An amr autonomous mobile hybrid robot chassis

Abstract

The utility model relates to a kind of AMR autonomous mobile composite robot chassis, belong to the technical field of composite robot, including support structure, bottom plate and jacking mechanism;Four described support structures are installed in the four around of described bottom plate diagonally;Described jacking mechanism is respectively equipped in the inside of each described support structure in the left and right sides of described bottom plate, and four described jacking mechanism is symmetric in front and back, left and right;Described jacking mechanism includes electric push cylinder, foot plate, described electric push cylinder is installed on described bottom plate, the piston rod of described electric push cylinder is towards described bottom plate, described foot plate is coaxially installed in the bottom end of described piston rod;Described bottom plate has through-hole matched with described foot plate, described foot plate is stretched out from described bottom plate by described through-hole under the push of described piston rod.The utility model has the integration and flattening of height, can guarantee the stability and reliability of composite robot chassis stop.

Description

Technical Field

[0001] This utility model relates to the technical field of composite robots, specifically to an AMR autonomous mobile composite robot chassis. Background Technology

[0002] In recent years, the rapid development of industrial automation and intelligent logistics has placed higher demands on composite robots. Composite robots, integrating autonomous mobility, precise operation, and environmental perception capabilities, are becoming key equipment for realizing flexible manufacturing and intelligent warehousing. Among these requirements, autonomous mobility demands that the chassis not only move freely but also achieve high-precision motion control in dynamic environments. Therefore, composite robots need AMR (Autonomous Mobile Robot) chassis with autonomous navigation (SLAM mapping, dynamic path planning, and real-time obstacle avoidance) capabilities.

[0003] The core challenge in developing the AMR autonomous mobile composite robot chassis lies in the need for highly integrated and collaboratively optimized multiple key subsystems within extremely limited space. These systems primarily include:

[0004] Suspension and support system: responsible for supporting load, absorbing ground impact, and suppressing vibration and sway during driving and stopping, it is the physical basis for ensuring "stable stopping".

[0005] Drive system: Provides power and precisely controls the movement of wheels / tracks, directly affecting the flexibility of movement, the accuracy of speed control, and the power response.

[0006] Power battery system: It needs to provide sufficient energy density and power density in a compact space to ensure range and instantaneous high power output (such as rapid acceleration / braking). Its weight distribution and stability also affect the chassis attitude, including fast charging and battery swapping modes.

[0007] Electrical system: This includes the power supply and signal transmission network for sensors (LiDAR, cameras, IMU, etc.), controllers, and communication modules. Its layout must avoid interference and ensure reliability.

[0008] Control system: As the "brain", it needs to integrate information from multiple sensors, process complex algorithms such as navigation, positioning, and motion control in real time, and precisely coordinate the actions of various actuators.

[0009] These systems do not exist independently, but rather influence each other and are tightly coupled. The core challenge of the entire chassis design lies in how to rationally and efficiently arrange all the above subsystems within a limited structural size, and ensure that they work together to ultimately achieve the two core performance indicators necessary for the operation of the composite robot: "stable stopping" and "accurate stopping".

[0010] "Stable stopping": This requires the chassis to quickly and effectively suppress overall shaking and vibration caused by inertia or ground feedback when the movement ends (especially emergency stops or stops under load), providing an absolutely stable working platform for the mounted robotic arms and other actuators. Any slight residual shaking will directly affect the positioning accuracy and operational stability of the robotic arm's end effector.

[0011] "Accurate stopping": This requires the chassis to have extremely high repeatability (typically down to the millimeter level). This is not merely a matter of navigation algorithm accuracy, but rather the result of a combination of factors, including the overall mechanical rigidity of the chassis, the dynamic response characteristics of the suspension, the control precision of the drive system (such as wheel speed synchronization), the impact of changes in battery / load weight distribution, and the real-time performance of the control system. Many existing chassis designs lack sufficient system integration optimization, often leading to problems such as slippage during emergency stops, structural deformation, and vibration transmission, resulting in accumulated positioning deviations and making it difficult to meet the demands of high-precision operation tasks.

