Collaborative crawler-type four-footed robot dog

Abstract

The invention relates to the technical field of cooperative crawler-type robot dogs, in particular to a cooperative crawler-type four-legged robot dog which comprises a robot dog trunk body, four legs and a crawler trolley, a mounting plate internally provided with a camera is fixedly mounted at one end of the robot dog trunk body, and a water tank is fixedly mounted on one side of the lower end of the robot dog trunk body; the cleaning assemblies are mounted on the two sides of the water tank, the U-shaped cleaning plate capable of moving up and down is mounted at one end of the mounting plate through the driving assembly, the drying assembly is mounted on the other side of the lower end of the robot dog trunk body, soil and other impurities attached to a crawler belt of the crawler trolley are brushed through the cleaning rollers, meanwhile, the surface of the crawler belt is washed, and the cleaning effect is good; manual cleaning is not needed, convenience and rapidness are achieved, the cleaning efficiency is improved, the air outlet pipe dries the cleaned crawler belt of the crawler belt trolley, water stains are prevented from being attached to the surface of the crawler belt, dust and other impurities attached to a camera lens can be cleaned, the cleaning effect is good, and the situation that the definition of the camera is reduced by the impurities is avoided.

Description

Technical Field

[0001] The present invention relates to a cooperative crawler-type quadruped robot dog, in particular to a cooperative crawler-type quadruped robot dog, belonging to the technical field of cooperative crawler-type robot dogs. Background Art

[0002] The collaborative tracked quadruped robot dog is a robot that combines the characteristics of quadruped walking and tracked movement. It includes a trunk body and four limbs that can walk on flat roads or complex terrain and can fold and rotate by themselves. The abdomen of the trunk body is connected to a tracked vehicle through an electromagnet, which is used to drive the entire robot dog forward when walking on a flat road. In complex terrain, the robot dog adopts a quadruped walking mode to simulate the walking posture of bionic dogs, maintains balance with three-point support, and achieves flexible movement. On flat terrain, the four legs can be folded and flipped to allow the tracked vehicle to land, thereby saving energy. The collaborative tracked quadruped robot dog combines the flexibility of quadruped walking and the stability of tracked movement, and has broad application prospects, especially in the military field.

[0003] As disclosed in the publication number: CN109927808B, a cooperative crawler-type quadruped robot dog includes a trunk body, four limbs connected to the four ends of the trunk body, which can walk on a flat road or complex terrain and can fold and rotate by themselves, and a crawler vehicle connected to the abdomen of the trunk body through an electromagnet, which is used to drive the trunk body and the four limbs as a whole to walk on a flat road. The present invention adopts a relatively simple mechanical structure. The robot dog simulates the walking posture of bionic dogs, maintains balance in a three-point support manner, realizes the fourth leg to move forward, and cycles in sequence to achieve forward movement. The quadruped robot dog can be easily controlled, flexibly move, and adapt to more complex terrain environments. In relatively flat terrain, the four legs can be folded and flipped with two main joints as axes, the center of gravity of the quadruped robot is lowered, the crawler vehicle on the abdomen touches the ground, and the crawler vehicle carries the body to move, saving energy.

[0004] The existing collaborative tracked quadruped robot dog can move flexibly and adapt to more complex terrain environments when in use. However, after long-term use, dirt and other impurities will adhere to the surface of the track. The existing technology generally requires manual cleaning, which is inconvenient, time-consuming and labor-intensive. In addition, the camera at the front end of the robot dog will be attached with impurities after long-term use, which reduces the clarity of the camera and affects the normal movement of the robot dog.

