CN217456158U - Four swing arm robots of intelligence - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses an intelligent four-swing-arm robot, which comprises a chassis base, a walking motor, a swing arm walking assembly, a swing arm rotating shaft, a moving walking assembly and a moving rotating shaft; at least 2 moving rotating shafts are respectively and rotatably connected to the two sides in front of the chassis seat; at least 2 moving rotating shafts are respectively and rotatably connected to the two sides of the rear part of the chassis seat; each movable rotating shaft is provided with a shaft sleeve cavity; each shaft sleeve cavity is rotatably sleeved with a swing arm rotating shaft; one end of each swing arm rotating shaft is in transmission connection with a swing arm walking assembly; the swing arm motor is in transmission connection with the swing arm rotating shaft. The utility model provides a four swing arm robots of intelligence compact structure is simple, and is stronger at compatibility and the adaptability that different environment walked and removed, has the efficient ability of surmounting obstacles, can be competent in multiple complex environment's detection task.

Description

Four swing arm robots of intelligence

Technical Field

The utility model relates to the technical field of robot, especially, relate to a four swing arm robots of intelligence.

Background

Currently, mobile robots are applied to the detection tasks of various complex environments. However, due to the fact that the existing mobile robot is arranged in a self-structure mode, such as the mobile robot is complex in structure and large in occupied space, when the mobile robot walks and moves in different environments, the mobile robot is poor in environment moving compatibility and adaptability, the obstacle crossing capability of the mobile robot is poor, and the success rate of completing detection tasks of various complex environments is low.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming prior art's problem, providing a compact structure, hinder the ability high efficiency more and can be competent in the four swing arm robots of intelligence of the detection task of multiple complex environment.

In order to achieve the above purpose, the utility model adopts the following scheme:

an intelligent four-swing-arm robot comprises a chassis base, a walking motor, a swing arm walking assembly, a swing arm rotating shaft, a moving walking assembly and a moving rotating shaft;

at least 2 moving rotating shafts are respectively and rotatably connected to the two sides in front of the chassis seat; at least 2 moving rotating shafts are respectively and rotatably connected to the two sides of the rear part of the chassis seat;

the front and rear moving rotating shafts on the same side of the chassis base are in transmission connection with the moving walking component; the walking motor is in transmission connection with the moving rotating shaft and drives the moving rotating shaft to rotate so as to drive the moving walking component to walk and move;

each movable rotating shaft is provided with a shaft sleeve cavity; each shaft sleeve cavity is rotatably sleeved with one swing arm rotating shaft; the swing arm rotating shaft rotates around the central axis of the swing arm rotating shaft; one end of each swing arm rotating shaft is in transmission connection with one swing arm walking assembly;

the swing arm motor is in transmission connection with the swing arm rotating shaft and drives the swing arm rotating shaft to rotate so as to adjust the swing arm walking assembly to rotate along with the swing arm rotating shaft and swing position, and then the swing arm walking assembly can move along with the moving walking assembly to move synchronously.

Further, the moving rotating shafts have 4; 2 the moving rotating shafts are respectively and rotatably connected to the two sides in front of the chassis seat; in addition, 2 moving rotating shafts are respectively and rotatably connected to the two sides of the rear part of the chassis seat;

the mobile walking assembly comprises a crawler moving wheel and a mobile crawler; one end of each moving rotating shaft is connected with one crawler moving wheel positioned outside the chassis seat; the front and the rear crawler moving wheels on the same side of the chassis seat are in transmission connection through the matching of the moving crawler.

Furthermore, the chassis base is provided with a movable auxiliary riding wheel for supporting the movable crawler belt at a position corresponding to each movable crawler belt.

Further, the walking motors are 2; the 2 walking motors are arranged at the front end of the chassis seat; and 2 traveling motors are respectively in transmission connection with the two moving rotating shafts on the two sides in front of the chassis base.

Further, the swing arm walking assembly comprises a swing arm support, a swing arm crawler driving wheel, a swing arm crawler driven wheel and a swing arm crawler; one end of the swing arm bracket is connected with one end of the swing arm rotating shaft and swings along with the rotation of the swing arm rotating shaft; the swing arm crawler driving wheel is rotatably connected to one end of the swing arm rotating shaft and is positioned at the same end as one end of the swing arm support; the swing arm crawler driven wheel is rotatably connected to the other end of the swing arm support; the swing arm crawler driving wheel and the swing arm crawler driven wheel are in matched transmission connection through the swing arm crawler.

