Rxr-m80-hmt06 (four arm swing) fire fighting and detection robot can be used in urban fire fighting, earthquake relief and other fields. It can replace the fire rescue personnel to enter the scene of flammable, explosive, toxic, anoxic, smoke and other dangerous disasters, complete data collection, processing, feedback, fire control and other operations. The surrounding environment can be monitored by 2-DOF pan tilt and car camera, and the fire robot can realize remote wireless or wired control by hand-held control terminal. The fire fighting robot can adapt to a variety of working situations and has the ability to work normally under all-weather conditions. The handheld control terminal is easy to operate and learn; it can work for 8 hours intermittently through the battery; it can work for 2 hours continuously. It can adapt to a variety of working occasions and has the ability to work normally in all-weather environment.