CN113878600B

CN113878600B - Replaceable jaw module and method for replacing gripping elements

Info

Publication number: CN113878600B
Application number: CN202010624562.9A
Authority: CN
Inventors: 丁仁峰; 陈鸿文; 黄郁儒; 林沛群; 陈振豪
Original assignee: Delta Electronics Inc
Current assignee: Delta Electronics Inc
Priority date: 2020-07-02
Filing date: 2020-07-02
Publication date: 2023-05-09
Anticipated expiration: 2040-07-02
Also published as: CN113878600A

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 jaw module and method for replacing gripping elements

Technical Field

The present invention relates to a gripper module, and more particularly, to a gripper module with replaceable gripping elements.

Background

In the process of electronic products, robotic arms often require the use of jaws to grip and move electronic components, while a single electronic product may have many different electronic components therein, and thus may require different styles of jaws. In the prior art of replaceable clamping jaw devices, in order to fix clamping jaws reliably, a relatively complex and bulky mechanical design and circuit design are required, and clamping jaws cannot be replaced quickly and effectively. Therefore, how to solve the above problems has become an important issue.

Disclosure of Invention

In order to solve the above-mentioned problems of the prior art, an object of the present invention is to provide a replaceable clamping jaw module and a method for replacing a clamping element, wherein the clamping element can be firmly fixed on a connecting element, and the replaceable clamping jaw module can further achieve the purpose of quickly replacing the clamping element by moving the connecting element relative to a bearing element.

In order to achieve the above-mentioned objects, the present invention provides a replaceable clamping jaw module, which comprises a connecting element, a grabbing element, a first magnetic member, a second magnetic element, and a second magnetic member. The connecting element comprises a first connecting surface and a second connecting surface, and the normal vector of the first connecting surface is different from that of the second connecting surface. The gripping element is detachably connected to the connecting element and 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.

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

In some embodiments of the invention, the connecting element includes a slider, and the gripping element includes a guide slot. When the grabbing element is connected with the connecting element, the sliding block is accommodated in the guide groove, wherein the first connecting surface is formed on the sliding block, and the first contact surface is formed in the guide groove. The first contact surface is a bottom surface of the guide groove and faces an opening of the guide groove. The first magnetic element is arranged on the sliding block, and the second magnetic element is separated from the sliding block. The opening of the guide slot forms a guide angle. The sliding block is provided with a sliding section and a limiting section, the sliding section is connected with the limiting section, the cross section area of the sliding section is smaller than or equal to the cross section area of the guide groove, and the cross section area of the limiting section is larger than the cross section area of the guide groove.

In some embodiments of the invention, the center of the first magnetic member is spaced apart from the center of the first magnetic element as viewed from the normal vector of the first connection surface when the gripping element is connected to the connection element. 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 connecting element further comprises a third connecting surface connected to the first connecting surface and substantially perpendicular to the first connecting surface, and when the grasping element is connected to the connecting element, a distance between a center of the first magnetic member and the third connecting surface is smaller than a distance between the first magnetic element and the third connecting surface.

In some embodiments of the invention, the center of the second magnetic member is aligned with the center of the second magnetic element when the grasping element is coupled to the coupling element, as viewed from a normal vector to the second coupling surface.

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

In some embodiments of the invention, the replaceable jaw module further includes a third magnetic element and a third magnetic member disposed on the connecting element and the grabbing element, respectively. The connecting element further comprises a third connecting surface, the grabbing element further comprises a third contact surface, and the normal vector of the third connecting surface is approximately perpendicular to the normal vector of the first connecting surface and the normal vector of the second connecting surface. When the gripping element is connected to the connecting element, the third connecting surface contacts the third contact surface by means of a magnetic attraction force between the third magnetic element and the third magnetic member. The connecting element comprises a sliding block, the grabbing element comprises a guide groove, and when the grabbing element is connected with the connecting element, the sliding block is accommodated in the guide groove, wherein the third magnetic element is arranged on the sliding block.

In some embodiments of the invention, the replaceable jaw module further comprises a carrying element, and the gripping element is detachably connected to the carrying element. The carrier element comprises a plate body, and when the gripping element is connected to the carrier element, the plate body and the gripping element are arranged along the normal vector of the first connection surface, and the plate body and the gripping element overlap as viewed from the normal vector of the first connection surface. When the gripping element connects the carrier element and the connecting element simultaneously, the plate body and the connecting element do not overlap, as seen from the normal vector of the first connecting surface.

