Robot dog with laser navigation function

Abstract

The invention relates to the field of robots, and discloses a robot dog with laser navigation, which comprises a machine body, four machine arms are mounted on the machine body, and a laser transceiver is fixedly connected to the machine body; the vehicle arm comprises a first arm body rotationally connected with the vehicle body and a second arm body rotationally connected with the first arm body; the second arm body comprises a fixed arm body connected with the first arm body and a sliding arm body connected to the fixed arm body in a sliding mode. The sliding arm body slides in the radial direction of the fixed arm body and makes contact with the ground. And when the sliding arm body slides relative to the fixed arm body, the length of the second arm body is changed. According to the scheme, the sliding arm body slides relative to the fixed arm body, and the length of the second arm body is changed, so that after each second arm body extends, the advancing distance of the machine arm is increased every time, the advancing efficiency is further improved, and the effect of large-step forward advancing is achieved.

Description

Technical Field

[0001] The invention belongs to the field of robots, and more specifically, relates to a robot dog with laser navigation. Background Art

[0002] The quadruped inspection robot is used for patrol monitoring in substations. It usually needs to walk in different working environments. However, the arm length of today's quadruped robots is fixed. In a wide field, the span of each movement is small, which leads to a long time to complete a patrol. In some narrow spaces, if the arm is too long, the overall size of the quadruped robot will be too large, making it difficult to enter the narrow space. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a robot dog with laser navigation, which can change the length of its arm to meet different working environments.

[0004] A robot dog with laser navigation comprises a body, four arms are mounted on the body, a laser transceiver is fixedly connected to the body; the arms comprise a first arm body rotatably connected to the body and a second arm body rotatably connected to the first arm body; the second arm body comprises a fixed arm body connected to the first arm body and a sliding arm body slidably connected to the fixed arm body; the sliding arm body slides radially along the fixed arm body and contacts the ground; when the sliding arm body slides relative to the fixed arm body, the length of the second arm body changes.

[0005] Preferably, the second arm body also includes an arm cylinder body fixedly connected to the fixed arm body; the sliding arm body is provided with an arm piston sealingly and slidably connected in the arm cylinder body; and a pump body for changing the pressure in the arm cylinder body is installed on the body.

[0006] Preferably, the pump body comprises a pump casing and a switching sleeve rotatably mounted on the outside of the pump casing, the switching sleeve being provided with an inlet check valve and an outlet check valve; a water storage tank and a reversing mechanism are fixedly connected to the body.

[0007] Preferably, the pump body further comprises a piston body sealingly and slidably connected in the pump housing, a piston push rod driving the piston body to move, and a switching motor driving the switching sleeve to rotate.

[0008] Preferably, the reversing mechanism includes a reversing shell and a rotating sleeve rotatably connected to the outer wall of the reversing shell; two water passage chambers are arranged in the reversing shell; a water passage chamber connecting pipe that can be connected to the inlet check valve or the outlet check valve is arranged on the water passage chamber; an arm body connecting pipe connecting the machine arm cylinder and the water passage chamber is arranged on the outer wall of the rotating sleeve.

[0009] Preferably, a valve plate is slidably connected inside the reversing shell; when the valve plate is located at a first position, the two water passage chambers are not connected; when the valve plate is located at a second position, the two water passage chambers are connected.

[0010] Preferably, the reversing mechanism also includes a push rod rack sliding on the body and driving the rotating sleeve to move; an upper push block driving the valve plate to move to the second position is fixedly connected to the push rod rack; and a reversing push rod driving the push rod rack to move is fixedly connected to the body.

[0011] Preferably, a dust removal mechanism is provided on the body; the dust removal mechanism includes a dust removal cylinder, a sliding frame slidably connected to the dust removal cylinder and a dust removal roller rotatably connected to the sliding frame; a sliding piston sealingly and slidably connected to the dust removal cylinder is provided on the sliding frame; a water inlet pipe connected to the pump body is provided at one end of the dust removal cylinder.

[0012] Preferably, the sliding frame is evenly provided with nozzles facing the laser transceiver; and the side wall of the dust removal cylinder is provided with a water outlet pipe connected with each of the nozzles.

