Skirting line cleaning robot

Abstract

The utility model relates to a skirting line cleaning robot which comprises a robot box body, an antenna, a walking device, a sensing system, a camera, a cleaning working device, a driving device, a communication device, a battery and a control device. And the antenna is vertically assembled at the top of the robot box body and is used for receiving an instruction. According to the skirting line cleaning robot, the skirting line cleaning robot is of a caterpillar band swing arm type structure, indoor plane skirting lines can be cleaned, the skirting lines on the stairs can be cleaned by climbing the stairs, a rolling brush is used for primary cleaning, a spray head sprays water or a cleaning agent, then cleaning cloth is used for secondary cleaning, and the purpose of decontamination gun cleaning is achieved; the electric push rod stretches out after the rolling brush and the cleaning cloth, dead-corner-free cleaning and multi-sensor information fusion are carried out, the surrounding environment is better perceived, the camera transmits collected image information to the upper computer, the running state of the robot can be monitored, manual cleaning is effectively replaced, the fatigue degree of people is relieved, and the efficiency and the working quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of cleaning robots, in particular to a skirting board cleaning robot. Background Art

[0002] At present, cleaning robots have been widely used in indoor floor cleaning and glass cleaning. However, the cleaning of corridors, stairs and indoor skirting boards still needs to be done manually. Skirting boards are widely distributed in corridors, stairs and indoors, and the position of the skirting board is low. Cleaners need to bend down or squat to clean it. The cleaners not only have a large amount of labor and are not easy to clean, but also are extremely prone to fatigue, low efficiency and poor cleaning effect when working with long-term bending or squatting. Content of the Utility Model

[0003] In view of the above situation, the present invention provides a skirting board robot to solve the problems in the above background art.

[0004] To achieve the above object, the utility model provides the following technical solution: A skirting board cleaning robot, comprising a robot box body, an antenna, a walking device, a sensing system, a camera, a cleaning working device, a driving device, a communication device, a battery and a control device;

[0005] The antenna is vertically assembled on the top of the robot box body for receiving instructions and is signal-connected to an external remote control device. The walking device is arranged on both sides of the robot box body, and the sensing system is arranged inside the robot box body for collecting terrain features;

[0006] The camera is assembled on the front side of the robot box body, and the driving device, the communication device, the battery and the control device are all arranged inside the robot box body;

[0007] The camera is signal-connected to the antenna and the communication device for transmitting the collected information to the upper computer;

[0008] The driving device is in transmission connection with the walking device.

[0009] Further, the walking device includes at least four rotating wheels, at least two transmission tracks, at least four swing arm transmission wheels, at least two connecting plates, at least four end caps and at least two swing arm tracks;

[0010] Every two of the at least four rotating wheels are in a group and are respectively rotatably connected to both sides of the robot box body, and at least two of the transmission tracks are respectively in transmission connection with the outside of the two groups of rotating wheels;

[0011] Every two of the at least four swing arm transmission wheels are in a group and are respectively in transmission connection with the two groups of rotating wheels, and at least two of the connecting plates are respectively installed on the outside of the two groups of swing arm transmission wheels;

[0012] At least four of the end caps are respectively arranged on the outer sides of at least four swing arm drive wheels, and are respectively attached to one side of the two connecting plates facing away from each other. At least two swing arm crawlers are respectively drivingly connected to the outer sides of two groups of swing arm drive wheels.

[0013] Further, the sensing system includes a front left ultrasonic sensor, a front infrared sensor, a front right ultrasonic sensor, a right side infrared sensor, a right rear ultrasonic sensor, a left rear ultrasonic sensor, and a left side infrared sensor;

[0014] Among them, the front left ultrasonic sensor, the front infrared sensor, and the front right ultrasonic sensor are sequentially arranged at the front end of the robot box body from left to right;

[0015] The right side infrared sensor and the right rear ultrasonic sensor are both installed on the right side of the robot box body, and the left rear ultrasonic sensor and the left side infrared sensor are both installed on the left side of the robot box body.

[0016] Further, a right front ultrasonic sensor and a left front ultrasonic sensor are respectively installed on one side of the two connecting plates facing away from each other.

[0017] Further, the right rear ultrasonic sensor is located above the right side infrared sensor.