In order to achieve the above object, the present invention further provides a replaceable clamping jaw module, which comprises a connecting element, a carrying element, and a grabbing element. The bearing element comprises a plate body, and the grabbing element is detachably connected with the connecting element and the bearing element. When the gripping elements are connected to the carrier element, the plate body and the gripping elements are aligned along a first direction and, viewed from the first direction, overlap.

In some embodiments of the invention, the plate body and the connecting element do not overlap when the gripping element connects the carrier element and the connecting element simultaneously, as seen in the first direction.

To achieve the above object, the present invention further provides a method for replacing a gripping element, comprising: providing a connecting element and a grabbing element combined with the connecting element; moving the connecting element towards a bearing element to enable the grabbing element to be combined with the bearing element, wherein the bearing element comprises a plate body, the plate body and the grabbing element are overlapped when being observed from a first direction, and the plate body and the connecting element are not overlapped; moving the connecting element towards the plate body along a first direction to separate the connecting element from the grabbing element; providing another grabbing element, and installing the other grabbing element on another bearing element; moving the connecting element towards the other carrying element along a second direction to combine the connecting element with the other grabbing element, wherein the first direction is opposite to the second direction; and moving the connecting element along a third direction to separate the other grabbing element from the other bearing element, wherein the third direction is different from the first direction.

The invention will now be described in more detail with reference to the drawings and specific examples, which are not intended to limit the invention thereto.

Drawings

FIG. 1 shows a schematic view of an alternative jaw module according to an embodiment of the invention;

FIG. 2 shows an exploded view of a replaceable jaw module according to one embodiment of the invention;

FIG. 3 shows a schematic view of a connecting element, a first magnetic element, a second magnetic element, and a third magnetic element in an embodiment of the invention;

FIG. 4A shows a side view of a gripping element, a first magnetic member, a second magnetic member, and a third magnetic member in an embodiment of the invention;

FIG. 4B illustrates a bottom view of a gripping element in an embodiment of the present invention;

FIG. 5A is a schematic view showing the coupling element and the gripping element after being coupled together in accordance with one embodiment of the present invention;

FIG. 5B shows a cross-sectional view of the coupling element and gripping element in combination, in accordance with one embodiment of the present invention;

FIG. 6 is a schematic view of a load bearing member according to an embodiment of the invention;

FIG. 7A is a schematic view showing movement of the connecting element and gripping element toward the carrier element in an embodiment of the invention;

FIG. 7B is a schematic view showing the separation of the connecting element and the gripping element in an embodiment of the present invention;

FIG. 7C is a schematic view showing the coupling element coupled to another gripping element in accordance with one embodiment of the present invention;

fig. 7D is a schematic view showing the movement of the connecting member and the other gripping member away from the other carrying member in an embodiment of the present invention.

Wherein reference numerals are used to refer to

100 connecting element

101 first connection surface

102 second connection surface

103 third connection surface

110 body

120 slider

121 sliding section

122 spacing section

130 connecting portion

200. 200': grabbing element

201 first contact surface

202 second contact surface

203 third contact surface

210. 210': guide slot

211 opening

212, lead angle

220 positioning groove

230 grabbing groove

231 gripping surface

232 inclined plane

310 first magnetic element

311 center of first magnetic element

320 second magnetic element

330 third magnetic element

331 center of third magnetic element

410 first magnetic member

411 center of first magnetic member

420 second magnetic member

430 third magnetic component

431 center of third magnetic member

500. 500': bearing element

510 base

520 limit part

530 plate body

531 gap

C, replaceable clamping jaw module

Detailed Description

The replaceable jaw module of the present invention is described below. However, it will be readily appreciated that the present invention provides many suitable inventive concepts that can be embodied in a wide variety of specific contexts. The specific embodiments disclosed are illustrative only, and are not intended to limit the scope of the invention in any way.

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 will be appreciated that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present invention and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Fig. 1 shows a schematic view of a replaceable jaw module C according to an embodiment of the invention, and fig. 2 shows an exploded view of the replaceable jaw module C. As shown in fig. 1 and 2, the replaceable clamping jaw module C mainly includes a plurality of connecting elements 100, a plurality of grabbing elements 200, at least one first magnetic element 310, at least one second magnetic element 320, at least one third magnetic element 330, at least one first magnetic member 410, at least one second magnetic member 420, at least one third magnetic member 430, and a carrying element 500.

The connection element 100 may be fixed to an external driving device (not shown), and the grasping element 200 may be detachably connected to the connection 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 (e.g. various electronic components such as chip, resistor, capacitor, 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 connecting element 100 includes a body 110, a slider 120, and a connecting portion 130, wherein the slider 120 and the connecting portion 130 are connected to the body 110. The connection element 100 may be connected to the grasping element 200 through the slider 120 and may be connected to an external driving device through the connection 130. In the present embodiment, the connecting portion 130 has an annular structure, and the connecting portion 130 and the slider 120 are disposed on opposite sides of the body 110, respectively.

