Ground lifting type AMR autonomous mobile robot

Abstract

The invention relates to the field of autonomous mobile robots, and particularly discloses a ground lifting type AMR autonomous mobile robot which comprises six wheels, every two wheels are arranged as a group, the inner sides of the wheels are rotationally connected with supporting plates through torsional springs, the top ends of the supporting plates are rotationally connected in pairs, and the top ends of the supporting plates are rotationally connected through torsional springs. Two mounting rods are fixedly connected to the inner surface of the supporting plate on the inner side in a penetrating mode. Compared with an existing robot with the fixed height, the ground lifting type AMR autonomous mobile robot has the advantages that the overall flexibility of the robot is improved, the robot can adapt to various different working environments, meanwhile, the first inserting plate and the second inserting plate are arranged to be elastic pieces, and the service life of the robot is prolonged. The lifting supporting force provided by the robot during cargo transportation has certain elastic force, the situation that internal parts are damaged due to the fact that the robot bears rigid force brought by cargoes for a long time is avoided, and the service life of the robot is greatly prolonged.

Description

Technical Field

[0001] The present invention relates to the field of autonomous mobile robots, in particular to a ground-lifting AMR autonomous mobile robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as operations or movements through programming and automatic control. The earliest robot in history was a puppet robot built by craftsmen in the image of Liu Yan under the order of Emperor Yang of Sui. It was equipped with mechanisms and had the ability to sit, stand, bow, and lie down. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. Nowadays, with the development of science and technology, people's lives are inseparable from the contribution of robots. Some dangerous and complicated tasks have gradually been taken over by robots, among which warehouse robots are also an indispensable item.

[0003] Warehouse robots are mainly responsible for sorting and transporting warehouse goods. However, existing warehouse robots usually lift goods through the cooperation of a lifting frame and a hydraulic cylinder installed at the front end of the machine. This method will cause uneven force on the robot and a short service life of the load-bearing parts. It can also easily cause the robot to tip over, bringing inconvenience to the working process. Summary of the invention

[0004] The present invention provides a ground-lifting AMR autonomous mobile robot, which solves the problems mentioned in the above background technology.

[0005] To achieve the above purpose, the present invention is implemented through the following technical solutions: a ground-lifting AMR autonomous mobile robot, including wheels, a total of six wheels, the wheels are arranged in pairs in a group, the inner side of the wheel is rotatably connected to a support plate through a torsion spring, the top of the support plate is rotatably connected in pairs, wherein the inner surface of the inner support plate is penetrated and fixedly connected with a mounting rod, two mounting rods are provided, the two mounting rods are arranged horizontally, the two ends of the mounting rod are rotatably connected to the outer support plate, the two ends of the mounting rod are rotatably connected with a first motor, four first motors are provided, the first motor is fixedly installed on the top outer surface of the outer support plate, the inner end of the wheel is rotatably connected with a second motor, six second motors are provided, and the six second motors are arranged to be synchronously connected in series, and also includes: A shock absorbing mechanism, wherein the shock absorbing mechanism is fixedly mounted on the second motor, and four of the shock absorbing mechanisms are symmetrically arranged, and the shock absorbing mechanism is used to reduce shock when the robot is working; A synchronization mechanism, wherein the synchronization mechanism is fixedly mounted on the inner side of the support plate and is also arranged above the damping mechanism, and the synchronization mechanism is used to synchronize the damping amplitude of the robot body; The shock absorbing mechanism comprises a fixing ring, which is fixedly sleeved on the outer surface of the second motor. Six fixing rings are provided, and two fixing rings are provided in a group. The inner outer surface of the fixing ring is fixedly connected to a mounting block, and the mounting block is arranged horizontally. The end of the mounting block close to the synchronization mechanism away from the fixing ring is fixedly connected to the first plug board.