[0013] Preferably, the outer wall of the laser transceiver is provided with housing racks distributed along the sliding direction of the sliding frame; and the ash removal roller is coaxially provided with an ash removal gear meshing with the housing rack.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: this scheme changes the length of the second arm body by sliding the sliding arm body relative to the fixed arm body, so that when each second arm body is extended, the spacing of each arm movement increases, thereby improving the forward efficiency and achieving the effect of moving forward in large strides; when each second arm body is shortened, the overall height of the robot is reduced, which makes it easier to enter narrow spaces, increase the robot's usage scenarios, and improve the robot's working range.

[0015] When the robot of the existing products is climbing stairs, when the height of the stairs is large, the whole body will tilt greatly, and there is a risk of the robot tipping over. This solution changes the length of the second arm body so that the two second arm bodies of the front arm are shorter than the two second arm bodies of the rear arm. In this state, the robot walks on the stairs, so that the whole body remains horizontal, which is suitable for climbing stairs with relatively large heights and adapting to different working environments.

[0016] When the pump body of this solution is working, water can be injected or pumped into each arm cylinder to achieve the effect of controlling the extension or shortening of the second arm body. By controlling the movement of the valve plate, the connection relationship between the two water-passing chambers is changed. When the two water-passing chambers are connected, the four second arms are extended or shortened synchronously; when the two water-passing chambers are not connected, the front arm or the rear arm can be controlled to change respectively.

[0017] The pump body in this scheme can also inject water into the dust removal cylinder, so that the water entering the dust removal cylinder can drive the sliding frame and the dust removal roller to move to clean the surface of the laser transceiver, and can also enter the nozzle through the water outlet pipe and soak the surface of the laser transceiver through the nozzle.

[0018] This solution uses the movement of the sliding frame to drive the dust removal roller to move on the surface of the laser transceiver. At the same time, through the cooperation of the dust removal gear and the housing rack, the dust removal roller rotates during the movement, thereby improving the cleaning ability of the dust removal roller. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the three-dimensional structure of a robot dog in a specific embodiment of the present invention;

[0020] Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the robot climbing stairs;

[0021] Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure when the middle rotating sleeve is in the first position;

[0022] Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure when the middle rotating sleeve is in the third position;

[0023] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the middle pump body;

[0024] Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the middle reversing mechanism;

[0025] Figure 7 for Figure 1 Schematic diagram of the three-dimensional structure of the dust removal mechanism;

[0026] Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the central dust removal mechanism from another angle.

[0027] Description of the numbers in the figure:

[0028] 1. Body; 2. Arm; 21. First arm body; 22. Second arm body; 221. Fixed arm body; 222. Sliding arm body; 223. Arm piston; 23. Arm cylinder; 3. Laser transceiver; 31. Housing rack; 4. Ash removal mechanism; 41. Ash removal cylinder; 411. Water outlet pipe; 412. Water inlet pipe; 42. Sliding frame; 421. Nozzle; 422. Sliding piston; 43. Ash removal roller; 431. Ash removal gear; 44. Return spring; 5. Pump body; 51. Pump housing; 511. Connecting hole; 52. Piston body; 53. Piston push rod ; 54, switching sleeve; 541, inlet check valve; 542, outlet check valve; 543, switching gear; 55, switching motor; 56, motor gear; 6, reversing mechanism; 61, reversing shell; 611, water passage chamber; 612, reversing connecting hole; 614, water passage chamber connecting pipe; 62, valve plate; 621, valve plate push block; 63, rotating sleeve; 631, arm body connecting pipe; 633, rotating sleeve gear; 7, reversing push rod; 71, push rod rack; 72, upper push block; 721, push block inclined surface; 8, ash removal water pipe; 9, water storage tank; 91, water tank outlet. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] See also Figure 1-Figure 8 , Figure 1 A schematic diagram of the three-dimensional structure of a robot dog in a specific embodiment of the present invention; Figure 2 for Figure 1 Schematic diagram of the three-dimensional structure of the robot climbing stairs; Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure when the middle rotating sleeve is in the first position; Figure 4 for Figure 1 A schematic diagram of the three-dimensional structure when the middle rotating sleeve is in the third position; Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the middle pump body; Figure 6 for Figure 1 Schematic diagram of the three-dimensional structure of the middle reversing mechanism; Figure 7 for Figure 1 Schematic diagram of the three-dimensional structure of the dust removal mechanism; Figure 8 for Figure 7 Schematic diagram of the three-dimensional structure of the central dust removal mechanism from another angle.

