Variable distance gripper mechanism and robot system

Abstract

The application discloses a distance-variable gripper mechanism and a mechanical arm system, wherein the distance-variable gripper mechanism comprises a mounting platform, a distance-variable assembly and a plurality of gripper assemblies; the distance-variable assembly comprises a fixed mounting member, a plurality of movable mounting members, a first driving member and a second driving member, and the plurality of movable mounting members are movably connected to the mounting platform; the body of the first driving member is fixedly mounted on the fixed mounting member, and the first driving end of the first driving member is connected to one of the plurality of movable mounting members located at the side; the body of the second driving member is fixedly mounted on one of the plurality of movable mounting members away from the side and adjacent to the fixed mounting member, and the second driving end of the second driving member is connected to one of the plurality of movable mounting members located at the side and away from the first driving end; and the first driving member and the second driving member are used for cooperatively adjusting the distance between the fixed mounting member and the plurality of movable mounting members. Through the above arrangement, the problem that the current distance-variable mechanical arm adjusting mode is complex and the structure is heavy is solved.

Description

Technical Field

[0001] This invention relates to the field of gripper equipment technology, and in particular to a variable-pitch gripper mechanism and a robotic arm system. Background Technology

[0002] In modern automated production, industrial robots are widely used in the production process of grasping or releasing products to achieve intelligent and efficient production operations. In actual production, due to the complexity and diversity of products, different products have different shapes, sizes, and volumes. This requires industrial robots to adjust their gripping distance according to the specific shape and size of the product in order to adapt to the product being grasped.

[0003] Currently, most pitch-changing mechanisms used in robotic arms are cylinders, with multiple cylinders arranged on the robotic arm. However, the adjustment method of this type of mechanism is relatively complex, the structure is heavy, and the cost of use is also high. Summary of the Invention

[0004] This invention provides a variable-pitch gripper mechanism to solve the problems of complex adjustment methods and heavy structure of current variable-pitch manipulators.

[0005] To achieve the above objectives, the present invention proposes a variable-pitch gripper mechanism, which includes a mounting platform, a variable-pitch assembly, and multiple gripper assemblies; wherein, The variable pitch assembly includes a fixed mounting component, multiple movable mounting components, a first driving component, and a second driving component. The fixed mounting component and the multiple movable mounting components are arranged side by side and are all located on one side of the mounting platform. The fixed mounting component is fixedly connected to the mounting platform, and the multiple movable mounting components are movably connected to the mounting platform. The multiple gripper assemblies are connected to the fixed mounting component and the multiple movable mounting components in a one-to-one correspondence. The body of the first driving member is fixedly mounted on the fixed mounting member, and the first driving end of the first driving member is connected to one of the plurality of movable mounting members located on the side; the body of the second driving member is fixedly mounted on one of the plurality of movable mounting members located away from the side and adjacent to the fixed mounting member, and the second driving end of the second driving member is connected to one of the plurality of movable mounting members located on the side and away from the first driving end; the first driving member and the second driving member are used to coordinately adjust the distance between the fixed mounting member and the plurality of movable mounting members.

[0006] In some embodiments of the present invention, the mounting platform has two variable pitch end sides along the parallel direction of the fixed mounting member and the plurality of movable mounting members, two of the plurality of movable mounting members are respectively disposed close to the two variable pitch end sides, and the fixed mounting member is disposed between the two variable pitch end sides.

[0007] In some embodiments of the present invention, the mounting platform has a through-hole, and both the first driving member and the second driving member are located within the through-hole.

[0008] In some embodiments of the present invention, the variable pitch gripper mechanism further includes a first side positioning member and a second side positioning member. The first side positioning member is installed on one side of the two variable pitch end sides, and the second side positioning member is installed on the other side of the two variable pitch end sides. The first side positioning member is positioned in conjunction with one of the two movable mounting members located on the variable pitch end side, and the second side positioning member is positioned in conjunction with the other of the two movable mounting members located on the variable pitch end side.

