CN206357263U - Robot head and shoulder rotates multiplexing structure - Google Patents

Abstract

The utility model is related to the technical field of robot, multiplexing structure is rotated there is provided a kind of robot head and shoulder, to connect robot head and shoulder, robot head includes having shell and fixed mount, connection component is set between shell and fixed mount, connection component includes the fixing axle being fixed on fixed mount and the ring flange being rotatably mounted to by clutch shaft bearing in fixing axle, and ring flange is fixedly connected on shell；Robot head and shoulder rotation multiplexing structure includes the driving source that the adaptor of fixing axle is rotatably attached centered on the axis of fixing axle and adaptor is rotated, and adaptor includes the installation pan portion for connecting shoulder and the drive division for being connected with driving source；Fixing axle is formed with the first axis hole inserted for drive division, and driving source is arranged on fixed mount and supported by fixed mount.It is compared with the prior art, shoulder can drive arm opposing headers swing, transmission stability is preferable.

Description

Robot head and shoulder rotates multiplexing structure

Technical field

The utility model is related to the technical field of robot, and multiplexing structure is rotated more particularly, to a kind of robot head and shoulder.

Background technology

At present, the robot with general program capability and operating function, referred to as intelligent robot, it has wider Application.Traditional intelligent robot, mainly includes head and trunk, and the both sides of trunk are provided with arm, arm it is front and rear Swinging structure is complicated, and transmission stability is poor.

Utility model content

Technical problem to be solved in the utility model is that providing a kind of robot head and shoulder rotates multiplexing structure, it is intended to solve Certainly in the prior art, the swing that there is arm is complicated, the poor defect of transmission stability.

A kind of robot head and shoulder that the utility model is provided rotates multiplexing structure, to connect robot head and shoulder, Robot head includes the shell with an inner space and the fixed mount being built in the inner space, wherein, it is described outer At least one set of connection component is provided between shell and the fixed mount, the connection component includes being fixedly connected on the fixed mount On fixing axle and the ring flange that is rotatably mounted to by a clutch shaft bearing in fixing axle, the ring flange is fixedly connected on The shell；It is described solid including being rotatably attached centered on the axis of the fixing axle that robot head and shoulder rotates multiplexing structure The adaptor of dead axle and the driving source for making the adaptor rotation, the adaptor include being used to connect the discoid of the shoulder Installation pan portion, for the drive division that is connected with the driving source and be connected between the installation pan portion and the drive division Maintaining part；The fixing axle is formed with the first axis hole inserted for the drive division, and the driving source is arranged on the fixation Supported on frame and by the fixed mount；The drive division is coaxially disposed with the fixing axle and is provided with the second axle between Hold.

Further, the driving source is the steering wheel component with steering wheel, the outer face of the steering wheel and the drive division It is connected.

Further, the fixing axle includes axis body portion and is connected to axis body portion one end and is used for and the fixed mount The chassis portion being connected, the clutch shaft bearing is sheathed in the axis body portion and supported by the axis body portion.

Further, it is additionally provided with the inner space for making the rotating driving device of the flange disc spins；Institute Stating rotating driving device includes power source and the transmission mechanism being connected between the power source and the ring flange；The transmission Mechanism includes the driven pulley being fixedly connected with the ring flange and the driving wheel for driving the driven pulley to rotate, the driving Wheel is connected to the power source.

Further, the driven pulley is rotatably set on the clutch shaft bearing, on the inwall of the driven pulley to Interior projection is formed with the defining flange for limiting the clutch shaft bearing movement.

Further, the transmission mechanism also includes the transmission belt between the driven pulley and driving wheel, described Outside projection is formed with the anticreep flange for limiting the transmission Tape movement on the outer wall of driven pulley.

Further, the outer wall of the driven pulley is formed with the first teeth portion, the outer wall of the driving wheel and is formed with second The 3rd teeth portion engaged respectively with first teeth portion and the second teeth portion is formed with teeth portion, the inner peripheral surface of the transmission belt.

