CN113878600B - Replaceable gripper module and replacement method for gripping elements - Google Patents

Abstract

The invention provides a replaceable clamping jaw module and a replacing method of a grabbing element. The connecting element comprises a first connecting surface and a second connecting surface. The gripping element comprises a first contact surface and a second contact surface. The first magnetic element and the second magnetic element are arranged on the connecting element, and the first magnetic component and the second magnetic component are arranged on the grabbing element. When the gripping element is connected to the connecting element, the first connecting surface contacts the first contact surface by magnetic attraction between the first magnetic element and the first magnetic member, and the second connecting surface contacts the second contact surface by magnetic attraction between the second magnetic element and the second magnetic member.

Description

Replaceable gripper module and replacement method for gripping elements

technical field

The invention relates to a gripper module, in particular to a gripper module with replaceable gripping elements.

Background technique

In the process of electronic products, robotic arms often need to use grippers to grip and move electronic parts, and there may be many different electronic parts in a single electronic product, so different styles of grippers may be required. In the equipment with replaceable jaws, in order to securely fix the jaws, it is necessary to use more complicated and bulky mechanism design and circuit design, and it is impossible to quickly and effectively replace the jaws. Therefore, how to solve the foregoing problems becomes an important issue.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the object of the present invention is to provide a replaceable jaw module and a replacement method for grabbing elements, the grabbing element can be firmly fixed on the connecting element, and the replaceable jaw The module can also achieve the purpose of quickly replacing the grabbing element by moving the connecting element relative to the carrying element.

To achieve the above object, the present invention provides a replaceable jaw module, including a connecting element, a grasping element, a first magnetic element, a first magnetic member, a second magnetic element, and a second magnetic member. The connection element includes a first connection surface and a second connection surface, and the normal vector of the first connection surface is different from the normal vector of the second connection surface. The grabbing element is detachably connected to the connecting element, and includes a first contact surface and a second contact surface. The first magnetic element and the second magnetic element are arranged on the connecting element, and the first magnetic member and the second magnetic member are arranged on the grabbing element. When the gripping element is connected to the connection element, the first connection surface contacts the first contact surface through the magnetic attraction force between the first magnetic element and the first magnetic member, and the second connection surface passes through the second magnetic element and the second magnetic member The magnetic attraction force between contacts the second contact surface.

In some embodiments of the present invention, the normal vector of the aforementioned first connecting surface is substantially perpendicular to the normal vector of the second connecting surface.

In some embodiments of the present invention, the aforementioned connection element includes a slider, and the grabbing element includes a guide groove. When the grabbing element is connected to the connecting element, the slider is accommodated in the guide groove, wherein the first connecting surface is formed on the slider, and the first contact surface is formed in the guide groove. The first contact surface is a bottom surface of the guide groove, facing an opening of the guide groove. The first magnetic element is arranged on the slider, and the second magnetic element is separated from the slider. The opening of the guide slot forms a chamfer. The slider has a sliding section and a limiting section, the sliding section is connected to the limiting section, and the cross-sectional area of the sliding section is smaller than or equal to the cross-sectional area of the guide groove, and the cross-sectional area of the limiting section is larger than the cross-sectional area of the guiding groove.

In some embodiments of the present invention, when the grabbing element is connected to the connecting element, viewed from the normal vector of the first connecting surface, the center of the first magnetic member and the center of the first magnetic element are separated by a distance. For example, the distance between the center of the first magnetic member and the second connection surface is greater than the distance between the first magnetic element and the second connection surface. In some embodiments, the connection element further includes a third connection surface connected to the first connection surface and substantially perpendicular to the first connection surface. The distance between them is smaller than the distance between the first magnetic element and the third connecting surface.

In some embodiments of the present invention, when the grasping element is connected to the connection element, viewed from the normal vector of the second connection surface, the center of the second magnetic member is aligned with the center of the second magnetic element.

In some embodiments of the present invention, the aforementioned grabbing element includes a grabbing surface and an inclined surface, the inclined surface is connected to the grabbing surface, and an obtuse angle is formed between the inclined surface and the grabbing surface.

In some embodiments of the present invention, the aforementioned replaceable jaw module further includes a third magnetic element and a third magnetic component, respectively disposed on the connecting element and the grasping element. The connecting element further includes a third connecting surface, the grasping element further includes a third contact surface, and the normal vector of the third connecting surface is substantially perpendicular to the normal vector of the first connecting surface and the normal vector of the second connecting surface. When the catch element is connected to the connection element, the third connection surface contacts the third contact surface by the magnetic attraction force between the third magnetic element and the third magnetic member. The connection element includes a slide block, the catch element includes a guide groove, and when the catch element is connected to the connection element, the slide block is accommodated in the guide groove, wherein the third magnetic element is arranged on the slide block.

