Quadruped robot automatic fire extinguishing device
By designing a four-legged robot automatic fire extinguishing device, using support, drive and adjustment devices to quickly locate in complex terrain and selecting appropriate fire extinguishing methods, the problem of difficult access and positioning of existing devices in complex terrain is solved, and efficient fire extinguishing effect is achieved.
Patent Information
- Application Number
- CN202510675076.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-23
- Publication Date
- 2025-07-22
AI Technical Summary
Existing fire extinguishing devices are difficult to quickly reach the fire location and effectively position it in complex terrain, resulting in low fire extinguishing efficiency.
A four-legged robot automatic fire extinguishing device is designed, including support device, drive device, adjustment device and fire extinguishing device. The device moves and height adjustments in complex terrain using motors and sensor systems, and adapts to different fire conditions through different spraying methods of the spray pipe.
It realizes rapid positioning and effective fire extinguishing in complex terrain, improves the functionality and adaptability of the device, and can choose appropriate fire extinguishing methods according to the fire situation.
Smart Images
Figure CN120346482A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of fire extinguishing devices, and particularly to an automatic fire extinguishing device for a quadruped robot. Background Art
[0002] Forest fires are one of the natural disasters that seriously threaten ecological security and the safety of human life and property globally. In recent years, with the increase of global warming and human activities, the occurrence frequency and destructiveness of forest fires have been continuously rising.
[0003] Although the prior art uses fire extinguishing devices to extinguish forest fires, traditional fire extinguishing equipment has obvious limitations when dealing with complex terrains. As a result, in special scenarios such as mountainous areas, ruins, and narrow passages, wheeled or tracked fire-fighting equipment often has insufficient mobility and is difficult to be effectively deployed. Therefore, those skilled in the art have provided an automatic fire extinguishing device for a quadruped robot to solve the problems raised in the above background art. Summary of the Invention
[0004] (1) Technical Problems to be Solved
[0005] Aiming at the deficiencies of the prior art, the present invention provides an automatic fire extinguishing device for a quadruped robot, which solves the problems that it cannot quickly reach the fire occurrence location and cannot quickly locate the fire area.
[0006] (2) Technical Solutions
[0007] To achieve the above objectives, the present invention is realized through the following technical solutions: an automatic fire extinguishing device for a quadruped robot, including a support device, four driving devices, an adjusting device, and a fire extinguishing device. The four driving devices are arranged on the side wall of the support device, the adjusting device is arranged on the top of the support device, and the fire extinguishing device is arranged on the top of the adjusting device. The support device includes a support frame. One side of the top of the support frame is fixedly connected with a positioning module. The top of the positioning module is fixedly connected with a signal transmission module. The top of the signal transmission module is rotatably connected with an antenna. The middle part of the other side of the positioning module is fixedly connected with a controller. The middle part of the top of the support frame is fixedly connected with a water tank at the rear side. A water inlet is fixedly connected to the upper position at the rear end of the water tank. A booster pump is fixedly connected to the front side of the top of the water tank. A water inlet pipe is fixedly connected to the top of the booster pump.
[0008] Preferably, the driving device includes a rotating frame. At the front side of the top of the inner side wall of the rotating frame, a first motor is fixedly connected. At the rear side of the inner side wall of the rotating frame, a fixed frame is fixedly connected. On one side of the inner side wall of the fixed frame, a second motor is fixedly connected. On the other side of the inner side wall of the fixed frame, at a position above the middle, a first connecting rod is rotatably connected. In the middle of the other side of the inner side wall of the fixed frame, a second connecting rod is rotatably connected. The other end of the first connecting rod is rotatably connected to a driving rod. The four rotating frames are respectively rotatably connected to the front side and the rear side of both sides of the support frame.
[0009] Preferably, the adjusting device includes a fixing plate and a first support plate. At the two sides of the rear end of the first support plate, telescopic rods are respectively rotatably connected. At the rear sides of both sides of the fixing plate, connecting frames are rotatably connected. In the middle of the top of the fixing plate, a groove is fixedly connected. On the inner side wall of the groove, a rack is slidably connected. At the rear side of the side wall of the groove, a support rod is provided. At the rear side of the inner side wall of the support rod, a spiral rotating disk is rotatably connected. In the middle of the rear end of the groove, a third motor is fixedly connected. The front end of the fixing plate is hinged to the middle of the front side of the top of the support frame.
