CN111228697B - Shell assembly and fixed node type robot - Google Patents

Abstract

The present disclosure provides a housing assembly and fixed node formula robot, this housing assembly includes: two casings which are buckled and connected and can be opened; a protective shell coated on the outer surface of the shell; wherein, the protection casing has the buffer, and the buffer is located the front end of casing, and the buffer is honeycomb and the width and the height of buffer reduce from back to front gradually. This openly can guarantee that this shell structure touches ground the buffer portion earlier all the time when throwing, and then can absorb the impact force that produces when throwing falls to the ground, has strengthened shell structure's shock resistance ability.

Description

Shell assembly and fixed node type robot

Technical Field

Embodiments of the present disclosure relate generally to the field of fire fighting technology, and more particularly, to a housing assembly and a fixed node robot.

Background

With the rapid development of social economy and the particularity of construction and enterprise production, various large-scale chemical enterprises, tunnels, subways and the like are continuously increased, the accident potential of leakage and explosion of oil product gas and toxic gas, leakage of chemical dangerous goods and radioactive substances, combustion, explosion and collapse is increased, and the accident probability is correspondingly improved. In case of disaster accidents, when the firemen face high temperature, darkness, toxicity, dense smoke and other harmful environments, if no corresponding equipment rushes into the scene, the firemen can not complete the task and can also casualties in vain.

The fire-fighting robot is one of special robots and plays a role of play in fire extinguishing and emergency rescue. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback, and the application of the fire-fighting robot can improve the actual combat capability of fire-fighting rescue of fire departments and play an important role in reducing national property loss and casualties of fire-fighting rescue personnel.

At present, current fire-fighting robot adopts metal casing more, and metal casing does not have impact resistance, and inner structure is mostly integral, the dismouting maintenance of being not convenient for.

Disclosure of Invention

In a first aspect of the present disclosure, there is provided a housing assembly comprising: two casings which are buckled and connected and can be opened; a protective shell coated on the outer surface of the shell; wherein, the protection casing has the buffer, the buffer is located the front end of casing, the buffer is honeycomb and the width and the height of buffer reduce from back to front gradually.

The above aspect and any possible implementation further provide an implementation in which the protective housing is made of a rubber material with a flame retardant incorporated therein.

In the above aspect and any possible implementation manner, there is further provided an implementation manner that when the two housings are fastened and connected, the two buffering portions are fastened to form a bullet shape.

The above-described aspect and any possible implementation manner further provide an implementation manner, wherein an outer surface of each of the shells is an arc-shaped surface, and a cross section of the two shells is in an eggshell-like shape when the two shells are buckled.

The above aspect and any possible implementation manner further provide an implementation manner, wherein one side of each of the two shells is hinged, an elastic member is arranged at the hinge joint of the two shells, and the other side of each of the two shells is locked by a locking device.

The aspect and any possible implementation manner described above further provide an implementation manner, in which the elastic member is a first torsion spring, one leg of the first torsion spring abuts against one of the housings, and the other leg abuts against the other of the housings.

In the aspect and any possible implementation manner described above, an implementation manner is further provided, in one of the housings, an audio/video cabin is disposed near the buffering portion, and a main control board cabin is disposed far from the buffering portion.

In the aspect and any possible implementation manner described above, there is further provided an implementation manner in which, in another of the housings, a communication compartment is provided near the buffering portion, and a battery compartment is provided far from the buffering portion.

The above aspects and any possible implementation manners further provide an implementation manner, wherein each of the shells is made of nylon and glass fiber materials, and/or the surface of each of the shells is sprayed with a flame-retardant heat-insulating paint.

In a second aspect of the present disclosure, there is provided a fixed node robot comprising a housing assembly as described in any one of the first aspects.