[0006] Preferably, two of the first plug-in boards are symmetrically arranged on the same set of fixing rings, a second plug-in board is elastically arranged on the inner side of the first plug-in board, the second plug-in board is arranged horizontally, an end of the second plug-in board away from the first plug-in board is fixedly connected to an adapter plate, and an end of the adapter plate away from the second plug-in board is fixedly connected to the outer surface of the mounting block. When the robot is needed to be put into work, accessories such as a lifting plate and a lifting frame required for the work can be installed through the mounting rod. When the accessories are installed, the robot can be put into production and use. By arranging six wheels and arranging the wheels in pairs as a group, the grounding stability of the robot can be greatly improved during work. At the same time, by arranging support plates on the inner sides of the wheels and connecting the support plates in pairs, the support plates can be close to the ground The support points of a triangle are formed between the two supporting plates, and the stability of the triangle is utilized to further improve the stability of the robot at work, so as to prevent the robot from tipping over during lifting and carrying operations. When the robot needs to transport goods in the warehouse, the second motor can be controlled to cause the wheels to rotate and move forward and backward to the goods, and the second motor can be started at the same time. When the second motor is started, the two supporting plates will be driven to rotate, so that the two wheels will begin to expand outward, thereby reducing the overall height of the robot. At this time, the robot is controlled to move to the bottom of the goods, and the first motor is controlled to drive the wheels to reset, so that the robot can lift and support the goods through the accessories installed on the top, and the second motor can be controlled to move the robot with the goods to deliver the goods to the designated location.

[0007] Preferably, installation grooves are symmetrically provided on the upper and lower outer surfaces of the second plug-in board, and a plurality of the installation grooves are arranged at fixed intervals along the outer surface of the second plug-in board. First limiting grooves are provided at both ends of the installation groove, and the first limiting grooves are arranged to penetrate the second plug-in board, and the first limiting grooves are arranged to be arc-shaped.

[0008] Preferably, a sliding plate is slidably connected in the first limiting groove, the sliding plate is configured as a semicircular tube, the inner end of the sliding plate is disposed in the mounting groove, and the outer end of the sliding plate is initially disposed outside the mounting groove.

[0009] Preferably, a rotating rod is rotatably connected in the mounting groove via a torsion spring, the rotating rod is horizontally arranged, a connecting strip is fixedly connected to the inner surface of the rotating rod, and a side surface of the connecting strip away from the rotating rod is fixedly connected to the inner surface of the sliding plate.

[0010] Preferably, a second limiting groove is provided on the inner surface of the first plug board, a resistance plate is provided inside the second limiting groove, the resistance plate is arranged parallel to the first plug board and the second plug board, and the two ends of the sliding plate are rotatably connected with connecting plates, and the outer inner surface of the connecting plate is rotatably connected to the outer surfaces of the two ends of the resistance plate.

[0011] Preferably, the inner surface of the resistance plate is set as a strong friction surface, the upper and lower outer surfaces of the second plug-in plate are set as strong friction surfaces, the outer surface of the resistance plate is hinged with an elastic telescopic plate through a torsion spring, the outer end of the elastic telescopic plate is hinged to the inner surface of the first plug-in plate through a torsion spring, and a plurality of elastic telescopic plates are arranged at fixed intervals along the outer surface of the resistance plate, and the elastic telescopic plates are arranged in the second limiting groove. If a working environment that requires cooperation with staff is encountered, the robot can be controlled to move to the designated receiving location, and the staff can place the goods directly on the lifting accessories installed on the top of the robot. When there are a lot of goods, the staff often do not have extra time to place the goods slowly, so they will throw the goods directly onto the lifting accessories. On the robot, due to the different influences of the gravity of the goods themselves, when heavier goods are thrown onto the lifting accessories installed on the top of the robot, a squeezing force will be generated on the robot itself. With the arrival of the squeezing force, the wheels of the robot will expand outward under the action of the squeezing force, that is, the distance between the wheels in a group of two increases. When the distance between the wheels increases, the first plug-in plate and the second plug-in plate will move in opposite directions, that is, the first plug-in plate will drive the resistance plate to move toward the outside of the second plug-in plate, that is, the sliding plate is pulled by the resistance plate, so that the sliding plate is prompted to slide along the first limit groove toward the inside of the second plug-in plate, and by setting up multiple groups of sliding plates, the pulling force on the first plug-in plate is greatly increased, thereby reducing the moving distance between the wheels.