[0010] Preferably, the fire extinguishing device includes a third support plate. At the front side of the bottom end, a fourth support plate is fixedly connected. In the middle of the front end of the fourth support plate, a vision camera is fixedly connected. On one side of the front end of the vision camera, a smoke sensor is fixedly connected. On the other side of the front end of the fourth support plate, an infrared sensor is fixedly connected. In the middle of the rear side of the top of the third support plate, a fourth motor is fixedly connected. The front end of the fourth motor is rotatably connected to a worm. In the middle of both sides of the top of the third support plate, worm wheels are respectively rotatably connected. At the top of the two worm wheels, first spray pipes are respectively fixedly connected. On one side of the two first spray pipes close to the worm, a number of second nozzles are linearly arranged. At the top of the two first spray pipes, second support plates are respectively fixedly connected. At the top of the four second support plates, two second spray pipes are fixedly connected. At the front ends of the two second spray pipes, first nozzles are fixedly connected. At the rear sides of the tops of the two first spray pipes, communicating pipes are respectively fixedly connected. At positions above the middle of the side walls of the two communicating pipes, first valves are respectively fixedly connected. At positions below the middle of the side walls of the two communicating pipes, second valves are respectively fixedly connected. An installation pipe is fixedly connected between the two communicating pipes. The middle of the bottom end of the third support plate is fixedly connected to the top of the rack.
[0011] Preferably, one end of the water inlet pipe penetrates through the top ends of the booster pump and the water tank, and the other end of the water inlet pipe is communicated with the side wall of the installation pipe. Threaded holes are provided on the side wall of the water connection port.
[0012] Preferably, the bottoms of the four first motors are respectively fixedly connected to the bottom ends of the inner side walls of the support frame, the output ends of the four first motors respectively penetrate through the top ends of the inner side walls of the support frame and are fixedly connected to the top ends of the inner side walls of the rotating frame, the output ends of the four second motors are respectively fixedly connected to one ends of the second connecting rods, and the other sides of the four second connecting rods are respectively rotatably connected to the side walls of the four driving rods.
[0013] Preferably, the output end of the third motor penetrates through the groove and is fixedly connected to the middle of the rear end of the spiral rotating disk, the front end of the spiral rotating disk is adapted to the rear end of the rack, the bottom end of the first support plate is fixedly connected to the front side of the top end of the support frame, and the movable ends of the two telescopic rods are rotatably connected to the inner side wall of the connecting frame.
[0014] Preferably, both ends of the two communicating pipes are respectively communicated with the two second spray pipes and the two first spray pipes, the output end of the fourth motor is fixedly connected to the rear end of the worm, the two worm wheels are meshed with the worm, and the smoke sensor, the fourth support plate and the infrared sensor are all electrically connected to the controller.
[0015] Working principle: First, place the whole device on the ground and add fire extinguishing agent to the water tank 102. At this time, by adjusting the corresponding first motor 203, the advancing direction of the whole device can be adjusted, and the antenna 106 is turned on. The second motor 206 drives the second connecting rod 205 to rotate, so that the driving rod 201 can be lifted and lowered, enabling the whole device to move forward in the forest. During the movement of the device, the smoke sensor 4014, the vision camera 4016 and the infrared sensor 4017 at the front end of the fourth support plate 4015 are used to judge the environment and identify whether a fire has occurred. When a fire occurs, first turn on the third motor 307 and the telescopic rod 303. The third motor 307 drives the spiral rotating disk 308 to rotate to adjust the height of the fire extinguishing device 4. The contraction of the telescopic rod 303 can make the fixed plate 301 tilt to find a suitable height and angle for fire extinguishing. At this time, according to the fire situation, judge the function required for fire extinguishing. When the first valve 4012 is closed and the second valve 4013 is opened, the two first spray pipes 408 can spray fan-shaped water mist. When the first valve 4012 is opened and the second valve 4013 is closed, a columnar water column can be ejected through the first nozzle 401 on the second spray pipe 409 for single-point fire extinguishing. At the same time, the fourth motor 407 drives the two worm wheels 406 to rotate to adjust the angles of the first spray pipe 408 and the second spray pipe 409.