[0018] Further, the left side infrared sensor is located above the left rear ultrasonic sensor.

[0019] Further, the cleaning working device includes a rotary brush, a nozzle, a mounting bracket, a water pump, a water tank, and a second electric push rod;

[0020] The rotary brush is connected to the side surface of the robot box body through the mounting bracket. The second electric push rod is assembled inside the robot box body, and the output end of the second electric push rod is drivingly connected to the mounting bracket;

[0021] The water tank and the water pump are both assembled inside the robot box body. The input end of the water pump is communicated with the water tank. The nozzle is connected to the output end of the water pump, and the output end of the nozzle and the rotary brush are on the same side.

[0022] Further, a first electric push rod is also assembled inside the robot box body. The output ends of the first electric push rod and the second electric push rod both penetrate and extend to the outside of the robot box body;

[0023] A mounting plate is drivingly connected to the output end of the first electric push rod, and a cleaning cloth is assembled on the mounting plate.

[0024] Further, the driving device includes four gear boxes, two driving motors, four encoders, four couplings, two driving shafts, two swing shafts and two swing motors;

[0025] The two driving motors and the two swing motors are both installed inside the robot box, and the two driving motors are connected to the two rotating wheels at the rear side through two couplings and two driving shafts;

[0026] The four encoders are electrically connected to the two drive motors and the two swing motors respectively, the four gear boxes are respectively installed on the output ends of the two drive motors and the two swing motors, and are transmission connected to the four couplings, and the two swing arm transmission wheels are transmission connected to the two swing motors through the two swing shafts.

[0027] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0028] The skirting board cleaning robot has a crawler swing-arm structure. It can not only clean indoor flat skirting boards but also climb stairs to clean skirting boards on stairs. The roller brush performs initial cleaning, the nozzle sprays water or detergent, and the rag performs secondary cleaning to achieve the purpose of decontamination and rapid cleaning. Facing the corner, the electric push rod extends after the roller brush and rag to perform cleaning without dead angles. Multi-sensor information fusion can better perceive the surrounding environment. The camera will transmit the collected image information to the upper computer to monitor the operating status of the robot, effectively replacing manual cleaning, reducing human fatigue, and improving efficiency and work quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is an axonometric diagram of a skirting cleaning robot;

[0030] Figure 2 A schematic diagram of the baseboard cleaning robot looking down into the interior;

[0031] Figure 3 This is a schematic diagram of the right side view of the skirting cleaning robot;

[0032] Figure 4 This is a schematic diagram of the walking device of the skirting cleaning robot;

[0033] Figure 5 This is a schematic diagram of the drive device of the skirting board cleaning robot.

[0034] In the figure: 1. Robot box body; 2. Antenna; 3. Traveling device; 4. Sensing system; 5. Camera; 6. Cleaning working device; 7. Driving device; 8. Communication device; 9. Battery; 10. Control device; 31. Rotating wheel; 32. Transmission track; 33. Swing arm driving wheel; 34. Connecting plate; 35. End cover; 36. Swing arm track; 41. Front left ultrasonic sensor; 42. Front infrared sensor; 43. Front right ultrasonic sensor; 44. Right front ultrasonic sensor; 45. Right infrared sensor; 46. Right rear ultrasonic sensor; 47. Left rear ultrasonic sensor; 48. Left infrared sensor; 49. Left front ultrasonic sensor; 61. Rotary brush; 62. Sprayer; 63. Rag; 64. Mounting bracket; 65. Mounting plate; 66. Water pump; 67. First electric push rod; 68. Water tank; 69. Second electric push rod; 71. Gear box; 72. Driving motor; 73. Encoder; 74. Coupling; 75. Driving shaft; 76. Swing shaft; 77. Swing motor. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figures 1-5 , a skirting board cleaning robot in this embodiment is convenient for cleaning skirting boards on different terrains;

[0037] Specifically, it includes a robot box body 1, an antenna 2, a traveling device 3, a sensing system 4, a camera 5, a cleaning working device 6, a driving device 7, a communication device 8, a battery 9 and a control device 10;

[0038] Among them, the antenna 2 is vertically assembled on the top of the robot box body 1 for receiving instructions and is signal-connected to an external remote control device. The traveling device 3 is arranged on both sides of the robot box body 1, and the sensing system 4 is arranged inside the robot box body 1 for collecting terrain features; the camera 5 is assembled on the front side of the robot box body 1, and the driving device 7, the communication device 8, the battery 9 and the control device 10 are all arranged inside the robot box body 1; the camera 5 is signal-connected to the antenna 2 and the communication device 8 for transmitting the collected information to the upper computer; the driving device 7 is in transmission connection with the traveling device 3.