[0009] In some embodiments of the present invention, the mounting platform has a first mounting side and a second mounting side arranged opposite to each other. The fixed mounting member and the plurality of movable mounting members are all located on the first mounting side. The variable pitch assembly further includes a first limiting member and a second limiting member. The first limiting member and the second limiting member are both installed on the second mounting side and are arranged at intervals along the movement path of the second driving member. The second driving member is disposed between the first limiting member and the second limiting member. The first limiting member and the second limiting member are used to limit the movement stroke of the second driving member.

[0010] In some embodiments of the present invention, the variable pitch gripper mechanism further includes a variable pitch measuring device, which is mounted on the mounting platform. The fixed mounting member is provided with a first monitoring part, and one of the plurality of movable mounting members adjacent to the fixed mounting member and located on the side of the mounting platform is provided with a second monitoring part. The first monitoring part and the second monitoring part cooperate with the variable pitch measuring device to monitor the movement of the fixed mounting member and the one of the plurality of movable mounting members adjacent to the fixed mounting member and located on the side of the mounting platform.

[0011] In some embodiments of the present invention, the variable-pitch gripper mechanism further includes a position switch assembly mounted on the mounting platform, the position switch assembly being used to monitor the movement of the plurality of movable mounting components.

[0012] In some embodiments of the present invention, the variable pitch gripper mechanism further includes a guide assembly, which extends along the parallel direction of the fixed mounting member and the movable mounting member, and both the fixed mounting member and the movable mounting member slide in a guiding engagement with the guide assembly.

[0013] In some embodiments of the present invention, the variable-pitch gripper mechanism includes a connector, which is mounted on the mounting platform and is connected to an external device.

[0014] To achieve the above objectives, the present invention proposes a robotic arm system, which includes the variable-pitch gripper mechanism.

[0015] The beneficial effects of this invention are as follows: Unlike the prior art, the variable-pitch gripper mechanism disclosed in this invention adjusts the distance between the fixed mounting component and multiple movable mounting components through the coordinated adjustment of the first driving component and the second driving component. With this configuration, only two driving sources are needed to drive the fixed mounting component and multiple movable mounting components to change the pitch, thereby adjusting the distance between multiple gripper assemblies. This optimizes the power structure, and the structure is simple, the adjustment method is simple, reliable and effective, so as to meet the needs of different products to change the pitch and greatly improve the performance of the variable-pitch gripper mechanism. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the variable-pitch gripper mechanism of the present invention; Figure 2 This is a schematic diagram of the structure of an embodiment of the variable pitch component of the present invention; Figure 3 This is an exploded structural diagram of an embodiment of the variable pitch component of the present invention; Figure 4 This is a schematic diagram of the structure of an embodiment of the variable-pitch gripper mechanism of the present invention in the open state; Figure 5 This is a schematic diagram of an embodiment of the variable-pitch gripper mechanism of the present invention in its retracted state.

[0018] Explanation of icon numbers: 100. Variable pitch gripper mechanism; 1. Mounting platform; 11. First mounting side; 12. Second mounting side; 13. Movable port; 14. Guide assembly; 15. Connector; 2. Variable pitch assembly; 21. Fixed mounting component; 211. First monitoring unit; 22. Movable mounting component; 221. First movable mounting component; 2211. Second monitoring unit; 222. Second movable mounting component; 223. Third movable mounting component; 23. First driving component; 231. First driving end; 24. Second driving component; 241. Second driving end; 3. Gripper assembly; 4. First side positioning component; 5. Second side positioning component; 6. First limiting component; 7. Second limiting component; 8. Variable pitch measuring device; 9. Position switch assembly; 91. First position detection component; 92. Second position detection component.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0023] This invention proposes a variable-pitch gripper mechanism 100, with reference to... Figure 1 The variable pitch gripper mechanism 100 includes a mounting platform 1, a variable pitch assembly 2, and multiple gripper assemblies 3. The variable pitch assembly 2 includes a fixed mounting member 21, multiple movable mounting members 22, a first drive member 23, and a second drive member 24. The fixed mounting member 21 and the multiple movable mounting members 22 are arranged side-by-side and are all located on one side of the mounting platform 1. The fixed mounting member 21 is fixedly connected to the mounting platform 1, and the multiple movable mounting members 22 are movably connected to the mounting platform 1. The multiple gripper assemblies 3 are connected one-to-one with the fixed mounting member 21 and the multiple movable mounting members 22.

