A ground-lifting type AMR autonomous mobile robot

Abstract

The present application relates to the field of autonomous mobile robots, and specifically discloses a ground lifting type AMR autonomous mobile robot, which comprises wheels, six of which are provided in pairs, the inner sides of the wheels are rotationally connected with support plates through torsional springs, the top ends of the support plates are rotationally connected in pairs, the inner surfaces of the inner sides of the support plates are fixedly connected with mounting rods, and the mounting rods are provided in two. The ground lifting type AMR autonomous mobile robot, compared with the existing fixed-height robot, not only improves the flexibility of the robot as a whole and can adapt to various different working environments, but also provides a lifting support force with a certain elasticity when the robot transports goods, so as to avoid the damage of internal parts caused by the rigid force of goods for a long time, and greatly prolongs the service life of the robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of autonomous mobile robots, in particular to a ground lifting type AMR autonomous mobile robot. BACKGROUND

[0002] A robot is an intelligent machine capable of semi-autonomous or autonomous work. Robots can perform tasks such as work or movement through programming and automatic control. The earliest robot in history was a wooden puppet robot created by craftsmen according to the image of Liu Bian, with mechanisms, with the ability to sit, stand, bow, and kneel. Robots have basic features such as perception, decision-making, and execution, and can assist or even replace humans to complete dangerous, heavy, and complex work, improve work efficiency and quality, serve human life, and expand or extend the activity and ability range of humans. In today's world, with the development of technology, people's life has already been contributed by robots, and some dangerous and complex work has been gradually replaced by robots, among which warehouse robots are also essential.

[0003] Warehouse robots mainly undertake the responsibility of arranging and transporting warehouse goods, but the existing warehouse robots usually use a lifting frame and a hydraulic cylinder installed at the front end of the robot to complete the lifting of the goods. This way will make the robot unevenly stressed, shorten the service life of the load-bearing parts, and also easily cause the robot to roll over, which brings inconvenience to the work process. SUMMARY

[0004] The present application provides a ground lifting type AMR autonomous mobile robot, which solves the problems mentioned in the background art.

[0005] To achieve the above purpose, the present application is realized by the following technical scheme: a ground lifting type AMR autonomous mobile robot, comprising wheels, the wheels are provided in six, the wheels are arranged in pairs as a group, the inner side of the wheel is rotatably connected with a support plate through a torsion spring, the top end of the support plate is rotatably connected in pairs, the inner surface of the inner side of the support plate is fixedly connected with a mounting rod, the mounting rod is provided in two, the two mounting rods are horizontally arranged, the two ends of the mounting rod are rotatably connected with the outer side of the support plate, the two ends of the mounting rod are rotatably connected with a first motor, the first motor is provided in four, the first motor is fixedly installed on the top outer surface of the outer side of the support plate, the inner end of the wheel is rotatably connected with a second motor, the second motor is provided in six, the six second motors are arranged in series, and the ground lifting type AMR autonomous mobile robot further comprises:

[0006] a damping mechanism, the damping mechanism is fixedly installed on the second motor, the damping mechanism is symmetrically provided in four, and the damping mechanism is used for damping the robot during work;

[0007] A synchronization mechanism is fixedly installed on the inner side of the support plate, is arranged above the damping mechanism, and is used to synchronize the damping amplitude of the robot body;

[0008] The damping mechanism comprises fixing rings, the fixing rings are fixedly sleeved on the outer surface of the second motor, six fixing rings are arranged, the fixing rings are arranged in pairs as a group, the inner side of the fixing ring is fixedly connected with a mounting block, and the mounting block is horizontally arranged.

[0009] Preferably, two first plug-in plates are symmetrically arranged on the same group of fixing rings, the inner side of the first plug-in plate is elastically provided with a second plug-in plate, the second plug-in plate is horizontally arranged, the end of the second plug-in plate away from the first plug-in plate is fixedly connected with an adapter plate, and the end of the adapter plate away from the second plug-in plate is fixedly connected to the outer surface of the mounting block.

[0010] When the robot needs to work, the lifting plate and the lifting frame and other accessories required for work can be installed through the mounting rod, the robot can be put into production and use after the installation of the accessories is completed, the ground stability of the robot can be greatly improved by arranging six wheels and arranging the wheels in pairs as a group, the stability of the robot during work can be further improved by arranging the support plates on the inner side of the wheels and connecting the support plates in pairs, so that a triangular support point is formed between the support plates and the ground, and the robot is prevented from falling during lifting and carrying work.