[0012] Currently, some AMR chassis on the market are designed with a focus on a single function (such as navigation) or specific scenarios (such as light loads and flat ground), failing to fully resolve the core contradiction of highly integrated and collaboratively optimized multiple systems within a limited space. This results in either bulky and cumbersome designs that are difficult to adapt to the compact requirements of composite robots, or unstable performance and insufficient positioning accuracy in heavy loads, complex terrains, or scenarios requiring high-precision stopping, making them unable to reliably support the precision operations of the robotic arm. Utility Model Content

[0013] To address the issues of existing robot chassis being bulky and cumbersome, making them unsuitable for the compact requirements of composite robots, or exhibiting instability and insufficient positioning accuracy under heavy loads, complex terrain, or high-precision stopping conditions, this invention provides an AMR autonomous mobile composite robot chassis. This chassis is a highly integrated and flattened AMR autonomous mobile composite robot chassis, which effectively solves the core performance bottlenecks of "stable stopping" and "accurate stopping" through a simple lifting structure.

[0014] To achieve the above objectives, this utility model provides the following technical solution:

[0015] An AMR (Autonomous Mobile Robot) chassis includes a support structure, a base plate, and a lifting mechanism;

[0016] The four support structures are installed diagonally around the base plate; the lifting mechanism is provided on the inner side of each support structure on the left and right sides of the base plate, and the four lifting mechanisms are symmetrical front to back and left to right.

[0017] The lifting mechanism includes an electric push cylinder and a support plate. The electric push cylinder is mounted on the base plate, with its piston rod facing the base plate. The support plate is coaxially mounted on the bottom end of the piston rod. The base plate has a through hole that matches the support plate. The support plate extends out of the base plate through the through hole under the push of the piston rod.

[0018] Furthermore, the composite robot chassis also includes a battery compartment, with two battery compartments symmetrically arranged on the left and right sides of the base plate, the battery compartments supplying power to the composite robot chassis; the battery compartments contain detachable battery units.

[0019] Furthermore, the battery compartment also includes a battery compartment body, guide rails, roller strips, and a slider; inside the battery compartment body, two guide rails are installed parallel to each other on the base plate at a distance perpendicular to the axis of the composite robot chassis, and the distance between the two guide rails matches the width of the slider; two roller strips are symmetrically installed on the base plate outside the two guide rails; the slider is installed at the bottom end of the battery unit, and the installation position of the slider is adapted to the distance between the two guide rails;

[0020] When the battery unit is installed into the battery compartment body, the slider is embedded between the two guide rails, and the bottom sides of the battery unit are placed on the roller strips; the front and rear sides of the base plate are provided with closable inlets and outlets that match the battery compartment; the battery unit passes through the inlets and outlets to enter and exit the battery compartment body.

[0021] Furthermore, the battery compartment also includes a connector, which includes a male end and a female end that mate with each other. The male end or the female end is provided on the inner wall of the battery compartment body, and the female end or the male end is provided on the opposite side wall of the battery cell. The battery cell is inserted into the female end through the male end and connected to the battery compartment body.

[0022] Furthermore, the battery compartment also includes a battery swapping trolley, which is equipped with guide rails and rollers that are consistent with those inside the battery compartment body. After the battery swapping trolley is positioned opposite the battery compartment body, the battery unit can slide through the inlet and outlet inside the battery compartment body and on the battery swapping trolley.

[0023] Furthermore, the composite robot chassis also includes fixed battery units; two fixed battery units are symmetrically arranged on the base plate; the fixed battery units supply power to the composite robot chassis.

[0024] Furthermore, the lifting mechanism also includes a soft pad; the soft pad is installed at the bottom end of the support plate.

[0025] Furthermore, the lifting mechanism also includes a mounting base; the electric push cylinder is installed in the mounting base.