In the casing subassembly and fixed node formula robot that this disclosed embodiment provided, outside through the casing that connects and can open at two locks sets up the protection casing, this protection casing has the buffering portion at the front end of casing, because the width and the height of buffering portion for honeycomb structure and this buffering portion reduce to the front from the back gradually, thereby can guarantee that this shell structure is the buffering portion all the time and lands earlier when throwing, and then can absorb the impact force that produces when throwing falls to the ground, shell structure's impact resistance performance has been strengthened.

It should be understood that what is described in this disclosure section is not intended to limit key or critical features of the embodiments of the disclosure, nor is it intended to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:

fig. 1 shows a schematic structural diagram of two open states of a housing of a fixed node robot according to an embodiment of the present disclosure;

fig. 2 shows a schematic structural diagram of two open states of a protective housing of a fixed node robot according to an embodiment of the disclosure;

FIG. 3 illustrates a schematic structural diagram of a housing assembly structure of a fixed node robot in accordance with an embodiment of the present disclosure;

FIG. 4 is a schematic diagram illustrating the operation of a fixed node robot according to one embodiment of the present disclosure;

fig. 5 is a schematic structural diagram illustrating an operating state of a fixed node robot according to another embodiment of the present disclosure;

FIG. 6 illustrates a schematic structural diagram of a camera assembly of a fixed node robot of an embodiment of the present disclosure;

FIG. 7 illustrates a cross-sectional schematic view of a locking apparatus of a fixed node robot of an embodiment of the present disclosure; 43

FIG. 8 illustrates an assembly schematic of a link and actuator of a fixed node robot of an embodiment of the present disclosure;

wherein,

10. a housing; 11. a rotating shaft; 12. a first torsion spring; 13. an audio and video bin; 14. a main control board bin; 15. a communication bin; 16. a battery compartment;

20. a protective housing; 21. a buffer section;

31. a camera assembly; 311. a support; 312. a second torsion spring; 313. a limiting member; 3131. a base; 3132. a baffle plate; 314. a camera; 32. an antenna assembly; 33. an audio/video control panel; 34. a main control board; 35. a battery; 36. a communication module;

41. a lock case; 411. opening the gap; 42. a rocker arm; 421. a driving end; 422. a limiting end; 423. an arc-shaped groove; 43. a contact arm; 431. a clamping end; 432. a locking end; 44. a connecting rod; 441. a connecting seat; 442. a rod body; 443. a strip-shaped through hole; 45. a push rod; 46. an actuator; 47. and (5) buckling.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Fig. 1 shows a schematic structural diagram of two open states of a housing of a fixed node robot according to an embodiment of the present disclosure, fig. 2 shows a schematic structural diagram of two open states of a protective housing of a fixed node robot according to an embodiment of the present disclosure, and fig. 3 shows a schematic structural diagram of a housing assembly of a fixed node robot according to an embodiment of the present disclosure.

As shown in fig. 1, the housing assembly of the fixed node robot includes two housings 10 which are snap-connected and can be opened. The housing 10 may be made of nylon or glass fiber, and the impact resistance of the housing 10 may be enhanced by using the material, so as to effectively protect the modules inside the housing 10 from being damaged, thereby protecting the modules inside the housing 10 from working normally. The outer surface of the shell 10 (or the exposed part of the shell 10) can be sprayed with flame-retardant heat-insulating paint, so that the exposed part of the shell 10 has flame-retardant heat-insulating effect, and the fixed node type robot arranged in a fire scene can work normally.

One side of the two housings 10 is hinged, an elastic member is disposed at the hinge of the two housings 10, for example, a rotating shaft 11 may be disposed at one side of the two housings 10, the two housings 10 may be rotatably disposed on the rotating shaft 11, a first torsion spring 12 is sleeved on the rotating shaft 11, one leg of the first torsion spring 12 abuts against one housing 10, the other leg abuts against the other housing 10, when the housings 10 are fastened, the first torsion spring 12 is in a compressed state, and at this time, the first torsion spring 12 provides an opening elastic force for the two housings 10.