[0012] Preferably, the synchronization mechanism includes a limit frame, which is arranged in an I-shape, and the limit frame is arranged horizontally. The inner surfaces on both sides of the limit frame are slidably connected with matching frames through springs, and the matching frames are arranged in a concave shape. The outer end of the matching frame is fixedly connected with a sleeve, and the inner surface of the sleeve is rotatably connected with a positioning rod, and the two ends of the positioning rod are fixedly connected to the inner surfaces of the support plates on both sides.

[0013] Preferably, stabilizing plates are symmetrically fixedly connected to the lower surfaces of both ends of the limit frame, the stabilizing plates are vertically arranged, the bottom of the stabilizing plates are elastically slidably connected to the inside of the plug plate, and the bottom of the plug plate is fixedly connected to the outer surface of the first plug plate. When the robot is elastically moved downward by the extrusion force, expansion will occur between the support plates, and when the support plates expand, the matching frames will be pulled to both sides, causing the matching frames to move outward in the limit frame, and the support plates will move in a circular motion when moving, that is, the positioning rod will also move downward, that is, the limit frame will move downward, and when the limit frame moves downward, it will squeeze the stabilizing plate, causing the stabilizing plate to move downward in the plug plate, and in this process, the limit frame always remains in a horizontal state, that is, the matching frames at both ends move outward by the same distance.

[0014] The present invention provides a ground-lifting AMR autonomous mobile robot, which has the following beneficial effects: 1. Compared with the existing fixed-height robots, this ground-lifting AMR autonomous mobile robot not only improves the overall flexibility of the robot and can adapt to a variety of different working environments, but also, by setting the first plug-in board and the second plug-in board as elastic parts, the lifting support force provided by the robot when transporting goods has a certain elasticity, thereby preventing the robot from being damaged by the rigid force brought by the goods for a long time, thereby greatly extending the service life of the robot.

[0015] 2. The ground-lifting AMR autonomous mobile robot can limit the expansion of the first plug-in board and the second plug-in board while maintaining the elastic force. It can not only use the elastic force to protect the robot itself, but also prevent the wheels from expanding too much, resulting in a large thrust when resetting and causing the cargo to fall off, greatly improving the stability during work. At the same time, the sliding plate will drive the resistance plate to move outward when moving into the first limit groove, and when the resistance plate moves outward, the sliding plate will also generate a pulling force on the resistance plate, causing the resistance plate to approach the outer surface of the first plug-in board. Therefore, under the cooperation of the elastic telescopic plate and the sliding plate, when the robot is impacted, the resistance plate will eventually contact the outer surface of the second plug-in board during the movement, and the strong friction surface of the resistance plate and the second plug-in board will prevent the wheels from continuing to move to the greatest extent, that is, when the cargo is heavy, the robot is prevented from being damaged by a large impact on the first plug-in board and the second plug-in board, further improving the stability of the robot at work.

[0016] 3. The ground-lifting AMR autonomous mobile robot limits the rotation amplitude of the support plate to the same level, thereby achieving the overall horizontal descent of the robot. This ensures that the robot always maintains a horizontal descent when impacted by cargo, and avoids the robot being subjected to different impact angles that cause the top of the robot to bend, causing cargo to fall. This greatly improves the use effect of the robot. At the same time, it cooperates with the shock-absorbing mechanism to achieve rapid resetting, adapt more quickly, and further improve the working stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front view of the present invention; Figure 2 It is a schematic diagram of the installation structure of the shock absorbing mechanism and the synchronization mechanism of the present invention; Figure 3 It is a schematic diagram of the split structure of the shock absorbing mechanism and the synchronization mechanism of the present invention; Figure 4 It is a structural schematic diagram of the synchronization mechanism of the present invention; Figure 5 is a schematic diagram of the appearance of the shock absorbing mechanism of the present invention; Figure 6 It is a schematic diagram of the disassembled structure of the shock absorbing mechanism of the present invention; Figure 7 It is a schematic diagram of the installation structure of the resistance plate of the present invention; Figure 8 It is a schematic diagram of the installation structure of the sliding plate of the present invention.

