Speed-adjustable linear module for robot

Abstract

The utility model relates to the technical field of robot equipment, in particular to a speed-adjustable linear module for a robot, which comprises a base, the inner wall of the base is slidably connected with the outer wall of a moving mechanism, and the moving mechanism consists of a moving toothed plate, a moving gear shaft, a moving rotating rod and a fixed toothed plate. The top of the moving mechanism is movably connected with the bottom of the speed regulation mechanism in a clamped mode, a moving toothed plate linearly moves to drive a moving toothed shaft to rotate, the rotating moving toothed shaft drives a fixed toothed plate to linearly move, the fixed toothed plate linearly moves to drive a speed regulation connecting plate to linearly move, and the speed regulation connecting plate linearly moves to drive a speed reduction toothed shaft to linearly move. The speed reduction gear shaft in linear motion can be meshed with the rotating gear shaft and the linear gear shaft, the reverse pushing moving gear plate can drive the speed regulation gear shaft to do linear motion through the speed regulation connecting plate, the speed regulation gear shaft can be meshed with the rotating gear shaft and the linear gear shaft in linear motion through linear motion, and speed regulation can be conducted on linear motion of the linear module through replacement of the speed reduction gear shaft and the speed regulation gear shaft.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field, concretely is a kind of adjustable speed linear module for robot. BACKGROUND

[0002] Teaching instrument robot is a kind of intelligent auxiliary teaching robot specially developed for education scene, integrates multiple sensors, actuators and computing module, can interact with learner, provides education content and service, and its design usually considers education goal, learner's demand and teaching environment, to realize the optimization of education and learning, can solve part of teaching task for teacher, improve teaching quality, teaching robot needs to carry out linear motion by linear module.

[0003] At present, the linear module of most robots on the market can carry out linear motion by linear module when using, and the speed of robot display in teaching process cannot be adjusted, which will affect the teaching efficiency of teaching robot. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of adjustable speed linear module for robot, to solve the problem that the speed of robot display in teaching process cannot be adjusted in the above background art, which will affect the teaching efficiency of teaching robot. To achieve the above purpose, the utility model provides the following technical scheme: a kind of adjustable speed linear module for robot, including base, the inner wall of base and the outer wall of moving mechanism are slidably connected, the moving mechanism is composed of moving toothed plate, moving gear shaft, moving rotary lever and fixed toothed plate, the top of moving mechanism and the bottom of speed regulation mechanism are movably clamped, the speed regulation mechanism includes speed regulation connecting plate, two speed regulation rotary levers, two speed regulation gear shafts, four speed regulation slide rods, speed reduction gear shaft and linkage gear shaft, the outer wall of speed regulation mechanism and the inner wall of base are slidably connected;

[0005] The outer wall of speed regulation mechanism and the outer wall of linear mechanism are engagedly connected, the linear mechanism is composed of linear gear shaft, linear threaded rod, connecting gear shaft and fixed rotary lever, the left side of linear mechanism and the right side of base are fixedly connected, the outer wall of linear mechanism and the inner wall of fixed mechanism are rotatably connected, the inner wall of moving mechanism and the outer wall of locking mechanism are movably sleeved.

[0006] Preferably, the base comprises a motor mounting seat, a rotating motor, a rotating rod, a rotating gear shaft, a mounting box, a sliding groove, a mounting groove and a locking mounting seat, the top of the motor mounting seat is movably connected with the bottom of the rotating motor, one end of the rotating motor is fixedly connected with one end of the rotating rod through a shaft coupling, the outer wall of the other end of the rotating rod is movably connected with the inner wall of the rotating gear shaft, the left side of the top of the mounting box is provided with a rotating through hole, the inner wall of the rotating through hole is rotatably connected with the outer wall of the other end of the rotating rod, the front face close to the bottom of the mounting box and the back face close to the bottom are respectively provided with a sliding groove, the middle part of the mounting box is provided with a mounting groove, the front face close to the left side of the mounting box is fixedly connected with the back face of the locking mounting seat, the left side of the mounting box is fixedly connected with the right side of the motor mounting seat, and the left side of the locking mounting seat is provided with a locking through hole.

