TWI728851B - Replaceable gripper module and method for replacing gripping member - Google Patents

Abstract

A replaceable gripper module is provided, including a connecting member, a gripping member, a first magnetic member, a first magnetic component, a second magnetic member, and a second magnetic component. The connecting member includes a first connecting surface and a second connecting surface. The gripping member includes a first contacting surface and a second contacting surface. The first magnetic member and the second magnetic member are disposed on the connecting member. The first magnetic component and the second magnetic component are disposed on the gripping member. When the gripping member is connected to the connecting member, the first connecting surface contacts the first contacting surface via a magnetic attraction force between the first magnetic member and the first magnetic component, and the second connecting surface contacts the second contacting surface via a magnetic attraction force between the second magnetic member and the second magnetic component.

Description

Replaceable clamping jaw module and replacement method for grabbing components

The present invention relates to a clamping jaw module, in particular to a clamping jaw module with replaceable gripping elements.

In the manufacturing process of electronic products, robotic arms often need to use clamping jaws to grip and move electronic parts, and a single electronic product may have many different electronic parts, so different styles of clamping jaws may be required. In the existing equipment with replaceable clamping jaws, in order to reliably fix the clamping jaws, a more complicated and large-volume mechanism design and circuit design are required, and the clamping jaws cannot be replaced quickly and effectively. Therefore, how to solve the aforementioned problems has become an important issue.

In order to solve the above-mentioned conventional problems, the present invention provides a replaceable clamping jaw module, which includes a connecting element, a grasping element, a first magnetic element, a first magnetic member, a second magnetic element, and a The second magnetic member. The connecting element includes a first connecting surface and a second connecting surface, and the normal vector of the first connecting surface is different from the normal vector of the second connecting surface. The grasping 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 grasping element. When the grasping element is connected to the connecting element, the first connecting surface contacts the first contact surface through the magnetic attraction between the first magnetic element and the first magnetic member, and the second connecting surface passes through the second magnetic element and the second magnetic member The magnetic attraction between the two 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 connecting element includes a slider, and the grasping element includes a guide groove. When the grasping 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 and faces one of the openings 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 groove forms a guide angle. The sliding block has a sliding section and a limiting section, the sliding section is connected with the limiting section, and the sectional area of the sliding section is less than or equal to the sectional area of the guide groove, and the sectional area of the limiting section is greater than the sectional area of the guiding groove.

In some embodiments of the present invention, when the gripping 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 connecting element further includes a third connecting surface connected to the first connecting surface and substantially perpendicular to the first connecting surface. When the grasping element is connected to the connecting element, the center of the first magnetic member is connected to the third connecting surface. The distance therebetween 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 connecting element, viewed from the normal vector of the second connecting 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 grasping element includes a grasping surface and an inclined surface, the inclined surface is connected to the grasping surface, and an obtuse angle is formed between the inclined surface and the grasping surface.

In some embodiments of the present invention, the aforementioned replaceable clamping jaw module further includes a third magnetic element and a third magnetic member, which are 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 grasping element is connected to the connecting element, the third connecting surface contacts the third contact surface through the magnetic attraction between the third magnetic element and the third magnetic member. The connecting element includes a sliding block, and the grabbing element includes a guide groove. When the grabbing element is connected to the connecting element, the sliding block is accommodated in the guide groove, and the third magnetic element is arranged on the sliding block.

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

The present invention further provides a replaceable clamping jaw module, which includes a connecting element, a carrying element, and a grasping element. The carrying element includes a plate body, and the grasping element is detachably connected to the connecting element and the carrying element. When the grasping element is connected to the carrying element, the plate body and the grasping element are arranged along a first direction, and when viewed from the first direction, the plate body and the grasping element overlap.

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

The present invention also provides a method for replacing a grasping element, including: providing a connecting element and a grasping element combined with the connecting element; moving the connecting element toward a carrying element to combine the grasping element with the carrying element, wherein the carrying element includes A plate body, when viewed from a first direction, the plate body and the grasping element overlap, and the plate body and the connecting element do not overlap; move the connecting element in the first direction toward the plate body to separate the connecting element and the grasping element; provided Another grabbing element, and the other grabbing element is mounted on the other carrying element; moving the connecting element in a second direction toward the other carrying element, so that the connecting element is combined with the other grabbing element, where the first The direction is opposite to the second direction; and the connecting element is moved along a third direction to separate the other grabbing element from the other carrying element, wherein the third direction is different from the first direction.