Furthermore, the swing arm support is provided with a swing arm auxiliary riding wheel for supporting the swing arm crawler belt.

Furthermore, two swing arm rotating shafts on two sides in front of the chassis seat are correspondingly arranged; two swing arm rotating shafts on two sides behind the chassis seat are arranged correspondingly; the number of the swing arm motors is 2; the 2 swing arm motors are respectively distributed at the front end and the rear end of the chassis seat; the swing arm motor is in transmission connection with the two swing arm rotating shafts on the two sides in front of the chassis base respectively; and the other swing arm motor is in transmission connection with the two swing arm rotating shafts on the two sides of the rear part of the chassis base respectively.

Further, the distance between the central axes of the front swing arm rotating shaft and the rear swing arm rotating shaft on the same side of the chassis base is 700-800 mm.

Further, the wheel diameter of the swing arm crawler driving wheel is 350-400 mm; the wheel diameter of the driving wheel of the swing arm crawler belt is larger than that of the driven wheel of the swing arm crawler belt;

the distance between the central axis of the swing arm crawler driving wheel and the central axis of the swing arm crawler driven wheel is 800-1000 mm.

Furthermore, the movable rotating shaft and the swing arm rotating shaft are arranged coaxially.

Compared with the prior art, the utility model has the advantages of as follows:

the utility model has 4 moving rotating shafts distributed on the front two sides and the rear two sides of the chassis base, and a shaft sleeve cavity is arranged on each moving rotating shaft, thus realizing the rotatable sleeving of 4 swing arm rotating shafts, the structure is compact and simple, the occupied space is small, the cost is low, a front moving rotating shaft and a rear moving rotating shaft on the same side of the chassis base are in transmission connection with one moving walking component, one end of each swing arm rotating shaft is connected with one swing arm walking component, the installation of 4 swing arm walking components is realized on the two sides of the chassis base, then the moving rotating shafts are driven by the walking motor to rotate so as to drive the moving walking components to walk and move, further the whole intelligent four-swing-arm robot moves forwards or backwards, and the swing arm motor drives the swing arm rotating shafts to adjust the swing position of the swing arm walking components along with the rotation of the swing arm rotating shafts, thereby the intelligent four-swing-arm robot can walk and move on the premise, the angle position of 4 swing arm walking assemblies is switched and adjusted, synchronous walking movement of the swing arm walking assemblies along with the moving walking assemblies is facilitated, the structure is compact and simple, compatibility and adaptability of walking movement in different environments are stronger, the obstacle crossing capability is high-efficiency, and the detection task of multiple complex environments can be performed.

Drawings

The present application will be described in further detail with reference to the following drawings and detailed description.

Fig. 1 is the utility model discloses a local spatial structure schematic diagram of four swing arm robots of intelligence.

Fig. 2 is a three-dimensional structure diagram of the structure formed by combining the swing arm walking assembly, the swing arm rotating shaft, the moving rotating shaft, the track moving wheel and the swing arm auxiliary riding wheel.

Fig. 3 is the exploded perspective structure diagram of the structure formed by the combination of the swing arm walking assembly, the swing arm rotating shaft, the moving rotating shaft, the track moving wheel and the swing arm auxiliary riding wheel of the utility model.

The figure includes:

the device comprises a chassis base 1, a walking motor 2, a swing arm motor 3, a swing arm walking assembly 4, a swing arm support 41, a swing arm crawler driving wheel 42, a swing arm crawler driven wheel 43, a swing arm crawler 44, a swing arm rotating shaft 5, a moving walking assembly 6, a crawler moving wheel 61, a moving crawler 62, a moving rotating shaft 7, a moving auxiliary riding wheel 8 and a swing arm auxiliary riding wheel 9.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