[0026] Furthermore, the mounting base consists of two mounting plates symmetrically fixed to the base plate, and the upper and lower ends of the opposite sides of the mounting plates are respectively provided with limiting platforms;

[0027] The lifting mechanism also includes a mounting cover plate and a push cylinder fixing plate; the upper and lower ends of the cylinder body of the electric push cylinder are coaxially and fixedly connected to the mounting cover plate and the push cylinder fixing plate, respectively; inside the mounting base, the mounting cover plate and the push cylinder fixing plate are fixedly connected to the upper and lower limiting platforms, respectively.

[0028] Furthermore, the lifting mechanism also includes a pin; the upper end of the cylinder body of the electric push cylinder is fixedly connected to the mounting cover plate via the pin; the bottom end of the piston rod of the electric push cylinder is fixedly connected to the support plate via the pin.

[0029] The beneficial effects of this utility model are:

[0030] This utility model discloses an AMR autonomous mobile composite robot chassis. By adding a lifting mechanism, the strength and rigidity of the whole machine are improved, and the stability and load-bearing capacity of the whole machine are increased. Moreover, this utility model has the characteristics of high integration and flatness, saving height space, but with large internal space, simple structure and light weight. It can stably support and ensure positioning accuracy in heavy load, complex terrain or high-precision stopping scenarios, thereby improving the reliability of composite robot chassis supporting the precision operation of robotic arm.

[0031] This invention, through its battery compartment design, allows for battery swapping immediately after the composite robot chassis moves to a dedicated battery swapping area, saving charging time. The battery compartment, in conjunction with the battery swapping cart, enables easy battery swapping without requiring operators to lift the battery units. The roller design further facilitates the swapping process, while the slider and guide rail design ensures precise installation and guided movement of the battery units. This invention can also power the battery units by fixing them in place, and they can be charged via a charging port, eliminating the need for manual battery handling.

[0032] The drive system of this utility model achieves shock absorption through suspension design. Independent suspension not only improves the lifespan of components but also enhances positioning accuracy. Furthermore, the stepper motor provides torque to the tire assembly, and the electrical system creates a speed difference between the two tire assemblies by controlling the forward and reverse rotation and speed of the stepper motor, thereby precisely controlling the forward, backward, and steering movements of the entire composite robot chassis. Four driven wheels ensure the stability of the entire machine. The structure is simple and the performance is reliable. Attached Figure Description

[0033] Figure 1This is a schematic diagram of the overall assembly structure of the chassis of the AMR autonomous mobile composite robot according to Embodiment 1 of this utility model;

[0034] Figure 2 This is a schematic diagram of the lifting mechanism in this utility model;

[0035] Figure 3 This is a schematic diagram of the battery compartment structure in this utility model;

[0036] Figure 4 This is a schematic diagram of the battery cell structure in this utility model;

[0037] Figure 5 This is a schematic diagram of the drive system in this utility model;

[0038] Figure 6 This is a schematic diagram of the overall assembly structure of the chassis of the AMR autonomous mobile composite robot, which is an embodiment of this utility model.

[0039] The components are as follows: 1-Support structure, 1.1-Driven wheel, 1.2-Mounting cover, 1.3-Support column, 2-Base plate, 3-Battery compartment, 3.1-Battery compartment body, 3.2-Guide rail, 3.3-Roller strip, 3.4-Connector, 3.5-Battery swapping trolley, 3.6-Battery unit, 3.7-Slider, 4-Electrical system, 5-Drive system, 5.1-Stepper motor, 5.2-Suspension assembly, 5.3-Tire assembly, 6-Lifting mechanism, 6.1-Mounting cover plate, 6.2-Electric push cylinder, 6.3-Push cylinder fixing plate, 6.4-Mounting seat, 6.5-Foot plate, 6.6-Soft pad, 6.7-Pin, 7-Fixed battery unit. Detailed Implementation

[0040] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of this utility model.