[0039] During actual use, the antenna 2 is vertically assembled on the top of the robot box body 1 and is mainly used to receive command signals from external remote control devices. These commands may include controlling the movement of the robot, starting the cleaning working device 6, adjusting the viewing angle of the camera 5, etc. Moreover, the antenna 2 maintains a signal connection with the external remote control device to ensure the accurate transmission of commands. At the same time, the antenna 2 may also work in cooperation with the communication device 8 to transmit the received commands to the control device 10 for processing.

[0040] During actual use, the traveling device 3 is powered by the driving device 7. When the control device 10 receives a movement command, it sends a signal to the driving device 7, and the driving device 7 makes the traveling device 3 move through transmission connection, thereby realizing the movement of the robot. During the movement process, the information collected by the sensing system 4 is transmitted to the control device 10 for processing, and the control device 10 adjusts the movement state of the robot according to this information to ensure that the robot can complete tasks safely and efficiently.

[0041] In addition, the camera 5 is not only used to monitor the working environment of the robot but also can work in cooperation with the antenna 2 and the communication device 8 to transmit the collected image information to the upper computer. In this way, the operator can understand the working state of the robot and the surrounding environment in real time. When the control device 10 receives a command to start the cleaning work, it sends a signal to the cleaning working device 6 to drive it to start working. The cleaning working device 6, driven by the traveling device 3, cleans the area passed by the robot.

[0042] As described above, the communication device 8 receives external command signals from the antenna 2 and transmits them to the control device 10. At the same time, it also sends the image information collected by the camera 5 and other sensor data to the upper computer. The battery 9 supplies power to components such as the driving device 7, the communication device 8, and the control device 10 through circuit connection. As the power is consumed, the battery 9 needs to be charged or replaced regularly. The control device 10 analyzes and makes decisions based on the received information, and then sends control signals to components such as the driving device 7 and the cleaning working device 6 to realize the autonomous movement and cleaning operation of the robot.

[0043] Specifically, the walking device 3 includes at least four rotating wheels 31, at least two driving crawlers 32, at least four swing arm driving wheels 33, at least two connecting plates 34, at least four end covers 35 and at least two swing arm crawlers 36; every two of the at least four rotating wheels 31 are in a group and are respectively rotatably connected to both sides of the robot box body 1, and the at least two driving crawlers 32 are respectively drivingly connected to the outside of the two groups of rotating wheels 31; every two of the at least four swing arm driving wheels 33 are in a group and are respectively drivingly connected to the two groups of rotating wheels 31, and the at least two connecting plates 34 are respectively installed on the outside of the two groups of swing arm driving wheels 33; the at least four end covers 35 are respectively arranged on the outside of the at least four swing arm driving wheels 33, and are respectively attached to the side opposite to the two connecting plates 34, and the at least two swing arm crawlers 36 are respectively drivingly connected to the outside of the two groups of swing arm driving wheels 33.

[0044] In addition, the driving device 7 includes four gear boxes 71, two driving motors 72, four encoders 73, four couplings 74, two driving shafts 75, two swing shafts 76 and two swing motors 77; the two driving motors 72 and the two swing motors 77 are both assembled inside the robot box body 1, and the two driving motors 72 are drivingly connected to the two rear rotating wheels 31 through the two couplings 74 and the two driving shafts 75; the four encoders 73 are respectively electrically connected to the two driving motors 72 and the two swing motors 77, the four gear boxes 71 are respectively assembled at the output ends of the two driving motors 72 and the two swing motors 77, and are drivingly connected to the four couplings 74, and the two swing arm driving wheels 33 are drivingly connected to the two swing motors 77 through the two swing shafts 76.