[0007] Preferably, the top of the moving gear plate is meshedly connected with the outer side wall of the bottom of the moving gear shaft, the inner wall of the moving gear shaft is movably connected with the outer wall of the middle part of the moving rotating rod, the outer side wall of the top of the moving gear shaft is meshedly connected with the bottom of the fixed gear plate, and the two ends of the moving rotating rod are rotatably connected with the inner side walls of the mounting grooves.

[0008] Preferably, the bottom of the speed regulating connecting plate is movably connected with the top of the fixed gear plate, the inner walls of the front face and the back face of the speed regulating connecting plate are movably connected with the outer walls of the two speed regulating rotating rods respectively, the outer walls of the two ends of one of the speed regulating rotating rods are rotatably connected with the inner walls of the two speed regulating gear shafts respectively, the opposite ends of one of the speed regulating rotating rods are fixedly connected with the two speed regulating sliding rods respectively, the outer wall of one end of the other speed regulating rotating rod is rotatably connected with the inner wall of the speed reducing gear shaft, the outer wall of the other end of the other speed regulating rotating rod is rotatably connected with the inner wall of the linkage gear shaft, the opposite ends of the other speed regulating rotating rod are fixedly connected with the opposite ends of the other two speed regulating sliding rods respectively, and the outer walls of the four speed regulating sliding rods are slidably connected with the inner walls of the mounting grooves close to the top.

[0009] Preferably, the outer wall of the straight gear shaft is meshedly connected with the outer wall of the speed regulating gear shaft, and the inner wall of the straight gear shaft is movably connected with the outer wall of one end of the straight thread rod, the outer wall of the straight gear shaft is meshedly connected with the outer wall of the connecting gear shaft, and the inner wall of the connecting gear shaft is movably connected with the outer wall of one end of the fixed rotating rod, and the outer wall of the other end of the fixed rotating rod is rotatably connected with the inner wall of the mounting groove.

[0010] Preferably, the fixing mechanism comprises a fixing base, a fixing sliding groove and a linear moving block, both sides of the fixing base are respectively provided with fixing through holes, and the inner walls of the two fixing through holes are respectively rotationally connected with the outer walls of the two ends of a linear threaded rod, the top of the fixing base is provided with the fixing sliding groove, and the inner wall of the fixing sliding groove is slidably connected with the outer wall of the linear moving block, the left side of the linear moving block is provided with a threaded through hole, and the inner wall of the threaded through hole is threadedly connected with the outer wall of the linear threaded rod, and the left side of the fixing base is fixedly connected with the right side of the mounting box.

[0011] Preferably, the locking mechanism comprises a locking rod, a locking limiting plate, a locking spring, a locking base plate and a locking pull ring, the outer wall of the locking rod is movably sleeved with the inner wall of the locking through hole, the outer wall of the locking rod close to one end is movably clamped with the inner wall of the locking limiting plate, the outer wall of the locking rod close to the middle part is movably sleeved with the inner wall of the locking spring, the other end of the locking rod is fixedly connected with the right side of the locking base plate, the left side of the locking base plate is movably clamped with the right side of the locking pull ring, and one end of the locking rod is provided with an inclined surface.

[0012] Compared with the prior art, the utility model has the advantages of:

[0013] In the utility model, through pushing the moving gear plate, the moving gear plate linear motion drives the moving gear shaft to rotate around the moving rotating rod through the meshing effect, the rotating moving gear shaft drives the fixed gear plate to linearly move, the fixed gear plate linearly moving drives the speed regulating connecting plate to linearly move, the speed regulating connecting plate linearly moving drives the speed reduction gear shaft to linearly move, the linearly moving speed reduction gear shaft can be meshed with the rotating gear shaft and the linear gear shaft, and the reverse pushing moving gear plate can drive the speed regulating gear shaft to linearly move through the speed regulating connecting plate, the speed regulating gear shaft linearly moving can be meshed with the rotating gear shaft and the linear gear shaft, and through the replacement of the speed reduction gear shaft and the speed regulating gear shaft, the linear motion of the linear module can be speed-regulated.