[0016] (III) Beneficial effects
[0017] The present invention provides a quadruped robot automatic fire extinguishing device. It has the following beneficial effects:
[0018] 1. By setting up a support device and a driving device, the whole device is placed on the ground, and fire extinguishing agent is added to the water tank. At this time, by adjusting the corresponding first motor, the advancing direction of the whole device can be adjusted, and the antenna is turned on. The second connecting rod is driven to rotate by the second motor, so that the driving rod can be lifted and lowered, enabling the whole device to move forward in the forest. During the movement of the device, the smoke sensor, vision camera and infrared sensor at the front end of the fourth support plate are used to judge the environment and identify whether a fire has occurred, effectively enabling the device to better adapt to various complex terrains in the forest.
[0019] 2. By setting up an adjusting device, when a fire occurs, first turn on the third motor and the telescopic rod. The third motor drives the spiral rotating disk to rotate to adjust the height of the fire extinguishing device. The telescopic rod can be contracted to tilt the fixing plate to find a suitable height and angle for fire extinguishing, effectively finding a suitable angle for the device before fire extinguishing.
[0020] 3. By setting up a fire extinguishing device, the function of fire extinguishing can be judged according to the fire situation. When the first valve is closed and the second valve is opened, the two first spray pipes can spray fan-shaped water mist. When the first valve is opened and the second valve is closed, a columnar water column can be sprayed through the first nozzles on the second spray pipe for single-point fire extinguishing. At the same time, the fourth motor drives the two worm wheels to rotate to adjust the angles of the first spray pipe and the second spray pipe, effectively selecting different fire extinguishing functions according to the fire situation and improving the overall functionality of the device. Description of the Drawings
[0021] Figure 1 It is a schematic structural view of the present invention;
[0022] Figure 2 It is a schematic structural view of the support device of the present invention;
[0023] Figure 3 It is a schematic structural view of the adjusting device of the present invention;
[0024] Figure 4 It is a schematic structural view of the fire extinguishing device of the present invention;
[0025] Figure 5 It is a schematic side view structural view of the support device of the present invention;
[0026] Figure 6 It is a schematic front view structural view of the fire extinguishing device of the present invention.
[0027] Among them, 1. Support device; 101. Support frame; 102. Water tank; 103. Water inlet; 104. Positioning module; 105. Signal transmission module; 106. Antenna; 107. Booster pump; 108. Water inlet pipe; 109. Controller; 2. Driving device; 201. Driving rod; 202. Fixed frame; 203. First motor; 204. First connecting rod; 205. Second connecting rod; 206. Second motor; 207. Rotating frame; 3. Adjusting device; 301. Fixed plate; 302. Connecting frame; 303. Telescopic rod; 304. First support plate; 305. Support rod; 306. Groove; 307. Third motor; 308. Spiral rotating disk; 309. Rack; 4. Fire extinguishing device; 401. First nozzle; 402. Second support plate; 403. Second nozzle; 404. Worm; 405. Third support plate; 406. Worm gear; 407. Fourth motor; 408. First spray pipe; 409. Second spray pipe; 4010. Installation pipe; 4011. Connecting pipe; 4012. First valve; 4013. Second valve; 4014. Smoke sensor; 4015. Fourth support plate; 4016. Visual camera; 4017. Infrared sensor. Detailed implementation mode
[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0029] Embodiment 1:
[0030] As Figure 1-6 shown, the embodiment of the present invention provides a quadruped robot automatic fire extinguishing device, including a support device 1, four driving devices 2, an adjusting device 3 and a fire extinguishing device 4. The four driving devices 2 are arranged on the side wall of the support device 1, the adjusting device 3 is arranged on the top of the support device 1, and the fire extinguishing device 4 is arranged on the top of the adjusting device 3. The support device 1 includes a support frame 101. One side of the top of the support frame 101 is fixedly connected with a positioning module 104. The top of the positioning module 104 is fixedly connected with a signal transmission module 105. The top of the signal transmission module 105 is rotatably connected with an antenna 106. The middle part of the other side of the positioning module 104 is fixedly connected with a controller 109. The middle part of the top of the support frame 101 is fixedly connected with a water tank 102 at the rear side. The upper position of the rear end of the water tank 102 is fixedly connected with a water inlet 103. The front side of the top of the water tank 102 is fixedly connected with a booster pump 107. The top of the booster pump 107 is fixedly connected with a water inlet pipe 108.