[0018] In the figure: 1. wheel; 2. support plate; 3. mounting rod; 4. first motor; 5. second motor; 6. shock absorbing mechanism; 61. fixing ring; 62. mounting block; 63. first plug-in board; 64. second plug-in board; 65. adapter plate; 66. mounting slot; 67. first limiting slot; 68. sliding plate; 69. rotating rod; 610. connecting strip; 611. second limiting slot; 612. resistance plate; 613. connecting plate; 614. elastic telescopic plate; 7. synchronization mechanism; 71. limiting frame; 72. matching frame; 73. sleeve; 74. positioning rod; 75. stabilizing plate; 76. plug-in board. DETAILED DESCRIPTION

[0019] 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.

[0020] First embodiment: Figures 1 to 8As shown, the present invention provides a technical solution: a ground lifting type AMR autonomous mobile robot, comprising wheels 1, a total of six wheels 1 are provided, and the wheels 1 are arranged in pairs in a group, the inner side of the wheel 1 is rotatably connected to a support plate 2 through a torsion spring, and the tops of the support plates 2 are rotatably connected in pairs, wherein the inner surface of the inner support plate 2 is penetrated and fixedly connected with a mounting rod 3, two mounting rods 3 are provided, and the two mounting rods 3 are arranged horizontally, and the two ends of the mounting rod 3 are penetrated and rotatably connected with the outer support plate 2, and the two ends of the mounting rod 3 are rotatably connected with a first motor 4, four first motors 4 are provided, and the first motor 4 is fixedly installed on the top outer surface of the outer support plate 2, the inner end of the wheel 1 is rotatably connected with a second motor 5, six second motors 5 are provided, and the six second motors 5 are arranged to be synchronously connected in series, and also includes: A shock absorbing mechanism 6, which is fixedly mounted on the second motor 5, and four shock absorbing mechanisms 6 are symmetrically arranged, and the shock absorbing mechanisms 6 are used to reduce shock when the robot is working; Synchronous mechanism 7, the synchronous mechanism 7 is fixedly installed on the inner side of the support plate 2, and the synchronous mechanism 7 is also arranged above the damping mechanism 6, and the synchronous mechanism 7 is used to synchronize the damping amplitude of the robot body; The shock absorbing mechanism 6 includes a fixing ring 61, which is fixedly sleeved on the outer surface of the second motor 5. There are six fixing rings 61, and the fixing rings 61 are arranged in pairs. The inner outer surface of the fixing ring 61 is fixedly connected with a mounting block 62, and the mounting block 62 is arranged horizontally. The mounting block 62 close to the synchronization mechanism 7 is fixedly connected to the first plug-in board 63 at one end away from the fixing ring 61.

[0021] Two first plug-in boards 63 are symmetrically arranged on the same set of fixing rings 61. A second plug-in board 64 is elastically arranged on the inner side of the first plug-in board 63. The second plug-in board 64 is horizontally arranged. An end of the second plug-in board 64 away from the first plug-in board 63 is fixedly connected to an adapter plate 65. An end of the adapter plate 65 away from the second plug-in board 64 is fixedly connected to the outer surface of the mounting block 62.

[0022] During operation, when the robot is needed to be put into operation, accessories such as the lifting plate and lifting frame required for the work can be installed through the mounting rod 3. When the accessories are installed, the robot can be put into production and use. By setting six wheels 1 and setting the wheels 1 in pairs as a group, the ground stability of the robot can be greatly improved during operation. At the same time, by setting support plates 2 on the inner sides of the wheels 1 and connecting the support plates 2 in pairs, a triangular support point can be formed between the support plates 2 and the ground. The stability of the robot at work is further improved by utilizing the stability of the triangle, and the robot can be prevented from tipping over during lifting and carrying operations. When the robot needs to transport goods in the warehouse, the second motor 5 can be controlled to cause the wheels 1 to rotate forward and backward to travel to the goods, and the second motor 5 can be started at the same time. When the second motor 5 is started, the two The two support plates 2 rotate, causing the two wheels 1 to expand outward, thereby reducing the overall height of the robot. At this time, the robot is controlled to move to the bottom of the cargo, and the first motor 4 is controlled to drive the wheel 1 to reset, so that the robot can lift and support the cargo through the accessories installed on the top, and the second motor 5 can be controlled to control the robot to move with the cargo and deliver the cargo to a designated location. Compared with the existing robots with fixed heights, not only the overall flexibility of the robot is improved to adapt to a variety of different working environments, but also the first plug-in board 63 and the second plug-in board 64 are set as elastic parts, so that the lifting support force provided by the robot when transporting the cargo has a certain elastic force, which prevents the robot from being damaged by the rigid force brought by the cargo for a long time, thereby greatly extending the service life of the robot.