In some embodiments of the present invention, the replaceable jaw module further includes a bearing element, and the grabbing element is detachably connected to the bearing element. The bearing element includes a plate body. When the grasping element is connected to the bearing element, the plate body and the grasping element are arranged along the normal vector of the first connecting surface, and viewed from the normal vector of the first connecting surface, the plate body and the grasping element overlapping. When the grasping element connects the carrying element and the connecting element at the same time, viewed from the normal vector of the first connecting surface, the plate body and the connecting element do not overlap.

To achieve the above purpose, the present invention further provides a replaceable jaw module, which includes a connecting element, a carrying element, and a grasping element. The carrying element includes a plate body, and the grabbing element is detachably connected to the connecting element and the carrying element. When the grabbing element is connected to the bearing element, the board body and the grabbing element are arranged along a first direction, and viewed from the first direction, the board body and the grabbing element overlap.

In some embodiments of the present invention, when the grabbing element is connected to the carrying element and the connecting element at the same time, viewed from the first direction, the plate body and the connecting element do not overlap.

To achieve the above object, the present invention provides a replacement method for grabbing elements, including: providing a connecting element and a grabbing element combined with the connecting element; moving the connecting element towards a carrying element, so that the grabbing element and the carrying element Combining, wherein the carrying element includes a plate, when viewed from a first direction, the plate and the grasping element overlap, and the plate and the connecting element do not overlap; move the connecting element toward the plate along the first direction, so that the connecting element and the connecting element The gripping element is separated; another gripping element is provided, and the other gripping element is mounted on a further carrier element; the connecting element is moved in a second direction toward the other carrier element, so that the connecting element and the other gripping element Combining elements, wherein the first direction is opposite to the second direction; and moving the connecting element in a third direction to separate another gripping element from another carrying element, wherein the third direction is different from the first direction.

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

Description of drawings

FIG. 1 shows a schematic diagram of a replaceable jaw module according to an embodiment of the present invention;

Figure 2 shows an exploded view of a replaceable jaw module according to an embodiment of the present invention;

Fig. 3 shows the schematic diagram of connection element, first magnetic element, second magnetic element and third magnetic element in one embodiment of the present invention;

Figure 4A shows a side view of a grabbing element, a first magnetic member, a second magnetic member and a third magnetic member in an embodiment of the present invention;

Fig. 4B shows the bottom view of the grasping element in one embodiment of the present invention;

Fig. 5A shows a schematic diagram of the combination of the connecting element and the grasping element in an embodiment of the present invention;

Fig. 5B shows a cross-sectional view of a combined connecting element and grabbing element in an embodiment of the present invention;

Fig. 6 shows the schematic diagram of the bearing element in an embodiment of the present invention;

Fig. 7A shows a schematic diagram of the movement of the connecting element and the grasping element towards the carrying element in one embodiment of the present invention;

Fig. 7B shows a schematic diagram of the separation of the connecting element and the grasping element in an embodiment of the present invention;

Fig. 7C shows a schematic diagram of a connecting element combined with another grasping element in an embodiment of the present invention;

FIG. 7D is a schematic diagram of a connecting element and another grasping element moving away from another carrying element in an embodiment of the present invention.

Among them, reference signs

100: Connecting elements

101: first connection surface

102: second connection surface

103: The third connection surface

110: Ontology

120: Slider

121: sliding segment

122: limit section

130: connection part

200, 200': grabbing components

201: first contact surface

202: second contact surface

203: The third contact surface

210, 210': guide groove

211: opening

212: chamfer

220: positioning slot

230: grab slot

231: grabbing surface

232: Inclined surface

310: first magnetic element

311: the center of the first magnetic element

320: second magnetic element

330: the third magnetic element

331: the center of the third magnetic element

410: first magnetic member

411: the center of the first magnetic member

420: second magnetic member

430: The third magnetic component

431: the center of the third magnetic member

500, 500': load bearing elements

510: base

520: limit part

530: plate body

531: Gap

C: Replaceable jaw module

Detailed ways

The replaceable jaw module of the present invention is described below. It should be readily appreciated, however, that the present invention provides many suitable inventive concepts that can be implemented in a wide variety of specific contexts. The specific embodiments disclosed are merely illustrative of specific ways to use the invention and do not limit the scope of the invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It is understood that these terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with the background or context of the related art and the present invention, and not in an idealized or overly formal manner Interpretation, unless specifically defined herein.

