An electric variable pitch mechanism

Abstract

This application discloses an electric pitch-changing mechanism, including a frame and a servo motor, a transmission assembly, and a suction cup assembly mounted on the frame. The transmission assembly includes a synchronous belt assembly connected to the servo motor. At least two sets of synchronous belt assemblies are provided, and each set includes a driving pulley, a driven pulley, and a synchronous belt connecting the driving and driven pulleys. Multiple sets of suction cup assemblies are symmetrically arranged along the axial direction on both sides of the frame, and these symmetrically arranged suction cup assemblies are connected. The distance from each suction cup assembly on a single synchronous belt to the center of the frame is equal. By using a single servo motor in conjunction with multiple sets of synchronous belt assemblies and symmetrically arranged multiple sets of suction cup assemblies, the synchronous high-precision pitch changing of multiple suction cup assemblies is achieved. Simultaneously, the symmetrical arrangement of multiple suction cup assemblies along the axial direction on both sides of the frame allows for the simultaneous adsorption of multiple materials, improving overall transport efficiency.

Description

Technical Field

[0001] This application belongs to the field of packaging equipment technology, specifically relating to an electric pitch-changing mechanism. Background Technology

[0002] With the rapid development of the 3C industry, especially the smartphone manufacturing industry, the requirements for automated handling of thin and fragile components such as mobile phone glass are also increasing. During production, mobile phone glass is typically placed in blister packs with fixed spacing, and then transferred to a conveyor line for further processing. However, due to the inconsistent spacing between the blister packs and the conveyor line (e.g., the product spacing within the blister pack is 80mm, while the center distance of the conveyor line is 100mm), traditional fixed-spacing grippers cannot quickly adjust and adapt to the conveyor line spacing after material grabbing, making it difficult for automated handling systems to operate efficiently.

[0003] Currently, most common handling grippers on the market adopt pneumatic or mechanical variable-pitch structures. Since there are usually multiple grippers, there is an inconsistency in the movement distance of the grippers when adjusting the pitch. It is necessary to drive the corresponding grippers that need to be adjusted in batches. If the grippers are moved at the same time, multiple sets of drive devices need to be set up to accommodate different grippers. The required installation space is large, and the adjustment accuracy of the pitch between adjacent grippers is low. During the pitch change process, problems such as unstable movement and large positioning deviation are prone to occur, which affect the accuracy of gripping and placement, and may even lead to product damage or production line downtime, increasing maintenance costs and production risks.

[0004] Therefore, there is an urgent need for a gripper pitch-changing device that can achieve high precision, high efficiency, compact structure, and stable operation to solve the pitch adaptation problem of thin and light materials such as mobile phone glass in the automated handling process, thereby improving production efficiency and equipment reliability. Utility Model Content

[0005] This application provides an electric pitch control mechanism that solves at least one of the above-mentioned technical problems.

[0006] The technical solution adopted in this application is as follows:

[0007] An electric variable pitch mechanism includes a frame and a servo motor, a transmission assembly, and a suction cup assembly disposed on the frame. The transmission assembly includes a synchronous belt assembly that is driven by the servo motor. There are at least two sets of synchronous belt assemblies, and each set of synchronous belt assemblies includes a driving pulley, a driven pulley, and a synchronous belt connecting the driving pulley and the driven pulley. Multiple sets of suction cup assemblies are symmetrically arranged on both sides of the frame along the axial direction, and the axially symmetrical suction cup assemblies are correspondingly connected. Each synchronous belt is connected to a different suction cup assembly, and the distance from each suction cup assembly on a single synchronous belt to the center of the frame is equal.

[0008] Preferably, the frame is provided with multiple linkage plates, and the suction cup assemblies arranged symmetrically with respect to the frame are fixed to the same linkage plate. The synchronous belt connects the linkage plates so that the suction cup assemblies located on the same linkage plate move synchronously.

[0009] Preferably, the inner wall of the frame is provided with a slide rail, and the linkage plate is provided with a first connecting block and a second connecting block. The first connecting block is connected to the corresponding synchronous belt, and the second connecting block is slidably connected to the slide rail by a slider.

[0010] Preferably, both ends of the linkage plate extend to the outside of the frame to form a limiting plate for fixing the suction cup assembly, and each suction cup assembly includes two suction cups located on the limiting plate.

