Fire extinguishing robot

Abstract

This utility model discloses a fire-fighting robot, comprising: a robot body; a telescopic arm comprising multiple arm segments connected in sequence; a nozzle for spraying fire extinguishing agent, configured to move away from the robot body when the telescopic arm is extended, or close to the robot body when the telescopic arm is retracted; and a lifting assembly disposed on the robot body for supporting the telescopic arm and adjusting the angle of the telescopic arm relative to a reference plane; wherein the telescopic arm has a working state and a retracted state. In the working state, the extended telescopic arm forms a preset angle with the reference plane so that the nozzle is aimed at the vehicle window. In the retracted state, all arm segments of the retracted telescopic arm are on the same reference plane so that it can pass under the vehicle. The fire-fighting robot of this utility model can achieve automatic fire extinguishing and has a relatively small size, making it suitable for use in the environment of roll-on / roll-off ships.

Description

Technical Field

[0001] This utility model relates to fire extinguishing equipment, and more particularly to a fire extinguishing robot. Background Technology

[0002] Vehicles are generally transported by roll-on / roll-off (Ro-Ro) ships, which are widely used due to their high loading and unloading efficiency. Therefore, their fire prevention management and firefighting rescue measures are particularly important. In the event of a fire, the traditional rescue method involves the captain organizing a skilled crew to conduct fire reconnaissance, identify the fire source, the direction of fire spread, and the trend of fire development, formulate a feasible firefighting plan, and organize firefighting efforts. Especially in situations with heavy smoke, firefighters must ventilate the area, then use water spray guns as cover to gradually approach the fire source, cover the burning fuel tank with foam, cool the fuel tanks of other vehicles with direct water jets, and simultaneously spray open flames on the vehicle body and cargo. If the fuel tank has already exploded and the oil fire has spread, it is necessary to cover a large area of ​​the deck with foam to extinguish the oil fire, and then use water guns to extinguish the fire on the cargo carried by the vehicle. In this firefighting method, firefighters are directly exposed to the confined fire environment of the vehicle, affecting their safety. This is especially true for new energy vehicles, where thermal runaway fires spread extremely quickly, making firefighting difficult and posing a greater threat to the lives of firefighters. There are technical solutions that provide firefighting robots that can move to the fire scene to extinguish fires; however, they are too large, especially in the height direction, and cannot be used in the environment of roll-on / roll-off ships. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a fire-fighting robot capable of automatic fire extinguishing, and with a relatively small size to be suitable for use in the environment of roll-on / roll-off ships.

[0004] The fire-fighting robot according to a first aspect of the present invention includes:

[0005] The robot itself;

[0006] A telescopic arm is mounted on the robot body, and the telescopic arm includes multiple arm segments connected in sequence.

[0007] A nozzle for spraying extinguishing agent, the nozzle being disposed on the telescopic arm and configured to move away from the robot body when the telescopic arm is extended, or to move closer to the robot body when the telescopic arm is retracted; and

[0008] A lifting component, disposed on the robot body, is used to support the telescopic arm and adjust the angle of the telescopic arm relative to the reference plane;

[0009] The telescopic arm has a working state and a retracted state. In the working state, the extended telescopic arm is at a preset angle to the reference plane so that the nozzle is aligned with the vehicle window. In the retracted state, the retracted telescopic arm segments are on the same reference plane so that they can pass under the vehicle.

[0010] The fire-extinguishing robot according to the embodiments of this utility model has at least the following beneficial effects:

[0011] The robot moves to the side of the vehicle and, through a lifting assembly, drives the telescopic arm to swing relative to a preset angle to a reference plane, extending the arm to enter working mode. At this point, the nozzle is aimed at the vehicle's window to spray extinguishing agent, thus achieving automatic fire suppression and preventing personnel from being in the relatively enclosed environment of a vehicle fire. Furthermore, by aligning all arm segments within the same reference plane, the telescopic arm is retracted, reducing its height and improving its maneuverability, allowing it to pass under vehicles and meet the fire suppression needs of roll-on / roll-off ships.

[0012] According to some embodiments of this utility model, in the stored state, each of the arm segments is parallel to each other and arranged sequentially along the reference plane.