[0045] During the actual use process, the control device 10 integrates and analyzes the information obtained by the sensing system 4, so that the swing motor 77 drives the swing arm driving wheel 33 and the swing arm crawler 36 to lift a certain angle around the swing shaft 76 until the front swing arm driving wheel 33 is placed on the edge of the first step of the stairs. At this time, the robot has completed the preparation stage of climbing the stairs and is about to start the process of climbing the stairs.

[0046] When the robot platform travels on the stairs, the control device 10 integrates and analyzes the information obtained by the sensing system 4, and adjusts the robot's posture to keep the robot parallel to the stairs to obtain sufficient friction and adhesion force, so that the robot can run safely and stably on the stairs. When the robot reaches the top of the stairs, the swing motor 77 drives the swing arm driving wheel 33 and the swing arm crawler 36 to rotate downward by a certain angle around the swing shaft 76 until it completely adheres to the ground at the top of the stairs, so as to increase the friction and adhesion force of the robot and make the robot run more smoothly. During the process of climbing the stairs, the cleaning device 6 continuously cleans the skirting board of the stairs.

[0047] Specifically, in order to clean the skirting board, the cleaning device 6 in this embodiment includes a rotary brush 61, a spray head 62, a mounting bracket 64, a water pump 66, a water tank 68, and a second electric push rod 69;

[0048] The rotary brush 61 is connected to the side of the robot body 1 through the mounting bracket 64. The second electric push rod 69 is assembled inside the robot body 1, and the output end of the second electric push rod 69 is in transmission connection with the mounting bracket 64. Both the water tank 68 and the water pump 66 are assembled inside the robot body 1. The input end of the water pump 66 is communicated with the water tank 68. The spray head 62 is connected to the output end of the water pump 66, and the output end of the spray head 62 is on the same side as the rotary brush 61.

[0049] A first electric push rod 67 is also assembled inside the robot body 1. The output ends of both the first electric push rod 67 and the second electric push rod 69 penetrate and extend to the outside of the robot body 1. A mounting plate 65 is in transmission connection with the output end of the first electric push rod 67, and a cleaning cloth 63 is assembled on the mounting plate 65.

[0050] During actual use, the control device 10 is used to extend the first electric push rod 67 and the second electric push rod 69, so that the rotary brush 61 and the cleaning cloth 63 come into contact with the skirting board. As the robot moves, the rotary brush 61 initially cleans the skirting board. At this time, the water pump 66 pumps water from the water tank 68 and supplies water to the spray head 62. The spray head 62 sprays water on the skirting board, and the cleaning cloth 63 wipes the skirting board and removes the sewage.

[0051] Further specifically, in order to collect the ground environment information on the surrounding surface during movement, the sensing system 4 in this embodiment includes a front left ultrasonic sensor 41, a front infrared sensor 42, a front right ultrasonic sensor 43, a right infrared sensor 45, a right rear ultrasonic sensor 46, a left rear ultrasonic sensor 47, and a left infrared sensor 48.

[0052] Among them, the front left ultrasonic sensor 41, the front infrared sensor 42, and the front right ultrasonic sensor 43 are sequentially arranged at the front end of the robot body 1 from left to right. Both the right infrared sensor 45 and the right rear ultrasonic sensor 46 are installed on the right side of the robot body 1, and both the left rear ultrasonic sensor 47 and the left infrared sensor 48 are installed on the left side of the robot body 1.

[0053] A right front ultrasonic sensor 44 and a left front ultrasonic sensor 49 are respectively installed on the opposite sides of the two connecting plates 34. The right rear ultrasonic sensor 46 is located above the right infrared sensor 45, and the left infrared sensor 48 is located above the left rear ultrasonic sensor 47.

[0054] In actual settings, the front left ultrasonic sensor 41, the front infrared sensor 42, and the front right ultrasonic sensor 43 are sequentially arranged from left to right at the front end of the robot box body 1. They are mainly used to sense obstacles and terrain changes directly in front of the robot. Moreover, the ultrasonic sensor measures the distance by emitting ultrasonic waves and receiving their reflected signals, while the infrared sensor senses the objects in front by detecting infrared radiation. The combination of the two can improve the accuracy and reliability of the front-end environment perception.

