the second swing arm 133.

[0031] like Figure 1 and Figure 4 and Figure 5, and the first joint motor 132, the second joint motor 134 and the third joint motor 135 arranged above are all located under each swing arm, and after the material box 2 is inserted into the insert plate 15, the height position of the lower end of the material box 2 is lower than the height position of the horizontal plate 1311 of the first swing arm 131, the purpose is to facilitate the robot arm 13 to extend the material box 2 into the equipment, in addition, the first joint motor 132, the second joint motor 134 and the third joint motor 135 are all purchased existing joint motors, such as the joint straight-cylinder motors of Huachuang Intelligent Company.

[0032] like Figure 1 and Figure 4 and Figure 5 The first joint motor 132 drives the first swing arm 131 to swing, the second joint motor 134 drives the second swing arm 133 to swing, and the third joint motor 135 drives the insert plate 15 to swing, thereby realizing three-axis linkage, which is convenient for taking and placing the material box 2.

[0033] like Figure 1 and Figure 4 and Figure 5 The upper end surfaces of the first swing arm 131 and the second swing arm 133 are provided with a wire groove 136 for laying the power supply line, and the bottom of the wire groove 136 near the second joint motor 134 and the third joint motor 135 is provided with a through groove 137, and both ends of the first swing arm 131 and the second swing arm 133 are provided with a through hole 138 coaxial with the first joint motor 132 or the second joint motor 134 or the third joint motor 135, and the upper end surfaces of the first swing arm 131 and the second swing arm 133 are installed with a cover plate 139 for closing the wire groove 136 by screws. The purpose of the above structural setting is to facilitate wiring.

[0034] like Figure 1 and Figure 4 and Figure 5 A protrusion 21 is provided on one side of the upper end of the material box 2, and the slot 14 is provided on the protrusion 21. When one end of the plug board 15 is inserted into the slot 14, a position sensor 22 is provided on the upper end of the plug board 15 facing the protrusion 21. At this time, the position sensor 22 is used to detect whether the plug board 15 is inserted into the slot 14 and plugged in place.

[0035] like Fig. 9In order to increase the stability of the plug board 15 inserted into the slot 14, a hook 151 that bends and extends upward is provided at one end of the plug board 15 that enters the slot 14, and one end of the hook 151 extends above the board surface of the plug board 15. The slot opening of the slot 14 has a larger diameter than the plug board 15, so that the plug board 15 can move up and down in the slot 14. A moving slot 23 for the hook 151 to move into is provided on the slot wall at the upper end of the slot 14, and a snap-in slot 24 for the hook 151 to snap into is provided on the slot wall of the moving slot 23. When the plug board 15 is inserted into the slot 14, the plug board 15 moves upward, so that the hook 151 moves into the moving slot 23, and then the mechanical arm 13 drives the plug board 15 to move away from the slot 14, so that the hook 151 enters the snap-in slot 24 for snapping, and then the mechanical arm 13 moves the material box 2, and at this time, the connection stability between the material box 2 and the plug board 15 is increased.

[0036] like Figure 2 and Figure 7 In order to facilitate the placement of the material box 2 on the rack 12, the rack 12 is provided with a plurality of placement plates 121 with a U-shaped longitudinal section for inserting the material box 2. The cross section of the placement plate 121 is also U-shaped. The cross section of the placement plate 121 is distributed in the length direction of the rack 12, and the height of the U-shape of the cross section is higher than the height of the U-shape of the longitudinal section. At this time, the placement plate 121 plays a limiting role on the material box 2, thereby reducing the shaking of the material box 2 on the rack 12 when the trolley body 1 moves.