[0041] The terms used in this application, such as top, bottom, left, right, inside, outside, front end, rear end, head, and tail, are based on the orientations or positional relationships shown in the accompanying drawings. Different drawings may result in different positional relationships, therefore they should not be construed as limiting the scope of protection.

[0042] In this utility model, the terms "installation," "connection," "interlocking," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a connection that allows communication, a direct connection, or an indirect connection through an intermediate medium. They can also refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0043] Example 1

[0044] This embodiment describes an AMR autonomous mobile composite robot chassis, which can drive the composite robot to move autonomously and effectively suppress the shaking and vibration of the whole machine caused by inertia or ground feedback, so that the chassis can "stop stably" and avoid the accumulation of positioning deviations caused by sudden stop slippage, structural deformation, vibration transmission and other problems when the chassis stops, which makes it difficult to meet the requirements of high-precision operation tasks, and ensures that the chassis "stops accurately".

[0045] like Figure 1 As shown, the composite robot chassis includes a support structure 1, a base plate 2, a battery compartment 3, an electrical system 4, a drive system 5, and a lifting mechanism 6. The battery compartment 3 supplies power to the electrical system 4, the drive system 5, and the lifting mechanism 6. The electrical system 4 is also connected to the drive system 5 and the lifting mechanism 6 to control the movement of the composite robot chassis and the support provided by the lifting mechanism 6.

[0046] Four support structures 1 are diagonally mounted around the base plate 2, including driven wheels 1.1, mounting covers 1.2, and support columns 1.3. The support column 1.3 is a cylindrical structure with connecting flanges at both ends. The driven wheels 1.1 are mounted on the lower end of the support column 1.3 and extend from below the base plate 2. While supporting the composite robot, the driven wheels 1.1 rotate together with the tire assembly 5.3 in the drive system 5. The upper end of the support column 1.3 is bolted to the upper end cover of the composite robot chassis. The mounting cover 1.2 is fitted over the outer circumference of the support column 1.3 to prevent dust, debris, etc., from entering the composite robot chassis through the support structures 1.

[0047] Lifting mechanisms 6 are provided on the inner side of the supporting structures 1 on both sides of the base plate 2. The four lifting mechanisms 6 are symmetrical in front and behind and left and right. The lifting mechanisms 6 provide support for the composite robot chassis and share the load to meet the strength and rigidity of the composite robot chassis. This ensures that the composite robot chassis will not accumulate positioning deviations due to problems such as sudden stop slippage, structural deformation, and vibration transmission in heavy load, complex terrain, or high-precision stopping scenarios, thus ensuring that it can "stop stably" and "stop accurately".

[0048] like Figure 2As shown, the lifting mechanism 6 includes a mounting cover plate 6.1, an electric push cylinder 6.2, a push cylinder fixing plate 6.3, a mounting base 6.4, a support plate 6.5, a soft pad 6.6, and a pin 6.7. The electric push cylinder 6.2 pushes the piston rod to extend and retract, contacting the ground. Together with the support structure 1 and the drive system 5, it supports the composite robot, ensuring precise positioning of the composite robot chassis, high speed, large load capacity, and long service life. The upper end of the cylinder body of the electric push cylinder 6.2 is fixedly connected to the mounting cover plate 6.1 via the pin 6.7, and the lower end of the cylinder body of the electric push cylinder 6.2 is fixedly connected to the push cylinder fixing plate 6.3. The bottom end of the piston rod of the electric push cylinder 6.2 is coaxially fixedly connected to the support plate 6.5 via pin 6.7. The base plate 2 below the support plate 6.5 has a through hole matching the support plate 6.5. The electric push cylinder 6.2 can push the piston rod to cause the support plate 6.5 to extend downwards from the base plate 2 and contact the ground. The mounting cover plate 6.1, the push cylinder fixing plate 6.3, and the support plate 6.5 are parallel and coaxially connected to the electric push cylinder 6.2. The mounting base 6.4 in this embodiment consists of two symmetrical mounting plates fixed to the base plate 2. The upper and lower ends of the opposite surfaces of the mounting plates each have a limiting platform. The mounting cover plate 6.1 and the push cylinder fixing plate 6.3 are bolted to the upper and lower limiting platforms within the mounting base 6.4. The limiting platforms further restrict the freedom of movement of the electric push cylinder 6.2, ensuring stable vertical extension and retraction of the piston rod and preventing the electric push cylinder 6.2 from detaching from the mounting base 6.4. A soft pad 6.6 is installed at the bottom of the foot plate 6.5 to increase friction, prevent slipping when in contact with the ground, increase the adaptability of the foot plate 6.5 to uneven ground, and also has a certain buffering, shock absorption and noise reduction effect.