[0014] In the utility model, the moving gear plate linear motion can push the locking rod to linearly move in the locking through hole through the inclined surface of the locking rod, after the moving gear plate linearly moving through the locking rod, the locking rod is driven to linearly move through the elastic effect of the locking spring, the locking rod linearly moving can lock the moving gear plate, and the moving gear plate moving can be avoided to cause the speed regulation failure. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the sectional view of the utility model;

[0016] Figure 2 It is the whole structure schematic view of the utility model;

[0017] Figure 3 It is the utility model's explosion map;

[0018] Figure 4It is the sectional view of the base in the utility model;

[0019] Figure 5 It is the explosion drawing of the moving mechanism in the utility model;

[0020] Figure 6 It is the explosion drawing of the speed regulating mechanism in the utility model;

[0021] Figure 7 It is the explosion drawing of the straight line mechanism in the utility model;

[0022] Figure 8 It is the explosion drawing of the locking mechanism in the utility model.

[0023] In the drawing: 1, base; 101, motor mounting seat; 102, rotating motor; 103, rotating rod; 104, rotating gear shaft; 105, mounting box; 106, sliding groove; 107, mounting groove; 108, locking mounting seat; 2, moving mechanism; 201, moving gear plate; 202, moving gear shaft; 203, moving rotating rod; 204, fixed gear plate; 3, speed regulating mechanism; 301, speed regulating connecting plate; 302, speed regulating rotating rod; 303, speed regulating gear shaft; 304, speed regulating sliding rod; 305, speed reduction gear shaft; 306, linkage gear shaft; 4, straight line mechanism; 401, straight line gear shaft; 402, straight line threaded rod; 403, connecting gear shaft; 404, fixed rotating rod; 5, fixed mechanism; 501, fixed base; 502, fixed sliding groove; 503, straight line moving block; 6, locking mechanism; 601, locking rod; 602, locking limit plate; 603, locking spring; 604, locking bottom plate; 605, locking pull ring. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all the other embodiments obtained by the ordinary skill workers in the art without creative work belong to the scope of protection of the utility model.

[0025] Please refer to Figures 1 to 8The utility model provides a technical scheme: a kind of adjustable speed linear module for robot, including pedestal 1, the inner wall of pedestal 1 is slidably connected with the outer wall of moving mechanism 2, moving mechanism 2 is composed of moving toothed plate 201, moving gear shaft 202, moving rotary lever 203 and fixed toothed plate 204, the top of moving mechanism 2 is movably clamped with the bottom of speed regulation mechanism 3, speed regulation mechanism 3 includes speed regulation connecting plate 301, two speed regulation rotary lever 302, two speed regulation gear shaft 303, four speed regulation slide bar 304, reduction gear shaft 305 and linkage gear shaft 306, the outer wall of speed regulation mechanism 3 is slidably connected with the inner wall of pedestal 1;

[0026] The outer wall of speed regulation mechanism 3 is meshedly connected with the outer wall of linear mechanism 4, linear mechanism 4 is composed of linear gear shaft 401, linear threaded rod 402, connecting gear shaft 403 and fixed rotary lever 404, the left side of linear mechanism 4 is fixedly connected with the right side of pedestal 1, the outer wall of linear mechanism 4 is rotatably connected with the inner wall of fixed mechanism 5, the inner wall of moving mechanism 2 is movably sleeved with the outer wall of locking mechanism 6.

[0027] In the embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 And Figure 8 , the pedestal 1 includes a motor mount 101, a rotating motor 102, a rotating rod 103, a rotating gear shaft 104, an installation box 105, a sliding groove 106, an installation groove 107, and a locking mount 108. The top of the motor mount 101 is movably clamped with the bottom of the rotating motor 102. One end of the rotating motor 102 is fixedly connected with one end of the rotating rod 103 through a shaft coupling. The outer wall of the other end of the rotating rod 103 is movably clamped with the inner wall of the rotating gear shaft 104. The left side near the top of the installation box 105 is provided with a rotating through hole. The inner wall of the rotating through hole is rotatably connected with the outer wall of the other end of the rotating rod 103. The front surface near the bottom and the back surface near the bottom of the installation box 105 are respectively provided with the sliding groove 106. The middle part of the installation box 105 is provided with the installation groove 107. The front surface near the left side of the installation box 105 is fixedly connected with the back surface of the locking mount 108. The left side of the installation box 105 is fixedly connected with the right side of the motor mount 101. The left side of the locking mount 108 is provided with a locking through hole. The rotating motor 102 is started. The rotating rotating motor 102 drives the rotating rod 103 to rotate through the shaft coupling. The rotating rod 103 drives the rotating gear shaft 104 to rotate.