[0031] One end of the water inlet pipe 108 penetrates through the top ends of the booster pump 107 and the water tank 102, and the other end of the water inlet pipe 108 is communicated with the side wall of the installation pipe 4010. A threaded hole is provided on the side wall of the water connection port 103.
[0032] The driving device 2 includes a rotating frame 207. At the front side near the top end of the inner side wall of the rotating frame 207, a first motor 203 is fixedly connected. At the rear side near the top end of the inner side wall of the rotating frame 207, a fixed frame 202 is fixedly connected. On one side of the inner side wall of the fixed frame 202, a second motor 206 is fixedly connected. On the other side of the inner side wall of the fixed frame 202, at a position above the middle, a first connecting rod 204 is rotatably connected. In the middle of the other side of the inner side wall of the fixed frame 202, a second connecting rod 205 is rotatably connected. The other end of the first connecting rod 204 is rotatably connected to a driving rod 201. The four rotating frames 207 are respectively rotatably connected to the front side and the rear side of both sides of the support frame 101. By setting the support device 1 and the driving device 2, the whole device is placed on the ground, and a fire extinguishing agent is added to the water tank 102. At this time, by adjusting the corresponding first motor 203, the advancing direction of the whole device can be adjusted, and the antenna 106 is turned on. The second motor 206 is used to drive the second connecting rod 205 to rotate, so that the driving rod 201 can be lifted and lowered, and the whole device can move forward in the forest. During the movement of the device, the smoke sensor 4014, the vision camera 4016 and the infrared sensor 4017 at the front end of the fourth support plate 4015 are used to judge the environment and identify whether a fire has occurred, effectively enabling the device to better adapt to various complex terrains in the forest.
[0033] The bottom ends of the four first motors 203 are respectively fixedly connected to the bottom ends of the inner side walls of the support frame 101, and the output ends of the four first motors 203 respectively penetrate through the top ends of the inner side walls of the support frame 101 and are fixedly connected to the top ends of the inner side walls of the rotating frame 207. The output ends of the four second motors 206 are respectively fixedly connected to one ends of the four second connecting rods 205, and the other sides of the four second connecting rods 205 are respectively rotatably connected to the side walls of the four driving rods 201.
[0034] The adjusting device 3 includes a fixing plate 301 and a first support plate 304. Telescopic rods 303 are rotatably connected to both sides of the rear end of the first support plate 304. Connecting frames 302 are rotatably connected to both sides of the fixing plate 301 near the rear side. The middle part of the top end of the fixing plate 301 is fixedly connected with a groove 306. A rack 309 is slidably connected to the inner side wall of the groove 306. A support rod 305 is provided on the rear side wall of the groove 306. A spiral rotating disk 308 is rotatably connected to the inner side wall of the support rod 305 near the rear side. A third motor 307 is fixedly connected to the middle part of the rear end of the groove 306. The front end of the fixing plate 301 is hinged to the middle part of the top end of the support frame 101 near the front side. By providing the adjusting device 3, when a fire occurs, first turn on the third motor 307 and the telescopic rods 303. Use the third motor 307 to drive the spiral rotating disk 308 to rotate to adjust the height of the fire extinguishing device 4. The contraction of the telescopic rods 303 can make the fixing plate 301 tilt to find a suitable height and angle for fire extinguishing, effectively finding a suitable angle for the device before fire extinguishing.
[0035] The output end of the third motor 307 passes through the groove 306 and is fixedly connected to the middle part of the rear end of the spiral rotating disk 308. The front end of the spiral rotating disk 308 is adapted to the rear end of the rack 309. The bottom end of the first support plate 304 is fixedly connected to the top end of the support frame 101 near the front side. The movable ends of the two telescopic rods 303 are rotatably connected to the inner side wall of the connecting frame 302.