[0031] A robot dog with laser navigation comprises a body 1, four arms 2 mounted on the body 1, and a laser transceiver 3 fixedly connected to the body 1; the arm 2 comprises a first arm body 21 rotatably connected to the body 1, and a second arm body 22 rotatably connected to the first arm body 21; the second arm body 22 comprises a fixed arm body 221 connected to the first arm body 21, and a sliding arm body 24 slidably connected to the fixed arm body 221; the sliding arm body 24 slides radially along the fixed arm body 221 and contacts the ground.

[0032] When the sliding arm 24 slides relative to the fixed arm 221 , the length of the second arm 22 changes.

[0033] The second arm body 22 also includes an arm cylinder 23 fixedly connected to the fixed arm body 221; the sliding arm body 222 is provided with an arm piston 223 sealingly and slidingly connected in the arm cylinder 23; and the body 1 is equipped with a pump body 5 for changing the pressure in the arm cylinder 23.

[0034] The pump body 5 includes a pump casing 51 and a switching sleeve 54 rotatably mounted on the outside of the pump casing 51 ; the switching sleeve 54 is provided with an inlet check valve 541 and an outlet check valve 542 ; a water storage tank 9 and a reversing mechanism 6 are fixedly connected to the body 1 .

[0035] The lower part of the outer wall of the pump housing 51 is uniformly provided with connecting holes 511 along the circumferential direction; the switching sleeve 54 is sealed against the connecting holes 511; when the switching sleeve 54 rotates, the inlet check valve 541 and the outlet check valve 542 are always connected with the inside of the pump housing 51 through the connecting holes 511.

[0036] The pump body 5 further comprises a piston body 52 which is sealingly and slidably connected in the pump housing 51 , a piston push rod 53 which drives the piston body 52 to move, and a switching motor 55 which drives the switching sleeve 54 to rotate.

[0037] A switching gear 543 is coaxially arranged on the outer wall of the switching sleeve 54 ; a motor gear 56 meshing with the switching gear 543 is fixedly connected to the output shaft of the switching motor 55 .

[0038] The water tank 9 is provided with a water tank outlet 91 which is sealed against the outer wall of the switching sleeve 54; when the inlet check valve 541 is connected to the water tank outlet 91, the water in the water tank 9 can enter the pump housing 51; when the outlet check valve 542 is connected to the water tank outlet 91, the water in the pump housing 51 can enter the water tank 9.

[0039] The reversing mechanism 6 includes a reversing shell 61 and a rotating sleeve 63 rotatably connected to the outer wall of the reversing shell 61; two water passage chambers 611 are arranged in the reversing shell 61; a water passage chamber connecting pipe 614 which can be connected with the inlet check valve 541 or the outlet check valve 542 is arranged on the water passage chamber 611; an arm body connecting pipe 631 which connects the machine arm cylinder 23 and the water passage chamber 611 is arranged on the outer wall of the rotating sleeve 63.

[0040] The side wall of the water-passing cavity 611 is provided with a reversing connecting hole 612 which can be connected with the arm body connecting pipe 631; the two arms 2 located on the front side of the fuselage 1 are the front arms, and the two arms 2 located on the rear side of the fuselage 1 are the rear arms; the outer wall of the rotating sleeve 63 is provided with two groups of arm body connecting pipes 631, and one group of arm body connecting pipes 631 is connected with one water-passing cavity 611; the two arm cylinders 23 in the front arm are connected with one group of arm body connecting pipes 631, and the two arm cylinders 23 in the rear arm are connected with the other group of arm body connecting pipes 631.

[0041] A valve plate 62 is slidably connected inside the reversing shell 61; when the valve plate is located at the first position, the two water passage chambers 611 are not connected, and at this time the pump body 5 injects water into one water passage chamber 611, and only the sliding arm body 222 in the front arm slides, or only the sliding arm body 222 in the rear arm slides; when the valve plate is located at the second position, the two water passage chambers 611 are connected, and at this time the pump body 5 injects water into one water passage chamber 611, and each sliding arm body 222 slides synchronously, and the lengths of each second arm body 22 are equal.

