Soft ground crawling robot

A soft ground crawling robot, characterized by comprising front wheels, a universal wheel (8), lower end covers (4), a body shell (15), and a connecting plate (1), connecting shafts (3), wheel brackets (5), a supporting assembly, rotary stepping motors (11) and a swinging stepping motor (13) which are respectively installed in the body shell (15), wherein the front wheels are connected on both sides of the front end of the body shell (15);

• the universal wheel (8) is arranged on the rear end;
• the rotary stepping motors (11) are installed on both sides of the supporting assembly;
• an output shaft of the rotary stepping motor (11) on each side passes through the body shell (15) and then is connected with the front wheel on the same side;
• the swinging stepping motor (13) is installed on the supporting assembly;
• the output shaft is connected with the connecting plate (1);
• the connecting plate (1) is connected with the body shell (15) through the connecting shaft (3);
• the body shell (15) is driven to swing by the swinging stepping motor (11);
• the lower end covers (4) are rotatably connected on both sides of the body shell (15);
• the wheel bracket (5) is connected to the rotary stepping motor (11) on each side;
• and the wheel bracket (5) on each side is connected with the lower end cover (4) on the same side.