The first, second and third

magnetic elements

310, 320, 330 are disposed on the connection element 100 and abut the first, second and third connection surfaces 101, 102, 103 of the connection element 100, respectively. For example, the first, second and third

magnetic elements

310, 320, 330 may be magnets. It should be noted that, the normal vector of the first connection surface 101, the normal vector of the second connection surface 102, and the normal vector of the third connection surface 103 are different from each other. 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 normal vector of the third connection surface 103.

In the present embodiment, the second connecting surface 102 is formed on the body 110, and the slider 120 has a T-shaped structure protruding from the second connecting surface 102. The first connection surface 101 and the third connection surface 103 are formed on the slider 120 and are connected to each other. In addition, the slider 120 may 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. The sliding section 121 has a smaller cross-sectional area than the spacing section 122 in the XZ plane parallel to the first connection surface 101.

Referring 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 guiding slot 210. The first contact surface 201 and the third contact surface 203 are located within the channel 210, forming a bottom surface and a side surface of the channel 210, respectively. 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 is located between the first contact surface 201 and the opening 211. The second contact surface 202 is located outside the channel 210 and forms an outer surface of the gripping element 200.

The normal vector of the first contact surface 201, the normal vector of the second contact surface 202, and the normal vector of the third contact surface 203 are different from each other. In this embodiment, the normal vector of the first contact surface 201 is substantially 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 substantially perpendicular to the normal vector of the third contact surface 203.

The first, second and third

magnetic members

410, 420, 430 are arranged on the gripping element 200 and abut the aforementioned first, second and third contact surfaces 201, 202, 203, respectively. For example, the first, second, and third

magnetic members

410, 420, and 430 may be magnets.

In the present embodiment, the guide groove 210 forms a guide angle 212 at the opening 211 thereof to facilitate coupling with the connection member 100 and to prevent damage due to collision during coupling. In addition, as shown in fig. 4B, the grasping element 200 may form a positioning groove 220 and a grasping groove 230 at the bottom, the grasping groove 230 may have at least one grasping surface 231 and at least one inclined surface 232, and an obtuse angle may be formed between the grasping surface 231 and the inclined surface 232. When a user grabs an object by using the grabbing element 200, the inclined surface 232 can push the object to move/rotate to the grabbed position, and when the object is located in the grabbed position, the grabbing surface 231 can contact and grab the object.

As shown in fig. 5A and 5B, when the connecting element 100 and the grabbing element 200 are combined, the slider 120 of the connecting element 100 is accommodated in the guide slot 210 of the grabbing element 200, and the first magnetic element 310 corresponds to the first magnetic member 410, the second magnetic element 320 corresponds to the second magnetic member 420, and the third magnetic element 330 corresponds to the third magnetic member 430. The magnetic attraction between the first magnetic element 310 and the first magnetic member 410 may cause the first connection surface 101 to abut and contact the first contact surface 201, the magnetic attraction between the second magnetic element 320 and the second magnetic member 420 may cause the second connection surface 102 to abut and contact the second contact surface 202, and the magnetic attraction between the third magnetic element 330 and the third magnetic member 430 may cause the third connection surface 103 to abut and contact the third contact surface 203.

In particular, as shown in fig. 5A, when the connecting element 100 and the grasping element 200 are combined, the center 311 of the first magnetic element 310 in this embodiment is not aligned with the center 411 of the first magnetic member 410, as viewed from the normal vector (Y-axis direction) of the first connecting surface 101, and is spaced apart from the center. Specifically, the distance between the center 411 of the first magnetic member 410 and the second connection surface 102 may be greater than the distance between the first magnetic element 310 and the second connection surface 102, and the distance between the center 411 of the first magnetic member 410 and the third connection surface 103 may be less than the distance between the first magnetic element 310 and the third connection surface 103. As such, the magnetic attraction between the first magnetic element 310 and the first magnetic member 410 may further provide a force component to urge the second connection surface 102 against the second contact surface 202 and the third connection surface 103 against the third contact surface 203.