Further, the ring flange include be used for be fixedly connected with the shell annular flange portion, for institute State the department of assembly that defining flange is fixedly connected and the connecting portion being connected between the flange portion and the department of assembly.

Further, the quantity of the shoulder is two, and two shoulders are connected to robot head in symmetrical mode Portion；Two driving sources are provided with the fixed mount, two driving sources are corresponded respectively with two shoulders.

Further, the shell is spherical in shape, including fore shell and bonnet, and the two encloses to form the inner space, described Fore shell is sealed by the ring flange and the bonnet.

It is compared with the prior art, the robot head and shoulder that the utility model is provided rotates multiplexing structure, and shoulder passes through adaptor Fixing axle is pivotably coupled to, adaptor is rotated by driving source, the arm opposing headers swing so that shoulder strap is started, Transmission stability is preferable.

Brief description of the drawings

Fig. 1 is the schematic perspective view for the robot head that the utility model embodiment is provided；

Fig. 2 is the decomposing schematic representation for the robot head that the utility model embodiment is provided；

Fig. 3 is the schematic perspective view for the fixed mount that the utility model embodiment is provided；

Fig. 4 is the decomposing schematic representation of fixed mount, connection component and transmission mechanism that the utility model embodiment is provided；

Fig. 5 is the enlarged drawing in A portions in Fig. 4；

Fig. 6 is the schematic side view for the robot head that the utility model embodiment is provided；

Fig. 7 is the schematic cross-sectional view in I-I faces in Fig. 6；

Fig. 8 is the enlarged drawing in B portions in Fig. 7；

Fig. 9 is the decomposing schematic representation of robot head, shoulder and arm that the utility model embodiment is provided；

Figure 10 is the schematic cross-sectional view of robot head, shoulder and arm that the utility model embodiment is provided；

Figure 11 is the enlarged drawing in C portions in Figure 10.

Main element symbol description

100：Robot head

1：Shell 1a：Inner space

11：Fore shell 12：Bonnet

13：Cross line three-way hole 14：Locking holes

2：Fixed mount 21：Top plate

22：Lower plywood 23：Lock support

24：Side plate 25：Supporting plate

3：Connection component

3a：First connection component 3b：Second connection component

31：Fixing axle 311：Axis body portion

312：Chassis portion 313：Pilot hole

314：Locating notch 315：Sleeve part

316：Support section 317：First supporting surface

318：Second supporting surface 319：Locating dowel

31a：First axis hole

32：Clutch shaft bearing

33：Ring flange 331：Flange portion

332：Department of assembly 333：Connecting portion

334：Lock pays hole 335：Extension

336：Jut 33a：Second axis hole

4：Rotating driving device 41：Power source

42：Transmission mechanism 421：Driven pulley

422：Driving wheel 423：Defining flange

424：Transmission belt 425：Anticreep flange

426：Only move flange 421a：First teeth portion

422a：Second teeth portion 424a：3rd teeth portion

6：Adaptor 61：Pan portion is installed

62：Drive division 63：Maintaining part

7：Driving source 71：Steering wheel

8：Second bearing

300：Shoulder 400：Arm

Embodiment

In order that technical problem to be solved in the utility model, technical scheme and beneficial effect are more clearly understood, with Lower combination drawings and Examples, the utility model is further elaborated.It should be appreciated that described embodiment is this A part of embodiment of utility model, rather than whole embodiments.Based on described embodiment of the present utility model, ability The every other embodiment that domain those of ordinary skill is obtained on the premise of without creative work, belongs to the utility model The scope of protection.

In order that those skilled in the art more fully understands the technical solution of the utility model, with reference to specific accompanying drawing Realization of the present utility model is described in detail.

For sake of convenience, hereinafter alleged " preceding " " rear " " left side " " right side " " on " " under " and accompanying drawing in itself it is forward and backward, left, Right, upper and lower does not play restriction effect to consistent to structure of the present utility model.

