Self-adaptive speed reduction transmission device of multi-joint robot

Abstract

The invention relates to the technical field of robots, and discloses a multi-joint robot self-adaptive speed reduction transmission device which comprises a moving box body, working moving wheels are installed in the moving box body, a change mechanism is installed in the moving box body, and the change mechanism is located in the moving box body and used for adjusting contraction of the working moving wheels; the speed reducing mechanism is positioned on one side of the movable box body and is used for controlling the speed; a first rotating rod is driven to a first working rod through a tensioning wheel and a belt, so that horizontal distribution and primary transmission of power are realized; power on the other side is meshed with a large gear on a connecting rod through a small gear at the tail end of a second rotating rod to form a first-stage speed reduction unit, gear meshing achieves remarkable rotating speed reduction and torque increase through the tooth number difference, the key of the stage lies in that efficiency and torque output are considered through double-way power distribution, and a foundation is laid for follow-up precise adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a multi-joint robot adaptive speed reduction transmission device. BACKGROUND

[0002] Industrial robots as the core equipment of automated production, its joint transmission performance directly determines the positioning accuracy, motion stability and load capacity of the robot. Speed reduction transmission device as the "joint" of the robot, connecting power source and actuator, bearing the core function of reducing speed and increasing torque.

[0003] But the existing multi-joint robot adaptive speed reduction transmission device, often difficult to meet the requirements of high speed efficiency and large output torque of robot joint, servo motor usually output high speed, low torque, while the robot end in grabbing heavy or driving arm movement, it needs low speed, high torque. This leads to single transmission path of the robot either slow, low efficiency, or when the load increases, torque is insufficient, appears jitter even out of step phenomenon, unable to adapt to complex and changeable work tasks, based on this, the present application designs a kind of multi-joint robot adaptive speed reduction transmission device, to solve the above problems. SUMMARY

[0004] The purpose of the present application is to provide a kind of multi-joint robot adaptive speed reduction transmission device, solve the problem of insufficient torque in the background art.

[0005] In order to solve the above technical problems, the present application provides the following technical scheme: A kind of multi-joint robot adaptive speed reduction transmission device, comprising: Mobile box, the inside of mobile box is installed with working mobile wheel, the inside of mobile box is installed with variable mechanism, the variable mechanism is located in the inside of mobile box and is used to adjust the contraction of working mobile wheel; Speed reduction mechanism, the speed reduction mechanism is located at one side of mobile box and is used for speed control, the speed reduction mechanism includes driving assembly and rotating assembly, the driving assembly is located at one side of mobile box and is used to drive the rotation of rotating assembly, the rotating assembly is located at one side of driving assembly and is used to reduce the speed of rotation; Adjusting mechanism, the adjusting mechanism is located at the top of mobile box and is used for adjusting the device.

[0006] Preferably, the driving assembly includes a double-shaft motor installed on one side of the mobile box, a first rotating rod is installed on one side of the output shaft of the double-shaft motor, a second rotating rod is installed on the other side of the output shaft of the double-shaft motor, a first working rod is installed on the top of the mobile box, a tensioner is installed on one side of the first working rod and the first rotating rod, and the tensioners are connected by a belt.

[0007] Preferably, the rotating assembly comprises a small gear mounted on one side of the second rotating rod, one side of the moving box body is provided with a connecting rod, one side of the connecting rod is provided with a large gear, and the small gear and the large gear are in meshing engagement.

[0008] Preferably, the adjusting mechanism comprises a rotating frame mounted on the top of the moving box body, the first working rod is located in the interior of the rotating frame, one side of the first working rod is provided with a first bevel gear, the interior of the rotating frame is provided with a passive rod, the outer ring of the passive rod is provided with a second bevel gear, the first bevel gear and the second bevel gear are in meshing engagement, and the top of the rotating frame is provided with a sliding assembly.

[0009] Preferably, the sliding assembly comprises a rotating column mounted on the top of the passive rod, the top of the rotating column is provided with a rotating disc, the top of the rotating frame is provided with a groove, the interior of the groove is slidably connected with a ball, the top of the ball is provided with a second working rod, the top of the second working rod is connected with the bottom of the rotating disc, the ball and the second working rod are provided with a plurality of groups and are arranged in a circumferential array, and the top of the rotating disc is provided with a moving assembly.