FIG. 1 shows a schematic view of a replaceable jaw module C according to an embodiment of the present invention, and FIG. 2 shows an exploded view of the replaceable jaw module C. Referring to FIG. As shown in Figure 1 and Figure 2, the aforementioned replaceable jaw module C mainly includes a plurality of connecting elements 100, a plurality of grasping elements 200, at least one first magnetic element 310, at least one second magnetic element 320, at least one The third magnetic element 330 , at least one first magnetic component 410 , at least one second magnetic component 420 , at least one third magnetic component 430 , and a bearing element 500 .

The connecting element 100 can be fixed on an external driving device (not shown), and the grasping element 200 can be detachably connected with the connecting element 100 . In this way, the external driving device can drive the grabbing element 200 to move, so that the grabbing element 200 contacts and grabs the object to be grabbed (such as various electronic components, such as chips, resistors, capacitors, etc.). The external driving device may be, for example, a robot arm or a linear motor, but is not limited thereto.

Referring to FIG. 3 , the connection element 100 includes a body 110 , a slider 120 , and a connection portion 130 , wherein the slider 120 and the connection portion 130 are connected to the body 110 . The connecting element 100 can be connected to the gripping element 200 through the slider 120 and can be connected to an external driving device through the connecting part 130 . In this embodiment, the connecting portion 130 has a ring structure, and the connecting portion 130 and the slider 120 are respectively disposed on opposite sides of the main body 110 .

The first magnetic element 310 , the second magnetic element 320 and the third magnetic element 330 are disposed on the connection element 100 and adjoin the first connection surface 101 , the second connection surface 102 and the third connection surface 103 of the connection element 100 respectively. For example, the first magnetic element 310 , the second magnetic element 320 and the third magnetic element 330 may be magnets. It should be noted that the normal vectors of the first connecting surface 101 , the normal vectors of the second connecting surface 102 and the normal vectors of the third connecting surface 103 are different in pairs. For example, the normal vector of the first connection surface 101 may be substantially perpendicular to the normal vector of the second connection surface 102 and the normal vector of the third connection surface 103, and the normal vector of the second connection surface 102 may be substantially perpendicular to the third connection surface. The normal vector of the surface 103 .

In this embodiment, the second connection surface 102 is formed on the body 110 , and the slider 120 is a T-shaped structure protruding from the second connection surface 102 . The first connection surface 101 and the third connection surface 103 are formed on the slider 120 and connected to each other. In addition, the slider 120 can be further divided into a sliding section 121 and a limiting section 122 , and the first connecting surface 101 and the third connecting surface 103 are formed on the sliding section 121 . On the XZ plane parallel to the first connecting surface 101 , the cross-sectional area of the sliding section 121 is smaller than the cross-sectional area of the limiting section 122 .

Please refer to FIG. 4A , the grabbing element 200 has a first contact surface 201 , a second contact surface 202 , and a third contact surface 203 , and includes a guide groove 210 . The first contact surface 201 and the third contact surface 203 are located in the guide groove 210 and respectively form the bottom surface and the side surface of the guide groove 210 . In detail, the first contact surface 201 faces the opening 211 of the guide groove 210 , and the third contact surface 203 is connected to the first contact surface 201 and located between the first contact surface 201 and the opening 211 . The second contact surface 202 is located outside the guide groove 210 and forms an outer surface of the grabbing element 200 .

The normal vectors of the first contact surface 201 , the normal vectors of the second contact surface 202 and the normal vectors of the third contact surface 203 are different in pairs. In this embodiment, the normal vector of the first contact surface 201 is approximately perpendicular to the normal vector of the second contact surface 202 and the normal vector of the third contact surface 203, and the normal vector of the second contact surface 202 is approximately perpendicular to the third contact surface. The normal vector of the surface 203 .

The first magnetic member 410 , the second magnetic member 420 and the third magnetic member 430 are disposed on the grasping element 200 and adjacent to the first contact surface 201 , the second contact surface 202 and the third contact surface 203 respectively. For example, the first magnetic member 410 , the second magnetic member 420 and the third magnetic member 430 may be magnets.