[0037] like Figure 2 and Figure 8 The material box 2 is a hollow rectangular frame, and the protrusion 21 is arranged at the upper end of the outer wall of the rectangular frame. After the material box 2 is placed on the storage rack 12, a plurality of grooves 25 for inserting the two ends of the material sheets are correspondingly opened on the two horizontally opposite inner walls, so that each material sheet is arranged in the longitudinal direction, and there is a gap between each material sheet, and the two walls with the grooves 25 extend out of the two ends of the material box 2, and both ends of one of the side walls of the material box 2 with the groove 25 are provided with positioning members for limiting the material sheet from moving out of the groove 25. The structure of the positioning member includes but is not limited to another relatively distributed baffle plate arranged on the side wall of the material box 2, the baffle plate is located on the side wall of the material box 2 with the groove 25, and is located at both ends of the side wall of the material box 2. A plug rod (not shown in the figure) is inserted into the baffle plate at the uppermost end, and the lower end of the plug rod abuts against the lower baffle plate. At this time, there are two plug rod limiters on both sides of the material sheet.

[0038] like Figure 3, the periphery of the bottom plate 11 extends out of the upper end surface of the trolley body 1, and a positioning plate 19 is provided at the extended bottom, and two positioning slots 191 are provided on the positioning plate 19, and each positioning slot 191 is distributed correspondingly to the positioning block on the device, and each positioning slot 191 is provided with a position sensor 2 192 at the bottom. At this time, the trolley body 1 will move to one side of the device and plug in with the positioning block pre-installed on the device. At this time, only two positioning blocks enter the two positioning slots 191 and are detected by the position sensor 2 192 to move to the appropriate position, which indicates that the trolley body 1 has moved into place, making it convenient for the robot arm 13 to take out and put in the material box 2.

[0039] Since the trolley body 1 has the storage rack 12 , one trolley body 1 can be connected to different devices, that is, to transport the material boxes 2 to different devices, and can also be connected to multiple identical devices.

[0040] In addition, in order to enable the robotic arm to pick up and place each material box, each material box has a preset position (such as X coordinate and Y coordinate). The user can directly input the corresponding position of the material box he wants to take through the control panel set on the outer wall of the protective cover to control the robotic arm to move and clamp it.

[0041] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An integrated AGV for material box handling and storage, characterized in that: The invention comprises a trolley body (1), and a bottom plate (11) arranged on the trolley body (1); a storage rack (12) for storing material boxes (2) in a plurality of layers is arranged on the upper end surface of the bottom plate (11); and a pick-and-place member for taking out and putting in the material boxes (2) on the storage rack (12) is arranged on the bottom plate (11).

2. The material box transport and storage integrated AGV according to claim 1, characterized in that: The pick-and-place component comprises a three-axis mechanical arm (13) arranged on a bottom plate (11) via a moving component, the mechanical arm (13) being located on one side of the storage rack (12), a slot (14) being provided at the upper end of the material box (2), and an inserting plate (15) being inserted into the slot (14) being provided on the mechanical arm (13).

3. The material box transport and storage integrated AGV according to claim 2, characterized in that: The moving part comprises a linear motor (16) arranged on a bottom plate (11), the linear motor (16) being located on one side of the storage rack (12) and being distributed along the length direction of the storage rack (12), a vertically distributed driving plate (161) being provided on a slider on the linear motor (16), a sliding plate (163) being slidably connected to the driving plate (161) via a sliding groove (162), the sliding groove (162) being distributed along the height direction of the driving plate (161), the mechanical arm (13) being arranged on the sliding plate (163), a lead screw (164) being rotatably connected to the opposite inner wall of the sliding groove (162) and being distributed along the height direction of the driving box, the sliding plate (163) being provided with a guide screw (164) which is connected to the guide screw (164) and ... A connecting block (165) is threadedly connected to the screw rod (164), the connecting block (165) slides in the slide groove (162), a placement groove (166) is provided at the lower end of the drive plate (161) for the lower end of the screw rod (164) to pass through, one end of the screw rod (164) passes through the placement groove (166) and is coaxially fixedly provided with a passive synchronous pulley (167), a drive motor (168) is provided on the drive plate (161), a rotating shaft of the drive motor (168) enters the placement groove (166) and is coaxially fixedly provided with a driving synchronous pulley (169), and the driving synchronous pulley (169) and the passive synchronous pulley (167) are connected via an annular synchronous belt.