[0010] Preferably, the moving assembly comprises a connecting column mounted on the top of the rotating disc, the top of the connecting column is provided with a fixed frame, one side of the fixed frame is provided with a display screen, the interior of the fixed frame is provided with a first servo motor, the output shaft of the first servo motor is provided with a rotating rod, the top of the rotating rod is provided with a working gear, the interior of the fixed frame is provided with a supporting telescopic rod, one side of the supporting telescopic rod is provided with a sliding rod, the back surface of the sliding rod is provided with a rack, the working gear and the rack are in meshing engagement, and the bottom of the sliding rod is provided with a working assembly.

[0011] Preferably, the working assembly comprises a hydraulic telescopic rod mounted on the bottom of the sliding rod, the bottom of the hydraulic telescopic rod is provided with a working frame, the front surface of the working frame is provided with a second servo motor, the back surface of the output shaft of the second servo motor is provided with a first bidirectional screw rod, the outer ring of the first bidirectional screw rod is threadedly connected with a moving block, the bottom of the moving block is provided with a clamping plate, one side of the clamping plate is provided with a measurer, one side of the clamping plate is provided with an anti-skid pad, the moving block and the clamping plate are provided with two groups and are arranged in a symmetrical manner, the measurer is provided with two groups and is arranged in a symmetrical manner, and the interior of the working frame is provided with a limiting assembly.

[0012] Preferably, the limiting assembly comprises a limiting rod mounted in the interior of the working frame, the limiting rod is provided with two groups and is arranged in a symmetrical manner, and the limiting rod penetrates into the interior of the moving block.

[0013] Preferably, the variable mechanism comprises a second bidirectional screw rod mounted on one side of the connecting rod, the outer ring of the second bidirectional screw rod is threadedly connected with an adjusting block, the adjusting block is provided with two groups and is symmetrically distributed, a fixed block in the inner cavity of the moving box body, the bottom of the adjusting block is hingedly connected with a first adjusting plate, the inner cavity of the fixed block is hingedly connected with a second adjusting plate, the first adjusting plate and the second adjusting plate are connected through a hinge, the working moving wheel is mounted at the bottom of the hinge, and the inside of the moving box body is provided with a stabilizing assembly.

[0014] Preferably, the stabilizing assembly comprises a stabilizing rod mounted in the inside of the moving box body, the stabilizing rod is provided with two groups and is symmetrically distributed, and the stabilizing rod is inserted into the inside of the adjusting block.

[0015] Compared with the prior art, the present application has the following beneficial effects: 1. In the present application, the first rotating rod is connected to the first working rod through the tensioning wheel and the belt, so that the horizontal distribution and primary transmission of power are realized; the power on the other side is transmitted to the large gear on the connecting rod through the small gear at the end of the second rotating rod, so that a first-stage speed reduction unit is formed; the gear engagement realizes significant speed reduction and torque increase through the difference in the number of teeth; the key of this stage lies in the distribution of the double-path power, which takes into account the efficiency and torque output, and lays a foundation for subsequent precise adjustment.

[0016] 2. In the present application, the first bevel gear at the end of the first working rod is engaged with the second bevel gear on the passive rod, so that the horizontal rotary motion is converted into vertical rotary motion; the rotating column at the top of the passive rod drives the rotating disc to move in a circular motion; a plurality of groups of balls in the groove form a rolling support structure with the second working rod, which effectively disperses the radial load and reduces friction, and ensures that the rotating disc remains stable when bearing asymmetric forces.

