A distance adjusting mechanism and a robot hand

Abstract

This invention belongs to the field of adjustment equipment technology, and specifically relates to a spacing adjustment mechanism and a robotic arm. The spacing adjustment mechanism includes a drive component, a support shaft, a rotating cylinder assembly, a connecting component, a base, and multiple sliders slidably mounted on the base. The rotating cylinder assembly includes multiple rotating cylinders with progressively increasing diameters, coaxially arranged and relatively telescoping between adjacent rotating cylinders, and all rotating cylinders are rotatably mounted on the support shaft. The drive component connects to the rotating cylinders and drives the multiple rotating cylinders to rotate synchronously around the support shaft. Each rotating cylinder has multiple spaced arc-shaped grooves on its outer wall, and the connecting component connects to the sliders and slidably inserts into the arc-shaped grooves. During the rotation of the rotating cylinders driven by the drive component, the rotating cylinders drive the sliders to slide through the connecting components inserted into the arc-shaped grooves, thereby gradually increasing or decreasing the distance between adjacent sliders. In this invention, the sliders slidably connected to the rotating cylinders can move heavier objects, improving the applicability and versatility of the spacing adjustment mechanism.

Description

Technical Field

[0001] This invention belongs to the field of processing equipment technology, and in particular relates to a spacing adjustment mechanism and a robotic arm. Background Technology

[0002] During the processing of a group of products, it is sometimes necessary to precisely adjust the spacing between each pair of products. This allows the adjusted group of products to be accurately placed on the carrier at the next workstation, eliminating the need for manual adjustment of the distance between products and thus improving production efficiency. In this case, a product spacing adjustment device is needed to regulate the distance between products.

[0003] In the prior art, as shown in the patent application number 202010768073.0, the spacing adjustment device uses a scissor mechanism to adjust the distance between each sliding block; however, since the scissor mechanism has a large flexibility and a limited adjustable range, if a high-load pick-and-place mechanism is installed on the slider, it will affect the adjustment accuracy of the spacing adjustment device. At the same time, when picking up and placing the board, its applicable board size range is small, which makes it impossible to apply to the handling of boards of various sizes. Summary of the Invention

[0004] This invention addresses the technical problems of poor adjustment accuracy and limited adaptability in existing scissor-type spacing adjustment devices by providing a spacing adjustment mechanism and a robotic arm.

[0005] In view of the above technical problems, embodiments of the present invention provide a spacing adjustment mechanism, including a driving component, a support shaft, a rotating cylinder assembly, a base, multiple connecting components, and multiple sliders. The driving component, the support shaft, the rotating cylinder assembly, and the multiple sliders are all mounted on the base. The rotating cylinder assembly includes multiple rotating cylinders connected end to end with their diameters increasing sequentially. Adjacent rotating cylinders are coaxially and movably arranged, and the multiple rotating cylinders are rotatably connected to the support shaft. The driving component is connected to one of the multiple rotating cylinders and is used to drive the multiple rotating cylinders to rotate synchronously around the support shaft.

[0006] Each of the rotating cylinders has a plurality of arc-shaped grooves spaced apart on its outer wall, and each of the connecting pieces is connected to the slider and inserted into a corresponding arc-shaped groove;

[0007] During the process of the driving component driving the multiple rotating drums to rotate, the multiple rotating drums drive the slider to slide through the connecting member inserted in the arc-shaped groove, so that the distance between two adjacent sliders gradually increases or decreases.

[0008] Optionally, on the radial cross-section of the rotating drum assembly, the distance between two adjacent arcuate grooves is a first distance; on the same radial cross-section of the rotating drum assembly, the first distance between each pair of adjacent arcuate grooves is equal, and the first distance gradually increases or decreases during the rotation of the rotating drum assembly.