[0011] Preferably, the synchronous belt assembly is provided in two sets, and five sets of suction cup assemblies are provided on each side of the frame, including a central suction cup group located in the middle, inner suction cup groups located on both sides of and adjacent to the central suction cup group, and outer suction cup groups located outside the inner suction cup groups; the linkage plate includes two inner linkage plates corresponding to the inner suction cup groups and two outer linkage plates corresponding to the outer suction cup groups, the number of teeth of the driving wheel connected to the outer linkage plate is twice the number of teeth of the driving wheel connected to the outer linkage plate, and the number of teeth of each driven wheel is equal to the number of teeth of the corresponding driving wheel.

[0012] Preferably, the synchronous belt is arranged in a ring shape inside the frame along the frame axis, the linkage plate is located below the synchronous belt, and two linkage plates symmetrical about the frame axis are respectively connected to the opposite side of the corresponding synchronous belt through a first connecting block.

[0013] Preferably, the electric pitch-changing mechanism further includes a tensioning assembly, which is disposed at both ends of the frame, separate from the servo motor. The tensioning assembly includes a connecting shaft connecting the two driven wheels, and a tensioning seat is provided at the top of the connecting shaft. The tensioning assembly includes an adjusting block parallel to the tensioning seat, and the adjusting block is movably connected to the tensioning seat.

[0014] Preferably, the tensioning seat has a tensioning block parallel to the adjusting block at its top, the adjusting block and the tensioning block have corresponding connecting holes, and the tensioning assembly includes an adjusting bolt connecting the two connecting holes.

[0015] Preferably, the frame includes a top plate, a side plate, and a bottom plate, the top plate, the side plate, and the bottom plate enclosing a receiving area, the transmission assembly being located in the receiving area, the adjusting block and the tensioning seat being located outside the top plate, and the top plate having positioning holes at both ends for the output end of the servo motor and the connecting shaft to pass through.

[0016] Preferably, the side plate is provided with a plurality of clearance openings for the suction cup assembly to extend, and a partition plate fixedly connected to the bottom plate is provided between adjacent clearance openings.

[0017] Due to the adoption of the above technical solution, the beneficial effects achieved by this application are as follows:

[0018] This system solves the problem of high-precision synchronous pitch change of multiple suction cup assemblies by using a single servo motor in conjunction with multiple sets of synchronous belt assemblies and symmetrically arranged multiple sets of suction cup assemblies. By simultaneously driving at least two sets of synchronous belt assemblies with a single servo motor, and because the motor output shaft is directly connected to the driving pulley of each synchronous belt assembly, all driving pulleys rotate synchronously, thereby driving the driven pulleys on each synchronous belt and the suction cup assemblies to perform consistent and precise radial movement. This connection method and transmission approach fundamentally avoids the problems of asynchronous movement, large cumulative errors, and large space occupation caused by traditional multi-gripper systems that require batch driving or multiple power sources, significantly improving the consistency and efficiency of pitch change.

[0019] Meanwhile, multiple suction cup assemblies are symmetrically arranged along the axial direction on both sides of the frame, and these symmetrical suction cup assemblies are interconnected. Furthermore, the distance from each suction cup assembly on a single synchronous belt to the center of the frame remains constant. This arrangement, combined with the high-precision transmission of a single servo motor and multiple synchronous belt assemblies, allows all suction cups to open or close symmetrically and at equal intervals according to a preset trajectory under the drive of the servo motor. This enables rapid, smooth, and precise changes from the initial gripping distance (e.g., 80mm) to the target placement distance (e.g., 100mm), improving the stability and repeatability of the distance change process. It also effectively prevents material offset, collision, or damage caused by asynchronous suction cup movement, and reduces equipment debugging difficulty and maintenance requirements.

[0020] Furthermore, the various components in this application are integrated into the frame, and the transmission components are arranged inside the frame to avoid external interference during the transmission process, which is conducive to a compact overall structure and occupies less space. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a schematic diagram of the electric pitch-changing mechanism in one embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the transmission component in one embodiment of the present invention;

[0024] Figure 3This is a schematic diagram of the slide rail slider in one embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the tensioning component in one embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the external structure of the frame in one embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1-Frame, 11-Slide rail, 12-Top plate, 13-Side plate, 131-Clearing opening, 132-Partition, 14-Bottom plate, 15-Accommodation area;

[0029] 2-Servo motors;

[0030] 3-Transmission assembly, 31-Synchronous belt assembly, 32-Driving pulley, 33-Driven pulley, 34-Synchronous belt, 35-Linkage plate, 351-First connecting block, 352-Second connecting block, 353-Slider, 354-Limiting plate;

[0031] 4-Suction cup assembly, 41-Suction cup, 42-Center suction cup assembly, 43-Inner suction cup assembly, 44-Outer suction cup assembly;

[0032] 5-Tensioning assembly, 51-Connecting shaft, 52-Tensioning seat, 53-Adjusting block, 54-Tensioning block, 55-Connecting hole. Detailed Implementation

[0033] To more clearly illustrate the overall concept of this application, a detailed explanation is provided below with reference to the accompanying drawings.