[0055] In addition, the right infrared sensor 45 and the right rear ultrasonic sensor 46 are installed on the right side of the robot box body 1 to sense the environmental information on the right side and the rear of the robot. The right infrared sensor 45 mainly detects whether there are objects on the right side, while the right rear ultrasonic sensor 46 is used to measure the distance to the right rear, helping the robot avoid collisions with obstacles on the side and rear. The left rear ultrasonic sensor 47 and the left infrared sensor 48 are installed on the left side of the robot box body 1, and their functions are similar to those of the right-side sensors, but they sense the environment on the left side and the left rear.

[0056] Moreover, the right front ultrasonic sensor 44 and the left front ultrasonic sensor 49 are respectively installed on the opposite sides of the two connecting plates 34. As a supplement to the front-end environment perception, these two sensors can further expand the range of the robot's front perception, especially in the possible blind areas between the walking devices 3, improving the robot's comprehensive perception ability of the front environment.

[0057] Finally, all sensors are connected to the control device 10 through signals, and the collected environmental information is transmitted to the control device 10 in real time for processing. The control device 10 adjusts the motion state of the robot in real time according to this information, combined with preset algorithms and rules, to achieve functions such as autonomous navigation and obstacle avoidance.

[0058] The working principle of the above embodiment is as follows:

[0059] When the skirting board cleaning robot operates indoors or in the corridor, the drive motor 72 drives the drive shaft 75 to rotate through the gearbox 71 and the coupling 74. The drive shaft 75 drives the rotating wheel 31 to rotate, thereby driving the track 32 to roll and making the robot move forward. The sensing system 4 collects distance data information, transmits it to the control device 10, and determines the distance between the robot and the skirting board through information fusion, making the robot close to the skirting board. The first electric push rod 67 and the second electric push rod 69 are extended through the control device 10, and the brush roller 61 and the rag 63 come into contact with the skirting board. As the robot moves forward, the brush roller 61 initially cleans the skirting board. At this time, the water pump 66 pumps water from the water tank 68 and supplies water to the nozzle 62. The nozzle 62 sprays water on the skirting board, and the rag 63 wipes the skirting board and removes the sewage.

[0060] When reaching the corner position, the robot will, according to the information collected by the sensing system 4, issue a turning instruction by the control device 10, and make the first electric push rod 67 and the second electric push rod 69 extend or retract according to the instruction of the control device 10 to clean the corner position.

[0061] When the robot cleans the skirting board of the stairs, the control device 10 fuses and analyzes the information obtained by the sensing system 4, and makes the swing motor 77 drive the swing arm transmission wheel 33 and the swing arm crawler 36 to lift a certain angle around the swing shaft 76 until the front swing arm transmission wheel 33 is placed on the edge of the first step of the stairs. At this time, the robot has completed the preparation stage of climbing the stairs and is about to start the process of climbing the stairs. When the robot platform travels on the stairs, the control device 10 fuses and analyzes the information obtained by the sensing system 4, and adjusts the robot's posture to keep the robot parallel to the stairs to obtain sufficient friction and adhesion force, so that the robot can run safely and stably on the stairs. When the robot reaches the top of the stairs, the swing motor 77 drives the swing arm transmission wheel 33 and the swing arm crawler 36 to rotate downward by a certain angle around the swing shaft 76 until it completely adheres to the ground at the top of the stairs, so as to increase the friction and adhesion force of the robot and make the operation of the robot more stable. During the process of climbing the stairs, the cleaning working device 6 continuously cleans the skirting board of the stairs.

[0062] During the process of the robot moving forward or working, the camera 5 continuously collects image information and uploads the collected information to the upper computer through the communication device 8 and the antenna 2, so that the state of the robot can be monitored, and problems can be dealt with in time if they occur.

[0063] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A skirting cleaning robot, characterized in that: It comprises a robot housing (1), an antenna (2), a walking device (3), a sensor system (4), a camera (5), a cleaning working device (6), a driving device (7), a communication device (8), a battery (9) and a control device (10); The antenna (2) is vertically mounted on the top of the robot box (1) for receiving commands and connecting signals with external remote control equipment. The walking device (3) is arranged on both sides of the robot box (1). The sensor system (4) is arranged inside the robot box (1) for collecting terrain features. The camera (5) is mounted on the front side of the robot housing (1), and the driving device (7), the communication device (8), the battery (9) and the control device (10) are all arranged inside the robot housing (1); The camera (5) is connected to the antenna (2) and the communication device (8) by signal so as to transmit the collected information to the upper camera position; The driving device (7) is transmission-connected to the walking device (3).