[0011] Preferably, the outer surface of the second plug-in plate is symmetrically provided with a mounting groove at the upper end and the lower end, a plurality of mounting grooves are fixedly arranged at intervals on the outer surface of the second plug-in plate, first limiting grooves are arranged at the two ends of the mounting groove, the first limiting grooves are arranged in a penetrating manner through the second plug-in plate, and the first limiting grooves are arranged in an arc shape.

[0012] Preferably, a rotating rod is connected to the installation groove by a torsion spring, the rotating rod is horizontally arranged, and the inner surface of the rotating rod is fixedly connected with a connecting strip, and the side surface away from the rotating rod of the connecting strip is fixedly connected to the inner surface of the sliding plate.

[0013] Preferably, the inner surface of the first plug-in plate is provided with a second limiting groove, the inside of the second limiting groove is provided with a resistance plate, the resistance plate and the first plug-in plate and the second plug-in plate are arranged in parallel with each other, both ends of the sliding plate are rotatably connected with a connecting disc, and the outer side inner surface of the connecting disc is rotatably connected to the both end outer surfaces of the resistance plate.

[0014] Preferably, the inner surface of the resistance plate is arranged as a strong friction surface, the upper and lower end outer surfaces of the second plug-in plate are arranged as strong friction surfaces, the outer surface of the resistance plate is hingedly connected with an elastic expansion plate through a torsion spring, the outer end of the elastic expansion plate is hingedly connected to the inner surface of the first plug-in plate through a torsion spring, a plurality of elastic expansion plates are arranged at a fixed interval along the outer surface of the resistance plate, and the elastic expansion plates are arranged in the second limiting groove. If the working environment needs to be coordinated with the staff, the robot can be moved to the designated delivery location, and the staff can directly place the goods on the lifting accessory added on the top of the robot. When there are too many goods, the staff often do not have extra time to place the goods slowly, so the goods are directly thrown on the lifting robot. Due to the influence of the different weights of the goods, the heavy goods thrown on the lifting accessory added on the top of the robot will generate a squeezing force on the robot. With the arrival of the squeezing force, the wheels of the robot will expand outward under the action of the squeezing force, so that the distance between the wheels in each group is increased. When the distance between the wheels is increased, the first plug-in plate and the second plug-in plate move in opposite directions, so that the first plug-in plate moves the resistance plate outward relative to the second plug-in plate, the resistance plate pulls the sliding plate, the sliding plate slides along the first limiting groove towards the inside of the second plug-in plate, and multiple sliding plates are arranged to greatly increase the pulling force of the first plug-in plate, thereby reducing the distance between the wheels.

[0015] Preferably, the synchronization mechanism comprises a limiting frame, the limiting frame is arranged in an I-shaped type, the limiting frame is horizontally arranged, spring slidingly connected with a matching frame is arranged on the inner surfaces of both sides of the limiting frame, the matching frame is arranged in a concave shape, a sleeve is fixedly connected to the outer end of the matching frame, a positioning rod is rotatably connected to the inner surface of the sleeve, and both ends of the positioning rod are fixedly connected to the inner surfaces of the two side supporting plates.

[0016] Preferably, the lower surfaces of the two ends of the limiting frame are symmetrically and fixedly connected with stable plates, the stable plates are vertically arranged, the bottom of the stable plate is elastically and slidably connected in 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 under the extrusion force, the support plates will be expanded, the matching frames will be pulled to the two sides when the support plates are expanded, the matching frames will be moved outward in the limiting frame, and the support plates will be circularly moved when moving, that is, the positioning rods will be moved downward, the limiting frame will be moved downward, the stable plates will be extruded when the limiting frame is moved downward, and the stable plates will be moved downward in the plug plate; in this process, the limiting frame always keeps a horizontal state, and the matching frames at the two ends are moved outward by the same distance.

[0017] The application provides a ground lifting type AMR autonomous mobile robot.