[0005] In view of this, the present invention is proposed. Summary of the invention

[0006] The purpose of the present invention is to provide a cooperative crawler-type four-legged robot dog in order to solve the above-mentioned problem, which has the function of automatically cleaning the tracks of the crawler vehicle and automatically removing impurities attached to the surface of the camera.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions: a cooperative tracked quadruped robot dog, comprising a robot dog trunk body, four limbs that are connected to the four ends of the robot dog trunk body and can be folded and rotated by themselves, and a tracked trolley for driving the robot dog trunk body and the limbs to walk on a flat road, wherein the tracked trolley is detachably mounted on both sides of the lower end of the robot dog trunk body, a mounting plate with a camera disposed inside is fixedly mounted on one end of the robot dog trunk body, a water tank is fixedly mounted on one side of the lower end of the robot dog trunk body, cleaning components for cleaning the tracked trolley are mounted on both sides of the water tank, the cleaning components are linked to the driving end of the tracked trolley, a U-shaped cleaning plate that can move up and down is mounted on one end of the mounting plate through the driving component, one end of the U-shaped cleaning plate is connected to the cleaning component through a first water pipe, a drying component is mounted on the other side of the lower end of the robot dog trunk body, and the robot dog trunk is provided with a plurality of cleaning components. Ventilation holes with cooling fans installed inside are provided on both sides of the main body, and the interior of the ventilation holes is connected to the drying component through ventilation ducts. An integrated control panel is provided inside the main body of the robot dog's torso. When in use, a controller is provided inside the integrated control panel for controlling various components. The drying component is used to dry the tracks of the tracked vehicle, and the ventilation duct is used to transport air. A first dustproof net is provided at one end of the ventilation hole to prevent dust from entering the ventilation hole. The cooling fan is used to dissipate heat inside the four-legged robot dog. One end of the first water pipe is a telescopic tube that can be telescopic. The driving assembly is used to move the U-shaped cleaning plate up and down, and the cleaning assembly is used to clean impurities attached to the tracks of the tracked vehicle. The tracked vehicle is an existing structure. The camera is used to detect the external environment, and one end of the camera is electrically connected to the integrated control panel. The water tank is used to store distilled water.

[0008] Furthermore, in order to control the crawler trolley and the cooling fan, the crawler trolley control end and the cooling fan control end are both electrically connected to the integrated control panel.

[0009] Furthermore, in order to transport distilled water into the second water pipe, the cleaning assembly includes a water pump, a cleaning roller and a trapezoidal plate with a water storage chamber inside. The lower end of the water tank is provided with a mounting groove, and the water pump is fixedly installed in the mounting groove. One end of the water pump is connected to the water tank through a pipeline, and a second water pipe is fixedly installed at one end of the water pump, and one end of the second water pipe is connected to the water storage chamber. The water pump is electrically connected to the integrated control panel, and a second solenoid valve is installed at one end of the second water pipe, and the second solenoid valve is electrically connected to the integrated control panel. The second solenoid valve is used to control the circulation of the second water pipe, and the second water pipe is used to transport distilled water into the water storage chamber.

[0010] Furthermore, in order to spray water onto the tracks of the tracked vehicle, a nozzle is installed in a linear array at one end of the trapezoidal plate, one end of the nozzle is connected to the water storage chamber, and the nozzle is used to spray distilled water.

[0011] Furthermore, in order to enable the cleaning roller to rotate, the cleaning roller is rotatably installed on one side of the water tank, a round rod with a square groove on one end is fixedly installed on the driving end of the crawler trolley, a rotating shaft is fixedly installed on one end of the cleaning roller, a first pulley is fixedly installed on one end of the rotating shaft, a second pulley is rotatably installed on one side of the robot dog torso body, belts are installed on the outer sides of the first pulley and the second pulley, an L-shaped plate is fixedly installed on one side of the robot dog torso body, and the second pulley is rotatably installed on one end of the L-shaped plate.

[0012] Furthermore, in order to enable the second pulley to rotate, a rotating rod is fixedly installed at one end of the second pulley, a square block is inserted into one end of the rotating rod, a sliding groove is opened at the upper end of the rotating rod, a sliding rod is slidably installed in the sliding groove, one end of the sliding rod is fixedly connected to the square block, the size of the square block matches the size of the square groove, and the sliding rod is used to move the square block.