[0024] The body of the first driving member 23 is fixedly mounted on the fixed mounting member 21, and the first driving end 231 of the first driving member 23 is connected to one of the multiple movable mounting members 22 located on the side. The body of the second driving member 24 is fixedly mounted on one of the multiple movable mounting members 22 located away from the side and adjacent to the fixed mounting member 21, and the second driving end 241 of the second driving member 24 is connected to one of the multiple movable mounting members 22 located on the side and away from the first driving end 231. The first driving member 23 and the second driving member 24 are used to coordinately adjust the distance between the fixed mounting member 21 and the multiple movable mounting members 22.

[0025] Based on the above scheme, the distance between the fixed mounting member 21 and the multiple movable mounting members 22 is adjusted by the first driving member 23 and the second driving member 24. With this configuration, the fixed mounting member 21 and the multiple movable mounting members 22 can be driven to change the distance with only two driving sources, thereby adjusting the distance between the multiple gripper assemblies 3. This optimizes the power structure, and the structure is simple, the adjustment method is simple, reliable and effective, so as to meet the needs of different products to change the distance and greatly improve the performance of the variable distance gripper mechanism 100.

[0026] The pitch variation method between the fixed mounting component 21 and the multiple movable mounting components 22 can be equal pitch variation or unequal pitch variation, depending on the actual production conditions, so as to be suitable for gripping products of different shapes and sizes.

[0027] In this embodiment, the number of gripper assemblies 3 can be four, and correspondingly, the number of movable mounting parts 22 can be three, to meet the requirement of installing and fixing four gripper assemblies 3. This is only for illustrative purposes and does not limit the number of gripper assemblies 3 and movable mounting parts 22. For ease of explanation, the number of gripper assemblies 3 is exemplified by four, and the number of movable mounting parts 22 is exemplified by three.

[0028] Reference Figures 1 to 5 The mounting platform 1 has two pitch-changing end sides along the parallel direction of the fixed mounting member 21 and multiple movable mounting members 22. Two of the multiple movable mounting members 22 are respectively set close to the two pitch-changing end sides, and the fixed mounting member 21 is set between the two pitch-changing end sides.

[0029] This arrangement, with its rational layout of fixed mounting components 21 and multiple movable mounting components, not only improves the compactness of the structure but also facilitates debugging. Placing the fixed mounting components 21 between the two pitch-changing end sides allows for the rational distribution of power, thereby enabling the four gripper assemblies 3 to be driven in a dual-drive manner to change pitch.

[0030] The three movable mounting parts 22 can be a first movable mounting part 221, a second movable mounting part 222, and a third movable mounting part 223. The first movable mounting part 221 is located on one side of the two pitch-changing end sides and is adjacent to the fixed mounting part 21. The third movable mounting part 223 is located on the other side of the two pitch-changing end sides. The second movable mounting part 222 is located between the third movable mounting part 223 and the fixed mounting part 21.

[0031] The second driving end 241 of the second driving member 24 is fixedly connected to the first movable mounting member 221, and the body of the second driving member 24 is fixedly mounted on the second movable mounting member 222. The second driving member 24 drives the first movable mounting member 221 and the second movable mounting member 222 to move closer or further away from each other, and the first driving member 23 drives the third movable mounting member 223 to move. During the pitch change process, the first driving member 23 drives the third movable mounting member 223 to retract, and the second driving member 24 drives the first movable mounting member 221 and the second movable mounting member 222 to move closer to each other, thereby reducing the distance between the fixed mounting member 21, the first movable mounting member 221 and the second movable mounting member 222; the first driving member 23 drives the third movable mounting member 223 to open, and the second driving member 24 drives the first movable mounting member 221 and the second movable mounting member 222 to move further apart, thereby increasing the distance between the fixed mounting member 21, the first movable mounting member 221 and the second movable mounting member 222, so as to achieve the pitch change of the distance between the fixed mounting member 21, the first movable mounting member 221 and the second movable mounting member 222.

[0032] The first driving component 23 and the second driving component 24 can both be cylinders or other mechanisms with linear thrust, and no specific limitation is made here.