Unless otherwise defined, technical term or scientific terminology used herein are should be in the utility model art The ordinary meaning that personage with general technical ability is understood.Make in the utility model patent application specification and claims " first ", " second " and similar word are not offered as any order, quantity or importance, and are used only to distinguish Different parts.Equally, the similar word such as " one " or " one " does not indicate that quantity is limited yet, but represents exist at least One.

As shown in figure 1, the preferred embodiment provided for the utility model.

The robot head and shoulder that the present embodiment is provided rotates multiplexing structure, to connect robot head 100 and shoulder 300, Robot head 100 includes shell 1 and the fixed mount 2 that is built in the 1a of inner space with an inner space 1a, shell 1 with At least one set of connection component 3 is provided between fixed mount 2, connection component 3 includes the fixing axle 31 being fixedly connected on fixed mount 2 With the ring flange 33 being rotatably mounted to by a clutch shaft bearing 32 in fixing axle 31, ring flange 33 is fixedly connected on shell 1； Robot head and shoulder rotates the adaptor 6 that multiplexing structure includes being rotatably attached fixing axle 31 centered on the axis of fixing axle 31 With the driving source 7 for rotating adaptor 6, adaptor 6 is including being used to connect the discoid installation pan portion 61 of shoulder 300, being used for The drive division 62 being connected with driving source 7 and the maintaining part 63 being connected between installation pan portion 61 and drive division 62；Fixing axle 31 The the first axis hole 31a inserted for drive division 62 is formed with, driving source 7 is arranged on fixed mount 2 and supported by fixed mount 2；Driving Portion 62 is coaxially disposed with fixing axle 31 and is provided with second bearing 8 between.

Above-mentioned robot head and shoulder rotates multiplexing structure, and shoulder is pivotably coupled to fixing axle by adaptor, by Power source rotates adaptor, and the arm opposing headers swing so that shoulder strap is started, transmission stability is preferable.

The present embodiment provide robot include robot head 100, arm 400 and be connected to robot head 100 with Shoulder 300 between arm 400.

Referring to Fig. 1 and 2, the robot head 100 that the present embodiment is provided, including the shell 1 with an inner space 1a with And it is built in fixed mount 2, connection component 3 and rotating driving device 4 in the 1a of the inner space.

Referring to Fig. 1 and 2, shell 1 is substantially spherical in shape, and above-mentioned part is built in shell 1 and protected by shell 1, in this reality Apply in example, the entirety of shell 1 can be relatively fixed frame 2 and rotate, and the inwall of shell 1 can be mounted with pinboard, power panel etc., and this is outer Shell 1 includes the fore shell 11 and bonnet 12 being connected with each other, and the two encloses to form inner space 1a, and the front side of fore shell 11 is flat with one Display screen, camera can be installed in face, the plane.Fore shell 11 and bonnet 12 include the side for being used to be connected with ring flange 33 Line three-way hole 13 was provided with portion, the sidepiece of fore shell 11.

Referring to Fig. 2 to 4, fixed mount 2, one as the rotational support structure of shell 1, fixed mount 2 and outside shell 1 Support base (not shown) is fixedly connected, in the present embodiment, and fixed mount 2 is but is not limited to the quadra of two-layer stratigraphic structure, The fixed mount 2 includes a top plate 21, the lower plywood 22 positioned at the lower section of top plate 21, locks support 23 and positioned at laminate two Can be set on the side plate 24 of side, upper and lower laminate 21,22 has supporting plate 25, and to place electrical equipment, locking support 23 is connected Between the rear side of upper and lower laminate 21,22, for being fixed with support base.