2. A skirting cleaning robot according to claim 1, characterized in that: The walking device (3) comprises at least four rotating wheels (31), at least two transmission crawlers (32), at least four swing arm transmission wheels (33), at least two connecting plates (34), at least four end covers (35) and at least two swing arm crawlers (36); At least four rotating wheels (31) are connected to two sides of the robot box (1) in a group, and at least two transmission tracks (32) are connected to the outsides of the two groups of rotating wheels (31) in a transmission manner. At least four swing arm transmission wheels (33) are connected to the two groups of rotating wheels (31) in a group of two, and at least two connecting plates (34) are installed on the outside of the two groups of swing arm transmission wheels (33). At least four end covers (35) are respectively arranged on the outside of at least four swing arm transmission wheels (33) and are respectively attached to the opposite sides of the two connecting plates (34). At least two swing arm crawlers (36) are respectively transmission-connected to the outsides of the two groups of swing arm transmission wheels (33).

3. The skirting cleaning robot according to claim 2, characterized in that: The sensing system (4) comprises a front left ultrasonic sensor (41), a front infrared sensor (42), a front right ultrasonic sensor (43), a right infrared sensor (45), a right rear ultrasonic sensor (46), a left rear ultrasonic sensor (47), and a left infrared sensor (48); Wherein, the front left ultrasonic sensor (41), the front infrared sensor (42), and the front right ultrasonic sensor (43) are arranged in sequence from left to right at the front end of the robot box (1); The right infrared sensor (45) and the right rear ultrasonic sensor (46) are both installed on the right side of the robot box (1), and the left rear ultrasonic sensor (47) and the left infrared sensor (48) are both installed on the left side of the robot box (1).

4. The skirting cleaning robot according to claim 3, characterized in that: A right front ultrasonic sensor (44) and a left front ultrasonic sensor (49) are respectively installed on opposite sides of the two connecting plates (34).

5. The skirting cleaning robot according to claim 3, characterized in that: The right rear ultrasonic sensor (46) is located above the right infrared sensor (45).

6. The skirting cleaning robot according to claim 3, characterized in that: The left infrared sensor (48) is located above the left rear ultrasonic sensor (47).

7. The skirting cleaning robot according to claim 1, characterized in that: The cleaning working device (6) comprises a roller brush (61), a nozzle (62), a mounting frame (64), a water pump (66), a water tank (68) and a second electric push rod (69); The roller brush (61) is connected to the side of the robot box (1) via a mounting frame (64); the second electric push rod (69) is assembled inside the robot box (1), and the output end of the second electric push rod (69) is transmission-connected to the mounting frame (64); The water tank (68) and the water pump (66) are both installed inside the robot housing (1), and the input end of the water pump (66) is connected to the water tank (68), the nozzle (62) is connected to the output end of the water pump (66), and the output end of the nozzle (62) and the roller brush (61) are located on the same side.

8. The skirting cleaning robot according to claim 7, characterized in that: A first electric push rod (67) is also installed inside the robot box (1), and the output ends of the first electric push rod (67) and the second electric push rod (69) both penetrate and extend to the outside of the robot box (1); The output end of the first electric push rod (67) is drivingly connected to a mounting plate (65), and a rag (63) is mounted on the mounting plate (65).

9. The skirting cleaning robot according to claim 2, characterized in that: The driving device (7) comprises four gear boxes (71), two driving motors (72), four encoders (73), four couplings (74), two driving shafts (75), two swing shafts (76) and two swing motors (77); The two driving motors (72) and the two swing motors (77) are both installed inside the robot box (1), and the two driving motors (72) are connected to the two rear rotating wheels (31) through two couplings (74) and two driving shafts (75); The four encoders (73) are electrically connected to the two drive motors (72) and the two swing motors (77) respectively; the four gear boxes (71) are respectively mounted on the output ends of the two drive motors (72) and the two swing motors (77) and are transmission-connected to the four couplings (74); the two swing arm transmission wheels (33) are transmission-connected to the two swing motors (77) via the two swing shafts (76).

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