The Netherlands international believes that his side can take confidence from QPR's recent shock win at Stamford Bridge, and has labelled the Swans' success in recent years as a "dream".
“What QPR achieved last week can inspire us,” Vorm told reporters. “After Chelsea beat Aston Villa 8-0 everyone wrote them off. But they went there and won.
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|7/1||Swansea are 7/1 with Bet365 to beat Chelsea on Wednesday
“We have to believe in ourselves and give everything until the very end.
“It’s unbelievable that we are in a cup semi-final against Chelsea.
“What Swansea have achieved in the last 18 months is just a dream for the players and especially for the people who live here.
“We are a team that’s hard to beat, especially away from home. We have beaten Arsenal, Fulham and QPR in London this season so that’s a positive omen.”
Vorm also pointed out the strength of Chelsea's attacking talents, but believes that Michael Laudrup's side will be able to go toe-to-toe with the west London outfit.
He added: “Juan Mata is Chelsea’s best player and they have just bought [Demba] Ba. They have so many players that can make a difference with guys like Eden Hazard and Oscar.
“They have a strong squad but we have shown we are capable - not only with the football we play but the mentality we have and Chelsea know that.”