[0013] According to some embodiments of the present invention, the robot body includes a plurality of walking wheels, and a portion of each walking wheel coincides with the lifting component in the height direction of the robot body.

[0014] According to some embodiments of the present invention, the robot body includes a chassis, and the lifting device is disposed on one side of the chassis;

[0015] The base plate has multiple through holes, and the robot body includes multiple mounting brackets. The mounting brackets are located on one side of the chassis and span the through holes. The mounting brackets define a mounting cavity, and at least a portion of the walking wheels are located in the mounting cavity, while a portion extends to the other side of the chassis.

[0016] According to some embodiments of the present invention, the walking wheel is connected to the chassis, the walking wheel includes a drive wheel and a support wheel, the drive wheel is configured to be connected to a walking drive component so as to be driven by the walking drive component, and multiple support wheels are provided and configured to be supported on the medium surface together with the drive wheel.

[0017] According to some embodiments of the present invention, among the plurality of arm segments, one of the arm segments located at the end of the telescopic arm is a free arm segment, and another arm segment located at the beginning of the telescopic arm is a fixed arm segment. The fixed arm segment is connected to the lifting assembly, and the nozzle is disposed on the free arm segment.

[0018] The lifting assembly includes a fixed base, a folding arm, and a drive assembly. Along the extension direction, one end of the fixed arm segment is hinged to the fixed base, and the other end is hinged to the folding arm. The folding arm is hinged to the fixed base. The drive assembly drives the folding arm to unfold so that the fixed arm segment is at a preset angle relative to the reference plane, or drives the folding arm to fold so that the fixed arm segment is at the reference plane.

[0019] According to some embodiments of the present invention, the fire-fighting robot further includes a window breaker, which is disposed on the telescopic arm and configured to be driven by the robot body to break the car window when the telescopic arm is in operation.

[0020] According to some embodiments of the present invention, the robot body includes a chassis and a shell, the shell being covered on the chassis and together with the base plate forming an installation cavity;

[0021] The outer casing has a window, a portion of the lifting assembly is disposed inside the mounting cavity, and a portion extends out of the mounting cavity from the window. The telescopic arm is disposed on the portion of the lifting assembly that extends out of the window.

[0022] According to some embodiments of the present invention, the fire extinguishing robot includes a fire extinguisher. The line connecting the center of gravity of the telescopic arm in the working state and the center of gravity of the telescopic arm in the retracted state projected onto the reference plane passes through the projection of the fire extinguisher onto the reference plane. The center of gravity of the telescopic arm in the retracted state is on the side opposite to the center of gravity of the telescopic arm in the working state.

[0023] According to some embodiments of the present invention, the fire extinguishing robot includes a fire extinguisher, the robot body includes a chassis and a shell, the shell is covered on the chassis and together with the base plate forms an installation cavity, the fire extinguisher is installed in the installation cavity and connected to the nozzle.

[0024] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0026] Figure 1 This is a schematic diagram of the structure of the fire-fighting robot according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the fire-fighting robot according to an embodiment of the present invention; the outer shell is not shown in the diagram.

[0028] Figure 3 This is a schematic diagram of the nozzle, telescopic arm, and lifting assembly of the fire extinguishing robot according to an embodiment of the present invention.

[0029] Figure label:

[0030] 100. Robot body; 110. Walking wheel; 111. Drive wheel; 112. Support wheel; 120. Chassis; 120a. Through hole; 130. Mounting bracket; 140. Shell; 140a. Window; 150. Anti-collision block; 160. Walking drive component;

[0031] 200. Telescopic boom; 210. Boom segment; 211. Free boom segment; 212. Fixed boom segment;

[0032] 300. Spray nozzle;

[0033] 400, Lifting assembly; 410, Fixing base; 420, Folding arm; 421, First folding arm; 422, Second folding arm;

[0034] 500. Fire extinguisher. Detailed Implementation

[0035] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0037] In the description of the embodiments of this application, the technical terms "first," "second," "third," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0040] In the description of the embodiments of this application, the technical terms "top", "bottom", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0041] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0042] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" should be interpreted broadly, and can be direct contact, contact through an intermediate medium layer, contact between two contacting parties with substantially no interaction force, or contact between two contacting parties with interaction force.