[0034] Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below. It should be noted that, unless otherwise specified, the embodiments of this application and the features thereof can be combined with each other.

[0035] Furthermore, it should be understood in the description of this application that the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, the "above" or "below" of the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. In the description of this specification, references to terms such as "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0038] This application provides an electric pitch control mechanism, such as... Figures 1 to 5 As shown, the device includes a frame 1 and a servo motor 2, a transmission assembly 3, and a suction cup assembly 4 mounted on the frame 1. The transmission assembly 3 includes a synchronous belt assembly 31 that is connected to the servo motor 2. There are at least two sets of synchronous belt assemblies 31, and each set of synchronous belt assemblies 31 includes a driving pulley 32, a driven pulley 33, and a synchronous belt 34 connecting the driving pulley 32 and the driven pulley 33. Multiple sets of suction cup assemblies 4 are symmetrically arranged on both sides of the frame 1 along the axial direction, and the axially symmetrical suction cup assemblies 4 are connected to each other. Each synchronous belt 34 is connected to a different suction cup assembly 4, and the distance from each suction cup assembly 4 on a single synchronous belt 34 to the center of the frame 1 is equal.

[0039] By using a single servo motor 2 in conjunction with multiple sets of synchronous belt assemblies 31 and symmetrically arranged multiple sets of suction cup assemblies 4, the synchronous high-precision pitch change of multiple suction cup assemblies 4 is achieved. A single servo motor 2 simultaneously drives at least two sets of synchronous belt assemblies 31. Since the motor output shaft is directly connected to the driving pulley 32 of each synchronous belt assembly 31, all driving pulleys 32 rotate synchronously, thereby driving the driven pulleys 33 on each synchronous belt 34 and the suction cup assemblies 4 to perform consistent and precise radial movement. This connection method and transmission mechanism fundamentally avoids the problems of asynchronous movement, large cumulative errors, and large space occupation caused by traditional multi-gripper systems that require batch driving or multiple power sources, significantly improving the consistency and efficiency of pitch change.

[0040] Meanwhile, multiple suction cup assemblies 4 are symmetrically arranged along the axial direction on both sides of the frame 1, enabling the mechanism to simultaneously adsorb multiple materials, which is beneficial to improving the overall transportation efficiency. The axially symmetrical suction cup assemblies 4 are interconnected, and the distance from each suction cup assembly 4 on a single synchronous belt 34 to the center of the frame 1 remains equal. This arrangement, combined with the high-precision transmission of a single servo motor 2 and multiple synchronous belt assemblies 31, allows all suction cups 41 to perform equidistant and symmetrical opening or closing movements strictly according to a preset trajectory under the drive of the servo motor 2. This achieves a rapid, stable, and precise change from the initial gripping distance (e.g., 80mm) to the target placement distance (e.g., 100mm), improving the stability and repeatability of the distance change process. It also effectively prevents material offset, collision, or damage caused by asynchronous movement of the suction cups 41, and reduces the difficulty of equipment debugging and maintenance requirements.

[0041] Furthermore, the various components in this application are integrated into the frame 1, and the transmission components 3 are arranged inside the frame 1 to avoid external interference in the transmission process, which is conducive to the overall compact structure and occupies less space.

[0042] In one implementation, such as Figure 2 , Figure 3 As shown, the frame 1 has multiple linkage plates 35 inside. The suction cup assemblies 4, which are symmetrically arranged with respect to the frame 1, are fixed to the same linkage plate 35. The synchronous belt 34 connects the linkage plates 35 so that the suction cup assemblies 4 located on the same linkage plate 35 can move synchronously.