As shown in fig. 5B, also, when the connecting element 100 and the grasping element 200 are combined, the center 331 of the third magnetic element 330 in this embodiment is not aligned with the center 431 of the third magnetic member 430, as viewed from the normal vector (Z-axis direction) of the third connecting surface 103, and the two are separated by a distance. The distance between the center 431 of the third magnetic member 430 and the second connection surface 102 may be greater than the distance between the third magnetic element 330 and the second connection surface 102, and the distance between the center 431 of the third magnetic member 430 and the first connection surface 101 may be less than the distance between the third magnetic element 330 and the first connection surface 101. As such, the magnetic attraction between the third magnetic element 330 and the third magnetic member 430 may further provide a force component to urge the first connection surface 101 against the first contact surface 201 and the second connection surface 102 against 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 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 in the XZ plane, when the connecting element 100 and the grabbing element 200 are combined, the sliding 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.

Referring to fig. 1 and fig. 6, the carrier 500 includes a base 510, at least one limiting portion 520, and a plate 530, wherein the limiting portion 520 and the plate 530 are connected to the base 510 and extend along the Z-axis direction.

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

The outer appearance of the plate 530 is shaped to match the coupling member 100 and the grasping member 200. Specifically, when the grasping element 200 is simultaneously overlapped with the connecting element 100 and the carrying element 500, the plate 530 is overlapped with only the grasping element 200, not with the connecting element 100, as viewed from the Y-axis direction. In other words, the plate 530 may have a notch 531 corresponding to the connection element 100. In addition, the opening 211 of the guide slot 210 of the grasping element 200 faces the notch 531 and may be exposed from the notch 531.

The following describes a method for replacing gripping elements with the aforementioned replaceable jaw module. Referring to fig. 7A, the gripping element 200 is fixed to the external driving device through the connecting element 100, and when a user wants to replace the gripping element 200 on the connecting element 100, the external driving device is operable to drive the connecting element 100 to move toward the carrying element 500 along the-Z axis direction. The limiting portion 520 of the carrying element 500 may enter the positioning slot 220 of the grabbing element 200, and the grabbing element 200 may be disposed on the base 510, so that the grabbing element 200 is combined with the carrying element 500.

Next, as shown in fig. 7B, the external driving device may continue to drive the movement of the connection element 100, so that the connection element 100 moves in the-Y axis direction (first direction) with respect to the carrier element 500. Since the plate 530 of the carrier element 500 overlaps the gripping element 200, the gripping element 200 will be blocked by the plate 530 and the connecting element 100 will be separable from the gripping element 200.

Next, referring to fig. 7C, the user may provide another set of gripping elements 200 'on another carrier element 500'. It should be noted that, except that the gripping grooves of the gripping element 200' may be identical to or different from the gripping grooves 230 of the gripping element 200, the other structures of the gripping element 200' are identical to those of the gripping element 200, and the first, second and third magnetic members of the first, second and third

magnetic members

410, 420 and 430 are also disposed on the gripping element 200 '. The structure of the carrier 500' is also identical to the carrier 500.

The connection member 100 may be driven to move toward the bearing member 500 'in the Y-axis direction (second direction), and the slider 120 of the connection member 100 may enter the guide groove 210' of the grasping member 200', thereby coupling the connection member 100 with the grasping member 200'.

Finally, as shown in fig. 7D, the connection member 100 may be driven to move along the Z-axis direction (third direction) with respect to the carrier member 500', and the grasping member 200' may be separated from the carrier member 500 '. The gripping element 200' has been fixed to the external drive device by means of the connecting element 100, so that the gripping operation can be performed again.

In summary, the replaceable jaw module of the present invention can firmly fix the gripping element to the connecting element by the magnetic element on the connecting element and the magnetic member on the gripping element. Furthermore, the replaceable clamping jaw module can achieve the purpose of quickly replacing the clamping element through the movement of the connecting element relative to the bearing element.

Although embodiments and advantages of the present invention have been disclosed, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention. Furthermore, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification, but only to the process, machine, manufacture, composition of matter, means, methods and steps described in the specification for use by one of ordinary skill in the art in view of the present disclosure, so long as the substantially identical function or result is achieved in the embodiments described herein. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps. In addition, each claim scope constitutes a separate embodiment, and the claim scope of the present invention also includes a combination of the respective claim scope and embodiment.

Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention, as will be apparent to those skilled in the art, without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A replaceable jaw module, comprising:

a connecting element comprising a first connecting surface and a second connecting surface, wherein the normal vector of the first connecting surface is different from the normal vector of the second connecting 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 connecting element;

a first magnetic component arranged on the grabbing element;

a second magnetic element arranged 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 the first contact surface by a magnetic attractive force between the first magnetic element and the first magnetic member, and the second connecting surface contacts the second contact surface by a magnetic attractive force between the second magnetic element and the second magnetic member;

the connecting element comprises a sliding block, the grabbing element comprises a guide groove, and when the grabbing element is connected with the connecting element, the sliding block is accommodated in the guide groove, the first connecting surface is formed on the sliding block, the first contact surface is formed in the guide groove, and the first contact surface is a bottom surface of the guide groove and faces an opening of the guide groove.