[0043] Please refer to Figures 1-3 This application provides a fire-fighting robot that can move to the side of a vehicle to spray fire extinguishing agent into the vehicle body through the window. The fire-fighting robot includes a robot body 100, a telescopic arm 200, a nozzle 300, and a lifting assembly 400.

[0044] Please refer to Figure 1 and Figure 2The robot body 100 has a moving function. A lifting assembly 400 is disposed on the robot body 100, and a telescopic arm 200 is disposed on the lifting assembly 400 and indirectly disposed on the robot body 100 through the lifting assembly 400, so that the robot body 100 can move to the side of the vehicle. The telescopic arm 200 is extendable to adjust its length. The lifting assembly 400 is used to adjust the angle of the telescopic arm 200 relative to a reference plane, which is a horizontal plane. The telescopic arm 200 and the lifting assembly 400 work together to position the end of the telescopic arm 200 at approximately the same height as the vehicle window.

[0045] The nozzle 300 is used to spray extinguishing agent. The nozzle 300 is disposed on the telescopic arm 200 and configured to move away from the robot body 100 when the telescopic arm 200 is extended, or to move closer to the robot body 100 when the telescopic arm 200 is retracted. The telescopic arm 200 and the lifting assembly 400 cooperate to bring the end of the telescopic arm 200 to a height approximately level with the vehicle window.

[0046] Please refer to the following: Figure 3 The telescopic boom 200 includes a plurality of boom segments 210 connected in sequence. Each boom segment 210 is movable relative to an adjacent boom segment 210 in the telescopic direction to extend the telescopic boom 200, or is movable relative to an adjacent boom segment 210 in the opposite telescopic direction to retract the telescopic boom 200. The telescopic boom 200 also includes a telescopic drive member, which drives each boom segment 210 to move in the telescopic direction or in the opposite direction.

[0047] Please refer to Figure 1 and Figure 2 The telescopic arm 200 has a working state and a retracted state. In the working state, the extended telescopic arm 200 is at a preset angle to the reference plane so that the nozzle 300 is aimed at the vehicle window. In the retracted state, all arm segments 210 of the retracted telescopic arm 200 are on the same reference plane.

[0048] Specifically, the lifting assembly 400 drives the telescopic arm 200 to swing relative to the reference plane to a preset angle, such as 90 degrees, and extends the telescopic arm 200 to put it into working state. By retracting the telescopic arm 200 and driving the lifting assembly 400 to swing the telescopic arm 200 back relative to the reference plane until all arm segments 210 are within the same reference plane, it enters the storage state.

[0049] In the above embodiment, the robot body 100 moves to the side of the vehicle, and the lifting component 400 drives the telescopic arm 200 to swing relative to the reference plane to a preset angle, causing the telescopic arm 200 to extend and enter the working state. At this time, the nozzle 300 is aimed at the vehicle window to spray fire extinguishing agent onto the vehicle, thereby achieving automatic fire extinguishing and avoiding people being in the relatively confined vehicle fire environment. In addition, by keeping each arm segment 210 within the same reference plane, the telescopic arm 200 is in a retracted state, which reduces its height and improves the fire-fighting robot's maneuverability, ensuring that it can pass through the space under the vehicle to meet the fire-fighting needs of roll-on / roll-off ships.

[0050] Please refer to Figure 3 In some embodiments, one of two adjacent boom segments 210 has a slide rail arranged along the telescopic direction, and the other is slidably mounted on the slide rail, thus enabling the two adjacent boom segments 210 to move relative to each other along the telescopic direction. To reduce costs, in some embodiments, each boom segment 210 is a profile with a slide rail, and all boom segments 210 have the same structure. This profile is a metal material with a hollow cavity, possessing high strength while being relatively lightweight.

[0051] For the telescopic drive of each boom segment 210, in some embodiments, each boom segment 210 is provided with a rack, each rack meshing with a gear, and the gear is connected to the telescopic drive component. The telescopic drive component drives the gear to rotate, thereby driving each boom segment 210 to telescopically extend or retract. In other embodiments, the telescopic drive component is a cylinder or an electric push rod, which is provided on two adjacent boom segments 210. The electric push rod or cylinder extends or retracts to directly drive the two adjacent boom segments 210 to undergo relative displacement along the telescopic direction.