[0013] Furthermore, in order to make the U-shaped cleaning plate move reciprocatingly up and down, the driving assembly includes a lead screw, a guide rod and a servo motor. Lifting grooves are opened on both sides of one end of the mounting plate. The lead screw is rotatably installed in the lifting groove. One end of the U-shaped cleaning plate is threadedly connected to the lead screw, and the guide rod is fixedly installed in the lifting groove. The other end of the U-shaped cleaning plate is sleeved on the outside of the guide rod. The lead screw is used to change the position of the U-shaped cleaning plate, and the guide rod plays a limiting role.

[0014] Furthermore, in order to enable the screw to rotate, the servo motor is fixedly installed inside the mounting plate, the output end of the servo motor is fixedly connected to the screw, the servo motor is electrically connected to the integrated control panel, the servo motor is used to drive the screw to rotate forward and reverse, and the integrated control panel can control the servo motor switch.

[0015] Furthermore, in order to clean the impurities attached to the surface of the camera, a cleaning cloth is fixedly installed at one end of the U-shaped cleaning plate, a square cavity is opened inside the U-shaped cleaning plate, and atomizing nozzles are installed in a linear array on the upper end of the U-shaped cleaning plate, one end of the atomizing nozzle is connected to the square cavity, one end of the first water pipe is connected to the square cavity, the other end of the first water pipe is connected to the second water pipe, a first solenoid valve is fixedly installed at one end of the first water pipe, the first solenoid valve is electrically connected to the integrated control panel, the integrated control panel can control the switch of the first solenoid valve, the first solenoid valve is used to control the circulation of the first water pipe, and the atomizing nozzle is used to spray distilled water onto the surface of the camera.

[0016] Furthermore, in order to dry the tracks of the tracked vehicle, the drying component includes an air outlet plate with an air storage tank inside, one end of the air outlet plate is equipped with an air outlet pipe in a linear array, one end of the air outlet pipe is provided with a dustproof net, the ventilation duct is opened inside both sides of the robot dog torso, one end of the ventilation duct is connected to the ventilation hole, and the other end of the ventilation duct is connected to the air storage tank, the air outlet pipe is a funnel-shaped structure for increasing the air outlet area, the dustproof net is used to prevent external dust from entering the air outlet pipe, and the ventilation duct is used to transport hot air.

[0017] The technical effects and advantages of the present invention are as follows: 1. The present invention firstly brushes the dirt and other impurities attached to the track of the crawler vehicle by rotating the cleaning roller, and then starts the water pump to spray distilled water on the surface of the track through the outlet pipe for flushing. The cleaning effect is good, no manual cleaning is required, it is convenient and fast, saves time and effort, and improves the cleaning efficiency.

[0018] 2. The present invention dries the crawler tracks of the crawler trolley after cleaning through the air outlet pipe, thereby avoiding water stains on the crawler track surface and increasing the service life of the crawler track.

[0019] 3. The present invention cleans dust and other impurities attached to the camera lens by moving the cleaning cloth up and down reciprocatingly, and at the same time sprays distilled water to the camera lens through an atomizing nozzle, thereby improving the cleaning effect and preventing impurities from reducing the clarity of the camera and affecting the normal operation of the robot dog. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall front view structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the overall side view structure of the present invention;

[0022] Figure 3 This is a schematic diagram of the main body connection structure of the robot dog of the present invention;

[0023] Figure 4 It is a schematic diagram of the connection structure of the crawler trolley of the present invention;

[0024] Figure 5 It is a schematic diagram of the connection structure between the water pump and the second water delivery pipe of the present invention;

[0025] Figure 6 It is a schematic diagram of the structure of the cleaning component of the present invention;

[0026] Figure 7 This is a schematic diagram of the square block structure in working state of the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0028] Fig. 9 It is a schematic diagram of the square cavity structure of the present invention;

[0029] Fig.10 It is a schematic diagram of the structure of the drying component of the present invention;