[0018] 1. The ground lifting type AMR autonomous mobile robot, compared with the existing fixed height robot, improves the flexibility of the robot as a whole and can adapt to various different working environments, and by setting the first plug plate and the second plug plate as elastic members, the lifting support force provided by the robot when transporting goods has a certain elasticity, so that the robot is prevented from being damaged by the rigid force of the goods for a long time, and the service life of the robot is greatly prolonged.

[0019] 2. The ground lifting type AMR autonomous mobile robot can limit the expansion of the first plug plate and the second plug plate under the action of the elastic force, can protect the robot itself by using the elastic force, can prevent the wheels from being expanded too much to cause a large pushing force when returning to cause the goods to be separated, greatly improves the stability during work, and when the sliding plate moves into the first limiting groove, the resistance plate is also driven to move outward, the sliding plate also generates a pulling force on the resistance plate while the resistance plate moves outward, and the resistance plate is close to the outer surface of the first plug plate, so that when the robot is impacted under the cooperation of the elastic expansion plate and the sliding plate, the resistance plate finally contacts the outer surface of the second plug plate during movement, the strong friction surface of the resistance plate and the second plug plate maximally prevents the wheels from continuing to move, that is, the impact on the first plug plate and the second plug plate is prevented when the goods are heavy, and the stability of the robot during work is further improved.

[0020] 3. The local face lifting type AMR autonomous mobile robot, by limiting the same rotation amplitude of the support plate, the overall robot is lowered horizontally, so as to ensure that the robot always maintains horizontal descent when impacted by goods, avoids the impact of different angles of the robot, causes the top of the robot to complete bending, causes the goods to fall, greatly improves the use effect of the robot, and cooperates with the damping mechanism to realize quick reset, more quickly adapts, further improves the working stability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the front view of the present application;

[0022] Figure 2 is the installation structure diagram of the damping mechanism and the synchronous mechanism of the present application;

[0023] Figure 3 is the split structure diagram of the damping mechanism and the synchronous mechanism of the present application;

[0024] Figure 4 is the structure diagram of the synchronous mechanism of the present application;

[0025] Figure 5 is the appearance diagram of the damping mechanism of the present application;

[0026] Figure 6 is the split structure diagram of the damping mechanism of the present application;

[0027] Figure 7 is the installation structure diagram of the resistance plate of the present application;

[0028] Figure 8 is the installation structure diagram of the sliding plate of the present application.

[0029] In the figure: 1, wheel; 2, support plate; 3, mounting rod; 4, first motor; 5, second motor; 6, damping mechanism; 61, fixed ring; 62, mounting block; 63, first plug-in plate; 64, second plug-in plate; 65, adapter plate; 66, mounting groove; 67, first limiting groove; 68, sliding plate; 69, rotating rod; 610, connecting strip; 611, second limiting groove; 612, resistance plate; 613, connecting disc; 614, elastic expansion plate; 7, synchronous mechanism; 71, limiting frame; 72, matching frame; 73, sleeve; 74, positioning rod; 75, stabilizing plate; 76, plug-in plate. DETAILED DESCRIPTION

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] First embodiment: as follows Figures 1 to 8 As shown, the present invention provides a technical solution: a ground-lifting AMR autonomous mobile robot, including wheels 1, of which six are arranged, with two wheels 1 arranged in pairs. A support plate 2 is rotatably connected to the inner side of each wheel 1 via a torsion spring. The top ends of the support plates 2 are rotatably connected in pairs. Two mounting rods 3 are fixedly connected through the inner surface of the inner support plate 2, and both ends of the mounting rods 3 are rotatably connected to the outer support plate 2. Four first motors 4 are rotatably connected to the two ends of the mounting rods 3, and the first motors 4 are fixedly installed on the outer surface of the top end of the outer support plate 2. Six second motors 5 are rotatably connected to the inner end of each wheel 1, and the six second motors 5 are arranged synchronously in series. The robot also includes:

[0032] The shock absorption mechanism 6 is fixedly installed on the second motor 5. Four shock absorption mechanisms 6 are symmetrically arranged. The shock absorption mechanism 6 is used to reduce vibration when the robot is working.

[0033] Synchronization mechanism 7 is fixedly installed on the inner side of support plate 2 and is also set above shock absorption mechanism 6. Synchronization mechanism 7 is used to synchronize the shock absorption amplitude of robot body.