[0043] By fixing the axially symmetrical suction cup assemblies 4 onto the same linkage plate 35, and then directly driving the linkage plate 35 with the synchronous belt 34, a stable connection and overall synchronous movement of the symmetrical suction cup 41 groups are achieved. This ensures that each group of suction cups 41 maintains strict symmetry and equidistance during pitch change, effectively avoiding skewness or jamming caused by asynchrony of individual suction cup assemblies 4. Furthermore, by integrating the movement of multiple suction cup assemblies 4 into a whole through the linkage plate 35, the transmission chain is further simplified, the overall balance and motion stability of the system are improved, and the complexity and error accumulation risk of independent control of multiple suction cups 41 are reduced.

[0044] Furthermore, such as Figure 3 As shown, the inner wall of the frame 1 is provided with a slide rail 11, and the linkage plate 35 is provided with a first connecting block 351 and a second connecting block 352. The first connecting block 351 is connected to the corresponding synchronous belt 34, and the second connecting block 352 is slidably connected to the slide rail 11 through a slider 353.

[0045] By setting a slide rail 11 on the inner wall of the frame 1, and connecting the linkage plate 35 to the synchronous belt 34 via the first connecting block 351 and slidingly connecting it to the slider 353 via the second connecting block 352, the linkage plate 35 is provided with precise linear guidance and stable support. This separates the driving force provided by the synchronous belt 34 from the guiding function undertaken by the slide rail 11, ensuring that the linkage plate 35 and the suction cup assembly 4 move smoothly and steadily along the predetermined trajectory without shaking or deflection. It also reduces the lateral force on the synchronous belt 34, extends the service life of the transmission components, and improves the repeatability and reliability of the entire pitch change process.

[0046] Preferably, the two ends of the linkage plate 35 extend to the outside of the frame 1 to form a limiting plate 354 for fixing the suction cup assembly 4, and each suction cup assembly 4 includes two suction cups 41 located on the limiting plate 354.

[0047] By extending both ends of the linkage plate 35 to the outside of the frame 1 to form limiting plates 354, suction cup assemblies 4 are directly mounted. Each suction cup assembly 4 includes two suction cups 41. This structure makes full use of the support area of ​​the linkage plate 35, enhancing the stability of the suction cup assembly 4 installation. The limiting plates 354 maintain a certain distance between the suction cup assembly 4 and the synchronous belt 34, avoiding interference during movement and preventing the material adsorbed by the suction cup assembly 4 from being collided with other components during movement. The two suction cups 41 jointly adsorb the same material, further increasing the adsorption force and balance of a single workstation. Especially for thin and fragile parts such as mobile phone glass, it can effectively prevent tilting or falling off due to unstable single-point adsorption during handling, improving the success rate and safety of gripping.

[0048] In one embodiment, such as Figure 2 As shown, the synchronous belt assembly 31 has two sets, and five sets of suction cup assemblies 4 are provided on each side of the frame 1, including a central suction cup assembly 42 located in the middle, inner suction cup assemblies 43 located on both sides of the central suction cup assembly 42 and adjacent to it, and outer suction cup assemblies 44 located outside the inner suction cup assemblies 43; the linkage plate 35 includes two inner linkage plates 35 corresponding to the inner suction cup assemblies 43 and two outer linkage plates 35 corresponding to the outer suction cup assemblies 44. The number of teeth of the driving wheel 32 connected to the outer linkage plate 35 is twice the number of teeth of the driving wheel 32 connected to the outer linkage plate 35, and the number of teeth of each driven wheel 33 is equal to the number of teeth of the corresponding driving wheel 32.

[0049] By setting the synchronous belt assembly 31 into two groups, and correspondingly configuring five groups of suction cup assemblies 4, as well as inner and outer linkage plates 35, and by setting the number of teeth of the driving wheel 32 connected to the outer linkage plate 35 to twice that of the inner one, while keeping the number of teeth of the driving and driven wheels 33 equal, the precise speed ratio of the synchronous belt 34 transmission enables different moving speeds and moving distances for the inner and outer suction cup groups 44. This allows all suction cups 41 to automatically coordinate their movement according to a preset ratio (e.g., 2:1) during pitch changes, thereby efficiently and accurately achieving pitch changes from 80mm to 100mm without the need for an additional drive source, resulting in a compact structure and simple control.

[0050] It is understood that the central suction cup assembly 42 does not need to be connected to the timing belt 34; it can be directly fixed to the frame 1 using existing technology. The number of teeth on the two drive pulleys 32 can be set according to the actual pitch requirements; the 80mm and 100mm pitches are only examples in this embodiment.