[0030] In the figure: 1, the main body of the robot dog; 2, the limbs; 3, the crawler car; 4, the cleaning component; 401, the water pump; 402, the cleaning roller; 403, the water storage chamber; 404, the trapezoidal plate; 405, the second water pipe; 406, the second solenoid valve; 407, the nozzle; 408, the square groove; 409, the round rod; 410, the rotating shaft; 411, the first pulley; 412, the second pulley; 413, the belt; 414, the rotating rod; 415, the square block; 416, the sliding rod ; 5. Drive assembly; 501. Screw; 502. Guide rod; 503. Servo motor; 504. Lifting slot; 505. Atomizing nozzle; 506. First solenoid valve; 6. U-shaped cleaning plate; 7. First water pipe; 8. Drying assembly; 801. Air outlet plate; 802. Air storage slot; 803. Air outlet pipe; 9. Cooling fan; 10. Ventilation hole; 11. Ventilation duct; 12. Camera; 13. Mounting plate; 14. Water tank; 15. Cleaning cloth; 16. Square cavity. DETAILED DESCRIPTION

[0031] 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.

[0032] See also Figure 1-Figure 10As shown, a cooperative crawler-type quadruped robot dog comprises a robot dog trunk body 1, four limbs 2 which are connected to the four ends of the robot dog trunk body 1 and can be folded and rotated by themselves, and a crawler trolley 3 for driving the robot dog trunk body 1 and the limbs 2 to walk on a flat road. The crawler trolley 3 is detachably mounted on both sides of the lower end of the robot dog trunk body 1, a mounting plate 13 with a camera 12 disposed inside is fixedly mounted on one end of the robot dog trunk body 1, a water tank 14 is fixedly mounted on one side of the lower end of the robot dog trunk body 1, and cleaning components 4 for cleaning the crawler trolley 3 are installed on both sides of the water tank 14, the cleaning component 4 is linked to the driving end of the crawler trolley 3, and a U-shaped cleaning device which can move up and down is installed on one end of the mounting plate 13 through a driving component 5. A cleaning plate 6, one end of the U-shaped cleaning plate 6 is connected to the cleaning component 4 through a first water pipe 7, a drying component 8 is installed on the other side of the lower end of the robot dog trunk body 1, ventilation holes 10 with cooling fans 9 installed inside are opened on both sides of the robot dog trunk body 1, and the ventilation holes 10 are connected to the drying component 8 through ventilation ducts 11, and an integrated control panel is set at one end of the robot dog trunk body 1, and the control end of the crawler trolley 3 and the control end of the cooling fan 9 are electrically connected to the integrated control panel. When in use, the collaborative crawler-type four-legged robot dog is mainly based on the coordinated work of mechanical design, control algorithm, sensors and actuators. The four limbs 2 are the basis for its walking, and each limb 2 is usually designed with 3 degrees of freedom, including a hip joint. , thighs, calves and feet, so that the robot dog has sufficient stability and carrying capacity to cope with different terrains and environments. At the same time, in order to reduce the inertia of the limbs 2 when they swing, the motors are generally placed at the roots of the limbs 2. Through complex algorithms, the robot dog can achieve autonomous navigation, dynamic obstacle avoidance, target tracking and other functions. The set sensors help the four-legged robot dog perceive changes in the surrounding environment. The sensors include visual sensors, force sensors, ultrasonic sensors, etc., which are used to provide necessary feedback information to make correct decisions and adjust gait. The actuator is the key component to realize the movement of the four-legged robot dog. It is used to realize the motion control of multiple joints and realize different angles and speed adjustments. When the tracks of the tracked car 3 need to be adjusted When cleaning, first manually start the cleaning component 4 through the integrated control panel to automatically clean the dirt and other impurities attached to the surface of the track. When the camera 12 lens needs to be cleaned, manually start the driving component 5 through the integrated control panel to make the U-shaped cleaning plate 6 move up and down, and at the same time, spray the distilled water in the water tank 14 on the camera 12 lens through the first water pipe 7, so as to improve the cleaning effect. Then, manually start the cooling fan 9 through the integrated control panel. While dissipating heat, the exhausted hot air is transported to the drying component 8 through the ventilation hole 10 and the ventilation duct 11. The track is dried by the drying component 8 to avoid excessive water stains on the track surface, thereby increasing the service life of the track.