[0042] The reversing mechanism 6 also includes a push rod rack 71 sliding on the fuselage 1 to drive the rotating sleeve 63 to move; the push rod rack 71 is fixedly connected to an upper push block 72 that drives the valve plate 62 to move to the second position; and a reversing push rod 7 is fixedly connected to the fuselage to drive the push rod rack 71 to move.

[0043] The outer wall of the rotating sleeve 63 is coaxially provided with a rotating sleeve gear 633 meshing with the push rod rack 71; the valve plate 62 is fixedly connected with a valve plate push block 621 extending to the outside of the reversing shell 61; the upper push block 72 is provided with a push block inclined surface 721 that can abut against the valve plate push plate 621.

[0044] After the push block inclined surface 721 moves to abut against the valve plate push block 621, the push block inclined surface 721 pushes the valve plate push block 621 to move, and then the valve plate 62 moves to the second position; a valve plate spring is arranged between the valve plate 62 and the reversing shell 61 to drive the valve plate 62 to move to the first position.

[0045] When the push rod rack 71 drives the rotating sleeve 63 to be located in the first position, each arm body connecting tube 631 is not connected to the reversing connecting hole 612. At this time, the arm cylinders 23 are not connected to each other and are independent of each other. Then, the arm 2 moves at this time, so that the pressures in the arm cylinders 23 will not affect each other during the movement of the fuselage 1, and the sliding arm bodies 222 will not move; when the push rod rack 71 drives the rotating sleeve 63 to be located in the second position, each arm body connecting tube 631 is respectively connected to the corresponding reversing connecting hole 612, and the upper push block 72 is not in contact with the valve plate push block 621; when the push rod rack 71 drives the rotating sleeve 63 to be located in the second position, each arm body connecting tube 631 is respectively connected to the corresponding reversing connecting hole 612, and the upper push block 72 is in contact with the valve plate push block 621.

[0046] A dust removal mechanism 4 is provided on the body 1; the dust removal mechanism 4 includes a dust removal cylinder 41, a sliding frame 42 slidably connected to the dust removal cylinder 41, and a dust removal roller 43 rotatably connected to the sliding frame 42; a sliding piston 422 is provided on the sliding frame 42 and is sealingly and slidably connected to the dust removal cylinder 41; a water inlet pipe 412 connected to the pump body 5 is provided at one end of the dust removal cylinder 41.

[0047] The dust removal roller 43 abuts against the surface of the laser transceiver 3 ; a return spring 44 for returning the sliding piston 422 is provided between the sliding piston 422 and the dust removal cylinder 41 .

[0048] Nozzles 421 facing the laser transceiver 3 are evenly arranged on the sliding frame 42; a water outlet pipe 411 connected to each nozzle 421 is arranged on the side wall of the dust removal cylinder 41; when the water in the water inlet pipe 412 enters the dust removal cylinder 41, the sliding piston 422 is driven to move, and when the sliding piston 422 moves to the water outlet pipe 411 and is located between the sliding piston 422 and the water inlet pipe 412, the sliding piston 422 no longer moves, and water will enter each nozzle 421 from the water outlet pipe 411 and be sprayed on the surface of the laser transceiver 3.

[0049] The outer wall of the laser transceiver 3 is provided with a housing rack 31 distributed along the sliding direction of the sliding frame 42 ; the ash removal roller 43 is coaxially provided with an ash removal gear 431 meshing with the housing rack 31 .

[0050] When the sliding frame 42 moves, the ash removing gear 431 rotates under the action of the housing rack 31, and then the ash removing roller 43 rotates.

[0051] The pump body 5 further includes an ash removal water pipe 8 fixed on one side of the pump body 51 and capable of communicating with the inlet check valve 541 or the outlet check valve 542 ; the other end of the ash removal water pipe 8 is communicated with the water inlet pipe 412 .

[0052] A plurality of servos are arranged on the fuselage 1; the servos cooperate with each other to drive the machine arm 2 to move.

[0053] In the initial state, the push rod rack 71 drives the rotating sleeve to be located at the first position.

[0054] When the movement needs to be performed for a long time, in order to improve the movement efficiency, each second arm 22 needs to be extended, and the specific operation is as follows.

[0055] The reversing push rod 7 drives the push rod rack 71 to move, so that the reversing rack 71 drives the rotating sleeve 63 to move from the first position to the third position, and the upper push block 72 abuts against the valve plate push block 621, and then the valve plate 62 connects the two water passage chambers 611.