The replaceable jaw module of the present invention will be described below. However, it can be easily understood that the present invention provides many suitable inventive concepts and can be implemented in a wide variety of specific backgrounds. The specific embodiments disclosed are only used to illustrate the use of the present invention in a specific method, and are not used to limit the scope of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meanings as commonly understood by the general artisans to whom the disclosure belongs. It is understandable that these terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with the relevant technology and the background or context of the present invention, rather than in an idealized or overly formal way. Interpretation, unless specifically defined here.

Figure 1 is a schematic diagram showing a replaceable jaw module C according to an embodiment of the present invention, and Figure 2 is an exploded view showing the replaceable jaw module C. As shown in Figures 1 and 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, and at least A third magnetic component 330, at least one first magnetic component 410, at least one second magnetic component 420, at least one third magnetic component 430, and a carrying component 500.

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

Please refer 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 both connected to the body 110. The connecting 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 connecting portion 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 the opposite side 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 connecting element 100 and abut the first connecting surface 101, the second connecting surface 102 and the third connecting surface 103 of the connecting 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 particularly noted that the normal vector of the first connecting surface 101, the normal vector of the second connecting surface 102, and the normal vector of the third connecting 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 third connection. The normal vector of surface 103.

In this embodiment, the second connecting surface 102 is formed on the body 110, and the slider 120 is 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 they are 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 grasping 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, forming the bottom surface and the side surface of the guide groove 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 guide groove 210 and forms an outer surface of the grasping 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 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 are adjacent to the aforementioned first contact surface 201, second contact surface 202, and 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, the guide groove 210 has a guide angle 212 formed at its opening 211 to facilitate the combination with the connecting element 100 and avoid damage due to collision during the combination. In addition, as shown in Figure 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 the grasping 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 graspable position. When the object is in the graspable position, the grasping surface 231 can touch and grasp Take the object.

As shown in Figures 5A and 5B, when the connecting element 100 and the grasping element 200 are combined, the slider 120 of the connecting element 100 will be accommodated in the guide groove 210 of the grasping element 200, and the first magnetic element 310 will correspond to The first magnetic component 410 and the second magnetic component 320 correspond to the second magnetic component 420, and the third magnetic component 330 corresponds 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 abut and contact the first contact surface 201, the magnetic attraction between the second magnetic element 320 and the second magnetic member 420 The force can make the second connection surface 102 closely adhere to and contact the second contact surface 202, and the magnetic attraction between the third magnetic element 330 and the third magnetic member 430 can make the third connection surface 103 closely adhere to 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, when viewed from the normal vector (Y-axis direction) of the first connecting surface 101, the first magnetic element 310 in this embodiment is The center 311 is not aligned with the center 411 of the first magnetic member 410, and there will be a distance between the two. Specifically, the distance between the center 411 of the first magnetic member 410 and the second connection surface 102 is 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 is greater than the distance between the center 411 of the first magnetic member 410 and the second connection surface 102. The distance between the third connection surface 103 may be smaller than the distance between the first magnetic element 310 and the third connection surface 103. In this way, the magnetic attraction force between the first magnetic element 310 and the first magnetic member 410 can provide a component force to make the second connection surface 102 abut the second contact surface 202 and the third connection surface 103 abut 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 of the third magnetic element 330 in this embodiment is 331 is also not aligned with the center 431 of the third magnetic member 430, and there will be 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 may 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 a component force to make the first connection surface 101 abut the first contact surface 201 and the second connection surface 102 to abut 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 less than the cross-sectional area of the limiting section 122, when the connecting element 100 and the grasping 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 Figures 1 and 6 together, the carrying element 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 are along the Z-axis direction extend.

When the grasping element 200 is connected to the carrying element 500, the grasping element 200 can be disposed on the base 510, and the limiting portion 520 can enter the positioning groove 220 of the grasping 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 grasping element 200 is simultaneously with the connecting element 100 and the carrying element 500, viewed from the Y-axis direction, the board 530 will only overlap the grasping element 200, but not the connecting element 100. In other words, the board 530 may have a notch 531 corresponding to the connecting element 100. In addition, the opening 211 of the guide groove 210 of the grasping element 200 faces the notch 531 and can be exposed from the notch 531.