[0017] 3. In the present application, the rack on the back of the sliding rod is engaged, so that the circular motion is converted into precise linear displacement; the sliding rod moves along the predetermined trajectory under the guidance and constraint of the supporting telescopic rod; the hydraulic telescopic rod at the end dynamically adjusts the vertical height of the working frame according to real-time pressure sensing data, so as to realize precise positioning in three-dimensional space. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application; Figure 2 It is a front view structural schematic diagram of the present application; Figure 3 It is a side view structural schematic diagram of the present application; Figure 4 It is a rear view structural schematic diagram of the present application; Figure 5 It is a front view of the speed reduction mechanism of the present application; Figure 6A side view of the speed reduction mechanism of the present application; Figure 7 A side view of the working assembly of the present application; Figure 8 A side view of the speed reduction mechanism of the present application; Figure 7 A side view of the speed reduction mechanism of the present application;

[0019] Wherein: 1, moving box; 2, working moving wheel; 3, double-shaft motor; 4, first rotating rod; 5, second rotating rod; 6, first working rod; 7, tensioning wheel; 8, small gear; 9, connecting rod; 10, large gear; 11, rotating frame; 12, first bevel gear; 13, passive rod; 14, second bevel gear; 15, rotating column; 16, rotating disc; 17, groove; 18, ball; 19, second working rod; 20, connecting column; 21, fixed frame; 22, display screen; 23, first servo motor; 24, rotating rod; 25, working gear; 26, supporting telescopic rod; 27, sliding rod; 28, rack; 29, hydraulic telescopic rod; 30, working frame; 31, second servo motor; 32, first bidirectional screw rod; 34, moving block; 35, clamping plate; 36, measurer; 37, non-slip pad; 38, limiting rod; 39, second bidirectional screw rod; 40, adjusting block; 41, fixed block; 42, first adjusting plate; 43, second adjusting plate; 44, stabilizing rod. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0021] Embodiment 1; please refer to Figures 1-8 In the embodiments of the present application, a multi-joint robot adaptive speed reduction transmission device comprises: The moving box 1 is internally provided with the working moving wheel 2, and the moving box 1 is internally provided with a variable mechanism, which is located in the interior of the moving box 1 and is used for adjusting the contraction of the working moving wheel 2; The speed reduction mechanism is located on one side of the moving box 1 and is used for speed control. The speed reduction mechanism comprises a driving assembly and a rotating assembly. The driving assembly is located on one side of the moving box 1 and is used for driving the rotation of the rotating assembly. The rotating assembly is located on one side of the driving assembly and is used for reducing the speed of rotation. The adjusting mechanism is located on the top of the moving box 1 and is used for adjusting the device.

[0022] The driving assembly comprises a double-shaft motor 3 installed on one side of the moving box 1, a first rotating rod 4 installed on one side of an output shaft of the double-shaft motor 3, a second rotating rod 5 installed on the other side of the output shaft of the double-shaft motor 3, a first working rod 6 installed on the top of the moving box 1, and a tensioning wheel 7 installed on one side of the first rotating rod 4 and the first working rod 6.

[0023] The rotating assembly comprises a small gear 8 installed on one side of the second rotating rod 5, a connecting rod 9 installed on one side of the moving box 1, and a large gear 10 installed on one side of the connecting rod 9.

[0024] The adjusting mechanism comprises a rotating frame 11 installed on the top of the moving box 1, the first working rod 6 located in the interior of the rotating frame 11, a first bevel gear 12 installed on one side of the first working rod 6, a passive rod 13 installed in the interior of the rotating frame 11, a second bevel gear 14 installed on the outer ring of the passive rod 13, and the first bevel gear 12 and the second bevel gear 14 being in mesh with each other.

[0025] The sliding assembly comprises a rotating column 15 installed on the top of the passive rod 13, a rotating disc 16 installed on the top of the rotating column 15, a groove 17 formed in the top of the rotating frame 11, a plurality of balls 18 in sliding connection with the interior of the groove 17, and a second working rod 19 installed on the top of the balls 18.

[0026] The moving assembly comprises a connecting column 20 installed on the top of the rotating disc 16, a fixed frame 21 installed on the top of the connecting column 20, a display screen 22 installed on one side of the fixed frame 21, a first servo motor 23 installed in the interior of the fixed frame 21, a rotating rod 24 installed on the top of an output shaft of the first servo motor 23, a working gear 25 installed on the top of the rotating rod 24, a supporting telescopic rod 26 installed in the interior of the fixed frame 21, a sliding rod 27 installed on one side of the supporting telescopic rod 26, a rack 28 installed on the back of the sliding rod 27, and the working gear 25 and the rack 28 being in mesh with each other.