[0052] Please refer to Figure 1 and Figure 3 In some embodiments, in the retracted state, the arm segments 210 are parallel to each other and arranged sequentially along a reference plane. For example, they are arranged sequentially along the width direction of the robot body 100. It is understood that, compared to the conventional structure where the preceding arm segment 210 retracts into the following arm segment 210, in this implementation, each arm segment 210 does not need to be made into a hollow tube, which improves the strength of each arm segment 210 in a fire scenario. Furthermore, it does not occupy height space.

[0053] The telescopic arm 200 is located on top of the robot body 100 to make full use of the roof space.

[0054] Please refer to Figure 2 In some embodiments, the robot body 100 also includes a plurality of walking wheels 110, a portion of which overlaps with the lifting component 400 in the height direction of the robot body 100, thereby further reducing the occupation of height space and improving passability.

[0055] Furthermore, in some embodiments, the robot body 100 includes a chassis 120, and a lifting device is disposed on one side of the chassis 120. A plurality of through holes 120a are formed on the base plate, surrounding the lifting device. The robot body 100 includes a plurality of mounting brackets 130, each mounted on one side of the chassis 120 and spanning one through hole 120a, with each mounting bracket 130 corresponding to one through hole 120a. The mounting brackets 130 define mounting cavities, with portions of the wheels 110 located within these cavities and portions extending to the other side of the chassis 120.

[0056] It is understood that by providing a mounting bracket 130 with a mounting cavity on one side of the chassis 120, at least a portion of the walking wheels 110 are located in the mounting cavity and distributed on one side of the chassis 120, thereby reducing the occupation of height space. A portion of the walking wheels 110 extends to the other side of the chassis 120, thereby being able to support on the ground and realize the walking function.

[0057] In some embodiments, the traveling wheel 110 is connected to the chassis 120, and the traveling wheel 110 includes a drive wheel 111 and a support wheel 112. The drive wheel 111 is configured to be connected to a traveling drive 160 so that it can be driven by the traveling drive 160, and multiple support wheels 112 are provided and configured to be supported on the medium surface together with the drive wheel 111.

[0058] Specifically, the drive wheel 111 is connected to the walking drive component 160 to achieve the walking drive function, and the support wheel 112 provides additional support to ensure that the robot maintains balance during lifting and walking. The aforementioned support wheels 112 are all mounted on the mounting frame 130.

[0059] The support wheels 112 are provided in four positions, and the chassis 120 is roughly rectangular. Through holes 120a for the support wheels 112 to extend are provided at the four corners.

[0060] Two drive wheels 111 are provided, spaced apart along the width direction of the robot body 100, and distributed between the two support wheels 112 along the length direction of the robot body 100. Correspondingly, there is a through hole 120a in the middle region of the chassis 120 along the length direction for the drive wheels 111 to extend out.

[0061] The driving component 160 is a motor, which transmits power to the drive wheels 111 via belt drive. Each drive wheel 111 is equipped with a corresponding driving component 160, thereby enabling steering by controlling the speed difference of the drive wheels 111.

[0062] Please refer to Figure 3In some embodiments, among the multiple arm segments 210, one arm segment 210 at the end of the telescopic arm 200 is a free arm segment 211, and another arm segment 210 at the beginning of the telescopic arm 200 is a fixed arm segment 212. The fixed arm segment 212 is connected to the lifting assembly 400, and the nozzle 300 is disposed on the free arm segment 211. It can be understood that the lifting assembly 400 drives the fixed arm segment 212 to adjust the angle of the telescopic arm 200 relative to the reference plane. During the extension of the telescopic arm 200, the nozzle 300 located on the free arm segment 211 gradually moves away from the fixed arm segment 212 to a height approximately level with the vehicle window.

[0063] In some embodiments, the lifting assembly 400 includes a fixed base 410, a folding arm 420, and a driving assembly. Along the extension direction, one end of the fixed arm segment 212 is hinged to the fixed base 410, and the other end is hinged to the folding arm 420. The folding arm 420 is hinged to the fixed base 410. The driving assembly drives the folding arm 420 to unfold so that the fixed arm segment 212 is at a preset angle relative to the reference plane, or drives the folding arm 420 to fold so that the fixed arm segment 212 is at the reference plane.