[0033] like Figure 4As shown, the cleaning component 4 includes a water pump 401, a cleaning roller 402 and a trapezoidal plate 404 with a water storage chamber 403 provided therein. A mounting groove is provided at the lower end of the water tank 14, and the water pump 401 is fixedly installed in the mounting groove. One end of the water pump 401 is connected to the water tank 14 through a pipeline. A second water delivery pipe 405 is fixedly installed at one end of the water pump 401, and one end of the second water delivery pipe 405 is connected to the water storage chamber 403. The water pump 401 is electrically connected to the integrated control panel. A second solenoid valve 406 is installed at one end of the second water delivery pipe 405, and the second solenoid valve 406 is electrically connected to the integrated control panel. A nozzle 40 is installed in a linear array at one end of the trapezoidal plate 404. 7, one end of the nozzle 407 is connected to the water storage chamber 403, the cleaning roller 402 is rotatably mounted on one side of the water tank 14, a round rod 409 with a square groove 408 at one end is fixedly mounted on the driving end of the crawler trolley 3, a rotating shaft 410 is fixedly mounted on one end of the cleaning roller 402, a first pulley 411 is fixedly mounted on one end of the rotating shaft 410, a second pulley 412 is rotatably mounted on one side of the robot dog trunk body 1, a belt 413 is mounted on the outer side of the first pulley 411 and the second pulley 412, a rotating rod 414 is fixedly mounted on one end of the second pulley 412, a square block 415 is inserted into one end of the rotating rod 414, and the upper end of the rotating rod 414 is opened. A sliding groove is provided, in which a sliding rod 416 is slidably installed, and one end of the sliding rod 416 is fixedly connected to the square block 415. When in use, when it is necessary to clean the crawler track of the crawler trolley 3, firstly, the water pump 401 is started manually through the integrated control panel, and the second solenoid valve 406 is opened at the same time, and the distilled water in the water tank 14 is transported to the water storage chamber 403 in the trapezoidal plate 404 through the second water delivery pipe 405, and then sprayed on the crawler track through the nozzle 407 for washing, and at the same time, the sliding rod 416 is manually moved in the sliding groove to drive the square block 415 to move to one side, and the square block 415 is moved to the square groove 40 at one end of the round rod 409. 8, then start the crawler trolley 3, drive the crawler belt to rotate, and at the same time drive the round rod 409 to rotate, and the rotating rod 414 rotates accordingly, driving the second pulley 412 to rotate, and the first pulley 411 on the other side is driven to rotate through the belt 413, and then the cleaning roller 402 is driven to rotate in a circle through the rotating shaft 410 to brush the crawler belt of the crawler trolley 3. The cleaning effect is good, and no manual cleaning is required. It is convenient and fast, saving time and effort, and improving the cleaning efficiency. After the cleaning is completed, turn off the crawler trolley 3, and then move the square block 415 out of the square groove 408, and then manually turn off the water pump 401 and the second solenoid valve 406 through the integrated control panel.

