Double-four-bar serial actuating mechanism of mobile robot

The utility model discloses a double-four-bar serial actuating mechanism of a mobile robot, which is used for realizing the material charging and discharging and the tool changing of a numerically-controlled machine tool group. The double-four-bar serial actuating mechanism of the mobile robot comprises a base, a rotary cylinder, a big arm, a four-bar mechanism I, a four-bar mechanism II, a telescopic cylinder I, a small arm, a paw, a telescopic cylinder of a wrist part, a telescopic cylinder II, a rotary stepping motor and a speed reducer device. The entire actuating mechanism is driven to rotate by the rotary cylinder, the two four-bar mechanisms are adopted as an auxiliary mechanism of the entire actuating mechanism, the working space of the entire actuating mechanism is obviously enlarged, and the flexibility of the actuating mechanism is reinforced.