Referring to Fig. 2 to 4, connection component 3 includes fixing axle 31, first to Connection Bracket 2 and shell 1, connection component 3 Bearing 32 and ring flange 33, fixing axle 31 are fixedly connected on the side plate 24 of fixed mount 2, and clutch shaft bearing 32 can be rolling bearing, Clutch shaft bearing 32 is arranged in the fixing axle 31, and ring flange 33 is set on clutch shaft bearing 32, and ring flange 33 is fixed with shell 1 to be connected Connect, shell 1 is rotated by rotation of the ring flange 33 in fixing axle 31 with being relatively fixed frame 2.In the present embodiment, connection component 3 quantity is but is not limited to two groups, two groups of connection components 3 using the center line perpendicular to upper and lower laminate 21,22 of fixed mount 2 as Axle, symmetrical mode is arranged at the both sides of the fixed mount 2, and the clutch shaft bearing 32 of the left and right sides is coaxially disposed.So, Gu The left and right sides of frame 2 is determined as the articulated section being pivotally connected with shell 1, and shell 1 is relatively fixed frame 2 and rotates more steady, rotates knot Structure is more firm.

For the ease of narration, two connection components are respectively the first connection component 3a and the second connection component 3b, and first connects Connected components 3a and the second connection component 3b are symmetrically arranged at the both sides of the fixed mount 2, the first connection component 3a and second Connection component 3b is coaxially disposed.First connection component 3a and the second connection component 3b structure can be with same or similar.Below with Briefly explained exemplified by first connection component 3a.First connection component 3a and the second connection component 3b structure.

Referring to Fig. 4 to 8, the first connection component 3a fixing axle 31 is hollow structure, and the fixing axle 31 includes horizontal-extending And cylindrical axis body portion 311 and the chassis portion 312 for being connected to the side of axis body portion 311, in the present embodiment, the shape of fixing axle 31 Into there is the first axis hole 31a, axis body portion 311 and chassis portion 312 are integrally formed, circumferentially-spaced are offered along its in chassis portion 312 Offered on multiple pilot holes 313, side plate 24 with the corresponding screw of pilot hole 313, by screw pass through pilot hole 313, Screw is so that fixing axle 31 to be fixed on to the outside of fixed mount 2, and chassis portion 312 has a locating notch 314, and chassis portion 312 is convex Provided with locating dowel, so as to the quick connection of fixing axle 31 and fixed mount 2.Specifically, axis body portion 311 includes projection in chassis portion 312 axle of the outer face along sleeve part 315 away from the sleeve part 315 of a side surface of fixed mount 2 and from sleeve part 315 The annular support section 316 that line stretches out, the outer face of sleeve part 315 has the outside for being looped around support section 316 The first supporting surface 317, the outer peripheral face of support section 316 has the second supporting surface 318, and clutch shaft bearing 32 can be by tight fit side Formula is set on support section 316, and the second supporting surface 318 is abutted with the inner peripheral surface of clutch shaft bearing 32, while the first supporting surface 317 abut with clutch shaft bearing 32 close to a side end face of fixed mount 2, are moved with limiting clutch shaft bearing 32 to the direction of chassis portion 312.

Referring to Fig. 4 to 8, the first connection component 3a ring flange 33 includes the flange portion for being used to be fixedly connected with shell 1 331st, department of assembly 332 and the connecting portion 333 being connected between flange portion 331 and department of assembly 332.In the present embodiment, flange Disk 33 is formed with the second axis hole 33a, and flange portion 331, department of assembly 332, connecting portion 333 are integrally formed, and flange portion 331 is substantially in circle The plate-like of shape, connecting portion 333 is from the inner edge of flange portion 331 along the axially extending of flange portion 331, and department of assembly 332 is from connecting portion 333 Remote flange portion 331 one end inner edge radially extending along connecting portion 333, be provided at circumferentially spaced along it in flange portion 331 Multiple locks, which are paid, to be opened up on hole 334, the sidepiece of fore shell 11 and the sidepiece of bonnet 12 because lock pays the corresponding locking holes 14 in hole 334, Hole 334 is paid by the locking holes 14 and corresponding lock of screw through fore shell 11 and through the locking holes 14 of bonnet 12 and corresponding lock Pay behind hole 334, by the outside of fore shell 11 and the fixed flange 33 of bonnet 12, and fore shell 11, bonnet 12 is connected.