[0051] Furthermore, the synchronous belt 34 is arranged in a ring shape along the axial direction of the frame 1 inside the frame 1, and the linkage plate 35 is located below the synchronous belt 34. The two linkage plates 35, which are symmetrical about the axial direction of the frame 1, are respectively connected to the opposite side of their corresponding synchronous belt 34 through the first connecting block 351.

[0052] By arranging the synchronous belt 34 in a ring shape along the axial direction inside the frame 1, and connecting two linkage plates 35 symmetrical about the axial direction of the frame 1 to the opposite side of the corresponding synchronous belt 34, when the synchronous belt 34 is running, the linkage plates 35 on both sides can move towards or away from each other, thereby realizing the symmetrical opening or closing of the suction cup assembly 4. This makes efficient use of the internal space of the frame 1, making the structure more compact, and ensuring the absolute synchronicity and symmetry of the movement of the suction cup assembly 4 on both sides. It eliminates the imbalance caused by transmission delay or error, which is conducive to improving the smoothness and accuracy of the pitch change process.

[0053] In one embodiment, such as Figure 4 As shown, the electric variable pitch mechanism also includes a tensioning component 5. The tensioning component 5 and the servo motor 2 are respectively located at both ends of the frame 1. The tensioning component 5 includes a connecting shaft 51 that connects two driven wheels 33. A tensioning seat 52 is provided on the top of the connecting shaft 51. The tensioning component 5 includes an adjusting block 53 that is parallel to the tensioning seat 52. The adjusting block 53 is movably connected to the tensioning seat 52.

[0054] Tensioning assembly 5 is installed at one end of the frame 1 and arranged opposite to the servo motor 2 at the other end. This tensioning, combined with the shape and characteristics of the synchronous belt 34, achieves tension while maintaining the overall structural compactness. The tensioning assembly 5, through a connecting shaft 51, tensioning seat 52, and adjusting block 53, allows for convenient and reliable tension adjustment of the synchronous belt 34. During use, the tension of the synchronous belt 34 can be adjusted by tightening the adjusting block 53 through its movable connection with the tensioning seat 52. This effectively prevents transmission errors, slippage, or tooth skipping caused by slack in the synchronous belt 34, ensuring transmission accuracy and stability. It also facilitates installation and maintenance, extending the equipment's service life.

[0055] Preferably, the top of the tensioning seat 52 is provided with a tensioning block 54 parallel to the adjusting block 53, and the adjusting block 53 and the tensioning block 54 are provided with corresponding connecting holes 55. The tensioning assembly 5 includes an adjusting bolt that connects the two connecting holes 55.

[0056] By setting a tension block 54 on top of the tensioning seat 52 and connecting the adjusting block 53 to the tension block 54 via an adjusting bolt with a connecting hole 55, a fine and stable tension fine-tuning structure is formed. The relative position of the tension block 54 and the adjusting block 53 can be precisely controlled by rotating the adjusting bolt, thereby achieving smooth and linear adjustment of the tension of the synchronous belt 34. This design is simple in structure, easy to operate, and ensures the accuracy and consistency of tension adjustment, guaranteeing the long-term reliability of the transmission system.

[0057] In one embodiment, such as Figure 5 As shown, the frame 1 includes a top plate 12, a side plate 13 and a bottom plate 14. The top plate 12, the side plate 13 and the bottom plate 14 enclose a receiving area 15. The transmission assembly 3 is located in the receiving area 15. The adjusting block 53 and the tensioning seat 52 are located outside the top plate 12. The top plate 12 has positioning holes at both ends for the output end of the servo motor 2 and the connecting shaft 51 to pass through.

[0058] The transmission assembly 3 is housed in an accommodating area 15 formed by the top plate 12, side plates 13, and bottom plate 14. The adjusting block 53 and tensioning seat 52 are placed outside the top plate 12, providing a closed and stable protective space for the transmission system. This effectively prevents external dust and foreign objects from intruding and interfering with the transmission or causing wear on the components. Simultaneously, the positioning holes at both ends of the top plate 12 ensure accurate positioning and smooth transmission between the output end of the servo motor 2 and the connecting shaft 51, further improving operational stability and reliability.

[0059] Preferably, the side plate 13 is provided with a plurality of clearance openings 131 for the suction cup assembly 4 to extend, and a partition 132 fixedly connected to the bottom plate 14 is provided between adjacent clearance openings 131.