[0009] Optionally, the rotating drum is further provided with an axially extending inner hole, and the outer wall of the rotating drum is further provided with an annular groove communicating with the inner hole;

[0010] The two adjacent rotating cylinders are divided into an inner rotating cylinder and an outer rotating cylinder. The diameter of the outer rotating cylinder is larger than that of the inner rotating cylinder. The inner rotating cylinder is slidably inserted into the inner hole of the outer rotating cylinder. The connecting piece between the two adjacent rotating cylinders passes through the annular groove of the outer rotating cylinder and is inserted into the arc-shaped groove of the inner rotating cylinder.

[0011] Optionally, the support shaft is provided with a first sliding groove extending axially; the connecting member between two adjacent rotating cylinders passes through the annular groove on the outer rotating cylinder and the annular groove on the inner rotating cylinder and is then slidably inserted into the first sliding groove.

[0012] Optionally, the inner wall of the inner hole of the outer rotating cylinder also has a second sliding groove extending axially, and the spacing adjustment mechanism further includes a sliding member, which is connected to the inner rotating cylinder and slidably inserted into the second sliding groove of the outer rotating cylinder.

[0013] Optionally, the spacing adjustment mechanism further includes a first limiting member and a second limiting member that are spaced apart on the support shaft. The opposite ends of the smallest diameter rotating drum abut against the first limiting member and the second limiting member, respectively. The first limiting member and the second limiting member are used to restrict the smallest diameter rotating drum from moving axially.

[0014] Optionally, the spacing adjustment mechanism further includes a support member with a third sliding groove, the support member being mounted on the base; the slider is also provided with an insertion part that slides into the third sliding groove.

[0015] Optionally, the drive unit includes a motor, a first gear, and a second gear meshing with the first gear, the first gear being sleeved on the output end of the motor, and the second gear being sleeved on one of the rotating drums.

[0016] Optionally, the diameter of the first gear is larger than the diameter of the second gear.

[0017] Another embodiment of the present invention provides a robotic arm, including the above-described spacing adjustment mechanism.

[0018] In this invention, the driving component drives all the rotating cylinders to rotate synchronously through one of the rotating cylinders. During the synchronous rotation of all the rotating cylinders, there is also relative sliding along the axial direction between two adjacent rotating cylinders (that is, two adjacent rotating cylinders can retract relative to each other). Since multiple arc-shaped grooves are provided on the outer wall of all the rotating cylinders at intervals, the connecting member connects to the slider and slides into the arc-shaped groove. During the rotation of the rotating cylinder, the connecting member slides along the arc-shaped groove, and the rotating cylinder drives the slider to slide through the connecting member inserted in the arc-shaped groove. The distance between two adjacent sliders gradually increases or decreases, thereby achieving the technical effect of adjusting the distance between two adjacent sliders.

[0019] In this invention, by setting an arc-shaped groove on the rotating cylinder and making a coaxial sliding connection between two adjacent rotating cylinders, the slider is driven to slide by the connector inserted into the arc-shaped groove, thereby adjusting the distance between two adjacent sliders. The rotating cylinder has greater strength and rigidity, so the slider slidably connected to the rotating cylinder can move heavy objects, improving the applicability and versatility of the distance adjustment mechanism.

[0020] In addition, the rotating cylinder assembly in this application includes multiple rotating cylinders connected end to end with progressively increasing diameters. The multiple rotating cylinders can slide and extend relative to each other, and each rotating cylinder is provided with multiple arc-shaped grooves spaced apart. Compared with multiple arc-shaped grooves on the same rotating cylinder, the multiple rotating cylinders in this invention can shrink relative to each other, which ensures that the rotating cylinder assembly has a smaller axial size, while also increasing the movable stroke of the slider and shortening the extension distance of the arc-shaped grooves on the rotating cylinder, thereby reducing the manufacturing cost of the rotating cylinder. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0022] Figure 1 This is a schematic diagram of the spacing adjustment mechanism provided in an embodiment of the present invention when the distance between the sliders is at its maximum.