[0027] The working principle of the embodiment of the application is as follows: when the device is started, the double-shaft motor 3 serves as a core power source to synchronously drive the first rotating rod 4 and the second rotating rod 5. ; Where n1 is the input speed, n2 is the output speed, z1 is the number of teeth on the driving gear, and z2 is the number of teeth on the driven gear. By designing the gear ratio, the output speed is significantly reduced and the torque is increased to meet the requirements of heavy-duty operating conditions. The torque relationship can be expressed as: ; Where T1 is the input torque, T2 is the output torque, and η is the transmission efficiency. This design enables the device to meet the torque requirements under heavy load conditions while ensuring smooth operation.

[0028] After deceleration, the power is further redirected via an adjustment mechanism. The first bevel gear 12 at the end of the first working rod 6 and the second bevel gear 14 on the driven rod 13 form an orthogonal gear pair, converting the horizontal rotational motion into vertical motion. The rotating column 15 at the top of the driven rod 13 drives the rotating disk 16 to rotate in a circular motion. During this motion, multiple sets of balls 18 in the groove 17 roll in conjunction with the second working rod 19, effectively offsetting the radial off-center load and ensuring that the rotating disk 16 maintains stable movement even under asymmetrical loads. The rotating disk 16 transmits power to the moving component within the fixed frame 21 via the connecting column 20, completing the spatial redirection of power output.

[0029] Example 2; please refer to Figures 1-8 In this embodiment of the invention, the working component includes a hydraulic telescopic rod 29 installed at the bottom of the sliding rod 27, a working frame 30 installed at the bottom of the hydraulic telescopic rod 29, a second servo motor 31 installed on the front of the working frame 30, a first bidirectional lead screw 32 installed on the back of the output shaft of the second servo motor 31, a moving block 34 threadedly connected to the outer ring of the first bidirectional lead screw 32, a clamping plate 35 installed at the bottom of the moving block 34, a measuring device 36 installed on one side of the clamping plate 35, and an anti-slip pad 37 installed on one side of the clamping plate 35. Two sets of moving blocks 34 and clamping plates 35 are provided and symmetrically distributed, two sets of measuring devices 36 are provided and symmetrically distributed, and a limit component is installed inside the working frame 30.

[0030] The limiting component includes a limiting rod 38 installed inside the working frame 30. Two sets of limiting rods 38 are provided and are symmetrically distributed. The limiting rods 38 are inserted inside the moving block 34.

[0031] The variable mechanism includes a second bidirectional lead screw 39 installed on one side of the connecting rod 9. The outer ring of the second bidirectional lead screw 39 is threaded with an adjusting block 40. Two sets of adjusting blocks 40 are provided and are symmetrically distributed. A fixed block 41 is moved in the inner cavity of the housing 1. A first adjusting plate 42 is hinged to the bottom of the adjusting block 40. A second adjusting plate 43 is hinged in the inner cavity of the fixed block 41. The first adjusting plate 42 and the second adjusting plate 43 are rotatably connected by a hinge. The working moving wheel 2 is installed at the bottom of the hinge. A stabilizing component is installed inside the moving housing 1.

[0032] The stabilizing component includes two sets of stabilizing bars 44 installed inside the movable housing 1. The stabilizing bars 44 are arranged in two symmetrically and are inserted inside the adjusting block 40.

[0033] The working principle of this embodiment of the invention is as follows: When power is transmitted to the working component, the first servo motor 23 drives the working gear 25 at the top of the rotating rod 24 to rotate. Through meshing transmission with the rack 28 on the back of the sliding rod 27, the circular motion is converted into linear displacement. The sliding rod 27 moves along a predetermined trajectory under the guidance and constraint of the supporting telescopic rod 26. The end hydraulic telescopic rod 29 dynamically adjusts the vertical height of the working frame 30 according to the pressure sensor data to achieve precise positioning in three-dimensional space.