2. The replaceable jaw module of claim 1 wherein a normal vector of the first connection surface is perpendicular to a normal vector of the second connection surface.

3. The replaceable jaw module of claim 1 wherein the first magnetic element is disposed on the slider and the second magnetic element is separate from the slider.

4. The replaceable jaw module of claim 1 wherein an opening of the channel forms a chamfer.

5. The replaceable jaw module of claim 1 wherein the slider has a sliding section and a limiting section, the sliding section connecting the limiting section, and the sliding section having a cross-sectional area less than or equal to the cross-sectional area of the channel, the limiting section having a cross-sectional area greater than the cross-sectional area of the channel.

6. The replaceable jaw module of claim 1 wherein the center of the first magnetic member is spaced from the center of the first magnetic element as viewed from a normal vector to the first connection surface when the gripping element is connected to the connection element.

7. The replaceable jaw module of claim 6 wherein a distance between a center of the first magnetic member and the second connection surface is greater than a distance between the first magnetic member and the second connection surface when the gripping element is connected to the connection element.

8. The replaceable jaw module of claim 6 wherein the connecting element further comprises a third connecting surface connecting the first connecting surface and perpendicular to the first connecting surface, wherein a distance between a center of the first magnetic member and the third connecting surface is less than a distance between the first magnetic member and the third connecting surface when the grasping element is connected to the connecting element.

9. The replaceable jaw module of claim 1 wherein a center of the second magnetic member is aligned with a center of the second magnetic element as viewed from a normal vector of the second connection surface when the gripping element is connected to the connection element.

10. The replaceable jaw module of claim 1 wherein the gripping element includes a gripping surface and an inclined surface, the inclined surface connecting the gripping surface and the inclined surface forming an obtuse angle therebetween.

11. The replaceable jaw module of claim 1 further comprising:

a third magnetic element arranged on the connecting element; and

the third magnetic component is arranged on the grabbing element, wherein the grabbing element further comprises a third connecting surface, the grabbing element further comprises a third contact surface, and the normal vector of the third connecting surface is perpendicular to the normal vector of the first connecting surface and the normal vector of the second connecting surface, and when the grabbing element is connected with the connecting element, the third connecting surface contacts the third contact surface through the magnetic attractive force between the third magnetic element and the third magnetic component.

12. The replaceable jaw module of claim 11 wherein the connecting element includes a slider, the gripping element includes a channel, and the slider is received in the channel when the gripping element is connected to the connecting element, wherein the third magnetic element is disposed on the slider.

13. The replaceable jaw module of claim 1 further comprising a carrier member, the gripping member being removably coupled to the carrier member.

14. The replaceable jaw module of claim 13 wherein the carrier member includes a plate body and the gripping member are aligned along a normal vector of the first connection surface when the gripping member is connected to the carrier member, and the plate body and the gripping member overlap as viewed from the normal vector of the first connection surface.

15. The replaceable jaw module of claim 14 wherein the plate and the connecting element do not overlap when viewed from a normal vector to the first connecting surface when the gripping element connects the carrier element and the connecting element simultaneously.

16. A replaceable jaw module, comprising:

a connecting element;

a bearing element comprising a plate body; and

a grabbing element detachably connected with the connecting element and the bearing element, wherein when the grabbing element is connected with the bearing element, the plate body and the grabbing element are arranged along a first direction, and the plate body and the grabbing element are overlapped when being observed from the first direction;

when the grabbing element is connected with the bearing element and the connecting element at the same time, the plate body and the connecting element are not overlapped when viewed from the first direction.

17. A method of replacing a gripping element, comprising:

providing a connecting element and a grabbing element combined with the connecting element;

moving the connecting element towards a bearing element to enable the grabbing element to be combined with the bearing element, wherein the bearing element comprises a plate body, the plate body and the grabbing element are overlapped when being observed from a first direction, and the plate body and the connecting element are not overlapped;

moving the connecting element towards the plate body along the first direction to separate the connecting element from the grabbing element;

providing another grabbing element, wherein the other grabbing element is arranged on another bearing element;

moving the connecting element towards the other bearing element along a second direction to combine the connecting element with the other grabbing element, wherein the first direction is opposite to the second direction; and

and moving the connecting element along a third direction to separate the other grabbing element from the other bearing element, wherein the third direction is different from the first direction.