The other side of the two housings 10 may be provided with locking means for locking. When the locking device is locked, the two shells 10 are in a buckling state; when the locking device is opened, the elastic force provided by the first torsion spring 12 may open the two housings 10. The specific structure of the locking device is described in the following embodiments.

In some application scenarios, when a fire disaster occurs, the fixed node type robot needs to be arranged to a fire scene in a throwing mode (for example, manual throwing can be adopted, and a throwing device can also be adopted for throwing), when the fixed node type robot is thrown, the angle of the fixed node type robot when the fixed node type robot falls to the ground is uncontrollable, for example, one side provided with a locking device is possibly contacted with the ground, at the moment, the front face of the locking device can face the bottom face after the locking device is opened, and therefore the required video information of the fire scene cannot be acquired.

Therefore, the outer surface of the shell 10 can be set to be an arc-shaped surface, that is, the cross section of the two shells 10 is in an eggshell-like shape (for example, an oval shape or a circular shape) when the two shells 10 are locked by the locking device, and by adopting the design mode, the back surface of one of the shells 10 is in contact with the ground finally under the adjustment of the self gravity no matter which surface the shell assembly is in contact with the ground after falling to the ground, so that the front surface of the shell assembly can face upwards after the shell assembly is bounced off under the action of the first torsion spring 12.

An audio and video bin 13 is arranged in one of the shells 10 close to one end, and a main control board bin 14 is arranged in the other end; a communication compartment 15 is provided in the other housing 10 near one end and a battery compartment 16 is provided near the other end.

As shown in fig. 2 and 3, a protective case 20 is coated on an outer surface of the case 10, and the protective case 20 has a buffer portion 21 at a front end of the case 10, the buffer portion 21 having a honeycomb structure and having a width (B direction in fig. 2) and a height (H direction in fig. 2) that are gradually reduced from the rear to the front (i.e., the rear end of the case 10 toward the front end).

The buffer portion 21 may be provided not only at the front end of the housing 10 but also at the rear end of the housing 10, and the buffer portions 21 may be provided even at both ends of the housing 10.

When the two housings 10 are fastened to each other, the two buffer portions 21 are fastened to each other to form a bullet shape. The buffer part 21 is in a bullet head shape, the cross section of the shell 10 behind the buffer part 21 is in an eggshell-like shape, so that the whole fixed node type robot is streamline, when the fixed node type robot is thrown, the frictional resistance of air can be reduced, meanwhile, the fixed node type robot can fly according to a preset track, and when the fixed node type robot lands on the ground, the buffer part 21 can be guaranteed to land on the ground firstly, and the huge impact force generated by collision between the fixed node type robot and the ground can be buffered.

In order to further ensure the flight path of the fixed node type robot in the air, the gravity center of the fixed node type robot can be controlled through the arrangement position of each module in the fixed node type robot. Specifically, in one housing 10, the audio/video cabinet 13 may be disposed at one end of the housing 10 close to the buffer portion 21, and the main control board cabinet 14 may be disposed at one end of the housing 10 far from the buffer portion 21; in another housing 10, the communication chamber 15 may be disposed at an end of the housing 10 close to the buffer portion 21, and the battery chamber 16 may be disposed at an end of the housing 10 far from the buffer portion 21.

Fig. 4 shows a schematic structural diagram of an operating state of a fixed node robot according to an embodiment of the present disclosure, and fig. 5 shows a schematic structural diagram of an operating state of a fixed node robot according to another embodiment of the present disclosure.

As shown in fig. 4, in one of the housings 10, an audio/video control board 33 may be fixedly mounted in the audio/video compartment 13 through bolts, and a speaker may be fixedly mounted on an upper surface of the audio/video control board 33 through a speaker gland; the main control board 34 may be fixedly mounted in the main control board chamber 14 through bolts, and a voice sensor (e.g., a microphone) may be fixedly mounted on one side of the main control board 34. An antenna assembly 32 can be fixedly arranged between the audio and video cabin 13 and the main control board cabin 14 through bolts. The antenna assembly 32 may be a 580MHz antenna.