[0033] Continue to refer to Figures 1 to 5 The mounting platform 1 has a through-hole 13, within which the first drive component 23 and the second drive component 24 are located. This arrangement effectively reduces the weight of the mounting platform 1 and simplifies the structure. Furthermore, it provides space for the first drive component 23 and the second drive component 24 to move, ensuring that they can stably and collaboratively adjust the spacing between the fixed mounting component 21 and the three movable mounting components 22, thereby adjusting the spacing between the four gripper assemblies 3.

[0034] Furthermore, the movable port 13 facilitates the assembly of the fixed mounting component 21, the three movable mounting components 22, the first drive component 23, and the second drive component 24, thereby improving the ease of assembling the variable pitch gripper mechanism 100 and increasing assembly efficiency.

[0035] Continue to refer to Figures 1 to 5The variable pitch gripper mechanism 100 also includes a first side positioning member 4 and a second side positioning member 5. The first side positioning member 4 is installed on one side of the two variable pitch end sides, and the second side positioning member 5 is installed on the other side of the two variable pitch end sides. The first side positioning member 4 is positioned and engaged with one of the two movable mounting members 22 located on the variable pitch end side, and the second side positioning member 5 is positioned and engaged with the other of the two movable mounting members 22 located on the variable pitch end side.

[0036] It is understandable that the first side positioning component 4 can be positioned and engaged with the first movable mounting component 221, and the second side positioning component 5 can be positioned and engaged with the third movable mounting component 223.

[0037] With this configuration, when the first driving member 23 and the second driving member 24 work together to adjust the distance between the fixed mounting member 21, the first movable mounting member 221, the second movable mounting member 222, and the third movable mounting member 223, the fixed mounting member 21, the first movable mounting member 221, the second movable mounting member 222, and the third movable mounting member 223 can stably change the distance. And by relying on the first side positioning member 4 and the second side positioning member 5, the distance change positioning is achieved, which effectively improves the distance change effect and thus improves the performance of the distance change gripper mechanism 100.

[0038] Specifically, the first side positioning component 4 may include a first corner bracket and a first positioning post. The first corner bracket is fixedly installed on the side of the mounting platform 1, adjacent to the first movable mounting component 221. The first positioning post is installed on the first corner bracket and is used to position the first movable mounting component 221, that is, to stop or limit the first movable mounting component 221, effectively avoiding excessive pitch change of the first movable mounting component 221 and causing large spacing errors. The first movable mounting component 221 has a guide post connected to its side, and the first corner bracket also has a through hole. The guide post passes through the through hole and slides with the through hole, allowing the first movable mounting component 221 to move stably.

[0039] The second side positioning component 5 may also include a second corner bracket and a second positioning post. The second corner bracket is fixedly installed on the side of the mounting platform 1, adjacent to the third movable mounting component 223. The second positioning post is installed on the second corner bracket and is used to position the third movable mounting component 223, that is, to stop or limit the third movable mounting component 223, effectively avoiding excessive pitch change of the third movable mounting component 223 and causing large spacing errors. The third movable mounting component 223 has a guide rod connected to its side, and the second corner bracket also has a through hole. The guide rod passes through the through hole and slides with the through hole, allowing the third movable mounting component 223 to move stably.

[0040] Continue to refer to Figures 1 to 5The mounting platform 1 has a first mounting side 11 and a second mounting side 12 arranged opposite to each other. The fixed mounting member 21 and a plurality of movable mounting members 22 are all located on the first mounting side 11. The variable pitch assembly 2 also includes a first limiting member 6 and a second limiting member 7. The first limiting member 6 and the second limiting member 7 are both installed on the second mounting side 12 and are arranged at intervals along the movement path of the second drive member 24. The second drive member 24 is located between the first limiting member 6 and the second limiting member 7. The first limiting member 6 and the second limiting member 7 are used to limit the movement stroke of the second drive member 24.

[0041] This configuration limits the travel of the second drive member 24, thereby limiting the amount of pitch change between the fixed mount 21, the first movable mount 221, and the second movable mount 222, reducing the possibility of collision between the fixed mount 21, the first movable mount 221, and the second movable mount 222, and better protecting the fixed mount 21, the first movable mount 221, and the second movable mount 222.