[0060] By providing clearance openings 131 on the side plate 13 for the suction cup assembly 4 to extend, and by setting partitions 132 fixedly connected to the base plate 14 between adjacent clearance openings 131, these clearance openings 131 provide ample and precise movement space for the suction cup assembly 4, preventing interference with the frame 1. The partitions 132 enhance the overall strength and stability of the frame 1, effectively suppressing vibrations and deformations that may occur during pitch changes, further ensuring the precision and consistency of the movement of all suction cup assemblies 4, and improving the overall support strength and durability of the equipment.

[0061] For any parts not mentioned in this application, existing technologies may be used or referenced.

[0062] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0063] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An electric pitch-changing mechanism, characterized in that, The device includes a frame and a servo motor, a transmission assembly, and a suction cup assembly mounted on the frame. The transmission assembly includes a synchronous belt assembly that is connected to the servo motor. There are at least two sets of synchronous belt assemblies, and each set of synchronous belt assemblies includes a driving pulley, a driven pulley, and a synchronous belt connecting the driving pulley and the driven pulley. Multiple sets of suction cup assemblies are symmetrically arranged on both sides of the frame along the axial direction, and the axially symmetrical suction cup assemblies are connected to each other. Each synchronous belt is connected to a different suction cup assembly, and the distance from each suction cup assembly on a single synchronous belt to the center of the frame is equal.

2. The electric pitch-changing mechanism according to claim 1, characterized in that, The frame is equipped with multiple linkage plates. The suction cup assemblies, which are symmetrically arranged with respect to the frame axis, are fixed to the same linkage plate. The synchronous belt connects the linkage plate so that the suction cup assemblies located on the same linkage plate move synchronously.

3. The electric pitch-changing mechanism according to claim 2, characterized in that, The inner wall of the frame is provided with a slide rail, and the linkage plate is provided with a first connecting block and a second connecting block. The first connecting block is connected to the corresponding synchronous belt, and the second connecting block is slidably connected to the slide rail by a slider.

4. The electric pitch-changing mechanism according to claim 2, characterized in that, The two ends of the linkage plate extend to the outside of the frame to form a limiting plate for fixing the suction cup assembly, and each suction cup assembly includes two suction cups located on the limiting plate.

5. The electric pitch-changing mechanism according to claim 3, characterized in that, The synchronous belt assembly is provided in two sets, and five sets of suction cup assemblies are provided on each side of the frame, including a central suction cup group located in the middle, inner suction cup groups located on both sides of the central suction cup group and adjacent to it, and outer suction cup groups located outside the inner suction cup groups; the linkage plate includes two inner linkage plates corresponding to the inner suction cup groups and two outer linkage plates corresponding to the outer suction cup groups. The number of teeth of the driving wheel connected to the outer linkage plate is twice the number of teeth of the driving wheel connected to the outer linkage plate, and the number of teeth of each driven wheel is equal to the number of teeth of the corresponding driving wheel.

6. The electric pitch-changing mechanism according to claim 5, characterized in that, The synchronous belt is arranged in a ring shape inside the frame along the frame axis. The linkage plate is located below the synchronous belt, and two linkage plates that are symmetrical about the frame axis are respectively connected to the opposite side of the corresponding synchronous belt through a first connecting block.

7. The electric pitch-changing mechanism according to claim 1, characterized in that, The electric pitch-changing mechanism also includes a tensioning assembly, which is located at both ends of the frame, separate from the servo motor. The tensioning assembly includes a connecting shaft connecting the two driven wheels, and a tensioning seat is provided at the top of the connecting shaft. The tensioning assembly includes an adjusting block parallel to the tensioning seat, and the adjusting block is movably connected to the tensioning seat.

8. The electric pitch-changing mechanism according to claim 7, characterized in that, The tensioning seat has a tensioning block on top that is parallel to the adjusting block. The adjusting block and the tensioning block are respectively provided with connecting holes. The tensioning assembly includes an adjusting bolt that connects the two connecting holes.

9. The electric pitch-changing mechanism according to claim 7, characterized in that, The frame includes a top plate, side plates, and a bottom plate. The top plate, side plates, and bottom plate enclose a receiving area. The transmission assembly is located in the receiving area. The adjusting block and the tensioning seat are located outside the top plate. The top plate has positioning holes at both ends for the output end of the servo motor and the connecting shaft to pass through.

10. The electric pitch-changing mechanism according to claim 9, characterized in that, The side plate is provided with multiple clearance openings for the suction cup assembly to extend, and a partition plate fixedly connected to the bottom plate is provided between adjacent clearance openings.

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