For example, voice communication with the people trapped in the fire scene may be performed through the speaker, the microphone, and the antenna assembly 32, and sound information of the fire scene may be collected and transmitted through the microphone and the antenna assembly 32.

In the other shell 10, a communication module 36 can be fixedly arranged in the communication cabin 15 through bolts; the battery compartment 16 may be fixedly mounted with a battery 35 therein by bolts.

A gas sensor may also be provided within either housing 10 and connected to the antenna assembly 32 to enable information such as gas concentration at the fire site to be collected and transmitted.

It should be noted that, by arranging the antenna assembly 32, the audio/video control board 33, the main control board 34, the battery 35 and the communication module 36 in the housing 10, the center of gravity of the fixed node type robot can also be adjusted, so that the fixed node type robot can be thrown and laid according to a predetermined flight trajectory.

As shown in fig. 5, in order to protect the audio/video control board 33, the main control board 34, the communication module 36 and the battery 35, cover plates may be respectively disposed on the audio/video bin 13, the main control board bin 14, the communication bin 15 and the battery bin 16, and high temperature resistant sealing rings may be disposed at the connection portions of the cover plates and the respective bins. The cover plate can be sprayed with flame-retardant heat-insulating paint.

With continued reference to fig. 4 and 5, a camera assembly 31 is disposed at a position of one of the shells 10 close to the protection shell 20, and the camera assembly 31 can be pressed against an accommodating cavity formed by the two shells 10 when the two shells 10 are buckled, and can also be bounced to a working state when the two shells 10 are opened to collect video information of a fire scene, so that portable deployment in the fire scene can be realized.

Therefore, when the camera assembly 31 is in a non-working state (i.e., the housing 10 is in a locked state), the camera assembly 31 can be pressed against the accommodating cavity formed by the two housings 10, so that the camera assembly 31 is prevented from being damaged by external force, and when the camera assembly is in a working state (i.e., the housing 10 is in an opened state), the camera assembly bounces, so that video information of a fire scene can be collected.

It should be noted that the camera assembly 31 is in an operating state of being flipped up to form a certain angle with a plane where the upper surface of any one of the housings 10 is located, and the video information of the fire scene can be collected at the angle. For example, camera assembly 31 may be flipped up to an angle of 30 °, 60 °, or 90 ° to the plane in which the upper surface of either housing 10 lies. Preferably, after the camera assembly 31 is bounced to the working state, the extending direction of the camera assembly 31 is perpendicular to the plane where the upper surface of any one of the housings 10 is located, that is, the camera assembly 31 is bounced to form an angle of 90 ° with the plane where the upper surface of any one of the housings 10 is located.

In order to ensure that the camera assembly 31 forms an included angle of 90 degrees with the plane where the upper surface of the housing 10 is located when the camera assembly is in a working state, the camera assembly can be installed and fixed in a limiting manner.

Specifically, referring to fig. 6, the camera head assembly 31 includes a bracket 311, a second torsion spring 312, a stopper 313, two 180 ° cameras 314, and an antenna (not shown in the figure). The bracket 311 is long, the two 180-degree cameras 314 are oppositely arranged at one end of the bracket 311 so as to be capable of acquiring video information in front and back directions when the camera assembly 31 is in a working state, the other end of the bracket 311 is hinged to the casing 10, the second torsion spring 312 is arranged at the hinged position, and the limiting member 313 is arranged on the casing 10 and used for limiting the bouncing angle of the camera assembly 31.

More specifically, one leg of the second torsion spring 312 abuts against the housing 10, and the other leg abuts against one side of the bracket 311, that is, two legs of the second torsion spring 312 are located inside an included angle of a plane where the camera head assembly 31 and the upper surface of the housing 10 are located. The position limiting member 313 includes a base 3131 and a baffle 3132, the base 3131 is disposed in the housing 10, the baffle 3132 is connected to the base 3131, and the baffle 3132 has a predetermined inclination angle with respect to the plane where the upper surface of the housing is located, where the angle may be 45 °, so as to ensure that the camera assembly 31 is limited by the baffle 3132 after being popped up, and forms a 90 ° included angle with the plane where the upper surface of the housing 10 is located after being popped up.