As shown in fig. 1 to 3, an intelligent four-swing-arm robot includes a chassis base 1, a walking motor 2, a swing-arm motor 3, a swing-arm walking assembly 4, a swing-arm rotating shaft 5, a moving walking assembly 6 and a moving rotating shaft 7; at least 2 moving rotating shafts 7 are respectively and rotatably connected to the two sides in front of the chassis base 1; at least 2 moving rotating shafts 7 are respectively and rotatably connected to the two rear sides of the chassis base 1; specifically, the number of the movable rotating shafts 7 is 4; the 2 moving rotating shafts 7 are respectively and rotatably connected to the two sides in front of the chassis base 1; the other 2 moving rotating shafts 7 are respectively connected to the two rear sides of the chassis base 1 in a rotatable manner; the front and rear moving rotating shafts 7 on the same side of the chassis base 1 are in transmission connection with the moving walking component 6; the walking motor 2 is in transmission connection with the moving rotating shaft 7 and drives the moving rotating shaft 7 to rotate so as to drive the moving walking component 6 to walk and move; each movable rotating shaft 7 is provided with a shaft sleeve cavity; each shaft sleeve cavity is rotatably sleeved with one swing arm rotating shaft 5; the swing arm rotating shaft 5 rotates around the central axis thereof; one end of each swing arm rotating shaft 5 is in transmission connection with one swing arm walking assembly 4; swing arm motor 3 with swing arm pivot 5 transmission is connected and through the drive swing arm pivot 5 rotates in order to adjust swing arm running gear 4 follows swing arm pivot 5 rotates and wobbling position, and then can make swing arm running gear 4 follows it removes the synchronous walking of running gear 6 and removes.

4 moving rotating shafts 7 are distributed on the front two sides and the rear two sides of the chassis base 1, and a shaft sleeve cavity is arranged on each moving rotating shaft 7, so that the 4 swing arm rotating shafts 5 can be rotatably sleeved, the structure is compact and simple, the occupied space is small, the cost is low, the front moving rotating shaft 7 and the rear moving rotating shaft 7 on the same side of the chassis base 1 are in transmission connection with one moving walking component 6, one end of each swing arm rotating shaft 5 is connected with one swing arm walking component 4, the installation of 4 swing arm walking components 4 is realized on two sides of the base plate, then the walking motor 2 is utilized to drive the moving rotating shaft 7 to rotate so as to drive the moving walking component 6 to move, so that the whole intelligent four-swing-arm robot can move forwards or backwards, and the swing arm motor 3 drives the swing arm rotating shaft 5 to rotate so as to adjust the swing position of the swing arm walking assembly 4 along with the rotation of the swing arm rotating shaft 5; when the environment is stable, the swing arm motor 3 can drive the swing arm rotating shaft 5 to rotate so as to adjust the swing position of the swing arm walking component 4, if the swing arm walking component 4 is 90 degrees to the chassis base 1, the walking motor 2 drives the moving rotating shaft 7 to rotate so as to drive the moving walking component 6 to move, and then the intelligent four-swing-arm robot integrally moves forwards or backwards; when the environment jolts, can rotate the road that is fit for the environment in order to adjust 4 wobbling positions of 4 swing arm walking subassemblies through 4 swing arm pivot 5 of swing arm motor 3 drive, the walking is more steady, be favorable to accomplishing the task, thereby make this four swing arm robot of intelligence under the prerequisite of walkable removal, the angular position of 4 swing arm walking subassemblies 4 is adjusted in the switching, be favorable to swing arm walking subassembly 4 to remove along with removing 6 synchronous walks of walking subassembly, moreover, the steam generator is compact and simple in structure, it is stronger to walk compatibility and adaptability of removal at different environment, it is more steady to walk, the high efficiency ability of hindering more, can compete the detection task of multiple complex environment.

Preferably, the moving rotating shaft 7 and the swing arm rotating shaft 5 are arranged coaxially. Will remove pivot 7 and swing arm pivot 5 coaxial line setting, when removing pivot 7 and swing arm pivot 5 and all take place to rotate, can make this four swing arm robot of intelligence's overall structure more stable, the walking is more steady, more is favorable to adapting to multiple complex environment's detection task.

Wherein the mobile walking assembly 6 comprises a track moving wheel 61 and a moving track 62; one end of each moving rotating shaft 7 is connected with one crawler moving wheel 61 positioned outside the chassis base 1; the front and the rear crawler belt moving wheels 61 on the same side of the chassis base 1 are in matched transmission connection through the moving crawler belt 62. Two tracks of the front and back of chassis seat 1 both sides remove wheel 61 and are connected through 2 removal tracks 62 transmission that cooperate, move pivot 7 rotation at the drive of walking motor 2, make the track of chassis seat 1 both sides remove wheel 61 and remove track 62 synchronous rotation, remove track 62 can with ground contact, and then make things convenient for the whole forward or backward walking of this four swing arm robot of intelligence to remove.