[0028] In the embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 ,Figure 6 、 Figure 7 and Figure 8 As shown in the figure, the top of the moving tooth plate 201 is engaged with the outer wall of the bottom of the moving tooth shaft 202, the inner wall of the moving tooth shaft 202 is movably connected with the outer wall of the middle of the moving rotating lever 203, the outer wall of the top of the moving tooth shaft 202 is engaged with the bottom of the fixed tooth plate 204, and the two ends of the moving rotating lever 203 are rotatably connected with the inner wall of the mounting groove 107. Pushing the moving tooth plate 201 drives the moving tooth plate 201 to move linearly, which drives the moving tooth shaft 202 to rotate around the moving rotating lever 203 through the engagement, and the rotating moving tooth shaft 202 drives the fixed tooth plate 204 to move linearly.

[0029] In this embodiment, as shown in the figure, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8 As shown in the figure, the bottom of the speed regulating connecting plate 301 is movably connected with the top of the fixed tooth plate 204, the inner wall of the front face and the inner wall of the back face of the speed regulating connecting plate 301 are movably connected with the outer wall of the two speed regulating rotating levers 302 respectively, the outer wall of the two ends of one of the speed regulating rotating levers 302 is rotatably connected with the inner wall of the two speed regulating tooth shafts 303 respectively, the two ends of one of the speed regulating rotating levers 302 are fixedly connected with the opposite end of the two speed regulating sliding levers 304 respectively, the outer wall of one end of the other speed regulating rotating lever 302 is rotatably connected with the inner wall of the speed reducing tooth shaft 305, the outer wall of the other end of the other speed regulating rotating lever 302 is rotatably connected with the inner wall of the linkage tooth shaft 306, and the two ends of the other speed regulating rotating lever 302 are fixedly connected with the opposite end of the other two speed regulating sliding levers 304 respectively. The outer wall of the four speed regulating sliding levers 304 is slidably connected with the inner wall of the mounting groove 107 close to the top, the linear movement of the fixed tooth plate 204 drives the linear movement of the speed regulating connecting plate 301, and the linear movement of the speed regulating connecting plate 301 drives the linear movement of the speed reducing tooth shaft 305.

[0030] In this embodiment, as shown in the figure, Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 8As shown in the figure, the outer wall of the straight tooth shaft 401 is in meshing connection with the outer wall of the speed regulating tooth shaft 303, and the inner wall of the straight tooth shaft 401 is in movable clamping connection with the outer wall of one end of the straight thread rod 402. The outer wall of the straight tooth shaft 401 is in meshing connection with the outer wall of the connecting tooth shaft 403, and the inner wall of the connecting tooth shaft 403 is in movable clamping connection with the outer wall of one end of the fixed rotating rod 404. The outer wall of the other end of the fixed rotating rod 404 is in rotating connection with the inner wall of the mounting groove 107. The straight motion of the speed reducing tooth shaft 305 can be in meshing connection with the rotating tooth shaft 104 and the straight tooth shaft 401. The reverse push moving tooth plate 201 can drive the speed regulating tooth shaft 303 to move straight through the speed regulating connecting plate 301. The straight motion of the speed regulating tooth shaft 303 can be in meshing connection with the rotating tooth shaft 104 and the straight tooth shaft 401. Through the replacement of the speed reducing tooth shaft 305 and the speed regulating tooth shaft 303, the straight motion of the linear module can be speed-regulated.

[0031] In the embodiment, as shown in the figure, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 , the fixed mechanism 5 comprises a fixed base 501, a fixed sliding groove 502 and a straight moving block 503. The fixed base 501 is provided with fixed through holes on both sides, and the inner walls of the two fixed through holes are in rotating connection with the outer walls of both ends of the straight thread rod 402. The fixed base 501 is provided with the fixed sliding groove 502 on the top, and the inner wall of the fixed sliding groove 502 is in sliding connection with the outer wall of the straight moving block 503. The left side of the straight moving block 503 is provided with a threaded through hole, and the inner wall of the threaded through hole is in threaded connection with the outer wall of the straight thread rod 402. The left side of the fixed base 501 is fixedly connected with the right side of the mounting box 105.