Referring to Fig. 4 to 8, rotating driving device 4, for making the first connection component 3a ring flange 33 rotate to drive shell 1, which is relatively fixed frame 2, rotates.In the present embodiment, the quantity of rotating driving device 4 is but is not limited to one, rotation driving dress Putting 4 includes power source 41 and the transmission mechanism 42 being connected between power source 41 and ring flange 33.Power source 41 can be but not office It is limited to steering wheel, above-mentioned transmission mechanism 42 includes the driven pulley 421 being fixedly connected with ring flange 33 and for driving 421 turns of driven pulley Dynamic driving wheel 422, driving wheel 422 is connected on the output shaft of power source 41, and is coaxially disposed with the output shaft, and then is driven Wheel 422 is driven when power source 41 works by output shaft to be rotated.Shell 1 is set to be relatively fixed 2 turns of frame by rotating driving device 4 It is dynamic, so that the swing of robot head 100, realizes leaning forward and backward wing for head.

Certainly, steering wheel is also equipped with the output shaft of power source 41, driving wheel 422 can be arranged on steering wheel, power The driving steering wheel of source 41 rotates driving wheel 422.

Specifically, referring to Fig. 4 to 8, a side end face of driven pulley 421 passes through ring flange in screw and the first connection component 3a 33 department of assembly 332, which mutually locks to pay, to be fixed, and driven pulley 421 is rotatably set on clutch shaft bearing 32, the inwall of driven pulley 421 Inside projection is formed with the defining flange 423 for limiting the movement of clutch shaft bearing 32 on (i.e. inner peripheral surface).It is noted that from After driving wheel 421 is set in the axis body portion 311 of fixing axle 31, first axle in the inwall of driven pulley 421 and the first connection component 3a The outer peripheral face for holding 32 is abutted, and the outer face (close to a side end face of fixed mount 2) of defining flange 423 and clutch shaft bearing 32 are remote solid The side end face for determining frame 2 is abutted, and defines the limit of an accommodating clutch shaft bearing 32 between driven pulley 421 and axis body portion 311 jointly Bit space, the first supporting surface 317, the second supporting surface 318, the outer face of defining flange 423 are respectively positioned in the spacing space, and then The position of clutch shaft bearing 32 is locked, when shell 1 is rotated, clutch shaft bearing 32 will not be moved, and shell 1 and fixed mount 2 are not yet It can relatively move, so that with preferable stability of rotation.

It is pointed out that due in the present embodiment only with a rotating driving device 4, rotating driving device 4 and One connection component 3a connections, and be arranged on the second connection component 3b of the opposite side of fixed mount 2 then not with rotating driving device 4, because And it is the structure of ring flange 33 in place of the first connection component 3a and the second connection component 3b main difference, the first connection component 3a ring flange 33 is assemblied in by driven pulley 421 on first connection component 3a clutch shaft bearing 32.From figure 7 it can be seen that the Two connection component 3b ring flange 33 is fit directly on the second connection component 3b clutch shaft bearing 32, the second connection component 3b bags Include for the flange portion 331 being fixedly connected with shell 1, department of assembly 332, the company being connected between flange portion 331 and department of assembly 332 Socket part 333, from department of assembly along the axially extending extension 335 of flange portion 331 and projection on the inwall of extension 335 Jut 336, after ring flange 33 is set in the axis body portion 311 of fixing axle 31, inwall and the clutch shaft bearing 32 of extension 335 Outer peripheral face is abutted, and the outer face (close to a side end face of fixed mount 2) of jut 336 and clutch shaft bearing 32 are away from fixed mount 2 One side end face is abutted.