In this embodiment, a chamfer 212 is formed at the opening 211 of the guide groove 210 to facilitate the combination with the connecting element 100 and avoid damage caused by collision during the combination. In addition, as shown in Figure 4B, the catch element 200 can form a positioning groove 220 and a catch groove 230 at the bottom, and the catch groove 230 can have at least one catch surface 231 and at least one inclined surface 232, and grab An obtuse angle may be formed between the surface 231 and the inclined surface 232 . When the user uses the grasping element 200 to grasp an object, the inclined surface 232 can push the aforementioned object to move/rotate the object to a grippable orientation, and when the object is in a grippable orientation, the grasping surface 231 can contact and grasp fetch object.

As shown in Figure 5A and Figure 5B, when the connecting element 100 and the grabbing element 200 are combined, the slider 120 of the connecting element 100 will be accommodated in the guide groove 210 of the grabbing element 200, and the first magnetic element 310 will correspond to The first magnetic component 410 , the second magnetic element 320 will correspond to the second magnetic component 420 , and the third magnetic element 330 will correspond to the third magnetic component 430 . The magnetic attraction between the first magnetic element 310 and the first magnetic member 410 can make the first connection surface 101 close to and contact the first contact surface 201, and the magnetic attraction between the second magnetic element 320 and the second magnetic member 420 The force can cause the second connection surface 102 to be in close contact with the second contact surface 202, and the magnetic attraction force between the third magnetic element 330 and the third magnetic member 430 can cause the third connection surface 103 to be in close contact with the third contact surface. Surface 203.

In particular, as shown in FIG. 5A, when the connecting element 100 and the grasping element 200 are combined, viewed from the normal vector (Y-axis direction) of the first connecting surface 101, the center of the first magnetic element 310 in this embodiment 311 is not aligned with the center 411 of the first magnetic member 410 , there is a distance between them. Specifically, the distance between the center 411 of the first magnetic member 410 and the second connection surface 102 will be greater than the distance between the first magnetic element 310 and the second connection surface 102, and the center 411 of the first magnetic member 410 and the second connection surface 102 will be greater than the distance between the first magnetic element 310 and the second connection surface 102 The distance between the third connection surfaces 103 is smaller than the distance between the first magnetic element 310 and the third connection surface 103 . In this way, the magnetic attraction between the first magnetic element 310 and the first magnetic member 410 can provide component force to make the second connection surface 102 close to the second contact surface 202 and make the third connection surface 103 close to The third contact surface 203 .

As shown in Figure 5B, similarly, when the connecting element 100 and the grasping element 200 are combined, viewed from the normal vector (Z-axis direction) of the third connecting surface 103, the center 331 of the third magnetic element 330 in this embodiment It is also not aligned with the center 431 of the third magnetic member 430 , and there is a distance between the two. The distance between the center 431 of the third magnetic member 430 and the second connection surface 102 will be greater than the distance between the third magnetic element 330 and the second connection surface 102, and the center 431 of the third magnetic member 430 and the first connection surface The distance between 101 will be smaller than the distance between the third magnetic element 330 and the first connection surface 101 . In this way, the magnetic attraction force between the third magnetic element 330 and the third magnetic member 430 can provide component force to make the first connection surface 101 close to the first contact surface 201 and make the second connection surface 102 close to each other. The second contact surface 202 . The center of the second magnetic element 320 is aligned with the center of the second magnetic member 420 .

Since on the XZ plane, the cross-sectional area of the guide groove 210 is greater than or equal to the cross-sectional area of the sliding section 121 of the slider 120 and smaller than the cross-sectional area of the limiting section 122, when the connecting element 100 and the grabbing element 200 are combined, the sliding The section 121 can be accommodated in the guide groove 210 , and the limiting section 122 can cover the opening 211 of the guide groove 210 .

Please refer to FIG. 1 and FIG. 6 together. The bearing element 500 includes a base 510, at least one limiting portion 520, and a plate body 530, wherein the limiting portion 520 and the plate body 530 are connected to the base 510, and along the Z-axis direction extend.

When the grabbing element 200 is connected to the bearing element 500 , the grabbing element 200 can be disposed on the base 510 , and the limiting portion 520 can enter the positioning groove 220 of the grabbing element 200 .

The appearance of the plate body 530 is shaped in accordance with the connecting element 100 and the grasping element 200 . Specifically, when the grabbing element 200 is simultaneously with the connecting element 100 and the bearing element 500 , viewed from the Y-axis direction, the plate body 530 only overlaps with the grabbing element 200 but not the connecting element 100 . In other words, the plate body 530 may have a notch 531 corresponding to the connection element 100 . In addition, the opening 211 of the guide groove 210 of the grabbing element 200 faces the notch 531 and can be exposed from the notch 531 .