[0032] In the embodiment, as shown in the figure, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, the locking mechanism 6 comprises a locking rod 601, a locking limit plate 602, a locking spring 603, a locking bottom plate 604 and a locking pull ring 605, the outer wall of the locking rod 601 is movably sleeved with the inner wall of the locking through hole, the outer wall close to one end of the locking rod 601 is movably connected with the inner wall of the locking limit plate 602, the outer wall close to the middle of the locking rod 601 is movably sleeved with the inner wall of the locking spring 603, the other end of the locking rod 601 is fixedly connected with the right side of the locking bottom plate 604, the left side of the locking bottom plate 604 is movably connected with the right side of the locking pull ring 605, and one end of the locking rod 601 is provided with an inclined surface, the movable tooth plate 201 is pushed, and the movable tooth plate 201 linearly moves through the inclined surface provided on the locking rod 601, so that the locking rod 601 is linearly moved in the locking through hole, after the movable tooth plate 201 linearly moves through the locking rod 601, the locking rod 601 is driven to linearly move by the elastic action of the locking spring 603, and the locking rod 601 linearly moves to lock the movable tooth plate 201, so that the movement of the movable tooth plate 201 does not cause speed regulation failure.

[0033] The use method and advantages of the utility model are as follows:

[0034] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 , by pushing the movable tooth plate 201, the movable tooth plate 201 linearly moves through the meshing effect to drive the movable tooth shaft 202 to rotate around the movable rotating rod 203, the rotating movable tooth shaft 202 drives the fixed tooth plate 204 to linearly move, the fixed tooth plate 204 linearly moves to drive the speed regulation connecting plate 301 to linearly move, the speed regulation connecting plate 301 linearly moves to drive the speed reduction tooth shaft 305 to linearly move, the linearly moving speed reduction tooth shaft 305 can be meshed with the rotating tooth shaft 104 and the linear tooth shaft 401, and the movable tooth plate 201 can linearly move through the speed regulation connecting plate 301 to drive the speed regulation tooth shaft 303 to linearly move, the speed regulation tooth shaft 303 linearly moves to be meshed with the rotating tooth shaft 104 and the linear tooth shaft 401, the speed reduction tooth shaft 305 and the speed regulation tooth shaft 303 can be replaced to regulate the linear movement of the linear module, the movable tooth plate 201 linearly moves through the inclined surface provided on the locking rod 601 to drive the locking rod 601 to linearly move in the locking through hole, after the movable tooth plate 201 linearly moves through the locking rod 601, the locking rod 601 is driven to linearly move by the elastic action of the locking spring 603, and the locking rod 601 linearly moves to lock the movable tooth plate 201, so that the movement of the movable tooth plate 201 does not cause speed regulation failure.

[0035] The basic principle, main features and advantages of the present application are shown and described above. The technical personnel in the industry should understand that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An adjustable speed linear module for a robot comprising a base (1), characterized in that: The inner wall of the base (1) is in sliding connection with the outer wall of the moving mechanism (2), the moving mechanism (2) is composed of a moving toothed plate (201), a moving toothed shaft (202), a moving rotating lever (203) and a fixed toothed plate (204), the top of the moving mechanism (2) is in movable clamping connection with the bottom of the speed regulating mechanism (3), the speed regulating mechanism (3) comprises a speed regulating connecting plate (301), two speed regulating rotating levers (302), two speed regulating toothed shafts (303), four speed regulating sliding rods (304), a speed reduction toothed shaft (305) and a linkage toothed shaft (306), the outer wall of the speed regulating mechanism (3) is in sliding connection with the inner wall of the base (1); The outer wall of the speed regulating mechanism (3) is in meshing connection with the outer wall of the linear mechanism (4), the linear mechanism (4) is composed of a linear toothed shaft (401), a linear threaded rod (402), a connecting toothed shaft (403) and a fixed rotating lever (404), the left side of the linear mechanism (4) is fixedly connected with the right side of the base (1), the outer wall of the linear mechanism (4) is in rotary connection with the inner wall of the fixing mechanism (5), and the inner wall of the moving mechanism (2) is in movable sleeving connection with the outer wall of the locking mechanism (6).