[0036] The fire extinguishing device 4 includes a third support plate 405, with a fourth support plate 4015 fixedly connected to the front side of the bottom end. In the middle of the front end of the fourth support plate 4015, a vision camera 4016 is fixedly connected. On one side of the front end of the vision camera 4016, a smoke sensor 4014 is fixedly connected. On the other side of the front end of the fourth support plate 4015, an infrared sensor 4017 is fixedly connected. At the middle and rear side of the top end of the third support plate 405, a fourth motor 407 is fixedly connected. The front end of the fourth motor 407 is rotationally connected to a worm 404. On both sides of the middle of the top end of the third support plate 405, worm wheels 406 are respectively rotationally connected. On the top ends of the two worm wheels 406, first spray pipes 408 are respectively fixedly connected. On one side of the two first spray pipes 408 close to the worm 404, a number of second nozzles 403 are respectively arranged in a linear array. On the top ends of the two first spray pipes 408, second support plates 402 are respectively fixedly connected. On the top ends of the four second support plates 402, two second spray pipes 409 are fixedly connected. On the front ends of the two second spray pipes 409, first nozzles 401 are respectively fixedly connected. On the rear sides of the top ends of the two first spray pipes 408, communicating pipes 4011 are respectively fixedly connected. On the upper positions of the side walls of the two communicating pipes 4011, first valves 4012 are respectively fixedly connected. On the lower positions of the side walls of the two communicating pipes 4011, second valves 4013 are respectively fixedly connected. Between the two communicating pipes 4011, an installation pipe 4010 is fixedly connected. The middle of the bottom end of the third support plate 405 is fixedly connected to the top end of a rack 309. By setting the fire extinguishing device 4, the function of judging the area that needs to be extinguished according to the fire situation can be realized. When the first valve 4012 is closed and the second valve 4013 is opened, the two first spray pipes 408 can spray fan-shaped water mist. When the first valve 4012 is opened and the second valve 4013 is closed, a columnar water column can be sprayed through the first nozzles 401 on the second spray pipes 409 for single-point fire extinguishing. At the same time, by driving the two worm wheels 406 to rotate with the fourth motor 407, the angles of the first spray pipes 408 and the second spray pipes 409 can be adjusted, effectively selecting different fire extinguishing functions according to the fire situation and improving the overall functionality of the device.
[0037] Both ends of the two communicating pipes 4011 are respectively communicated with the two second spray pipes 409 and the two first spray pipes 408. The output end of the fourth motor 407 is fixedly connected to the rear end of the worm 404. The two worm wheels 406 are meshed with the worm 404. The smoke sensor 4014, the fourth support plate 4015 and the infrared sensor 4017 are all electrically connected to the controller 109.
[0038] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An automatic fire extinguishing device for a quadruped robot, comprising a support device (1), four driving devices (2), an adjusting device (3) and a fire extinguishing device (4). The four driving devices (2) are arranged on the side wall of the support device (1), the adjusting device (3) is arranged at the top of the support device (1), and the fire extinguishing device (4) is arranged at the top of the adjusting device (3), characterized in that: The support device (1) includes a support frame (101). One side of the top end of the support frame (101) is fixedly connected with a positioning module (104). The top end of the positioning module (104) is fixedly connected with a signal transmission module (105). The top end of the signal transmission module (105) is rotatably connected with an antenna (106). The middle part of the other side of the positioning module (104) is fixedly connected with a controller (109). The middle part of the top end of the support frame (101) near the rear side is fixedly connected with a water tank (102). The water inlet (103) is fixedly connected to the upper position at the rear end of the water tank (102). The booster pump (107) is fixedly connected to the front side of the top end of the water tank (102). The water inlet pipe (108) is fixedly connected to the top end of the booster pump (107).
2. The automatic fire extinguishing device for a quadruped robot according to claim 1, characterized in that: The driving device (2) includes a rotating frame (207). The first motor (203) is fixedly connected to the front side of the inner side wall of the top end of the rotating frame (207). The fixed frame (202) is fixedly connected to the rear side of the inner side wall of the rotating frame (207). The second motor (206) is fixedly connected to one side of the inner side wall of the fixed frame (202). The first connecting rod (204) is rotatably connected to the upper position on the other side of the inner side wall of the fixed frame (202). The second connecting rod (205) is rotatably connected to the middle part of the other side of the inner side wall of the fixed frame (202). The other end of the first connecting rod (204) is rotatably connected to the driving rod (201). The four rotating frames (207) are respectively rotatably connected to the front side and the rear side of both sides of the support frame (101).