[0034] The clamping operation is achieved by the second servo motor 31 driving the first bidirectional lead screw 32. Its positive and negative thread structure causes the two sets of moving blocks 34 to move synchronously in opposite directions under the constraint of the limiting rod 38, driving the clamping plate 35 to adaptively clamp the object. The anti-slip pad 37 on the inner side of the clamping plate 35 increases the coefficient of friction, while the symmetrically distributed measuring instruments 36 monitor the clamping force data in real time and provide feedback through the display screen 22 to prevent overload damage to the workpiece. The variable mechanism inputs power through the connecting rod 9 to drive the second bidirectional lead screw 39 to rotate, causing the two sets of adjusting blocks 40 to move axially along the stabilizing rod 44. This drives the first adjusting plate 42 and the second adjusting plate 43 in the fixed block 41 to form a four-bar linkage variable amplitude mechanism. The extension and retraction of the working moving wheel 2 is controlled by the hinge joint, realizing the adaptive switching of the device in narrow spaces and open areas.

[0035] Example 3; please refer to Figures 1-8 This document provides a specific embodiment of the application of a multi-joint robot adaptive reduction transmission device in the gearbox assembly station of an automobile manufacturing production line. Upon startup, the dual-axis motor 3 synchronously drives the first rotating rod 4 and the second rotating rod 5 at a speed of 1200 r / min. The first rotating rod 4 transmits power to the first working rod 6 via an 8mm pitch synchronous belt with a transmission ratio of 1.2:1. The second rotating rod 5 reduces its speed to 240 r / min through gear engagement, while simultaneously increasing its output torque to 375 N. m, the actual measured transmission efficiency is 92%.

[0036] The power is reduced in speed before entering the adjustment mechanism. The transmission ratio between the first bevel gear 12 and the second bevel gear 14 is 1.5:1, further reducing the rotational speed to 160 r / min. The rotating column 15 drives the rotating disk 16 to rotate at a speed of 10 r / min, and the rotating disk 16 has a diameter of 600 mm. In the moving assembly, the first servo motor 23 has a rated power of 550 W and meshes with the rack 28 through the working gear 25 with a module of 1.5, enabling the sliding rod 27 to move horizontally at a speed of 0.5 m / min. The hydraulic telescopic rod 29 has a stroke of 800 mm, a maximum thrust of 3000 N, and a positioning accuracy of ±0.1 mm. The working assembly uses a second servo motor 31 with a rated power of 400 W to drive the first bidirectional lead screw 32, with a lead screw lead of 8 mm, and the moving block 34 moves at a speed of 20 mm / min. The clamping plate 35 has a maximum opening of 300 mm, and the measuring device 36 uses a strain gauge force sensor with a measurement accuracy of ±0.5%.

[0037] The second bidirectional lead screw 39 in the variable mechanism has a lead of 10mm, and the adjusting block 40 has a moving speed of 15mm / min. The four-bar linkage luffing mechanism allows the working moving wheel 2 to be adjusted from the ground within the range of 200mm to 400mm, with an adjustment time not exceeding 30s. The stabilizer bar 44 has a diameter of 25mm, a length of 800mm, and is made of 45# steel.

[0038] The device first moves to the gearbox assembly station via the working wheels 2. The dual-axis motor 3 starts and transmits power to the adjustment mechanism through a reduction mechanism. The rotating disk 16 moves the moving component to be positioned above the gearbox, and the hydraulic telescopic rod 29 descends to bring the working frame 30 into contact with the gearbox housing. The second servo motor 31 drives the first bidirectional lead screw 32 to close the clamping plate 35. The measuring device 36 monitors the clamping force in real time and keeps it within the range of 300-400N. After clamping is completed, the device lifts the gearbox and transfers it to the installation station. The entire process takes no more than 3 minutes. When it needs to pass through narrow areas, the adjustment mechanism retracts the working wheels 2 to the minimum ground clearance within 15 seconds to ensure the device can pass smoothly.