[0034] The shock absorption mechanism 6 includes a fixed ring 61, which is fixedly sleeved on the outer surface of the second motor 5. There are six fixed rings 61, which are arranged in pairs. An installation block 62 is fixedly connected to the inner outer surface of the fixed ring 61. The installation block 62 is horizontally arranged. The end of the installation block 62 closest to the synchronization mechanism 7 that is away from the fixed ring 61 is fixedly connected to a first plug plate 63.

[0035] Two first plug-in plates 63 are symmetrically arranged on the same set of fixing rings 61. A second plug-in plate 64 is elastically arranged on the inner side of the first plug-in plate 63. The second plug-in plate 64 is horizontally arranged. An adapter plate 65 is fixedly connected to the end of the second plug-in plate 64 away from the first plug-in plate 63. The end of the adapter plate 65 away from the second plug-in plate 64 is fixedly connected to the outer surface of the mounting block 62.

[0036] When the robot needs to work, the lifting plate and lifting frame required for 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 each two wheels 1 as a group, the ground stability of the robot can be greatly improved. By setting a support plate 2 on the inner side of the wheel 1 and connecting each two support plates 2, a triangular support point is formed between the support plate 2 and the ground, which further improves the stability of the robot during work and avoids the robot from falling during lifting and carrying work. When the robot needs to transport goods in the warehouse, the second motor 5 is controlled to drive the wheels 1 to move forward and backward to the goods, and the second motor 5 is started. When the second motor 5 is started, it drives each two support plates 2 to rotate, and then each two wheels 1 start 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 4 is controlled to reset the wheels 1, so that the robot supports the goods through the accessories installed on the top, and the robot with the goods is moved to the designated location. Compared with the existing fixed-height robot, the overall flexibility of the robot is improved to adapt to various working environments. By setting the first and second plug-in plates 63 and 64 as elastic members, the lifting support force provided by the robot during transportation of goods has a certain elasticity, which avoids damage to internal parts caused by the rigid force of the goods for a long time, greatly prolonging the service life of the robot.

[0037] The second embodiment is shown in Figures 2 to 8 The upper and lower ends of the second plug-in plate 64 are symmetrically provided with installation grooves 66. The installation grooves 66 are provided at a fixed interval along the outer surface of the second plug-in plate 64. The two ends of the installation groove 66 are provided with a first limiting groove 67. The first limiting groove 67 penetrates the second plug-in plate 64. The first limiting groove 67 is provided in an arc shape.

[0038] A sliding plate 68 is slidably connected in the first limiting groove 67. The sliding plate 68 is provided in a semicircular tube type. The inner end of the sliding plate 68 is arranged in the installation groove 66. The outer end of the sliding plate 68 is initially arranged outside the installation groove 66.

[0039] A rotating rod 69 is rotatably connected in the installation groove 66 by a torsional spring. The rotating rod 69 is horizontally arranged. The inner surface of the rotating rod 69 is fixedly connected with a connecting strip 610. The surface of the connecting strip 610 away from the rotating rod 69 is fixedly connected to the inner surface of the sliding plate 68.

[0040] The inner surface of the first plug-in plate 63 is provided with a second limiting groove 611, the inside of the second limiting groove 611 is provided with a resistance plate 612, the resistance plate 612 is arranged in parallel with the first plug-in plate 63 and the second plug-in plate 64, both ends of the sliding plate 68 are rotatably connected with a connecting disc 613, the outer side inner surface of the connecting disc 613 is rotatably connected with both ends of the outer surface of the resistance plate 612.

[0041] The inner surface of the resistance plate 612 is provided as a strong friction surface, the upper and lower outer surfaces of the second plug-in plate 64 are provided as a strong friction surface, the outer surface of the resistance plate 612 is hingedly connected with an elastic expansion plate 614 through a torsion spring, the outer end of the elastic expansion plate 614 is hingedly connected with the inner surface of the first plug-in plate 63 through a torsion spring, a plurality of elastic expansion plates 614 are arranged at a fixed interval along the outer surface of the resistance plate 612, and the elastic expansion plates 614 are arranged in the second limiting groove 611.