[0023] Second embodiment: Figures 2 to 8 As shown, the upper and lower outer surfaces of the second plug-in board 64 are symmetrically provided with mounting grooves 66, and a plurality of mounting grooves 66 are arranged at fixed intervals along the outer surface of the second plug-in board 64. Both ends of the mounting groove 66 are provided with first limiting grooves 67, which are arranged to penetrate the second plug-in board 64, and are arranged in an arc shape.

[0024] A sliding plate 68 is slidably connected in the first limiting groove 67 . The sliding plate 68 is configured as a semicircular tube. The inner end of the sliding plate 68 is disposed in the mounting groove 66 , and the outer end of the sliding plate 68 is initially disposed outside the mounting groove 66 .

[0025] A rotating rod 69 is rotatably connected in the mounting groove 66 via a torsion spring. The rotating rod 69 is horizontally arranged. A connecting strip 610 is fixedly connected to the inner surface of the rotating rod 69 . The side surface of the connecting strip 610 away from the rotating rod 69 is fixedly connected to the inner surface of the sliding plate 68 .

[0026] A second limiting groove 611 is provided on the inner surface of the first plug-in board 63, and a resistance plate 612 is provided inside the second limiting groove 611. The resistance plate 612 is arranged parallel to the first plug-in board 63 and the second plug-in board 64. The two ends of the sliding plate 68 are rotatably connected with connecting plates 613, and the outer inner surface of the connecting plate 613 is rotatably connected to the outer surfaces of the two ends of the resistance plate 612.

[0027] The inner surface of the resistance plate 612 is set as a strong friction surface, and the outer surfaces of the upper and lower ends of the second plug-in plate 64 are set as strong friction surfaces. The outer surface of the resistance plate 612 is hinged with an elastic telescopic plate 614 through a torsion spring, and the outer end of the elastic telescopic plate 614 is hinged to the inner surface of the first plug-in plate 63 through a torsion spring. A plurality of elastic telescopic plates 614 are arranged at fixed intervals along the outer surface of the resistance plate 612, and the elastic telescopic plates 614 are arranged in the second limiting groove 611.

[0028] When working, if you encounter a working environment that requires cooperation with staff, you can control the robot to move to the designated receiving location, and ask the staff to place the goods directly on the lifting accessories installed on the top of the robot. When there are a lot of goods, the staff often do not have extra time to place the goods slowly, so they will throw the goods directly onto the lifting robot. Due to the different influences of the goods' own gravity, when heavier goods are thrown on the lifting accessories installed on the top of the robot, a squeezing force will be generated on the robot itself. With the arrival of the squeezing force, the robot's The wheels 1 will expand outward under the action of the squeezing force, that is, the distance between the wheels 1 in pairs will increase. When the distance between the wheels 1 increases, the first plug-in board 63 and the second plug-in board 64 will move in opposite directions, that is, the first plug-in board 63 will drive the resistance plate 612 to move outward of the second plug-in board 64, that is, the sliding plate 68 is pulled by the resistance plate 612, so that the sliding plate 68 slides along the first limiting groove 67 to the inside of the second plug-in board 64, and by providing multiple groups of sliding plates 68, the pulling force on the first plug-in board 63 is greatly improved. The force is applied to reduce the moving distance between the wheels 1, and the expansion of the first plug-in board 63 and the second plug-in board 64 can be limited while maintaining the elastic force. The elastic force can not only protect the robot itself, but also prevent the wheels 1 from expanding too much and causing a large thrust to be generated during resetting, which greatly improves the stability during work. At the same time, when the sliding plate 68 moves into the first limiting groove 67, it will also drive the resistance plate 612 to move outward. When the resistance plate 612 moves outward, the sliding plate 68 will also push the resistance plate 612 A pulling force is generated to push the resistance plate 612 closer to the outer surface of the first plug-in plate 63. Therefore, with the cooperation of the elastic telescopic plate 614 and the sliding plate 68, when the robot is impacted, the resistance plate 612 will eventually contact the outer surface of the second plug-in plate 64 during the movement. The strong friction surface of the resistance plate 612 and the second plug-in plate 64 prevents the wheel 1 from continuing to move to the greatest extent, that is, it is avoided that the robot is hit hard when the cargo is heavy and the first plug-in plate 63 and the second plug-in plate 64 are damaged, thereby further improving the stability of the robot during operation.