[0056] Then the switching motor 55 works, driving the switching sleeve 54 to rotate, so that the one-way valve 542 is directly opposite to any one of the water-passing chamber connecting pipes 614, and then the one-way valve 541 is connected to the water tank 9. Then the piston push rod 53 works, driving the piston body 52 to move back and forth, and the piston body 52 draws the water in the water tank 9 into the pump housing 51, and pumps it into the water-passing chamber 611 through the pump housing 51. Since the two water-passing chambers 611 are connected at this time, the water pressure in each arm cylinder 23 is the same. Therefore, the water entering the water-passing chamber 611 will enter each arm cylinder 23, and the water pushes the arm piston 223 to move, so that the sliding arm body 222 slides relative to the fixed arm body 221, and then each second arm body 22 extends synchronously, and the extension amplitude is the same. When the extension amplitude of the second arm body 22 reaches the set value, the piston push rod 53 stops working, and the push rod rack 71 drives the rotating sleeve 63 to move to the first position.

[0057] When the fuselage 1 needs to pass through a short space, each second arm 22 needs to be shortened, and the specific operation is as follows.

[0058] The reversing push rod 7 drives the push rod rack 71 to move, so that the reversing rack 71 drives the rotating sleeve 63 to move from the first position to the third position. Then the switching motor 55 works, driving the switching sleeve 54 to rotate, so that the inlet check valve 541 is directly opposite to any one of the water-passing chamber connecting pipes 614, and the outlet check valve 542 is connected to the water tank 9. Then the piston push rod 53 works, the piston body 52 moves back and forth, and the water in each arm cylinder 23 is pumped into the water tank 9. Each arm piston 223 drives the sliding arm body 222 to move synchronously, so that the second arm body 22 shrinks. When the second arm body 22 shrinks to the set value, the piston push rod 53 stops working, and the push rod rack 71 drives the rotating sleeve 63 to move to the first position.

[0059] When the fuselage 1 needs to cross the step, the reversing push rod 7 drives the push rod rack 71 to move, so that the reversing rack 71 drives the rotating sleeve 63 to move from the first position to the second position, and the arm body connecting pipe 631 is connected with the corresponding water-passing cavity 611, and the two water-passing cavities 611 of the valve plate 62 are not connected with each other. The switching motor 55 drives the switching sleeve 54 to rotate, so that the switching sleeve 54 rotates to the one-way valve 542 and communicates with the water-passing cavity connecting pipe 614 corresponding to the rear arm.

[0060] The piston body 52 reciprocates to pump the water in the water tank 9 into the two arm cylinders 23 corresponding to the rear arms, so that the two second arm bodies 22 of the rear arms are extended, while the lengths of the two second arm bodies 2 of the front arms remain unchanged. In general, the two front arms are shorter and the rear arms are longer, so that the fuselage 1 is in a horizontal state when climbing stairs.

[0061] After crossing the step, the push rod rack 71 drives the rotating sleeve 63 to move to the third position, the valve plate 62 moves, and the two water passage chambers 611 are connected. Then, under the action of pressure, the pistons 233 of each arm move, the two front arms extend, and the rear arm shortens, and finally the lengths of each second arm body 22 are equal, which is convenient for walking on the plane. Then the push rod rack 71 drives the rotating sleeve 63 to move to the first position and return to the initial state.

[0062] When the laser transceiver 3 needs to be cleaned, the switching motor 55 drives the switching sleeve 54 to rotate, so that the one-way valve 542 is connected to the dust removal water pipe 8. Then the piston body 52 moves back and forth, and the water in the water tank 9 enters the dust removal cylinder 41 through the pump housing 51, the dust removal water pipe 8, and the water inlet pipe 412.

[0063] The water entering the dust removal cylinder 41 forces the sliding piston 422 to move, and then the sliding piston 422 drives the sliding frame 42 and the dust removal roller 43 to move upward. At the same time, the shell rack 31 drives the dust removal rack 431 to rotate, and then the dust removal roller 43 rotates while moving to remove dust from the surface of the laser transceiver 3.