[0042] When working, if the working environment to be matched with the staff is encountered, the robot can be controlled to move to the designated cargo pickup location, and the staff can directly place the cargo on the lifting accessory installed on the top of the robot. When there is a large amount of cargo, the staff often does not have enough time to place the cargo slowly, and thus the staff directly throws the cargo on the lifting robot. Due to the influence of the different gravity of the cargo, when the heavy cargo is thrown on the lifting accessory installed on the top of the robot, a squeezing force is generated on the robot. With the arrival of the squeezing force, the wheels 1 of the robot expand outward under the action of the squeezing force, so that the distance between the wheels 1 in each group is increased. When the distance between the wheels 1 is increased, the first insertion plate 63 and the second insertion plate 64 move in opposite directions, so that the first insertion plate 63 moves outward relative to the second insertion plate 64, the sliding plate 68 is pulled by the resistance plate 612, the sliding plate 68 slides into the second insertion plate 64 along the first limiting groove 67, and the pulling force on the first insertion plate 63 is greatly increased by arranging a plurality of sliding plates 68, so that the distance between the wheels 1 is reduced. Under the action of the elastic force, the expansion of the first insertion plate 63 and the second insertion plate 64 is limited, so that the robot can be protected by the elastic force, and the wheels 1 are prevented from expanding too much to cause the cargo to be separated from the robot when the robot is reset, so that the stability of the robot during work is greatly improved. When the sliding plate 68 moves into the first limiting groove 67, the resistance plate 612 moves outward, and the sliding plate 68 pulls the resistance plate 612, so that the resistance plate 612 is close to the outer surface of the first insertion plate 63. Therefore, under the cooperation of the elastic extension plate 614 and the sliding plate 68, when the robot is impacted, the resistance plate 612 finally contacts the outer surface of the second insertion plate 64 during movement, so that the wheels 1 are prevented from continuing to move by the strong friction surface between the resistance plate 612 and the second insertion plate 64, and the first insertion plate 63 and the second insertion plate 64 are prevented from being damaged due to a large impact on the robot when the cargo is heavy, so that the stability of the robot during work is further improved.

[0043] Third embodiment: as shown in Figures 1 to 4 The synchronous mechanism 7 includes a limiting frame 71, the limiting frame 71 is arranged in a I-shaped type, the limiting frame 71 is horizontally arranged, and the inner surfaces of the two sides of the limiting frame 71 are slidably connected with a matching frame 72 through springs. The matching frame 72 is arranged in a concave shape, the outer end of the matching frame 72 is fixedly connected with a sleeve pipe 73, the inner surface of the sleeve pipe 73 is rotatably connected with a positioning rod 74, and the two ends of the positioning rod 74 are fixedly connected to the inner surfaces of the two side support plates 2.

[0044] The lower surfaces of the two ends of the limiting frame 71 are symmetrically and fixedly connected with the stabilizing plates 75, the stabilizing plates 75 are vertically arranged, the bottom of the stabilizing plate 75 is elastically and slidably connected in the inside of the inserting plate 76, and the bottom of the inserting plate 76 is fixedly connected with the outer surface of the first inserting plate 63.

[0045] When the robot is elastically moved downward under the extrusion force, the supporting plates 2 are expanded, the supporting plates 2 pull the matching frames 72 to the two sides, the matching frames 72 are moved outward in the limiting frame 71, the supporting plates 2 are circularly moved, the positioning rods 74 are moved downward, the limiting frame 71 is moved downward, the stabilizing plates 75 are extruded, the stabilizing plates 75 are moved downward in the inserting plate 76, and the limiting frame 71 keeps horizontal, the matching frames 72 are moved outward by the same distance, the rotating amplitude of the supporting plates 2 is the same, the robot is horizontally descended, the robot keeps horizontal when the robot is impacted by the goods, the robot is prevented from being curved on the top and causing the goods to fall, the use effect of the robot is greatly improved, the robot is quickly reset by the damping mechanism 6, the robot is quickly adapted, and the working stability of the robot is further improved.