[0029] The third embodiment: Figures 1 to 4 As shown, the synchronization mechanism 7 includes a limit frame 71, which is arranged in an I-shape and is horizontally arranged. The inner surfaces on both sides of the limit frame 71 are slidably connected with matching frames 72 through springs. The matching frames 72 are arranged in a concave shape. The outer end of the matching frame 72 is fixedly connected with a sleeve 73. The inner surface of the sleeve 73 is rotatably connected with a positioning rod 74. The two ends of the positioning rod 74 are fixedly connected to the inner surfaces of the support plates 2 on both sides.

[0030] The lower surfaces of both ends of the limiting frame 71 are symmetrically fixedly connected with stabilizing plates 75 . The stabilizing plates 75 are vertically arranged. The bottom of the stabilizing plates 75 is elastically slidably connected to the inside of the plug plate 76 . The bottom of the plug plate 76 is fixedly connected to the outer surface of the first plug plate 63 .

[0031] When the locking cam 75 is in the locked state, the locking cam 73 is in the locked state, and the locking cam 73 is in the locked state, so that the locking cam 73 is in the locked state, and the locking cam 73 is in the locked state.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by... does not exclude the existence of other identical elements in the process, method, article or device including the element".

Claims

1. A ground-lifting AMR autonomous mobile robot, comprising wheels (1), Features: The wheels (1) are provided with six wheels in total. The wheels (1) are arranged in pairs in a group. The inner sides of the wheels (1) are rotatably connected to support plates (2) via torsion springs. The top ends of the support plates (2) are rotatably connected in pairs. A mounting rod (3) is fixedly connected to the inner surface of the inner support plate (2). Two mounting rods (3) are provided. The two mounting rods (3) are arranged horizontally. The two ends of the mounting rods (3) are rotatably connected to the outer support plate (2). The two ends of the mounting rods (3) are rotatably connected to a first motor (4). Four first motors (4) are provided. The first motors (4) are fixedly mounted on the outer surface of the top end of the outer support plate (2). The inner ends of the wheels (1) are rotatably connected to a second motor (5). Six second motors (5) are provided. The six second motors (5) are arranged to be synchronously connected in series. The wheel (1) further comprises: A shock absorbing mechanism (6), the shock absorbing mechanism (6) being fixedly mounted on the second motor (5), four of the shock absorbing mechanisms (6) being symmetrically arranged, and the shock absorbing mechanisms (6) being used to reduce shock when the robot is working; A synchronization mechanism (7), the synchronization mechanism (7) being fixedly mounted on the inner side of the support plate (2), the synchronization mechanism (7) being arranged above the damping mechanism (6), and the synchronization mechanism (7) being used to synchronize the damping amplitude of the robot body; The damping mechanism (6) comprises a fixing ring (61), the fixing ring (61) being fixedly sleeved on the outer surface of the second motor (5), six fixing rings (61) being provided, and two fixing rings (61) being provided in a group, and a mounting block (62) being fixedly connected to the inner outer surface of the fixing ring (61), the mounting block (62) being arranged horizontally, and a first plug board (63) being fixedly connected to one end of the mounting block (62) close to the synchronization mechanism (7) and away from the fixing ring (61).