[0039] Working Principle: When the device is started, the dual-axis motor 3 acts as the core power source, synchronously driving the first rotating rod 4 and the second rotating rod 5. The first rotating rod 4 transmits power to the first working rod 6 through the tensioning wheel 7 and belt drive, achieving primary power distribution in the horizontal direction. The small gear 8 at the end of the second rotating rod 5 meshes with the large gear 10 on the connecting rod 9, forming a first-stage reduction unit. The first bevel gear 12 at the end of the first working rod 6 and the second bevel gear 14 on the driven rod 13 form an orthogonal gear pair, converting the horizontal rotational motion into vertical motion. The rotating column 15 at the top of the driven rod 13 drives the rotating disk 16 to perform circumferential motion. During this motion, the rolling engagement of multiple sets of balls 18 in the groove 17 with the second working rod 19 effectively counteracts the radial off-center load, ensuring that the rotating disk 16 maintains stable movement even under asymmetrical loads. The rotating disk 16 transmits power to the moving components within the fixed frame 21 through the connecting column 20, completing the spatial redirection of power output.

[0040] When power is transmitted to the working components, the first servo motor 23 drives the working gear 25 at the top of the rotating rod 24 to rotate. Through meshing with the rack 28 on the back of the sliding rod 27, the circular motion is converted into linear displacement. The sliding rod 27 moves along a predetermined trajectory under the guidance and constraint of the supporting telescopic rod 26. The end hydraulic telescopic rod 29 dynamically adjusts the vertical height of the working frame 30 according to the pressure sensor data, achieving precise positioning in three-dimensional space.

[0041] The clamping operation is achieved by the second servo motor 31 driving the first bidirectional lead screw 32. Its positive and negative thread structure causes the two sets of moving blocks 34 to move synchronously in opposite directions under the constraint of the limiting rod 38, driving the clamping plate 35 to adaptively clamp the object. The anti-slip pad 37 on the inner side of the clamping plate 35 increases the coefficient of friction, while the symmetrically distributed measuring instruments 36 monitor the clamping force data in real time and provide feedback through the display screen 22 to prevent overload damage to the workpiece. The variable mechanism inputs power through the connecting rod 9 to drive the second bidirectional lead screw 39 to rotate, causing the two sets of adjusting blocks 40 to move axially along the stabilizing rod 44. This drives the first adjusting plate 42 and the second adjusting plate 43 in the fixed block 41 to form a four-bar linkage variable amplitude mechanism. The extension and retraction of the working moving wheel 2 is controlled by the hinge joint, realizing the adaptive switching of the device in narrow spaces and open areas.

[0042] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive deceleration transmission device for a multi-joint robot, characterized in that, include: A movable housing (1) is provided with working wheels (2) installed inside the movable housing (1). A variable mechanism is installed inside the movable housing (1) and is located inside the movable housing (1) for adjusting the retraction of the working wheels (2). A speed reduction mechanism is located on one side of the movable housing (1) and is used for speed control. The speed reduction mechanism includes a drive component and a rotation component. The drive component is located on one side of the movable housing (1) and is used to drive the rotation of the rotation component. The rotation component is located on one side of the drive component and is used to reduce the rotation speed. An adjustment mechanism is located on top of the movable housing (1) and is used for adjusting the device.

2. The adaptive deceleration transmission device for a multi-joint robot according to claim 1, characterized in that: The drive assembly includes a dual-axis motor (3) installed on one side of the movable housing (1), a first rotating rod (4) installed on one side of the output shaft of the dual-axis motor (3), a second rotating rod (5) installed on the other side of the output shaft of the dual-axis motor (3), a first working rod (6) installed on the top of the movable housing (1), and tensioning wheels (7) installed on one side of both the first working rod (6) and the first rotating rod (4), and the tensioning wheels (7) are connected by a belt.

3. The adaptive deceleration transmission device for a multi-joint robot according to claim 2, characterized in that: The rotating assembly includes a small gear (8) mounted on one side of the second rotating rod (5), a connecting rod (9) mounted on one side of the movable housing (1), and a large gear (10) mounted on one side of the connecting rod (9). The small gear (8) and the large gear (10) mesh with each other.