[0023] Figure 2 This is a schematic diagram of the spacing adjustment mechanism provided in an embodiment of the present invention when the distance between the sliders is at its minimum;

[0024] Figure 3 This is a top view of a spacing adjustment mechanism provided in an embodiment of the present invention;

[0025] Figure 4 yes Figure 3 Sectional view along the middle AA direction;

[0026] Figure 5This is a schematic diagram of the rotating drum assembly of the spacing adjustment mechanism provided in an embodiment of the present invention mounted on a support shaft;

[0027] Figure 6 This is a front view of the rotating cylinder assembly of the spacing adjustment mechanism provided in an embodiment of the present invention mounted on a support shaft;

[0028] Figure 7 This is a cross-sectional view of the rotating cylinder assembly of the spacing adjustment mechanism provided in an embodiment of the present invention mounted on a support shaft.

[0029] The reference numerals in the accompanying drawings are as follows:

[0030] 1. Driving component; 11. Motor; 12. First gear; 13. Second gear; 2. Support shaft; 21. First slide groove; 3. Rotary drum assembly; 31. Rotary drum; 311. Arc groove; 312. Inner hole; 313. Circular groove; 314. Second slide groove; 4. Slider; 41. Connector; 5. First limiting component; 6. Second limiting component; 7. Base; 8. Support component; 81. Third slide groove; 9. Sliding component. Detailed Implementation

[0031] To make the technical problems solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.

[0032] It should be understood that the terms "upper", "lower", "left", "right", "front", "rear", "middle", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations of the present invention.

[0033] like Figures 1 to 3As shown, an embodiment of the present invention provides a spacing adjustment mechanism, including a driving component 1, a support shaft 2, a rotating cylinder assembly 3, a base 7, multiple connecting components 41, and multiple sliders 4. The driving component 1, the support shaft 2, the rotating cylinder assembly 3, and the multiple sliders 4 are all mounted on the base 7. The rotating cylinder assembly 3 includes multiple rotating cylinders 31 connected end to end with progressively increasing diameters. Adjacent rotating cylinders 31 are coaxially movably arranged, and the multiple rotating cylinders 31 are rotatably connected to the support shaft 2. The driving component 1 connects the multiple rotating cylinders 31. One of the rotating drums 31 is used to drive multiple rotating drums 31 to rotate synchronously around the support shaft 2; it is understood that the driving component 1 includes, but is not limited to, a rotating motor 11, etc., and the number of multiple rotating drums 31 can be set according to actual needs, such as 2, 3, 4, etc. The two adjacent rotating drums 31 are slidably sleeved together, and the driving component 1 is connected to one of the rotating drums 31. The driving component 1 will drive multiple rotating drums 31 to rotate synchronously, while the two adjacent rotating drums 31 also slide relative to each other along the axial direction.

[0034] Each of the rotating cylinders 31 has a plurality of arc-shaped grooves 311 spaced apart on its outer wall. Each of the connecting pieces 41 is connected to a corresponding slider 4 and inserted into a corresponding arc-shaped groove 311. It can be understood that the connecting piece 41 and the slider 4 can be two parts, or the connecting piece 41 and the slider 4 can be integrally formed. The slider 4, the connecting piece 41 and the arc-shaped groove 311 correspond one-to-one.

[0035] During the process of the driving component 1 driving the plurality of (all) of the rotating drums 32 to rotate, the plurality of (all) of the rotating drums 31 drive the sliders 4 to slide through the connecting member 41 inserted in the arc-shaped groove 311, so that the distance between two adjacent sliders 4 gradually increases or decreases. It can be understood that on the same rotating drum 31, the distance between the same arc-shaped groove 311 and the end face of the rotating drum 31 gradually increases.