[0034] like Figure 8 and Fig. 9As shown, the driving assembly 5 includes a lead screw 501, a guide rod 502 and a servo motor 503. Lifting grooves 504 are provided on both sides of one end of the mounting plate 13. The lead screw 501 is rotatably mounted in the lifting groove 504. One end of the U-shaped cleaning plate 6 is threadedly connected to the lead screw 501. The guide rod 502 is fixedly mounted in the lifting groove 504. The other end of the U-shaped cleaning plate 6 is sleeved on the outside of the guide rod 502. The servo motor 503 is fixedly mounted inside the mounting plate 13. The output end of the servo motor 503 is connected to the lead screw 501. The servo motor 503 is electrically connected to the integrated control panel, a cleaning cloth 15 is fixedly installed at one end of the U-shaped cleaning plate 6, a square cavity 16 is opened inside the U-shaped cleaning plate 6, an atomizing nozzle 505 is installed in a linear array on the upper end of the U-shaped cleaning plate 6, one end of the atomizing nozzle 505 is connected to the square cavity 16, one end of the first water pipe 7 is connected to the square cavity 16, the other end of the first water pipe 7 is connected to the second water pipe 405, and a first solenoid valve is fixedly installed at one end of the first water pipe 7 506, the first solenoid valve 506 is electrically connected to the integrated control panel. When in use, when it is necessary to clean the lens of the camera 12, the servo motor 503 is manually started through the integrated control panel to drive the lead screw 501 to rotate, and the U-shaped cleaning plate 6 is driven to move up and down in the lifting groove 504. The camera 12 is cleaned through the cleaning cloth 15 at one end thereof. The guide rod 502 plays a limiting role, so that the U-shaped cleaning plate 6 moves smoothly. At the same time, the water pump 401 and the first solenoid valve 506 are started through the integrated control panel to control the distilled water to be transported to the square cavity 16 inside the U-shaped cleaning plate 6 through the first water pipe 7. The distilled water is sprayed onto the lens of the camera 12 through the atomizing nozzle 505, thereby improving the cleaning effect and preventing impurities from reducing the clarity of the camera 12 and affecting the normal operation of the robot dog. The telescopic tube at one end of the first water pipe 7 can be extended and retracted as the U-shaped cleaning plate 6 moves up and down. After cleaning, the U-shaped cleaning plate 6 is reset, and the water pump 401 and the first solenoid valve 506 are closed at the same time.

[0035] like Fig.10 As shown, the drying component 8 includes an air outlet plate 801 with an air storage tank 802 opened inside, an air outlet pipe 803 is installed in a linear array at one end of the air outlet plate 801, a dustproof net is arranged at one end of the air outlet pipe 803, and a ventilation duct 11 is opened inside both sides of the robot dog trunk body 1, one end of the ventilation duct 11 is connected with the ventilation hole 10, and the other end of the ventilation duct 11 is connected with the air storage tank 802. When in use, the cooling fan 9 is manually started through the integrated control panel to discharge the heat generated inside the robot dog trunk body 1, and the exhausted air is transported to the ventilation duct 11 through the ventilation hole 10, and then transported to the air storage tank 802 of the air outlet plate 801 through the ventilation duct 11, and then transported to the track of the tracked trolley 3 through the air outlet pipe 803 to dry it, avoid water stains on the track surface, and increase the service life of the track.

[0036] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A cooperative crawler-type quadruped robot dog, comprising a robot dog trunk body (1), four limbs (2) connected to the four ends of the robot dog trunk body (1) and capable of self-folding and rotation, and a crawler vehicle (3) for driving the robot dog trunk body (1) and the limbs (2) to walk on a flat road, wherein the crawler vehicle (3) is detachably mounted on both sides of the lower end of the robot dog trunk body (1), and a mounting plate (13) with a camera (12) disposed therein is fixedly mounted on one end of the robot dog trunk body (1), characterized in that: A water tank (14) is fixedly mounted on one side of the lower end of the robot dog trunk body (1), and cleaning components (4) for cleaning the crawler trolley (3) are mounted on both sides of the water tank (14), and the cleaning components (4) are linked to the driving end of the crawler trolley (3). A U-shaped cleaning plate (6) that can move up and down is mounted on one end of the mounting plate (13) through a driving component (5), and one end of the U-shaped cleaning plate (6) is connected to the cleaning component (4) through a first water pipe (7). A drying component (8) is mounted on the other side of the lower end of the robot dog trunk body (1), and ventilation holes (10) with cooling fans (9) installed inside are opened on both sides of the robot dog trunk body (1), and the inside of the ventilation holes (10) is connected to the drying component (8) through a ventilation duct (11), and an integrated control panel is arranged at one end of the robot dog trunk body (1).

2. The cooperative crawler-type quadruped robot dog according to claim 1, characterized in that: The control end of the crawler vehicle (3) and the control end of the cooling fan (9) are both electrically connected to the integrated control panel.