[0064] It is understood that, along the front-to-back direction, the fixed base 410 has two hinge positions with a gap between them. The folding arm 420 is hinged to one of the hinge positions, and the fixed arm segment 212 is hinged to the other hinge position. The folding arm 420 is driven to connect with a drive assembly. In some specific embodiments, the drive assembly can be a motor or a cylinder. The folding arm 420 includes a first folding arm 421 and a second folding arm 422. The first folding arm 421 is hinged to the second folding arm 422. The first folding arm 421 is hinged to one hinge position of the fixed base 410, and the second folding arm 422 is hinged to the fixed arm segment 212. The drive assembly includes a fixed part and a telescopic part that extends and retracts relative to the fixed part. The fixed part is disposed on one of the first folding arm 421 and the second folding arm 422, and the telescopic part is disposed on the other.

[0065] In some embodiments, the fire-fighting robot also includes a window breaker disposed on the telescopic arm 200 and configured to be driven by the robot body 100 to break the vehicle window when the telescopic arm 200 is in operation.

[0066] The window breaker can be integrated into the top of the free arm segment 211 of the telescopic arm 200. It should be noted that in this embodiment, in the working state, the telescopic arm 200 can be perpendicular to the reference plane or inclined to the reference plane, as long as the fire-fighting robot can break the car window.

[0067] In some specific embodiments, in the stored state, the nozzle 300 sprays upwards, and in the working state, the nozzle 300 sprays forwards.

[0068] Please refer to Figure 1 and Figure 2 In some embodiments, the robot body 100 includes a shell 140, which covers the chassis 120 and together with the base plate forms an installation cavity. The top of the shell 140 is flat, and in the retracted state, the telescopic arm 200 is located on the top surface of the shell 140 and is parallel to the top surface.

[0069] The outer casing 140 has a window 140a, which is a strip-shaped window extending in the front-to-back direction. A portion of the lifting assembly 400 is disposed within the mounting cavity, while a portion extends out of the mounting cavity from the window 140a. The telescopic arm 200 is disposed on the portion of the lifting assembly 400 extending out of the window 140a. The robot body 100 includes components such as a battery, which can be housed within the mounting cavity for protection in firefighting scenarios. By placing the lifting assembly 400 within the mounting cavity, compared to placing it on top of the outer casing 140, its vertical space occupation is further reduced, thus improving its maneuverability.

[0070] In some embodiments, the fire-fighting robot includes a fire extinguisher 500. The fire extinguisher 500 is installed within a mounting cavity and connected to a nozzle 300. Thus, the fire-fighting robot does not require external fire-fighting equipment connected via piping, allowing its movement path to be unrestricted by pipelines and enabling it to quickly reach the location of the vehicle to be extinguished. Furthermore, it makes full use of space.

[0071] In some embodiments, the line connecting the center of gravity of the telescopic arm 200 in the working state and the center of gravity of the telescopic arm 200 in the retracted state projected onto the reference plane passes through the projection of the fire extinguisher 500 onto the reference plane, and the center of gravity of the telescopic arm 200 in the retracted state is on the side opposite to the center of gravity of the telescopic arm 200 in the working state.

[0072] It should be noted that the position of the center of gravity of the telescopic boom 200 changes during the process of switching from the retracted state to the working state. Through the above-mentioned setting, the fire extinguisher 500 can play the role of counterweight, thereby improving the stability in the working state.

[0073] The fire extinguisher 500 and the telescopic arm 200 are arranged along the length of the robot body 100, and in the working state, the fire extinguisher 500 and the telescopic arm 200 are spaced apart from each other along the length of the robot body 100.

[0074] In some embodiments, the robot body 100 also includes anti-collision blocks 150, which are disposed at the four corners of the outer shell 140 and protrude outward from the outer shell 140.

[0075] In some embodiments, the robot body 100 also includes a fire extinguisher 500 switch valve. After the telescopic arm 200 is in the working state, the fire extinguisher 500 switch valve can open the fire extinguisher 500 to provide extinguishing agent to the nozzle 300, thereby spraying the extinguishing agent onto the vehicle to extinguish the fire. The control of the fire extinguisher 500 switch valve can be remote or automatic.