[0064] When the sliding piston 422 moves to above the water outlet pipe 411 , the water entering the dust removal cylinder 41 will pass through the water outlet pipe 411 and be sprayed from each nozzle 421 onto the upper part of the laser transceiver 3 , and the water will flow to various positions of the laser transceiver 3 .

[0065] Then the switching motor 55 drives the switching sleeve 54 to rotate, so that the inlet check valve 541 is connected to the ash removal water pipe 8. The piston body 52 moves back and forth, and the piston body draws the water in the ash removal cylinder 41 into the water storage tank 9. In this process, as the water in the ash removal cylinder 41 decreases, the return spring 44 pushes the sliding piston 422 to move toward the water inlet pipe 412, and then the sliding frame 42 drives the ash removal roller 43 to move downward. The ash removal roller 43 wipes and cleans the laser transceiver 3 again. Repeat the above process, and the ash removal roller 43 reciprocates to wipe and remove ash from the laser transceiver 3.

[0066] After the dust removal is completed, the piston push rod 53 stops working and the piston body 52 no longer moves.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot dog with laser navigation, comprising a body, characterized in that: Four arms are installed on the fuselage, and a laser transceiver is fixedly connected to the fuselage; the arms include a first arm body rotatably connected to the fuselage and a second arm body rotatably connected to the first arm body; the second arm body includes a fixed arm body connected to the first arm body and a sliding arm body slidably connected to the fixed arm body; the sliding arm body slides radially along the fixed arm body and contacts the ground; when the sliding arm body slides relative to the fixed arm body, the length of the second arm body changes.

2. The robot dog with laser navigation according to claim 1, characterized in that: The second arm body also includes an arm cylinder body fixedly connected to the fixed arm body; the sliding arm body is provided with an arm piston sealingly and slidingly connected in the arm cylinder body; and the body is installed with a pump body for changing the pressure in the arm cylinder body.

3. The robot dog with laser navigation according to claim 2, characterized in that: The pump body comprises a pump casing and a switching sleeve rotatably mounted on the outside of the pump casing, wherein an inlet check valve and an outlet check valve are arranged on the switching sleeve; a water storage tank and a reversing mechanism are fixedly connected to the body.

4. The robot dog with laser navigation according to claim 3, characterized in that: The pump body also includes a piston body which is sealingly and slidingly connected in the pump housing, a piston push rod which drives the piston body to move, and a switching motor which drives the switching sleeve to rotate.

5. The robot dog with laser navigation according to claim 3, characterized in that: The reversing mechanism includes a reversing shell and a rotating sleeve rotatably connected to the outer wall of the reversing shell; two water passage chambers are arranged in the reversing shell; a water passage chamber connecting pipe that can be connected to the inlet check valve or the outlet check valve is arranged on the water passage chamber; an arm body connecting pipe that connects the machine arm cylinder and the water passage chamber is arranged on the outer wall of the rotating sleeve.

6. The robot dog with laser navigation according to claim 5, characterized in that: A valve plate is slidably connected inside the reversing shell; when the valve plate is located at a first position, the two water passage chambers are not connected; when the valve plate is located at a second position, the two water passage chambers are connected.

7. The robot dog with laser navigation according to claim 6, characterized in that: The reversing mechanism also includes a push rod rack sliding on the body and driving the rotating sleeve to move; an upper push block driving the valve plate to move to the second position is fixedly connected to the push rod rack; and a reversing push rod driving the push rod rack to move is fixedly connected to the body.

8. The robot dog with laser navigation according to claim 2, characterized in that: A dust removal mechanism is arranged on the machine body; the dust removal mechanism comprises a dust removal cylinder, a sliding frame slidably connected to the dust removal cylinder and a dust removal roller rotatably connected to the sliding frame; a sliding piston sealed and slidably connected to the dust removal cylinder is arranged on the sliding frame; a water inlet pipe connected to the pump body is arranged at one end of the dust removal cylinder.

9. The robot dog with laser navigation according to claim 8, characterized in that: The sliding frame is evenly provided with nozzles facing the laser transceiver; the side wall of the dust removal cylinder is provided with a water outlet pipe connected with each of the nozzles.

10. The robot dog with laser navigation according to claim 8, characterized in that: The outer wall of the laser transceiver is provided with housing racks distributed along the sliding direction of the sliding frame; the ash removal roller is coaxially provided with an ash removal gear meshing with the housing rack.

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