[0046] It should be noted that, in the present document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

Claims

1. A ground-lifting AMR autonomous mobile robot, comprising wheels, characterized in that: The system comprises six wheels, arranged in pairs. A support plate is rotatably connected to the inner side of each wheel via a torsion spring. The top ends of the support plates are rotatably connected in pairs. Two mounting rods are fixedly connected through the inner surface of the inner support plate; both rods are horizontally positioned. The two ends of each mounting rod are rotatably connected to the outer support plate. Four first motors are rotatably connected to the two ends of each mounting rod, and these first motors are fixedly mounted on the outer surface of the top of the outer support plate. Six second motors are rotatably connected to the inner end of each wheel, and these six second motors are connected in synchronous series. The system also includes: A shock absorption mechanism is fixedly installed on the second motor. Four shock absorption mechanisms are symmetrically arranged. The shock absorption mechanism is used to reduce vibration when the robot is working. A synchronization mechanism is fixedly installed on the inner side of the support plate and is also positioned above the shock absorption mechanism. The synchronization mechanism is used to synchronize the shock absorption amplitude of the robot body. The shock absorption mechanism includes a fixed ring, which is fixedly sleeved on the outer surface of the second motor. There are six fixed rings, which are arranged in pairs. An installation block is fixedly connected to the inner outer surface of the fixed ring. The installation block is horizontally arranged. The end of the installation block closest to the synchronization mechanism that is away from the fixed ring is fixedly connected to a first plug plate. Two first plug-in plates are symmetrically arranged on the same fixing ring. A second plug-in plate is elastically arranged on the inner side of the first plug-in plate. The second plug-in plate is horizontally arranged. A transition plate is fixedly connected to the end of the second plug-in plate away from the first plug-in plate. The end of the transition plate away from the second plug-in plate is fixedly connected to the outer surface of the mounting block. The synchronization mechanism includes a limiting frame, which is I-shaped and horizontally positioned. The inner surfaces of both sides of the limiting frame are slidably connected to a mating frame via springs. The mating frame is concave. A sleeve is fixedly connected to the outer end of the mating frame. A positioning rod is rotatably connected to the inner surface of the sleeve. The two ends of the positioning rod are fixedly connected to the inner surfaces of the two side support plates. The lower surfaces of both ends of the limiting frame are symmetrically fixedly connected with stabilizing plates. The stabilizing plates are vertically arranged, and the bottom of the stabilizing plates is elastically slidably connected to the inside of the insert plate. The bottom of the insert plate is fixedly connected to the outer surface of the first insert plate.

2. The ground-lifting AMR autonomous mobile robot according to claim 1, characterized in that: The second plug-in plate has symmetrical mounting grooves on its upper and lower outer surfaces. Multiple mounting grooves are provided at fixed intervals along the outer surface of the second plug-in plate. The two ends of the mounting grooves are provided with first limiting grooves. The first limiting grooves are provided through the second plug-in plate and are arc-shaped.

3. The ground-lifting AMR autonomous mobile robot according to claim 2, characterized in that: A sliding plate is slidably connected in the first limiting groove. The sliding plate is configured as a semi-circular tube. The inner end of the sliding plate is located in the mounting groove, and the outer end of the sliding plate is initially located outside the mounting groove.

4. The ground-lifting AMR autonomous mobile robot according to claim 3, characterized in that: A rotating rod is rotatably connected to the mounting groove via a torsion spring. The rotating rod is horizontally positioned, and a connecting strip is fixedly connected to the inner surface of the rotating rod. The side of the connecting strip away from the rotating rod is fixedly connected to the inner surface of the sliding plate.

5. The ground-lifting AMR autonomous mobile robot according to claim 4, characterized in that: The inner surface of the first plug-in plate is provided with a second limiting groove, and the inside of the second limiting groove is provided with a resistance plate. The resistance plate is arranged parallel to the first plug-in plate and the second plug-in plate. The two ends of the sliding plate are rotatably connected to connecting disks, and the outer inner surface of the connecting disks is rotatably connected to the outer surfaces of the two ends of the resistance plate.

6. The ground-lifting AMR autonomous mobile robot according to claim 5, characterized in that: The inner surface of the resistance plate is set as a high friction surface, and the outer surfaces of the upper and lower ends of the second plug plate are set as high friction surfaces. An elastic telescopic plate is hinged to the outer surface of the resistance plate by a torsion spring. The outer end of the elastic telescopic plate is hinged to the inner surface of the first plug plate by a torsion spring. Multiple elastic telescopic plates are arranged at fixed intervals along the outer surface of the resistance plate. The elastic telescopic plates are arranged in the second limiting groove.

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