4. The adaptive deceleration transmission device for a multi-joint robot according to claim 2, characterized in that: The adjustment mechanism includes a rotating frame (11) mounted on the top of the movable housing (1), a first working rod (6) located inside the rotating frame (11), a first bevel gear (12) mounted on one side of the first working rod (6), a passive rod (13) mounted inside the rotating frame (11), a second bevel gear (14) mounted on the outer ring of the passive rod (13), the first bevel gear (12) and the second bevel gear (14) meshing with each other, and a sliding assembly mounted on the top of the rotating frame (11).

5. The adaptive deceleration transmission device for a multi-joint robot according to claim 4, characterized in that: The sliding assembly includes a rotating column (15) mounted on the top of the passive rod (13), a rotating disk (16) mounted on the top of the rotating column (15), a groove (17) opened on the top of the rotating frame (11), a ball (18) slidably connected inside the groove (17), a second working rod (19) mounted on the top of the ball (18), the top of the second working rod (19) being connected to the bottom of the rotating disk (16), multiple sets of the ball (18) and the second working rod (19) being arranged in a circumferential array, and a moving assembly mounted on the top of the rotating disk (16).

6. The adaptive deceleration transmission device for a multi-joint robot according to claim 5, characterized in that: The moving component includes a connecting column (20) mounted on the top of the rotating disk (16), a fixed frame (21) mounted on the top of the connecting column (20), a display screen (22) mounted on one side of the fixed frame (21), a first servo motor (23) mounted inside the fixed frame (21), a rotating rod (24) mounted on the top of the output shaft of the first servo motor (23), a working gear (25) mounted on the top of the rotating rod (24), a supporting telescopic rod (26) mounted inside the fixed frame (21), a sliding rod (27) mounted on one side of the supporting telescopic rod (26), a rack (28) mounted on the back of the sliding rod (27), the working gear (25) meshing with the rack (28), and a working component mounted on the bottom of the sliding rod (27).

7. The adaptive deceleration transmission device for a multi-joint robot according to claim 6, characterized in that: The working components include a hydraulic telescopic rod (29) installed at the bottom of the sliding rod (27), a working frame (30) installed at the bottom of the hydraulic telescopic rod (29), a second servo motor (31) installed on the front of the working frame (30), a first bidirectional lead screw (32) installed on the back of the output shaft of the second servo motor (31), a moving block (34) connected to the outer ring of the first bidirectional lead screw (32), a clamping plate (35) installed at the bottom of the moving block (34), a measuring device (36) installed on one side of the clamping plate (35), an anti-slip pad (37) installed on one side of the clamping plate (35), two sets of the moving block (34) and the clamping plate (35) are provided and are symmetrically distributed, two sets of the measuring device (36) are provided and are symmetrically distributed, and a limit component is installed inside the working frame (30).

8. The adaptive deceleration transmission device for a multi-joint robot according to claim 7, characterized in that: The limiting component includes a limiting rod (38) installed inside the working frame (30). The limiting rod (38) is provided in two sets and is symmetrically distributed. The limiting rod (38) is inserted inside the moving block (34).

9. The adaptive deceleration transmission device for a multi-joint robot according to claim 3, characterized in that: The variable mechanism includes a second bidirectional lead screw (39) installed on one side of the connecting rod (9). The outer ring of the second bidirectional lead screw (39) is threaded with an adjusting block (40). The adjusting block (40) is provided in two sets and is symmetrically distributed. The fixed block (41) is in the inner cavity of the movable housing (1). The bottom of the adjusting block (40) is hinged with a first adjusting plate (42). The inner cavity of the fixed block (41) is hinged with a second adjusting plate (43). The first adjusting plate (42) and the second adjusting plate (43) are rotatably connected by a hinge. The working moving wheel (2) is installed at the bottom of the hinge. The inside of the movable housing (1) is equipped with a stabilizing component.

10. The adaptive deceleration transmission device for a multi-joint robot according to claim 9, characterized in that: The stabilizing component includes a stabilizing rod (44) installed inside the movable housing (1). The stabilizing rod (44) is arranged in two sets and is symmetrically distributed. The stabilizing rod (44) is inserted inside the adjusting block (40).

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