Certainly, when using two rotating driving devices 4, the first connection component 3a and the second connection component 3b with it is corresponding Rotating driving device 4 connect, the first connection component 3a is identical with the second connection component 3b structure.

Referring to Fig. 4 to 8, the transmission mechanism 42 of the present embodiment is belt wheel transmission mechanism, and driven pulley 421 and driving wheel 422 are equal For belt wheel, the transmission mechanism 42 also includes the transmission belt 424 between driven pulley 421 and driving wheel 422, driven pulley 421 Outer wall (i.e. outer peripheral face) on outwards projection be formed with for limit transmission belt 424 movement anticreep flange 425, transmission belt 424 Upper part be clamped between anticreep flange 425 and department of assembly 332, with avoid transmission belt 424 depart from driven pulley 421.Need Illustrate, driving wheel 422 also has the disconnecting prevention structure that limitation transmission belt 424 is moved, disconnecting prevention structure is to be formed in driving wheel 422 Two on outer wall (i.e. outer peripheral face) only move flange 426, and two only move flange 426 is spaced on the axis of driving wheel 422, transmission belt 424 end portion is clamped in two and only moved between flange 426, to avoid transmission belt 424 from departing from driving wheel 422.

Certainly, transmission mechanism 42 can also be gear drive, and driven pulley 421 and driving wheel 422 are gear, can be led to Driven pulley 421 is crossed to be meshed with driving wheel 422 so that driven pulley 421 is rotated, or is set between driven pulley 421 and driving wheel 422 It is equipped with the gear train for transmission.

Referring to Fig. 4 to 8, the outer wall of driven pulley 421, which is formed with the first teeth portion 421a, the outer wall of driving wheel 422, to be formed with Second teeth portion 422a, transmission belt 424 is single cog band, and inner circumferential surface is shape on rubber contact face, the inner peripheral surface of the transmission belt 424 Into there is the 3rd teeth portion 424a that is engaged respectively with the first teeth portion 421a and the second teeth portion 422a, so, transmission belt 424 dozens can be avoided It is sliding, it is easy to control upset before and after shell 1.

As shown in figure 9, the robot is configured with two shoulders 300, two shoulders 300 are connected in symmetrical mode Robot head 100.Being provided with fixed mount 2 makes shoulder 300 rotate and the driving source 7 with a rotating shaft (not shown), rotating shaft Axis overlapped with the axis of above-mentioned fixing axle 31, driving source 7 is but is not limited to two, two driving sources 7 and two shoulders 300 correspond respectively, and driving source 7 can be the steering wheel with steering wheel 71, and steering wheel 71 is coaxially disposed and passed through with above-mentioned rotating shaft The rotating shaft is connected with steering wheel.

Referring to Fig. 9 to 11, adaptor 6 is rotatably attached fixing axle 31, adaptor centered on the axis of fixing axle 31 The 6 discoid installation pan portions 61 for including being used for connecting shoulder 300, the drive division 62 being connected for the rotating shaft with driving source 7 with And be connected to maintaining part 63 between pan portion 61 and drive division 62 is installed, in the present embodiment, the quantity of adaptor 6 is but not office It is limited to two, two adaptors 6 are connected with right and left shoulders 300 respectively, adaptor 6 can be hollow structure, in order to power line Cabling.Maintaining part 63 is cylindrical, and it is axially extending from the side for installing pan portion 61, and the external diameter of maintaining part 63, which is less than, installs pan portion 61 external diameter；Drive division 62 is cylindrical, and it is axially extending from one end of maintaining part 63, and the external diameter of the drive division 62, which is less than, to be kept The external diameter in portion 63.Drive division 62 is placed into the first axis hole 31a through the second axis hole 33a, the outer end of steering wheel 71 and drive division 62 Face is connected, and drive division 62 is coaxially disposed with fixing axle 31, and between the periphery of drive division 62 and the inner edge of fixing axle 31 Second bearing 8 is provided with, second bearing 8 can be rolling bearing.It is noted that two driving sources 7 can be simultaneously or different When work, two shoulders can be rotated individually, by driving source 7 make adaptor 6 around fixing axle 31 axis rotate, to realize arm Swing.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model Any modification, equivalent substitution or improvement made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (10)