[0036] The driving component 1 drives all the rotating cylinders 31 to rotate synchronously through one of the rotating cylinders 31. During the synchronous rotation of all the rotating cylinders 31, there is also relative sliding along the axial direction between two adjacent rotating cylinders 31 (that is, two adjacent rotating cylinders can retract relative to each other). Since multiple arc-shaped grooves 311 are provided on the outer wall of all the rotating cylinders 31, the connecting member 41 is connected to the slider 4 and slides into the arc-shaped groove 311. During the rotation of the rotating cylinder 31, the connecting member 41 slides along the arc-shaped groove 311. The rotating cylinder 31 will drive the slider 4 to slide through the connecting member 41 inserted in the arc-shaped groove 311, and the distance between two adjacent sliders 4 will gradually increase or decrease, thereby achieving the technical effect of adjusting the distance between two adjacent sliders 4.

[0037] In this invention, by providing an arc-shaped groove 311 on the rotating cylinder 31 and coaxially slidingly connecting two adjacent rotating cylinders 31, the connecting piece 41 inserted into the arc-shaped groove 311 drives the slider 4 to slide, thereby adjusting the distance between two adjacent sliders 4. The rotating cylinder 31 has greater strength and rigidity, so the slider 4 slidably connected to the rotating cylinder 31 can move heavy objects, improving the applicability and versatility of the distance adjustment mechanism.

[0038] In addition, the rotating cylinder assembly 3 in this application includes multiple rotating cylinders 31 connected end to end with progressively increasing diameters. The multiple rotating cylinders 31 can slide and extend relative to each other. Each of the rotating cylinders 31 is provided with multiple arc-shaped grooves 311 spaced apart. Compared with multiple arc-shaped grooves on the same rotating cylinder, the multiple rotating cylinders 311 in this invention can shrink relative to each other, which ensures that the rotating cylinder assembly 3 has a smaller axial size, while also increasing the movable stroke of the slider 4 and shortening the extension distance of the arc-shaped grooves 311 on the rotating cylinder 31, thereby reducing the manufacturing cost of the rotating cylinder 31.

[0039] In one embodiment, such as Figure 1 As shown on the radial cross-section of the rotating drum assembly 3, the distance between two adjacent arcuate grooves 311 is the first distance; on the same radial cross-section of the rotating drum assembly 3, the first distance between each pair of adjacent arcuate grooves 311 is equal, and the first distance gradually increases or decreases during the rotation of the rotating drum 31; it can be understood that for an arcuate groove 311 on a rotating drum 31, along the extension direction of the arcuate groove 311, the distance between the arcuate groove 311 and the end face assembly of the rotating drum 31 gradually increases or decreases; the first distance is not equal on different radial cross-sections of the rotating drum assembly 3; the radial cross-section of the rotating drum assembly 3 is perpendicular to... Figure 6The plane in which it is located and intersects with all the said arc grooves 311; the arc groove 311 is a point on the radial cross-section of the rotary drum assembly 3.

[0040] In this embodiment, during the rotation of the rotating cylinder 31, the connecting member 41 slides along the arc-shaped groove 311. Since the first distance between two adjacent arc-shaped grooves 311 on the radial sectional surface of the rotating cylinder 31 gradually increases along the rotation direction of the rotating cylinder 31, the rotating cylinder 31 will drive the slider 4 to slide through the arc-shaped groove 311, and the distance between two adjacent sliders 4 gradually increases or decreases, while the distance between two adjacent sliders remains equal. To ensure that the first distance gradually increases along the rotation direction of the rotating cylinder 31, if all the arc-shaped grooves 311 are provided on the same rotating cylinder 31, the length between the arc-shaped groove 311 behind the rotating cylinder 31 and the end face of the rotating cylinder 31 will become increasingly larger, thus requiring a longer rotating cylinder 31. This not only reduces the rigidity of the rotating cylinder 31 but also increases the space occupied by the spacing adjustment mechanism. Furthermore, one end of the arc-shaped groove 311 has a large bending angle, making it easy for the connecting member 41 to jam with the arc-shaped groove 311 during the rotation of the rotating cylinder 31. In this invention, the spacing adjustment mechanism includes multiple rotating cylinders 31 with different diameters. By increasing the diameter of the rotating cylinders 31, the length of the arc-shaped groove 311 behind can be reduced, thereby shortening the axial length of the rotating cylinder assembly 3 and ensuring the stability of the sliding of the slider 4.