3. The cooperative crawler-type quadruped robot dog according to claim 1, characterized in that: The cleaning assembly (4) comprises a water pump (401), a cleaning roller (402) and a trapezoidal plate (404) with a water storage chamber (403) therein; a mounting groove is provided at the lower end of the water tank (14); the water pump (401) is fixedly mounted in the mounting groove; one end of the water pump (401) is connected to the water tank (14) via a pipeline; a second water pipe (405) is fixedly mounted at one end of the water pump (401); one end of the second water pipe (405) is connected to the water storage chamber (403); the water pump (401) is electrically connected to the integrated control panel; a second solenoid valve (406) is mounted at one end of the second water pipe (405); the second solenoid valve (406) is electrically connected to the integrated control panel.

4. The cooperative crawler-type quadruped robot dog according to claim 3, characterized in that: One end of the trapezoidal plate (404) is provided with a spray head (407) in a linear array, and one end of the spray head (407) is connected to the water storage chamber (403).

5. The cooperative crawler-type quadruped robot dog according to claim 4, characterized in that: The cleaning roller (402) is rotatably mounted on one side of the water tank (14); a round rod (409) having a square groove (408) at one end is fixedly mounted on the driving end of the crawler trolley (3); a rotating shaft (410) is fixedly mounted on one end of the cleaning roller (402); a first pulley (411) is fixedly mounted on one end of the rotating shaft (410); a second pulley (412) is rotatably mounted on one side of the robot dog trunk body (1); belts (413) are mounted on the outer sides of the first pulley (411) and the second pulley (412).

6. The cooperative crawler-type quadruped robot dog according to claim 5, characterized in that: A rotating rod (414) is fixedly mounted on one end of the second pulley (412), a square block (415) is inserted into one end of the rotating rod (414), a sliding groove is opened at the upper end of the rotating rod (414), a sliding rod (416) is slidably mounted in the sliding groove, and one end of the sliding rod (416) is fixedly connected to the square block (415).

7. The cooperative crawler-type quadruped robot dog according to claim 3, characterized in that: The driving assembly (5) comprises a lead screw (501), a guide rod (502) and a servo motor (503); lifting grooves (504) are provided on both sides of one end of the mounting plate (13); the lead screw (501) is rotatably mounted in the lifting groove (504); one end of the U-shaped cleaning plate (6) is threadedly connected to the lead screw (501); the guide rod (502) is fixedly mounted in the lifting groove (504); and the other end of the U-shaped cleaning plate (6) is sleeved on the outside of the guide rod (502).

8. The cooperative crawler-type quadruped robot dog according to claim 7, characterized in that: The servo motor (503) is fixedly mounted inside the mounting plate (13); an output end of the servo motor (503) is fixedly connected to the lead screw (501); and the servo motor (503) is electrically connected to the integrated control panel.

9. The cooperative crawler-type quadruped robot dog according to claim 8, characterized in that: A cleaning cloth (15) is fixedly mounted on one end of the U-shaped cleaning plate (6); a square cavity (16) is provided inside the U-shaped cleaning plate (6); atomizing nozzles (505) are mounted in a linear array on the upper end of the U-shaped cleaning plate (6); one end of the atomizing nozzles (505) is connected to the square cavity (16); one end of the first water pipe (7) is connected to the square cavity (16); the other end of the first water pipe (7) is connected to the second water pipe (405); a first solenoid valve (506) is fixedly mounted on one end of the first water pipe (7); the first solenoid valve (506) is electrically connected to the integrated control panel.

10. The cooperative crawler-type quadruped robot dog according to claim 1, characterized in that: The drying component (8) comprises an air outlet plate (801) with an air storage tank (802) provided therein, one end of the air outlet plate (801) is provided with an air outlet pipe (803) in a linear array, one end of the air outlet pipe (803) is provided with a dustproof net, the ventilation duct (11) is provided inside both sides of the trunk body (1) of the robot dog, one end of the ventilation duct (11) is connected to the ventilation hole (10), and the other end of the ventilation duct (11) is connected to the air storage tank (802).

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