[0049] Two battery compartments 3 are symmetrically arranged on the left and right sides of the base plate 2, respectively. These battery compartments 3 provide power to the chassis of the composite robot. In this embodiment, the battery compartments 3 contain detachable battery units 3.6, such as... Figure 3 and Figure 4 As shown, the battery compartment 3 includes a battery compartment body 3.1, a guide rail 3.2, a roller strip 3.3, a connector 3.4, a battery swapping trolley 3.5, a battery unit 3.6, and a slider 3.7.

[0050] The battery compartment body 3.1, guide rails 3.2, and roller strips 3.3 are respectively mounted on the base plate 2. Two guide rails 3.2 are arranged parallel to each other at intervals in the middle of the battery compartment body 3.1, perpendicular to the axis of the composite robot chassis, and the distance between the two guide rails 3.2 matches the width of the slider 3.7. Two roller strips 3.3 are symmetrically arranged inside the battery compartment body 3.1 outside the two guide rails 3.2, and are parallel to the axis of the guide rails 3.2. In this embodiment, the roller strips 3.3 consist of multiple rollers evenly arranged perpendicular to the axis of the guide rails 3.2. The slider 3.7 is installed at the center of the bottom end of the battery unit 3.6, meaning the installation position of the slider 3.7 is adapted to the distance between the two guide rails 3.2. When the battery unit 3.6 is installed into the battery compartment body 3.1, the slider 3.7 is embedded between the two guide rails 3.2, and the bottom sides of the battery unit 3.6 are placed on the roller strips 3.3. When the battery unit 3.6 is pushed or pulled, the slider 3.7 slides between the two guide rails 3.2. The combination structure of the guide rails 3.2 and the slider 3.7 not only limits and guides the movement of the battery unit 3.6, but also reduces the shaking of the battery unit 3.6 when the composite robot chassis moves. The roller strips 3.3 can reduce the moving resistance of the battery unit 3.6.

[0051] The connector 3.4 includes a male end and a female end that mate with each other. In this embodiment, a male end or a female end is provided in the middle of the inner wall of the battery compartment body 3.1 near the axis of the composite robot chassis, and a female end or a male end is provided in the middle of the side wall of the battery unit 3.6 opposite to it. When the battery unit 3.6 enters the battery compartment body 3.1, the male end is inserted into the female end to realize the connection between the battery unit 3.6 and the battery compartment body 3.1.

[0052] The battery swapping trolley 3.5 is a separate, movable trolley equipped with guide rails 3.2 and rollers 3.3 that are identical to those inside the battery compartment body 3.1. After the composite robot chassis moves to the battery swapping station, the depleted battery units 3.6 in the battery compartment body 3.1 are pulled onto the battery swapping trolley 3.5 and transported to the designated position. Then, the battery swapping trolley 3.5 transports the fully charged battery units 3.6 to the side of the composite robot chassis, opposite the battery compartment body 3.1 where the battery units 3.6 are to be installed. At this point, the bottom sides of the battery units 3.6 are positioned on the rollers 3.3, and the slider 3.7 is positioned between the two guide rails 3.2. The rollers 3.3 allow the battery units 3.6 to be easily pushed into the battery compartment body 3.1, and the slider 3.7, in conjunction with the guide rails 3.2, ensures accurate connection between the male and female ends of the connector 3.4.