[0041] In one embodiment, such as Figure 1 , Figure 6 as well as Figure 7 As shown, the rotating cylinder 31 is also provided with an inner hole 312 extending along the axial direction, and the outer wall of the rotating cylinder 31 is also provided with an annular groove 313 communicating with the inner hole 312; it can be understood that the annular groove 313 extends along the circumference of the rotating cylinder 31, and the annular groove 313 can be a ring or a partial ring.

[0042] The two adjacent rotating cylinders 31 are divided into an inner rotating cylinder and an outer rotating cylinder. The diameter of the outer rotating cylinder is larger than that of the inner rotating cylinder. The inner rotating cylinder is slidably inserted into the inner hole of the outer rotating cylinder. The slider 4 between the two adjacent connecting pieces 41 passes through the annular groove 313 of the outer rotating cylinder and is inserted into the arc-shaped groove 311 of the inner rotating cylinder. Specifically, during the synchronous rotation of the multiple rotating cylinders 31 driven by the driving member 1, the connecting piece 41 between the two adjacent rotating cylinders 31 passes through the annular groove 313 on the outer rotating cylinder and is inserted into the arc-shaped groove 311 on the inner rotating cylinder 31. Since the distance between the arc-shaped groove 311 on the inner rotating cylinder and the end face of the inner rotating cylinder gradually increases or decreases, while the distance between the annular groove 313 on the outer rotating cylinder and the end face of the outer rotating cylinder remains equal, the inner rotating cylinder and the outer rotating cylinder can also slide relative to each other axially during the synchronous rotation. That is, the axial distance of the rotating cylinder assembly 3 can be increased or decreased.

[0043] In one embodiment, such as Figure 7 As shown, the support shaft 2 is provided with a first sliding groove 21 extending axially. Between two adjacent rotating cylinders 31, the end of the connecting member 41 away from the slider 4 passes sequentially through the annular groove 313 on the outer rotating cylinder and the annular groove 313 on the inner rotating cylinder, and then slides into the first sliding groove 21. It can be understood that the first sliding groove 21 is an elongated groove extending axially. Specifically, during the process of the driving member 1 driving all the rotating cylinders 31 to rotate, the support shaft 2 remains fixed, so that during the movement of the slider 4, the end of the connecting member 41 away from the slider 4 slides in the first sliding groove 21, thereby ensuring the stability of the slider 4's sliding.

[0044] In one embodiment, such as Figure 7 As shown, the inner wall of the inner hole 312 of the outer rotating cylinder also has a second sliding groove 314 extending axially. The spacing adjustment mechanism also includes a sliding member 9, which is connected to the inner rotating cylinder and slidably inserted into the second sliding groove 314 of the outer rotating cylinder. It can be understood that the sliding member 9 includes, but is not limited to, a limiting pin, a bolt, etc. Between two adjacent rotating cylinders 31, the sliding member 9 is connected to the inner rotating cylinder and slidably inserted into the second sliding groove 314 of the outer rotating cylinder 31. Thus, the sliding member 9 can ensure that the two adjacent rotating cylinders 31 rotate synchronously while also sliding relative to each other axially, that is, the two adjacent rotating cylinders 31 can extend and retract.

[0045] In one embodiment, such as Figure 7As shown, the spacing adjustment mechanism further includes a first limiting member 5 and a second limiting member 6 spaced apart on the support shaft 2. The opposite ends of the smallest diameter rotating cylinder 31 abut against the first limiting member 5 and the second limiting member 6, respectively. The first limiting member 5 and the second limiting member 6 are used to restrict the axial movement of the smallest diameter rotating cylinder 31. It can be understood that the opposite ends of the smallest diameter rotating cylinder 31 abut against the first limiting member 5 and the second limiting member 6, respectively; the first limiting member 5 and the second limiting member 6 include, but are not limited to, limiting rings, limiting pins, etc. In this embodiment, the rotating cylinder 31 between the first limiting member 5 and the second limiting member 6 can only rotate within a fixed space and cannot move axially along the support shaft 2. Therefore, during the rotation of the rotating cylinder assembly 3, the other rotating cylinders 31 all extend and retract relative to the smallest diameter rotating cylinder 31.