3. The automatic fire extinguishing device for a quadruped robot according to claim 1, wherein: The adjusting device (3) includes a fixing plate (301) and a first support plate (304). The telescopic rods (303) are respectively rotatably connected to both sides of the rear end of the first support plate (304). The connecting frames (302) are rotatably connected to the rear sides of both sides of the fixing plate (301). The groove (306) is fixedly connected to the middle part of the top end of the fixing plate (301). The rack (309) is slidably connected to the inner side wall of the groove (306). The support rod (305) is provided on the rear side wall of the groove (306). The spiral rotating disk (308) is rotatably connected to the inner side wall of the rear side of the support rod (305). The third motor (307) is fixedly connected to the middle part of the rear end of the groove (306). The front end of the fixing plate (301) is hinged to the middle part of the top end of the support frame (101) near the front side.
4. The automatic fire extinguishing device for a quadruped robot according to claim 1, wherein: The fire extinguishing device (4) includes a third support plate (405), a fourth support plate (4015) is fixedly connected to the front side of the bottom end, a vision camera (4016) is fixedly connected to the middle of the front end of the fourth support plate (4015), a smoke sensor (4014) is fixedly connected to one side of the front end of the vision camera (4016), an infrared sensor (4017) is fixedly connected to the other side of the front end of the fourth support plate (4015), a fourth motor (407) is fixedly connected to the middle of the rear side of the top end of the third support plate (405), a worm (404) is rotatably connected to the front end of the fourth motor (407), worm wheels (406) are rotatably connected to the middle parts of both sides of the top end of the third support plate (405), first spray pipes (408) are fixedly connected to the top ends of the two worm wheels (406), a number of second nozzles (403) are linearly arrayed on one side of the two first spray pipes (408) close to the worm (404), second support plates (402) are fixedly connected to the top ends of the two first spray pipes (408), two second spray pipes (409) are fixedly connected to the top ends of the four second support plates (402), first nozzles (401) are fixedly connected to the front ends of the two second spray pipes (409), communicating pipes (4011) are fixedly connected to the rear sides of the top ends of the two first spray pipes (408), first valves (4012) are fixedly connected to the upper positions of the side walls of the two communicating pipes (4011), second valves (4013) are fixedly connected to the lower positions of the side walls of the two communicating pipes (4011), an installation pipe (4010) is fixedly connected between the two communicating pipes (4011), and the middle of the bottom end of the third support plate (405) is fixedly connected to the top end of the rack (309).
5. The automatic fire extinguishing device for a quadruped robot according to claim 1, characterized in that: One end of the water inlet pipe (108) penetrates through the top ends of the booster pump (107) and the water tank (102), the other end of the water inlet pipe (108) is communicated with the side wall of the installation pipe (4010), and a threaded hole is opened on the side wall of the water inlet (103).
6. The automatic fire extinguishing device for a quadruped robot according to claim 2, characterized in that: The bottom ends of the four first motors (203) are respectively fixedly connected to the bottom end of the inner side wall of the support frame (101), the output ends of the four first motors (203) respectively penetrate through the top end of the inner side wall of the support frame (101) and are fixedly connected to the top end of the inner side wall of the rotating frame (207), the output ends of the four second motors (206) are respectively fixedly connected to one end of the second connecting rod (205), and the other sides of the four second connecting rods (205) are respectively rotatably connected to the side wall of the four driving rods (201).
7. The automatic fire extinguishing device for a quadruped robot according to claim 3, characterized in that: The output end of the third motor (307) penetrates through the groove (306) and is fixedly connected to the middle of the rear end of the spiral rotating disc (308), the front end of the spiral rotating disc (308) is adapted to the rear end of the rack (309), the bottom end of the first support plate (304) is fixedly connected to the front side of the top end of the support frame (101), and the movable ends of the two telescopic rods (303) are rotatably connected to the inner side wall of the connecting frame (302).
8. The automatic fire extinguishing device for a quadruped robot according to claim 4, characterized in that: Both ends of the two communicating pipes (4011) are respectively communicated with two second spray pipes (409) and two first spray pipes (408). The output end of the fourth motor (407) is fixedly connected to the rear end of the worm (404). The two worm wheels (406) are meshed with the worm (404). The smoke sensor (4014), the fourth support plate (4015) and the infrared sensor (4017) are all electrically connected to the controller (109).