[0053] In addition, the front and rear sides of the base plate 2 are provided with inlets and outlets that match the battery compartment 3. The inlets and outlets can be closed by side doors or detachable side panels. When the battery unit 3.6 needs to be replaced, the side door is opened or the side panel is removed so that the battery unit 3.6 can enter and exit the battery compartment body 3.1.

[0054] The electrical system 4 is installed in the middle of the base plate 2 and is the same as the electrical system in the existing composite robot chassis, including sensors (LiDAR, camera, IMU, etc.), controller, and communication module. The sensors and communication module are connected to the controller respectively.

[0055] Two sets of drive systems 5 are symmetrically installed on the front and rear sides of the upper surface of the base plate 2, in the middle of the entire composite robot chassis, such as... Figure 5 As shown, the drive system 5 includes a stepper motor 5.1, a suspension assembly 5.2, and a tire assembly 5.3. The suspension assembly 5.2 is mounted on the chassis 2. The stepper motor 5.1 is located above the chassis 2, mounted inside the suspension of the suspension assembly 5.1. The output shaft of the stepper motor 5.1 passes through the suspension and connects to the center of the tire assembly 5.3, providing torque to the tire assembly 5.3. The controller in the electrical system 4 is connected to the stepper motor 5.1, controlling its forward and reverse rotation and speed, thereby controlling the forward and backward movement and speed of the composite robot chassis. When the two tire assemblies 5.3 have a speed difference, the controller can control the steering of the composite robot chassis. Its structure is simple and its performance is reliable. The suspension assembly 5.2 independently suspends the tire assembly 5.3, mainly serving a shock absorption function, which not only improves the lifespan of the composite robot chassis components but also improves the positioning accuracy of the lidar.

[0056] Example 2

[0057] This embodiment describes an AMR (Autonomous Mobile Robot) chassis, which is similar in structure to the chassis of the composite robot in Embodiment 1, such as... Figure 6 As shown, the difference is that the battery compartment 3 is replaced with a fixed battery unit 7. Two fixed battery units 7 are symmetrically arranged on the left and right sides of the base plate 2. The fixed battery unit 7 is equipped with a charging interface, which is connected to an external power source through a charging cable to charge the fixed battery unit 7.

[0058] Although the principles of this utility model have been described in detail above with reference to preferred embodiments, those skilled in the art should understand that the above embodiments are merely illustrative explanations of the implementation of this utility model and are not intended to limit the scope of this utility model. The details in the embodiments do not constitute a limitation on the scope of this utility model. Any obvious changes, such as equivalent transformations or simple substitutions, based on the technical solution of this utility model without departing from its spirit and scope fall within the protection scope of this utility model.

Claims

1. An AMR autonomous mobile composite robot chassis, characterized by, The composite robot chassis includes a support structure (1), a base plate (2), and a lifting mechanism (6). The four support structures (1) are installed diagonally around the base plate (2); the lifting mechanism (6) is provided on the inner side of each support structure (1) on the left and right sides of the base plate (2), and the four lifting mechanisms (6) are symmetrical in front and behind and left and right. The lifting mechanism (6) includes an electric push cylinder (6.2) and a foot plate (6.5). The electric push cylinder (6.2) is mounted on the base plate (2), and the piston rod of the electric push cylinder (6.2) faces the base plate (2). The foot plate (6.5) is coaxially mounted on the bottom end of the piston rod. The base plate (2) has a through hole that matches the foot plate (6.5). The foot plate (6.5) extends out of the base plate (2) through the through hole under the push of the piston rod.

2. The AMR autonomous mobile hybrid robot chassis of claim 1, wherein, The composite robot chassis also includes a battery compartment (3), with two battery compartments (3) symmetrically arranged on the left and right sides of the base plate (2). The battery compartments (3) provide power to the composite robot chassis. The battery compartments (3) contain detachable battery units (3.6).