[0046] In one embodiment, such as Figure 1 and Figure 2 As shown, the spacing adjustment mechanism further includes a support member 8 with a third sliding groove 81, which is mounted on the base 7; the slider 4 is also provided with an insertion part that slides into the third sliding groove 81. It can be understood that the support member 8 includes, but is not limited to, a square tube, etc., and the rotating cylinder assembly 3 drives the slider 4 to slide along the third sliding groove 81, further ensuring the stability of the slider 4's sliding.

[0047] In one embodiment, such as Figure 1 and Figure 2 As shown, the driving component 1 includes a motor 11, a first gear 12, and a second gear 13 meshing with the first gear 12. The first gear 12 is sleeved on the output end of the motor 11, and the second gear 13 is sleeved on one of the rotating drums 31. It can be understood that the motor 11 includes, but is not limited to, a stepper motor, a servo motor, etc., and the second gear 13 is fixedly sleeved on the rotating drum 31 with the smallest diameter. Specifically, the first gear 12 drives the rotating drum 31 to rotate through the second gear 13 meshing with it. In this embodiment, the driving component 1 does not increase the axial distance of the rotating drum assembly 3, further improving the compactness of the spacing adjustment mechanism. In a specific embodiment, the second gear is fixedly sleeved on the rotating drum 31 with the smallest diameter.

[0048] In one embodiment, such as Figure 1 and Figure 2As shown, the diameter of the first gear 12 is larger than the diameter of the second gear 13. Understandably, the first gear 12 and the second gear 13 can reduce speed and increase torque, thereby increasing the torque of the rotary drum assembly 3 and further increasing the load-bearing capacity of the slider 4.

[0049] In one specific embodiment, the rotating cylinder assembly 3 includes three rotating cylinders 31. Along the axial direction of the support shaft 2, the three rotating cylinders 3 are respectively named the first rotating cylinder, the second rotating cylinder, and the third rotating cylinder. The second rotating cylinder is slidably sleeved on the first rotating cylinder, and the third rotating cylinder is slidably sleeved on the third rotating cylinder. Each rotating cylinder is provided with a plurality of arc-shaped grooves 311 spaced apart. The outer wall of the first rotating cylinder near the end of the second rotating cylinder is provided with an annular groove 313. The connector 41 on the slider 4 between the first and second rotating cylinders passes through the annular groove 313 on the second rotating cylinder and is inserted into the arc-shaped groove 311 on the first rotating cylinder. The outer wall of the second rotating cylinder near the end of the third rotating cylinder is provided with an annular groove 313. The connector 41 on the slider 4 between the second and third rotating cylinders passes through the annular groove 313 on the third rotating cylinder and is inserted into the arc-shaped groove 311 on the second rotating cylinder. Each arc-shaped groove 311 is slidably connected to one of the connectors 41. Furthermore, when the inner rotating cylinder is the first rotating cylinder, the outer rotating cylinder is the second rotating cylinder; when the inner rotating cylinder is the second rotating cylinder, the outer rotating cylinder is the third rotating cylinder.

[0050] Another embodiment of the present invention also provides a robotic arm, including the aforementioned spacing adjustment mechanism. Understandably, the base 7 is mounted on the robotic arm of the robotic arm, and each slider 4 is connected to a mechanical gripper or suction nozzle. The robotic arm can drive the spacing adjustment mechanism to move in space. When the robotic arm drives the spacing adjustment mechanism to the material picking or unloading position, the driving member 1 drives all the rotating drums 31 to rotate synchronously. The rotating drums 31 drive all the sliders 31 to slide through the connecting member 41 inserted into the arc-shaped groove 311. The sliders 31 drive the mechanical grippers or suction nozzles connected to them to move closer or further apart, thereby allowing the mechanical grippers or suction nozzles to clamp or release the material to be transported.