In order to strengthen the compatibility and adaptability of the intelligent four-swing-arm robot in walking and moving in different environments, the intelligent four-swing-arm robot is more stable in walking and has efficient obstacle crossing capability, and the position of the chassis base 1 corresponding to each moving crawler belt 62 is provided with a moving auxiliary riding wheel 8 for bearing the moving crawler belt 62. Through setting up the supplementary riding wheel 8 of removal, be favorable to removing track 62 and remove steadily on two track moving wheel 61 in front and back to when the walking of different environment removes, the walking is more steady.

In the present embodiment, the number of the traveling motors 2 is 2; the 2 walking motors 2 are arranged at the front end of the chassis base 1; the 2 walking motors 2 are respectively in transmission connection with the two moving rotating shafts 7 on the two sides in front of the chassis base 1. The walking motor 2 is connected with the movable rotating shaft 7 by adopting a movable transmission structure, and the transmission structure is a conventional existing structure. This four swing arm robots of intelligence rationally adopts 2 walking motors 2, can walk for the removal walking subassembly 6 of the both sides of chassis seat 1 and remove and provide sufficient power, makes the removal track 62 homoenergetic of the both sides of chassis seat 1 steady rotation work, makes things convenient for the whole forward or backward walking of this four swing arm robots of intelligence to remove, and the walking is steady, is favorable to accomplishing the detection task of various complex environment.

In the present embodiment, the swing arm walking assembly 4 includes a swing arm support 41, a swing arm track driving wheel 42, a swing arm track driven wheel 43 and a swing arm track 44; one end of the swing arm bracket 41 is connected with one end of the swing arm rotating shaft 5 and swings along with the rotation of the swing arm rotating shaft 5; the swing arm crawler driving wheel 42 is rotatably connected to one end of the swing arm rotating shaft 5 and is positioned at the same end as one end of the swing arm support 41; namely, the central axis of the swing arm caterpillar driving wheel 42 is coincident with the central axis of the swing arm rotating shaft 5. The swing arm crawler driven wheel 43 is rotatably connected to the other end of the swing arm bracket 41; namely, the swing arm track follower 43 is rotatably connected to an end of the swing arm support 41 remote from the swing arm track drive wheel 42. The swing arm crawler driving wheel 42 and the swing arm crawler driven wheel 43 are in matched transmission connection through the swing arm crawler 44. One end of the swing arm support 41 is connected with one end of the swing arm rotating shaft 5, according to the environment of robot movement, the swing arm motor 3 can be utilized to drive the swing arm rotating shaft 5 to rotate so as to adjust the swing arm rotating shaft 5 to rotate along with the swing arm rotating shaft 5 to swing, 4 groups of swing arm crawler driving wheels 42 can be switched and adjusted, the angle positions of the swing arm crawler driven wheels 43 and the swing arm crawler belts 44 are adjusted, the swing arm crawler driving wheels 42 are facilitated, the moving structure formed by the swing arm crawler driven wheels 43 and the swing arm crawler belts 44 moves along with the synchronous walking of the moving walking assembly 6, the structure is compact and simple, the compatibility and adaptability of walking movement in different environments are stronger, the walking is more stable, the robot has efficient obstacle crossing capability, and can be competent for detecting tasks in various complex environments.

Preferably, the swing arm support 41 is provided with a swing arm auxiliary supporting roller 9 for supporting the swing arm crawler belt 44. Through setting up the supplementary riding wheel 9 of swing arm, be favorable to swing arm track 44 steady movement on two track moving wheel 61 that correspond to when the walking of different environment removes, the walking is more steady.

In this embodiment, the two swing arm rotating shafts 5 at two sides in front of the chassis base 1 are correspondingly arranged; two swing arm rotating shafts 5 at the two sides of the rear part of the chassis base 1 are arranged correspondingly; the number of the swing arm motors 3 is 2; the 2 swing arm motors 3 are respectively distributed at the front end and the rear end of the chassis base 1; the swing arm motor 3 is respectively in transmission connection with the two swing arm rotating shafts 5 on the two sides in front of the chassis base 1; and the other swing arm motor 3 is in transmission connection with the two swing arm rotating shafts 5 at the two sides of the rear part of the chassis base 1 respectively. The driving of the 4 swing arm rotating shafts 5 is realized by utilizing the two swing arm motors 3, the structure is compact, the occupied space is small, and the cost is reduced.