2. A ground-lifting AMR autonomous mobile robot according to claim 1, Features: Two of the first plug-in boards (63) are symmetrically arranged on the same set of fixing rings (61); a second plug-in board (64) is elastically arranged on the inner side of the first plug-in board (63); the second plug-in board (64) is arranged horizontally; an end of the second plug-in board (64) away from the first plug-in board (63) is fixedly connected to an adapter board (65); and an end of the adapter board (65) away from the second plug-in board (64) is fixedly connected to the outer surface of the mounting block (62).

3. A ground-lifting AMR autonomous mobile robot according to claim 2, Features: The outer surfaces of the upper and lower ends of the second plug-in board (64) are symmetrically provided with mounting grooves (66), and a plurality of the mounting grooves (66) are arranged at fixed intervals along the outer surface of the second plug-in board (64). The two ends of the mounting groove (66) are provided with first limiting grooves (67), and the first limiting groove (67) is arranged to penetrate the second plug-in board (64), and the first limiting groove (67) is arranged to be arc-shaped.

4. A ground-lifting AMR autonomous mobile robot according to claim 3, Features: A sliding plate (68) is slidably connected in the first limiting groove (67); the sliding plate (68) is arranged in a semicircular tube shape; the inner end of the sliding plate (68) is arranged in the mounting groove (66); and the outer end of the sliding plate (68) is initially arranged outside the mounting groove (66).

5. The ground-lifting AMR autonomous mobile robot according to claim 4, Features: A rotating rod (69) is rotatably connected to the mounting groove (66) via a torsion spring. The rotating rod (69) is arranged horizontally. A connecting strip (610) is fixedly connected to the inner surface of the rotating rod (69). The surface of the connecting strip (610) on one side away from the rotating rod (69) is fixedly connected to the inner surface of the sliding plate (68).

6. The ground-lifting AMR autonomous mobile robot according to claim 5, Features: A second limiting groove (611) is provided on the inner surface of the first plug-in board (63), a resistance plate (612) is provided inside the second limiting groove (611), the resistance plate (612) is arranged parallel to the first plug-in board (63) and the second plug-in board (64), the two ends of the sliding plate (68) are rotatably connected to connecting plates (613), and the outer inner surface of the connecting plate (613) is rotatably connected to the outer surfaces of the two ends of the resistance plate (612).

7. The ground-lifting AMR autonomous mobile robot according to claim 6, Features: The inner surface of the resistance plate (612) is configured as a strong friction surface, and the outer surfaces of the upper and lower ends of the second plug-in plate (64) are configured as strong friction surfaces. The outer surface of the resistance plate (612) is hinged with an elastic telescopic plate (614) via a torsion spring, and the outer end of the elastic telescopic plate (614) is hinged to the inner surface of the first plug-in plate (63) via a torsion spring. A plurality of elastic telescopic plates (614) are arranged at fixed intervals along the outer surface of the resistance plate (612), and the elastic telescopic plates (614) are arranged in the second limiting groove (611).

8. The ground-lifting AMR autonomous mobile robot according to claim 7, Features: The synchronization mechanism (7) comprises a limit frame (71), the limit frame (71) is arranged in an I-shape, the limit frame (71) is arranged horizontally, the inner surfaces of both sides of the limit frame (71) are slidably connected to matching frames (72) via springs, the matching frames (72) are arranged in a concave shape, the outer end of the matching frame (72) is fixedly connected to a sleeve (73), the inner surface of the sleeve (73) is rotatably connected to a positioning rod (74), and the two ends of the positioning rod (74) are fixedly connected to the inner surfaces of the support plates (2) on both sides.

9. The ground-lifting AMR autonomous mobile robot according to claim 8, Features: The lower surfaces of both ends of the limiting frame (71) are symmetrically fixedly connected with stabilizing plates (75), the stabilizing plates (75) are arranged vertically, the bottom of the stabilizing plates (75) are elastically slidably connected to the inside of the plug plate (76), and the bottom of the plug plate (76) is fixedly connected to the outer surface of the first plug plate (63).

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