Fig. 7 is a schematic cross-sectional view illustrating a locking device of a fixed node robot according to an embodiment of the present disclosure, and fig. 8 is a schematic assembly view illustrating a link and an actuator of a fixed node robot according to an embodiment of the present disclosure.

As shown in fig. 7, the locking device includes a lock case 41, a rocker arm 42, a contact arm 43, a link 44, a push rod 45, an actuator 46, and a catch 47. The rocker arm 42, the contact arm 43, the connecting rod 44, the push rod 45 and the actuator 46 are all arranged on a lock shell 41, the lock shell is arranged on one shell 10, a buckle 47 is arranged on the other shell 10, and the two shells 10 are buckled and connected through mutual matching and locking of the buckle 47 and the contact arm 43.

The lock shell 41 can be integrally formed or formed by buckling two symmetrical structures, a through hole is formed in the lock shell 41, the through hole can be formed in the side wall of the lock shell 41 and used for installing the push rod 45, a notch 411 is further formed in the lock shell 41, the notch 411 can be formed by the top surface of the lock shell 41 in a concave mode from outside to inside, the notch 411 is communicated with the inner space of the lock shell 41, and two cylindrical protrusions are arranged on the inner wall of the lock shell 41 and used for installing the rocker arm 42 and the contact arm 43.

The middle part of the rocker arm 42 is provided with a through hole, the through hole is sleeved on a cylindrical protrusion in the lock shell 41, a third torsion spring is arranged at the joint of the through hole, the two ends of the rocker arm 42 in the length direction are respectively provided with a driving end 421 and a limiting end 422, and the outer surface of the limiting end 422 is inwards sunken to form an arc-shaped groove 423 for limiting the contact arm 43.

The middle part of the contact arm 43 is provided with a through hole, the other cylindrical protrusion in the lock shell 41 is sleeved through the through hole, a third torsion spring is arranged at the connection part of the through hole, and the two ends of the contact arm 43 in the length direction are respectively provided with an engagement end 431 and an engagement end 432.

In the locked state, the third torsion spring disposed at the rocker arm 42 provides a pre-tightening force to the rocker arm 42 in the clockwise direction in fig. 7, the third torsion spring disposed at the contact arm 43 provides a driving force to the contact arm 43 to disengage from the locked state in the clockwise direction in fig. 7, at this time, the engaging end 431 of the contact arm 43 engages with the arc-shaped groove 423 at the limiting end 422 of the rocker arm 42, the locking end 432 of the contact arm 43 is partially or completely exposed to the opening 411 at the upper surface of the lock case 41, and the latch 47 is connected at the engaging end 432 at the opening 411, so that the two housings 10 are engaged and connected.

In the unlocking state, the engagement end 431 of the contact arm 43 is disengaged from the arc-shaped groove 423 of the rocker arm 42 and abuts against the inner side wall of the lock case 41, at this time, the buckle 47 is disengaged from the engagement end 432, and the two housings 10 are opened under the action of the first torsion spring 12 at the hinged position thereof.

As shown in fig. 8, the link 44 includes a connecting seat 441 and a rod 442, the rod 442 has an elongated through hole 443, the swing arm 42 is slidably disposed in the elongated through hole 443, for example, a pin is disposed at the driving end 421 of the swing arm 42 and is disposed in the elongated through hole 443, so that the pin can slide in the elongated through hole 443.

When the two housings 10 need to be opened, the push rod 45 can extend into the lock housing 41 from the through hole arranged on the side wall of the lock housing 41 and is connected with the driving end 421 of the rocker arm 42, the driving end 421 of the rocker arm 42 slides in the elongated through hole 443 from left to right in fig. 7 by manually pushing the push rod 45, so that the rocker arm 42 rotates counterclockwise, the engaging end 431 of the contact arm 43 disengages from the arc-shaped groove 423 on the limiting end 422 of the rocker arm 42, the contact arm 43 rotates clockwise under the action of the third torsion spring at the connection position, and the buckle 47 disengages from the engaging end 432 of the contact arm 43, so that the locking device is changed from the locked state to the unlocked state.