In this embodiment, the distance between the central axes of the front and rear swing arm rotating shafts 5 on the same side of the chassis base 1 is 700 and 800 mm. Preferably, the distance between the central axes of the front swing arm rotating shaft 5 and the rear swing arm rotating shaft 5 on the same side of the chassis base 1 is 775 mm. The distance between the central axis of the swing arm crawler driving wheel 42 and the central axis of the swing arm crawler driven wheel 43 is 800-1000 mm. Preferably, the distance between the central axis of the swing arm track drive wheel 42 and the central axis of the swing arm track driven wheel 43 is 900 mm. Through reasonable setting of the distance between the central axes of the front swing arm rotating shaft 5 and the rear swing arm rotating shaft 5 and the distance between the central axis of the swing arm crawler driving wheel 42 and the central axis of the swing arm crawler driven wheel 43, the intelligent four-swing-arm robot is beneficial to compact overall structure, small occupied space and completion of detection tasks of various complex environments. The wheel diameter of the swing arm crawler driving wheel 42 is 350-400 mm; preferably, the wheel diameter of the swing arm crawler 42 is 386.35 mm. The wheel diameter of the swing arm track driving wheel 42 is larger than that of the swing arm track driven wheel 43. Because the angular velocities of the driving wheel 42 and the driven wheel 43 are the same when the robot walks, the wheel diameter of the driven wheel 43 is larger than the diameter of the driven wheel 43, which is beneficial to the faster moving speed of the robot in different environments.

In the embodiment, the walking motor 2 and the swing arm motor 3 are both servo motors, the power of the servo motor is preferably 750w, and the rotating speed is preferably 3000 r/min. The walking motor 2 is connected with the moving rotating shaft 7 through a moving transmission structure, and the swing arm motor 3 is connected with the swing arm rotating shaft 5 through a swing arm transmission structure. The movable transmission structure and the swing arm transmission structure are conventional existing structures and can be replaced by the existing structures. And the connection between the movable rotating shaft 7 and the chassis base 1, between the movable rotating shaft 7 and the swing arm rotating shaft 5, between the swing arm rotating shaft 5 and the swing arm crawler driving wheel 42, and between the swing arm crawler driven wheel 43 and the swing arm support 41 is realized through bearings.

In summary, the embodiment of the utility model provides an intelligent four-swing-arm robot, wherein, 4 moving rotating shafts 7 are distributed on both sides of the front and both sides of the rear of the chassis seat 1, and a shaft sleeve cavity is arranged on each moving rotating shaft 7, so that 4 swing arm rotating shafts 5 can be rotatably sleeved, the structure is compact and simple, the occupied space is small, the cost is low, a front moving rotating shaft 7 and a rear moving rotating shaft 7 on the same side of the chassis base 1 are in transmission connection with a moving walking assembly 6, one end of each swing arm rotating shaft 5 is connected with a swing arm walking assembly 4, the installation of 4 swing arm walking components 4 is realized on two sides of the base plate, then the walking motor 2 is utilized to drive the moving rotating shaft 7 to rotate so as to drive the moving walking component 6 to move, so that the whole intelligent four-swing-arm robot can move forwards or backwards, and the swing arm motor 3 drives the swing arm rotating shaft 5 to rotate so as to adjust the swing position of the swing arm walking assembly 4 along with the rotation of the swing arm rotating shaft 5; when the environment is stable, the swing arm motor 3 can drive the swing arm rotating shaft 5 to rotate so as to adjust the swing position of the swing arm walking component 4, if the swing arm walking component 4 is 90 degrees to the chassis base 1, the walking motor 2 drives the moving rotating shaft 7 to rotate so as to drive the moving walking component 6 to move, and then the intelligent four-swing-arm robot integrally moves forwards or backwards; when the environment jolts, can rotate the road that is fit for the environment in order to adjust 4 swing arm walking assembly 4 wobbling positions through 4 swing arm motor 3 drives swing arm pivot 5, it is more steady to walk, be favorable to accomplishing the task, thereby make this four swing arm robot of intelligence under the prerequisite of walkable removal, switch the angular position who adjusts 4 swing arm walking assembly 4, be favorable to swing arm walking assembly 4 to remove along with removing 6 synchronous walks of walking assembly, moreover, the steam generator is compact in structure and simple, compatibility and adaptability in different environment walking removal are stronger, it is more steady to walk, have the efficient ability of crossing obstacles, can competent in the detection task of multiple complex environment.

The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.