[0076] In some embodiments, the robot body 100 also includes a camera, lidar, or temperature sensor. The camera or lidar can be used for path planning and obstacle avoidance, and the temperature sensor can obtain the temperature distribution of the vehicle to be extinguished, thereby selecting the extinguishing position of the fire extinguishing robot. After the fire extinguishing robot enters the extinguishing position, it switches to working state.

[0077] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of protection.

Claims

1. Fire extinguishing robot, characterized in that, include: The robot itself; A telescopic arm is mounted on the robot body, and the telescopic arm includes multiple arm segments connected in sequence. A nozzle for spraying extinguishing agent is disposed on the telescopic arm and configured to move away from the robot body when the telescopic arm is extended, or move closer to the robot body when the telescopic arm is retracted. as well as A lifting component, disposed on the robot body, is used to support the telescopic arm and adjust the angle of the telescopic arm relative to the reference plane; The telescopic arm has a working state and a retracted state. In the working state, the extended telescopic arm is at a preset angle to the reference plane so that the nozzle is aligned with the vehicle window. In the retracted state, the retracted telescopic arm segments are on the same reference plane so that they can pass under the vehicle.

2. The fire extinguishing robot according to claim 1, characterized in that, In the stored state, each arm segment is parallel to the others and arranged sequentially along the reference plane.

3. The fire extinguishing robot according to claim 1, characterized in that, The robot body includes multiple walking wheels, and a portion of each walking wheel coincides with the lifting component in the height direction of the robot body.

4. The fire extinguishing robot according to claim 3, characterized in that, The robot body includes a chassis, and the lifting component is disposed on one side of the chassis; The chassis has multiple through holes, and the robot body includes multiple mounting brackets. The mounting brackets are located on one side of the chassis and span the through holes. The mounting brackets define a mounting cavity, and at least a portion of the walking wheels are located in the mounting cavity, while a portion extends to the other side of the chassis.

5. The fire extinguishing robot according to claim 3, characterized in that, The robot body includes a chassis, and the walking wheels are connected to the chassis. The walking wheels include drive wheels and support wheels. The drive wheels are configured to be connected to a walking drive component so that they can be driven by the walking drive component. Multiple support wheels are provided and configured to support the robot on the surface of the medium together with the drive wheels.

6. The fire extinguishing robot according to claim 1, characterized in that, Of the multiple arm segments, one of the arm segments located at the end of the telescopic arm is a free arm segment, and another arm segment located at the beginning of the telescopic arm is a fixed arm segment. The fixed arm segment is connected to the lifting assembly, and the nozzle is disposed on the free arm segment. The lifting assembly includes a fixed base, a folding arm, and a drive assembly. Along the extension direction, one end of the fixed arm segment is hinged to the fixed base, and the other end is hinged to the folding arm. The folding arm is hinged to the fixed base. The drive assembly drives the folding arm to unfold so that the fixed arm segment is at a preset angle relative to the reference plane, or drives the folding arm to fold so that the fixed arm segment is at the reference plane.

7. The fire extinguishing robot according to any one of claims 1-6, characterized in that, The firefighting robot also includes a window breaker, which is mounted on the telescopic arm and configured to be driven by the robot body to break the car window when the telescopic arm is in operation.

8. The fire extinguishing robot according to any one of claims 1-6, characterized in that, The robot body includes a chassis and a shell, the shell being covered on the chassis and together with the chassis forming an installation cavity; The outer casing has a window, a portion of the lifting assembly is disposed inside the mounting cavity, and a portion extends out of the mounting cavity from the window. The telescopic arm is disposed on the portion of the lifting assembly that extends out of the window.

9. The fire extinguishing robot according to any one of claims 1-6, characterized in that, The fire-fighting robot includes a fire extinguisher. The line connecting the center of gravity of the telescopic arm in the working state and the center of gravity of the telescopic arm in the retracted state, projected onto the reference plane, passes through the projection of the fire extinguisher onto the reference plane. The center of gravity of the telescopic arm in the retracted state is on the side opposite to the center of gravity of the telescopic arm in the working state.

10. The fire extinguishing robot according to any one of claims 1-6, characterized in that, The fire-fighting robot includes a fire extinguisher. The robot body includes a chassis and a shell. The shell covers the chassis and together with the chassis, forms an installation cavity. The fire extinguisher is installed in the installation cavity and connected to the nozzle.

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