1. a kind of robot head and shoulder rotates multiplexing structure, to connect robot head and shoulder, robot head includes having The shell of one inner space and the fixed mount being built in the inner space, it is characterised in that the shell and the fixation Be provided with least one set of connection component between frame, the connection component include the fixing axle being fixedly connected on the fixed mount and The ring flange in fixing axle is rotatably mounted to by a clutch shaft bearing, the ring flange is fixedly connected on the shell；Machine Device people head and shoulder, which rotates multiplexing structure, to be included being rotatably attached the switching of the fixing axle centered on the axis of the fixing axle Part and the driving source for making the adaptor rotation, the adaptor include the discoid mounting disc for being used to connect the shoulder Portion, for the drive division that is connected with the driving source and the holding being connected between the installation pan portion and the drive division Portion；The fixing axle is formed with the first axis hole inserted for the drive division, and the driving source is arranged on the fixed mount simultaneously Supported by the fixed mount；The drive division is coaxially disposed with the fixing axle and is provided with second bearing between.

2. robot head and shoulder according to claim 1 rotates multiplexing structure, it is characterised in that the driving source is with rudder The steering wheel component of disk, the outer face of the steering wheel and the drive division is connected.

3. robot head and shoulder according to claim 1 rotates multiplexing structure, it is characterised in that the fixing axle includes axis body Portion and it is connected to axis body portion one end and for the chassis portion that is connected with the fixed mount, the clutch shaft bearing is sheathed on Supported in the axis body portion and by the axis body portion.

4. robot head and shoulder according to any one of claim 1 to 3 rotates multiplexing structure, it is characterised in that in described It is additionally provided with portion space for making the rotating driving device of the flange disc spins；The rotating driving device includes power source And the transmission mechanism being connected between the power source and the ring flange；The transmission mechanism includes fixing with the ring flange The driven pulley of connection and the driving wheel for driving the driven pulley to rotate, the driving wheel are connected to the power source.

5. robot head and shoulder according to claim 4 rotates multiplexing structure, it is characterised in that the driven pulley is rotatably It is set on the clutch shaft bearing, inside projection is formed with for limiting the clutch shaft bearing movement on the inwall of the driven pulley Defining flange.

6. robot head and shoulder according to claim 4 rotates multiplexing structure, it is characterised in that the transmission mechanism also includes Outside projection is formed with for limiting on transmission belt between the driven pulley and driving wheel, the outer wall of the driven pulley The anticreep flange of the transmission Tape movement.

7. robot head and shoulder according to claim 6 rotates multiplexing structure, it is characterised in that the outer wall shape of the driven pulley Difference is formed with into having to be formed with the first teeth portion, the outer wall of the driving wheel on the second teeth portion, the inner peripheral surface of the transmission belt The 3rd teeth portion engaged with first teeth portion and the second teeth portion.

8. robot head and shoulder according to claim 5 rotates multiplexing structure, it is characterised in that the ring flange includes being used for The annular flange portion that is fixedly connected with the shell, for the department of assembly that is fixedly connected with the defining flange and it is connected to Connecting portion between the flange portion and the department of assembly.

9. robot head and shoulder according to any one of claim 1 to 3 rotates multiplexing structure, it is characterised in that the shoulder The quantity in portion is two, and two shoulders are connected to robot head in symmetrical mode；Two are provided with the fixed mount Individual driving source, two driving sources are corresponded respectively with two shoulders.

10. robot head and shoulder according to any one of claim 1 to 3 rotates multiplexing structure, it is characterised in that described outer Shell is spherical in shape, including fore shell and bonnet, and the two encloses to form the inner space, the fore shell by the ring flange with it is described Bonnet is sealed.