3. The AMR autonomous mobile hybrid robot chassis of claim 2, wherein, The battery compartment (3) also includes a battery compartment body (3.1), guide rails (3.2), roller strips (3.3), and sliders (3.7); inside the battery compartment body (3.1), two guide rails (3.2) are installed parallel to each other on the base plate (2) at intervals perpendicular to the axis of the composite robot chassis, and the distance between the two guide rails (3.2) matches the width of the slider (3.7); two roller strips (3.3) are symmetrically installed on the base plate (2) outside the two guide rails (3.2); the slider (3.7) is installed at the bottom of the battery unit (3.6), and the installation position of the slider (3.7) is adapted to the distance between the two guide rails (3.2); When the battery unit (3.6) is installed into the battery compartment body (3.1), the slider (3.7) is embedded between the two guide rails (3.2), and the bottom sides of the battery unit (3.6) are placed on the roller strips (3.3); the front and rear sides of the base plate (2) are provided with closable inlets and outlets that match the battery compartment (3); the battery unit (3.6) passes through the inlets and outlets to enter and exit the battery compartment body (3.1).

4. The AMR autonomous mobile hybrid robot chassis of claim 3, wherein, The battery compartment (3) further includes a connector (3.4), which includes a male end and a female end that cooperate with each other. The male end or the female end is provided on the inner wall of the battery compartment body (3.1), and the female end or the male end is provided on the side wall of the battery unit (3.6) opposite to it. The battery unit (3.6) is connected to the battery compartment body (3.1) by inserting the male end into the female end.

5. The AMR autonomous mobile hybrid robot chassis of claim 3, wherein, The battery compartment (3) also includes a battery swapping trolley (3.5), which is equipped with a guide rail (3.2) and roller strips (3.3) that are consistent with those inside the battery compartment body (3.1). After the battery swapping trolley (3.5) is opposite to the battery compartment body (3.1), the battery unit (3.6) can slide through the inlet and outlet inside the battery compartment body (3.1) and on the battery swapping trolley (3.5).

6. The AMR autonomous mobile hybrid robot chassis of claim 1, wherein, The composite robot chassis also includes a fixed battery unit (7); two fixed battery units (7) are symmetrically arranged on the left and right sides of the base plate (2); the fixed battery unit (7) supplies power to the composite robot chassis.

7. The AMR autonomous mobile hybrid robot chassis of claim 1, wherein, The lifting mechanism (6) also includes a soft pad (6.6); the soft pad (6.6) is installed at the bottom of the foot plate (6.5).

8. The AMR autonomous mobile hybrid robot chassis of claim 1, wherein, The lifting mechanism (6) also includes a mounting base (6.4); the electric push cylinder (6.2) is installed in the mounting base (6.4).

9. The AMR autonomous mobile hybrid robot chassis of claim 8, wherein, The mounting base (6.4) consists of two mounting plates symmetrically fixed on the base plate (2), and the upper and lower ends of the opposite sides of the mounting plates are respectively equipped with limiting platforms; The lifting mechanism (6) further includes a mounting cover plate (6.1) and a push cylinder fixing plate (6.3); the upper and lower ends of the cylinder body of the electric push cylinder (6.2) are coaxially fixedly connected to the mounting cover plate (6.1) and the push cylinder fixing plate (6.3) respectively; inside the mounting base (6.4), the mounting cover plate (6.1) and the push cylinder fixing plate (6.3) are fixedly connected to the upper and lower limiting platforms respectively.

10. The AMR autonomous mobile hybrid robot chassis of claim 9, wherein, The lifting mechanism (6) also includes a pin (6.7); the upper end of the cylinder body of the electric push cylinder (6.2) is fixedly connected to the mounting cover plate (6.1) through the pin (6.7); the bottom end of the piston rod of the electric push cylinder (6.2) is fixedly connected to the support plate (6.5) through the pin (6.7).

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