2. The adjustable speed linear module for robots of claim 1, wherein: The base (1) comprises a motor mounting seat (101), a rotating motor (102), a rotating rod (103), a rotating toothed shaft (104), a mounting box (105), a sliding groove (106), a mounting groove (107) and a locking mounting seat (108), the top of the motor mounting seat (101) is in movable clamping connection with the bottom of the rotating motor (102), one end of the rotating motor (102) is fixedly connected with one end of the rotating rod (103) through a shaft coupling, the outer wall of the other end of the rotating rod (103) is in movable clamping connection with the inner wall of the rotating toothed shaft (104), and the left side close to the top of the mounting box (105) is provided with a rotating through hole, and the inner wall of the rotating through hole is in rotary connection with the outer wall close to the other end of the rotating rod (103).

3. The adjustable speed linear module for a robot of claim 2, wherein: The front surface close to the bottom of the mounting box (105) and the back surface close to the bottom are respectively provided with sliding grooves (106), and the middle part of the mounting box (105) is provided with a mounting groove (107), the front surface close to the left side of the mounting box (105) is fixedly connected with the back surface of the locking mounting seat (108), the left side of the mounting box (105) is fixedly connected with the right side of the motor mounting seat (101), and the left side of the locking mounting seat (108) is provided with a locking through hole.

4. The adjustable speed linear module for a robot of claim 3, wherein: The top of the moving toothed plate (201) is in meshing connection with the outer side wall of the bottom of the moving toothed shaft (202), the inner wall of the moving toothed shaft (202) is in movable clamping connection with the outer wall of the middle part of the moving rotating lever (203), the outer side wall of the top of the moving toothed shaft (202) is in meshing connection with the bottom of the fixed toothed plate (204), and the two ends of the moving rotating lever (203) are respectively in rotary connection with the inner side walls of the mounting grooves (107).

5. The adjustable speed linear module for a robot of claim 4, wherein: And the bottom of the speed regulation connecting plate (301) is movably connected with the top of the fixed tooth plate (204), the inner wall of the front face of the speed regulation connecting plate (301) is movably connected with the outer wall of the back face, one end of one of the two speed regulation rotating rods (302) is movably connected with the inner wall of one of the two speed regulation tooth shafts (303), and the outer wall of the other end of the speed regulation rotating rod (302) is movably connected with the inner wall of the linkage tooth shaft (306).

6. The adjustable speed linear module for a robot of claim 5, wherein: The outer wall of the other end of the speed regulation rotating rod (302) is movably connected with the inner wall of the linkage tooth shaft (306), and the outer wall of the other end of the speed regulation rotating rod (302) is movably connected with the inner wall of the linkage tooth shaft (306).

7. The adjustable speed linear module for a robot of claim 5, wherein: The outer wall of the speed regulation tooth shaft (303) is movably connected with the outer wall of the straight tooth shaft (401), and the inner wall of the straight tooth shaft (401) is movably connected with the outer wall of one end of the straight thread rod (402).

8. The adjustable speed linear module for a robot of claim 6, wherein: The outer wall of the speed regulation tooth shaft (303) is movably connected with the outer wall of the straight tooth shaft (401), and the inner wall of the straight tooth shaft (401) is movably connected with the outer wall of one end of the straight thread rod (402).

9. The adjustable speed linear module for a robot of claim 8, wherein: The outer wall of the speed regulation tooth shaft (303) is movably connected with the outer wall of the straight tooth shaft (401), and the inner wall of the straight tooth shaft (401) is movably connected with the outer wall of one end of the straight thread rod (402).

10. The adjustable speed linear module for a robot of claim 3, wherein: The outer wall of the speed regulation tooth shaft (303) is movably connected with the outer wall of the straight tooth shaft (401), and the inner wall of the straight tooth shaft (401) is movably connected with the outer wall of one end of the straight thread rod (402). The outer wall of the speed regulation tooth shaft (303) is movably connected with the outer wall of the straight tooth shaft (401), and the inner wall of the straight tooth shaft (401) is movably connected with the outer wall of one end of the straight thread rod (402).

Images