[0042] Specifically, both ends of the second driving member 24 are equipped with mating plates. One of the two mating plates is stopped and positioned with the first limiting member 6, and the other is stopped and positioned with the second limiting member 7.

[0043] Continue to refer to Figures 1 to 5 The variable pitch gripper mechanism 100 also includes a variable pitch measuring device 8, which is mounted on the mounting platform 1. The fixed mounting member 21 is provided with a first monitoring part 211, and one of the multiple movable mounting members 22 adjacent to the fixed mounting member 21 and located on the side of the mounting platform 1 is provided with a second monitoring part 2211. The first monitoring part 211 and the second monitoring part 2211 cooperate with the variable pitch measuring device 8 to monitor the movement of the fixed mounting member 21 and the one of the multiple movable mounting members 22 adjacent to the fixed mounting member 21 and located on the side of the mounting platform 1.

[0044] It is understandable that one of the multiple movable mounting parts 22 that is adjacent to the fixed mounting part 21 and located on the side of the mounting platform 1 is provided with a second monitoring part 2211, which may be the first movable mounting part 221.

[0045] This arrangement facilitates observation of the relative positions of the fixed mounting member 21 and the first movable mounting member 221, thereby enabling adjustment of the distance between them and improving the flexibility of the distance adjustment.

[0046] The variable distance measuring device 8 can be a laser sensor or a ruler, and both the first monitoring unit 211 and the second monitoring unit 2211 can be monitoring protrusions or pointers. In this embodiment, the variable distance measuring device 8 is a ruler, and both the first monitoring unit 211 and the second monitoring unit 2211 can be pointers. During the variable distance process, the movement distance of the fixed mounting member 21 and the first movable mounting member 221 can be observed directly. At the same time, the distance between the fixed mounting member 21 and the first movable mounting member 221 can be calculated by the pointer's indication value on the ruler. For example, if the indication value of the first monitoring unit 211 on the ruler is 0cm and the indication value of the second monitoring unit 2211 on the ruler is 5cm, the distance between the fixed mounting member 21 and the first movable mounting member 221 is 5cm.

[0047] Continue to refer to Figures 1 to 5 The variable pitch gripper mechanism 100 also includes a position switch assembly 9 mounted on the mounting platform 1, which is used to monitor the movement of multiple movable mounting parts 22.

[0048] The position switch assembly 9 includes a first position detection element 91 and a second position detection element 92. The first position detection element 91 is configured to correspond to the second movable mounting member 222, and the second position detection element 92 is configured to correspond to the third movable mounting member 223. The first position detection element 91 is used to detect the pitch change state of the second movable mounting member 222, and the second movable mounting member 222 engages with the first position detection element 91 via a sensing plate. The second position detection element 92 is used to detect the pitch change state of the third movable mounting member 223, and the second movable mounting member 222 engages with the third position detection element via a sensing plate.

[0049] Both the first position detection element 91 and the second position detection element 92 can be photoelectric induction switches or displacement sensors.

[0050] Continue to refer to Figures 1 to 5 The variable pitch gripper mechanism 100 also includes a guide assembly 14, which extends along the parallel direction of the fixed mounting member 21 and the movable mounting member 22. Both the fixed mounting member 21 and the movable mounting member 22 are guided and slidably engaged with the guide assembly 14.

[0051] With this configuration, the guide component 14 can guide the first movable mounting member 221, the second movable mounting member 222, and the third movable mounting member 223 to move stably, ensuring that the variable pitch gripper mechanism 100 can perform variable pitch operation smoothly, thereby improving the performance of the variable pitch gripper mechanism 100.

[0052] The guide assembly 14 includes two guide rails, which are spaced apart and mounted on the mounting platform 1. One end of the first movable mounting member 221, the second movable mounting member 222, and the third movable mounting member 223 is slidably engaged with one of the two guide rails, and the other end of the first movable mounting member 221, the second movable mounting member 222, and the third movable mounting member 223 is slidably engaged with the other guide rail.

[0053] The variable-pitch gripper mechanism 100 includes a connector 15, which is mounted on the mounting platform 1 and is used for connecting to external devices. The connector 15 can be a connecting bracket, which facilitates connection with a robotic arm, thereby facilitating the use of the variable-pitch gripper mechanism 100.