The method for replacing the grabbing element with the aforementioned replaceable jaw module is described below. Please refer to FIG. 7A, the grabbing element 200 is fixed on the external driving device through the connecting element 100. When the user wants to replace the grabbing element 200 on the connecting element 100, the external driving device can be operated to drive the connecting element 100 along the -Z axis direction Move towards the carrier element 500 . The limiting portion 520 of the carrying element 500 can enter into the positioning groove 220 of the grabbing element 200 , and the grabbing element 200 can be disposed on the base 510 to combine the grabbing element 200 with the carrying element 500 .

Next, as shown in FIG. 7B , the external drive device can continue to drive the connection element 100 to move, so that the connection element 100 moves relative to the bearing element 500 along the -Y axis (first direction). Since the plate body 530 of the bearing element 500 overlaps with the grabbing element 200 , the grabbing element 200 will be blocked by the plate body 530 , and the connecting element 100 will be separable from the grabbing element 200 .

Next, please refer to FIG. 7C , the user can provide another set of grasping elements 200' on another carrier element 500'. It should be noted that, except that the grabbing groove of the grabbing element 200' can be the same as or different from the grabbing groove 230 of the grabbing element 200, the rest of the structure of the grabbing element 200' is the same as that of the grabbing element 200, and The first magnetic member, the second magnetic member and the third magnetic member of the same first magnetic member 410 , second magnetic member 420 and third magnetic member 430 are also provided on the grasping element 200 ′. The structure of the bearing element 500' is also exactly the same as that of the bearing element 500.

The connecting element 100 can be driven to move toward the bearing element 500' along the Y-axis direction (second direction), and the slider 120 of the connecting element 100 can enter the guide groove 210' of the grabbing element 200', so that the connecting element 100 In combination with the gripping element 200'.

Finally, as shown in FIG. 7D , the connecting element 100 can be driven to move along the Z-axis direction (third direction) relative to the carrying element 500', and the grabbing element 200' can be separated from the carrying element 500'. The gripping element 200' has been fixed on the external drive device through the connecting element 100, so the gripping operation can be performed again.

To sum up, the replaceable jaw module of the present invention can securely fix the grabbing element on the connecting element through the magnetic element on the connecting element and the magnetic member on the grabbing element. Furthermore, the above-mentioned replaceable jaw module can achieve the purpose of quickly replacing the grasping element by moving the connecting element relative to the carrying element.

Although the embodiments of the present invention and their advantages have been disclosed above, it should be understood that those skilled in the art can make changes, substitutions and modifications without departing from the spirit and scope of the present invention. In addition, the protection scope of the present invention is not limited to the process, machine, manufacture, material composition, device, method and steps in the specific embodiments described in the specification, and anyone with ordinary knowledge in the technical field can learn from the disclosure of the present invention It is understood that the current or future developed process, machine, manufacture, material composition, device, method and step can be used according to the present invention as long as it can perform substantially the same function or obtain substantially the same result in the embodiments described herein. Therefore, the scope of the claims of the present invention includes the above-mentioned process, machine, manufacture, composition of matter, means, method and steps. In addition, each claim constitutes an individual embodiment, and the claim range of the present invention also includes combinations of the respective claim ranges and embodiments.

Certainly, the present invention also can have other multiple embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding Changes and deformations should belong to the scope of protection of the appended claims of the present invention.

Claims (17)