When the two housings 10 need to be opened, the actuator 46 may be a linear actuator, and an output end of the linear actuator is fixedly connected to the connecting seat 441 through a bolt, so as to drive the connecting rod 44 to make a linear reciprocating motion, the linear actuator drives the driving end 421 of the rocker arm 42 to slide along a direction from left to right in fig. 7, the pin shaft is always clamped at a position of a leftmost end of the elongated through hole 443, so that the rocker arm 42 rotates along a counterclockwise direction, the clamping end 431 of the contact arm 43 disengages from the arc-shaped groove 423 at the limiting end 422 of the rocker arm 42, the contact arm 43 rotates clockwise under the action of a third torsion spring at a connection position thereof, and the buckle 47 disengages from the clamping end 432 of the contact arm 43, so that the locking device is changed from a locking state to an unlocking state.

When the two housings 10 need to be fastened, the buckle 47 presses down the locking end 432 of the contact arm 43 at the notch 411, so that the contact arm 42 rotates counterclockwise in fig. 7, the locking end 431 of the contact arm 43 is fastened to the arc-shaped groove 423 on the limiting end 422 of the rocker arm 42, and at this time, the buckle 47 is connected at the locking end 432 of the contact arm 43 at the notch 411, so that the locking device is switched from the unlocking state to the locking state.

In the process of opening, when the actuator 46 receives a large impact force, the rocker arm 42 can be always restrained at the position of the locked state, and thus the occurrence of the false opening can be avoided.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, the description of the terms "one embodiment," "some embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. A shell subassembly is applied to fixed node formula robot, its characterized in that includes:

the two shells are buckled and connected and can be opened along the length direction, an accommodating cavity is formed when the two shells are buckled and connected, one sides of the two shells are hinged, a first torsion spring is arranged at the hinged position of the two shells, the other sides of the two shells are locked through a locking device, the outer surface of each shell is an arc-shaped surface, and the cross section of each shell is oval or circular when the two shells are locked through the locking device;

a protective shell coated on the outer surface of the shell;

wherein the protective shell is provided with a buffer part which is positioned at the front end of the shell in the length direction, the buffer part is of a honeycomb structure, the width and the height of the buffer part are gradually reduced from back to front,

a camera assembly of a robot is arranged on one of the shells, the camera assembly is pressed in the accommodating cavity when the two shells are buckled, the camera assembly bounces to be in a working state when the two shells are opened, and after the camera assembly bounces to be in the working state, the extending direction of the camera assembly is vertical to the plane of the upper surface of any one shell;

the fixed node type robot can be arranged on a fire-fighting operation site in a throwing mode.

2. The housing assembly of claim 1,

the protective shell is made of a rubber material, and a flame retardant is doped in the rubber material.

3. The housing assembly of claim 1,

when the two shells are buckled and connected, the two buffering parts are buckled to form a bullet shape.

4. The housing assembly of claim 1,

one support leg of the first torsion spring abuts against one of the shells, and the other support leg abuts against the other shell.

5. The housing assembly of claim 1,

in one casing, be close to buffering portion department is provided with the audio frequency and video storehouse, keeps away from buffering portion department is provided with the main control board storehouse.

6. The housing assembly of claim 5,

in another casing, be close to buffer department is provided with the communication storehouse, keeps away from buffer department is provided with the battery compartment.

7. The housing assembly of claim 6,

each shell is made of nylon and glass fiber materials, and/or the surface of each shell is sprayed with flame-retardant heat-insulating paint.

8. A fixed node type robot is characterized in that,

comprising a housing assembly as claimed in any one of claims 1 to 7.

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