[0054] The connector 15 can also be other connecting structural components, which are not specifically limited here.

[0055] A robotic arm system includes a variable-pitch gripper mechanism 100. The specific structure of the variable-pitch gripper mechanism 100 is as described in the above embodiments. Since the robotic arm system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0056] The above description is merely an optional embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A variable-pitch gripper mechanism, characterized in that, The variable-pitch gripper mechanism includes a mounting platform, a variable-pitch assembly, and multiple gripper assemblies; wherein... The variable pitch assembly includes a fixed mounting component, multiple movable mounting components, a first driving component, and a second driving component. The fixed mounting component and the multiple movable mounting components are arranged side by side and are all located on one side of the mounting platform. The fixed mounting component is fixedly connected to the mounting platform, and the multiple movable mounting components are movably connected to the mounting platform. The multiple gripper assemblies are connected to the fixed mounting component and the multiple movable mounting components in a one-to-one correspondence. The body of the first driving member is fixedly mounted on the fixed mounting member, and the first driving end of the first driving member is connected to one of the plurality of movable mounting members located on the side; the body of the second driving member is fixedly mounted on one of the plurality of movable mounting members located away from the side and adjacent to the fixed mounting member, and the second driving end of the second driving member is connected to one of the plurality of movable mounting members located on the side and away from the first driving end; the first driving member and the second driving member are used to coordinately adjust the distance between the fixed mounting member and the plurality of movable mounting members. The mounting platform has two variable pitch end sides along the parallel direction of the fixed mounting member and the plurality of movable mounting members. Two of the plurality of movable mounting members are respectively disposed close to the two variable pitch end sides, and the fixed mounting member is disposed between the two variable pitch end sides. The variable pitch gripper mechanism further includes a first side positioning member and a second side positioning member. The first side positioning member is installed on one side of the two variable pitch end sides, and the second side positioning member is installed on the other side of the two variable pitch end sides. The first side positioning member is positioned and engaged with one of the two movable mounting members located on the variable pitch end side, and the second side positioning member is positioned and engaged with the other of the two movable mounting members located on the variable pitch end side. The installation platform has a first installation side and a second installation side arranged opposite to each other. The fixed installation component and the plurality of movable installation components are all located on the first installation side. The variable pitch component also includes a first limiting component and a second limiting component. The first limiting component and the second limiting component are both installed on the second installation side and are arranged at intervals along the movement path of the second drive component. The second drive component is located between the first limiting component and the second limiting component. The first limiting component and the second limiting component are used to limit the movement stroke of the second drive component.

2. The variable-pitch gripper mechanism as described in claim 1, characterized in that, The installation platform has a through-hole, and both the first drive component and the second drive component are located within the through-hole.

3. The variable-pitch gripper mechanism as described in claim 1, characterized in that, The variable pitch gripper mechanism further includes a variable pitch measuring device, which is mounted on the mounting platform. The fixed mounting component is provided with a first monitoring unit, and one of the plurality of movable mounting components adjacent to the fixed mounting component and located on the side of the mounting platform is provided with a second monitoring unit. Both the first monitoring unit and the second monitoring unit cooperate with the variable pitch measuring device to monitor the movement of the fixed mounting component and one of the plurality of movable mounting components adjacent to the fixed mounting component and located on the side of the mounting platform.

4. The variable-pitch gripper mechanism as described in claim 1, characterized in that, The variable-pitch gripper mechanism also includes a position switch assembly mounted on the mounting platform, the position switch assembly being used to monitor the movement of the plurality of movable mounting components.

5. The variable-pitch gripper mechanism as described in claim 1, characterized in that, The variable-pitch gripper mechanism further includes a guide assembly, which extends along the parallel direction of the fixed mounting member and the movable mounting member, and both the fixed mounting member and the movable mounting member slide in a guiding engagement with the guide assembly.

6. The variable-pitch gripper mechanism as described in claim 1, characterized in that, The variable-pitch gripper mechanism includes a connector, which is mounted on the mounting platform and is used for connecting to external devices.

7. A robotic arm system, characterized in that, The robotic arm system includes the variable-pitch gripper mechanism as described in any one of claims 1-6.

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