[0051] The above are merely embodiments of the spacing adjustment mechanism of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pitch adjusting mechanism characterized by comprising: The device includes a drive component, a support shaft, a rotating cylinder assembly, a base, multiple connectors, and multiple sliders. The drive component, the support shaft, the rotating cylinder assembly, and the multiple sliders are all mounted on the base. The rotating cylinder assembly includes multiple rotating cylinders connected end-to-end with progressively increasing diameters. Adjacent rotating cylinders are coaxially and movably arranged. All rotating cylinders are rotatably connected to the support shaft. The drive component is connected to one of the rotating cylinders and is used to drive the multiple rotating cylinders to rotate synchronously around the support shaft. Each of the rotating cylinders has a plurality of arc-shaped grooves spaced apart on its outer wall, and each of the connecting pieces is connected to a corresponding slider and inserted into a corresponding arc-shaped groove; During the process of the driving component driving the multiple rotating drums to rotate, the multiple rotating drums drive the slider to slide through the connecting member inserted in the arc-shaped groove, so that the distance between two adjacent sliders gradually increases or decreases; On the radial cross-section of the rotating cylinder assembly, the distance between two adjacent arc-shaped grooves is a first distance; on the same radial cross-section of the rotating cylinder assembly, the first distance between each pair of adjacent arc-shaped grooves is equal, and the first distance gradually increases or decreases during the rotation of the rotating cylinder assembly. The rotating drum is also provided with an axially extending inner hole, and the outer wall of the rotating drum is also provided with an annular groove communicating with the inner hole; The two adjacent rotating cylinders are divided into an inner rotating cylinder and an outer rotating cylinder. The diameter of the outer rotating cylinder is larger than that of the inner rotating cylinder. The inner rotating cylinder is slidably inserted into the inner hole of the outer rotating cylinder. The connecting piece between the two adjacent rotating cylinders passes through the annular groove of the outer rotating cylinder and is inserted into the arc-shaped groove of the inner rotating cylinder.

2. The pitch adjusting mechanism according to claim 1, characterized in that The support shaft is provided with a first sliding groove extending axially; the connecting member between two adjacent rotating cylinders passes through the annular groove on the outer rotating cylinder and the annular groove on the inner rotating cylinder and is then slidably inserted into the first sliding groove.

3. The pitch adjusting mechanism of claim 1, wherein The inner wall of the inner hole of the outer rotating cylinder also has a second sliding groove extending axially. The spacing adjustment mechanism also includes a sliding member, which is connected to the inner rotating cylinder and slidably inserted into the second sliding groove of the outer rotating cylinder.

4. The pitch adjusting mechanism of claim 1, wherein The spacing adjustment mechanism further includes a first limiting member and a second limiting member that are spaced apart on the support shaft. The opposite ends of the smallest diameter rotating drum abut against the first limiting member and the second limiting member, respectively. The first limiting member and the second limiting member are used to restrict the smallest diameter rotating drum from moving axially.

5. The pitch adjusting mechanism of claim 1, wherein The spacing adjustment mechanism further includes a support member with a third sliding groove, which is mounted on the base; the slider is also provided with an insertion part that slides into the third sliding groove.

6. The pitch adjusting mechanism of claim 1, wherein The drive unit includes a motor, a first gear, and a second gear meshing with the first gear. The first gear is sleeved on the output end of the motor, and the second gear is sleeved on one of the rotating drums.

7. The pitch adjusting mechanism of claim 6, wherein The diameter of the first gear is larger than the diameter of the second gear.

8. A robot, characterized in that Includes the spacing adjustment mechanism as described in any one of claims 1 to 7.

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