1. A replaceable jaw module, characterized in that, comprising: a connection element comprising a first connection surface and a second connection surface, and the normal vector of the first connection surface is different from the normal vector of the second connection surface; a gripping element, detachably connected to the connecting element, and comprising a first contact surface and a second contact surface; a first magnetic element arranged on the connection element; A first magnetic member is arranged on the grabbing element; a second magnetic element disposed on the connecting element; and a second magnetic member disposed on the grabbing element, wherein when the grabbing element is connected to the connecting element, the first connecting surface contacts through the magnetic attraction force between the first magnetic element and the first magnetic member the first contact surface, and the second connection surface contacts the second contact surface by a magnetic attraction force between the second magnetic element and the second magnetic member; Wherein, the connecting element includes a slider, the grabbing element includes a guide groove, and when the grabbing element is connected to the connecting element, the slider is accommodated in the guiding groove, wherein the first connecting surface is formed on On the slider, the first contact surface is formed in the guide groove, wherein the first contact surface is a bottom surface of the guide groove, facing an opening of the guide groove. 2. The replaceable jaw module according to claim 1, wherein the normal vector of the first connecting surface is perpendicular to the normal vector of the second connecting surface. 3. The replaceable jaw module according to claim 1, wherein the first magnetic element is disposed on the slider, and the second magnetic element is separated from the slider. 4 . The replaceable jaw module according to claim 1 , wherein an opening of the guide groove forms a chamfer. 5. The replaceable jaw module according to claim 1, wherein the slider has a sliding section and a limiting section, the sliding section is connected to the limiting section, and the cross-sectional area of the sliding section is less than Or equal to the cross-sectional area of the guide groove, the cross-sectional area of the limiting section is larger than the cross-sectional area of the guide groove. 6. The replaceable jaw module according to claim 1, wherein when the grabbing element is connected to the connecting element, viewed from the normal vector of the first connecting surface, the center of the first magnetic member and The centers of the first magnetic elements are separated by a distance. 7. The replaceable jaw module according to claim 6, wherein when the grabbing element is connected to the connecting element, the distance between the center of the first magnetic member and the second connecting surface is greater than the The distance between the first magnetic element and the second connection surface. 8. The replaceable jaw module according to claim 6, wherein the connection element further comprises a third connection surface connected to the first connection surface and perpendicular to the first connection surface, wherein when the gripper When an element is connected to the connection element, the distance between the center of the first magnetic member and the third connection surface is smaller than the distance between the first magnetic element and the third connection surface. 9. The replaceable jaw module according to claim 1, wherein when the grabbing element is connected to the connecting element, viewed from the normal vector of the second connecting surface, the centers of the second magnetic members are aligned the center of the second magnetic element. 10. The replaceable jaw module according to claim 1, wherein the gripping element comprises a gripping surface and an inclined surface, the inclined surface is connected to the gripping surface, and the inclined surface and the gripping An obtuse angle is formed between the faces. 11. The replaceable jaw module according to claim 1, further comprising: a third magnetic element disposed on the connecting element; and A third magnetic member is disposed on the gripping element, wherein the connecting element further includes a third connecting surface, the gripping element further includes a third contact surface, and the normal vector of the third connecting surface is perpendicular to the The normal vector of the first connection surface and the normal vector of the second connection surface, wherein when the grasping element is connected to the connection element, the third connection surface passes through the magnetic force between the third magnetic element and the third magnetic member An attractive force contacts the third contact surface. 12. The replaceable jaw module according to claim 11, wherein the connecting element comprises a slider, the grasping element comprises a guide groove, and when the grasping element is connected to the connecting element, the The slider is accommodated in the guide groove, wherein the third magnetic element is arranged on the slider. 13 . The replaceable gripper module according to claim 1 , further comprising a bearing element, and the grasping element is detachably connected to the bearing element. 14 . 14. The replaceable jaw module according to claim 13, wherein the carrying element comprises a plate, and when the grasping element is connected to the carrying element, the plate and the grasping element move along the The normal vectors of the first connecting surface are aligned, and viewed from the normal vectors of the first connecting surface, the plate body and the grasping element overlap. 15. The replaceable jaw module according to claim 14, characterized in that, when the grasping element is connected to the carrying element and the connecting element at the same time, viewed from the normal vector of the first connecting surface, the plate body does not overlap with the connection element. 16. A replaceable jaw module, comprising: a connection element; a load-carrying element including a plate; and A grabbing element detachably connects the connecting element and the carrier element, wherein when the grabbing element is connected to the carrier element, the plate body and the grabbing element are arranged along a first direction, and from the first Viewed from the direction, the plate body overlaps with the grasping element; Wherein, when the grabbing element connects the carrying element and the connecting element at the same time, viewed from the first direction, the plate body and the connecting element do not overlap. 17. An alternative method of grabbing components, comprising: providing a connecting element and a grasping element combined with the connecting element; moving the connecting element toward a carrying element, so that the grasping element is combined with the carrying element, wherein the carrying element comprises a plate body, and when viewed from a first direction, the plate body and the grasping element overlap, and the plate The body and the connecting element do not overlap; moving the connecting element along the first direction toward the board to separate the connecting element from the grasping element; providing a further gripping element, and the further gripping element is mounted on a further carrier element; moving the connecting element in a second direction toward the other carrier element, wherein the first direction is opposite to the second direction, to engage the connecting element and the other gripping element; and The connecting element is moved in a third direction to separate the another gripping element from the another bearing element, wherein the third direction is different from the first direction.

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