Claims (10)

1. An intelligent four-swing-arm robot comprises a chassis base and is characterized by further comprising a walking motor, a swing arm walking assembly, a swing arm rotating shaft, a moving walking assembly and a moving rotating shaft;

at least 2 moving rotating shafts are respectively and rotatably connected to the two sides in front of the chassis seat; at least 2 moving rotating shafts are respectively and rotatably connected to the two sides of the rear part of the chassis seat;

the front and rear moving rotating shafts on the same side of the chassis base are in transmission connection with the moving walking component; the walking motor is in transmission connection with the moving rotating shaft and drives the moving rotating shaft to rotate so as to drive the moving walking component to walk and move;

each movable rotating shaft is provided with a shaft sleeve cavity; each shaft sleeve cavity is rotatably sleeved with one swing arm rotating shaft; the swing arm rotating shaft rotates around the central axis of the swing arm rotating shaft; one end of each swing arm rotating shaft is in transmission connection with one swing arm walking assembly;

the swing arm motor is in transmission connection with the swing arm rotating shaft and drives the swing arm rotating shaft to rotate so as to adjust the swing arm walking assembly to rotate along with the swing arm rotating shaft and swing position, and then the swing arm walking assembly can move along with the moving walking assembly to move synchronously.

2. The intelligent four-swing arm robot of claim 1, wherein the number of the moving spindles is 4; 2 the moving rotating shafts are respectively and rotatably connected to the two sides in front of the chassis seat; in addition, 2 moving rotating shafts are respectively and rotatably connected to the two sides of the rear part of the chassis seat;

the mobile walking assembly comprises a crawler moving wheel and a mobile crawler; one end of each moving rotating shaft is connected with one crawler moving wheel positioned outside the chassis seat; the front and the rear crawler moving wheels on the same side of the chassis seat are in transmission connection through the matching of the moving crawler.

3. The intelligent four-swing-arm robot as claimed in claim 2, wherein the chassis base is provided with a movable auxiliary riding wheel for supporting the movable crawler belt at a position corresponding to each movable crawler belt.

4. The intelligent four-swing arm robot of claim 1, wherein the number of said walking motors is 2; the 2 walking motors are arranged at the front end of the chassis seat; and 2 traveling motors are respectively in transmission connection with the two movable rotating shafts on the two sides in front of the chassis base.

5. The intelligent four-swing-arm robot of claim 1, wherein the swing arm walking assembly comprises a swing arm support, a swing arm crawler drive wheel, a swing arm crawler driven wheel, and a swing arm crawler; one end of the swing arm bracket is connected with one end of the swing arm rotating shaft and swings along with the rotation of the swing arm rotating shaft; the swing arm crawler driving wheel is rotatably connected to one end of the swing arm rotating shaft and is positioned at the same end as one end of the swing arm support; the swing arm crawler driven wheel is rotatably connected to the other end of the swing arm support; the swing arm crawler driving wheel and the swing arm crawler driven wheel are in matched transmission connection through the swing arm crawler.

6. The intelligent four-swing-arm robot of claim 5, wherein the swing-arm support is provided with swing-arm auxiliary supporting wheels for supporting the swing-arm crawler belts.

7. The intelligent four-swing-arm robot of claim 1, wherein two swing-arm rotating shafts on two sides in front of the chassis base are arranged correspondingly; two swing arm rotating shafts on two sides behind the chassis seat are arranged correspondingly; the number of the swing arm motors is 2; the 2 swing arm motors are respectively distributed at the front end and the rear end of the chassis seat; the swing arm motor is in transmission connection with the two swing arm rotating shafts on the two sides in front of the chassis base respectively; and the other swing arm motor is in transmission connection with the two swing arm rotating shafts on the two sides of the rear part of the chassis base respectively.

8. The intelligent four-swing-arm robot as claimed in claim 1, wherein the distance between the central axes of the front and rear swing arm rotating shafts on the same side of the chassis base is 700-800 mm.

9. The intelligent four-swing-arm robot as claimed in claim 5, wherein the wheel diameter of the swing-arm crawler driving wheel is 350-400 mm; the wheel diameter of the driving wheel of the swing arm crawler belt is larger than that of the driven wheel of the swing arm crawler belt;

the distance between the central axis of the swing arm crawler driving wheel and the central axis of the swing arm crawler driven wheel is 800-1000 mm.

10. The intelligent four-swing-arm robot of claim 1, wherein the moving rotating shaft is arranged coaxially with the swing-arm rotating shaft.

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