4. The material box transport and storage integrated AGV according to claim 3, characterized in that: The upper end of the bottom plate (11) is provided with a protective cover (17) covering the storage rack (12) and the moving part, the inner wall of the protective cover (17) is provided with a slide rail (171) parallel to the linear motor (16), the upper end of the drive plate (161) is slidably connected to the slide rail (171), and one side of the protective cover (17) is provided with an opening (172) distributed along the height direction of the drive plate (161), and the opening (172) is used for the robot arm (13) and the material box (2) to move out of and into the protective cover (17).

5. The material box transport and storage integrated AGV according to claim 3 or 4, characterized in that: The slide plate (163) is provided with an L-shaped fixing plate (18), the mechanical arm (13) comprises a Z-shaped first swing arm (131) rotatably connected to the upper end of the horizontal portion of the fixing plate (18), a first joint motor (132) for driving the first swing arm (131) to rotate is provided on the lower end surface of the horizontal portion of the fixing plate (18), an end of the first swing arm (131) away from the first joint motor (132) is rotatably connected to a second swing arm (133), and the first swing arm (131) is provided with a motor for driving the second swing arm (133). A second joint motor (134) for rotating the swing arm (133); one end of the plug plate (15) is rotatably connected to an end of the second swing arm (133) away from the first swing arm (131); a third joint motor (135) for driving the plug plate (15) to rotate is provided on the second swing arm (133); the first joint motor (132), the second joint motor (134) and the third joint motor (135) are respectively located on the lower end surfaces of the first swing arm (131), the second swing arm (133) and the plug plate (15).

6. The material box transport and storage integrated AGV according to claim 5, characterized in that: The upper end surfaces of the first swing arm (131) and the second swing arm (133) are provided with a wire groove (136) for laying power lines, and the groove bottom of the wire groove (136) close to the second joint motor (134) and the third joint motor (135) is provided with a through groove (137), and both ends of the first swing arm (131) and the second swing arm (133) are provided with a through hole (138) coaxial with the first joint motor (132) or the second joint motor (134) or the third joint motor (135), and the upper end surfaces of the first swing arm (131) and the second swing arm (133) are installed with a cover plate (139) for closing the wire groove (136) by means of screws.

7. The material box transport and storage integrated AGV according to claim 6, characterized in that: A protrusion (21) is provided on one side of the upper end of the material box (2), and the slot (14) is formed on the protrusion (21). When one end of the plug board (15) is inserted into the slot (14), a position sensor (22) facing the protrusion (21) is provided on the upper end surface of the plug board (15).

8. The material box transport and storage integrated AGV according to claim 2 or 7, characterized in that: An end of the plug plate (15) that enters the slot (14) is provided with a hook (151) that bends and extends upwards, the slot opening of the slot (14) has a larger diameter than the plug plate (15), and a movable slot (23) for the hook (151) to move into is provided on the slot wall at the upper end of the slot (14), and a clamping slot (24) for the hook (151) to clamp into is provided on the slot wall of the movable slot (23).

9. The material box transport and storage integrated AGV according to claim 1, characterized in that: The periphery of the bottom plate (11) extends out of the upper end surface of the trolley body (1), and a positioning plate (19) is provided at the extended bottom, and two positioning grooves (191) are provided on the positioning plate (19), and each of the positioning grooves (191) is distributed correspondingly to a positioning block on the device, and a position sensor 2 (192) is provided at the bottom of each of the positioning grooves (191).

10. The material box transport and storage integrated AGV according to claim 2, characterized in that: The storage rack (12) is provided with a plurality of placement plates (121) with a U-shaped longitudinal section into which the supply boxes (2) are inserted. The placement plates (121) also have a U-shaped cross section, and the height of the U-shape in the cross section is higher than the height of the U-shape in the longitudinal section.

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