The following describes a method of replacing the grasping component with the aforementioned replaceable gripper module. Please refer to Fig. 7A, the grabbing element 200 is fixed to the external drive device through the connecting element 100. When the user wants to replace the grabbing element 200 on the connecting element 100, the external drive device can be operated to drive the connecting element 100 along the -Z axis. The direction moves toward the carrying element 500. The limiting portion 520 of the supporting element 500 can enter the positioning groove 220 of the grabbing element 200, and the grabbing element 200 can be disposed on the base 510 so that the grabbing element 200 and the supporting element 500 are combined.

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

Next, referring to Figure 7C, the user can provide another set of grabbing elements 200' on another carrying element 500'. It should be noted that, except that the grabbing groove of the grabbing element 200' can be the same 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 grasping element 200' is also provided with a first magnetic member, a second magnetic member, and a third magnetic member that are the same as the first magnetic member 410, the second magnetic member 420, and the third magnetic member 430. The structure of the carrying element 500' is also exactly the same as that of the carrying element 500.

The connecting element 100 can be driven to move toward the carrying element 500' along the Y-axis direction (the second direction), and the slider 120 of the connecting element 100 can enter the guide groove 210' of the grasping element 200', thereby making the connecting element 100 Combine with gripping element 200'.

Finally, as shown in Figure 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 grasping element 200' can be separated from the carrying element 500'. The grasping element 200' has been fixed to the external drive device through the connecting element 100, so the grasping operation can be performed again.

In summary, the replaceable clamping jaw module of the present invention can penetrate the magnetic element on the connecting element and the magnetic member on the grasping element, so that the grasping element is firmly fixed on the connecting element. Furthermore, the aforementioned replaceable clamping jaw module can achieve the purpose of quickly replacing the grasping element through the movement of the connecting element relative to the carrying element.

Although the embodiments of the present invention and its advantages have been disclosed as above, it should be understood that any person with ordinary knowledge in the relevant technical field can make changes, substitutions and modifications without departing from the spirit and scope of the present invention. In addition, the scope of protection of the present invention is not limited to the manufacturing processes, machines, manufacturing, material composition, devices, methods, and steps in the specific embodiments described in the specification. Anyone with ordinary knowledge in the technical field can disclose the content from the present invention. It is understood that the current or future developed processes, machines, manufacturing, material composition, devices, methods, and steps can be used according to the present invention as long as they can perform substantially the same functions or obtain substantially the same results in the embodiments described herein. Therefore, the protection scope of the present invention includes the above-mentioned manufacturing processes, machines, manufacturing, material composition, devices, methods and steps. In addition, the scope of each patent application constitutes an individual embodiment, and the protection scope of the present invention also includes the scope of each patent application and the combination of the embodiments.

Although the present invention is disclosed in the foregoing several preferred embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention pertains can make slight changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to those defined by the attached patent application scope. In addition, the scope of each patent application constitutes an independent embodiment, and various combinations of patent scope and embodiments fall within the scope of the present invention.

100: connecting element 101: The first connection surface 102: second connecting surface 103: third connecting surface 110: body 120: Slider 121: Sliding section 122: limit segment 130: connecting part 200, 200’: Grabbing components 201: first contact surface 202: second contact surface 203: third contact surface 210, 210’: Guide groove 211: open 212: Lead Angle 220: positioning slot 230: grab slot 231: Grab the surface 232: Inclined surface 310: The first magnetic element 311: The center of the first magnetic element 320: second magnetic element 330: 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: third magnetic member 431: The center of the third magnetic member 500, 500’: Carrying element 510: Base 520: Limit 530: plate body 531: Gap C: Replaceable gripper module

Figure 1 is a schematic diagram showing a replaceable jaw module according to an embodiment of the present invention. Figure 2 is an exploded view showing a replaceable clamping jaw module according to an embodiment of the present invention. Fig. 3 is a schematic diagram showing the connecting element, the first magnetic element, the second magnetic element, and the third magnetic element in an embodiment of the present invention. Fig. 4A is a side view showing the grasping element, the first magnetic member, the second magnetic member, and the third magnetic member in an embodiment of the present invention. Fig. 4B is a bottom view of the grasping element in an embodiment of the present invention. FIG. 5A is a schematic diagram showing the connection element and the grasping element in an embodiment of the present invention. Figure 5B shows a cross-sectional view of the connecting element and the grasping element in an embodiment of the present invention. Fig. 6 is a schematic diagram showing a carrying element in an embodiment of the present invention. FIG. 7A is a schematic diagram showing the movement of the connecting element and the grasping element toward the carrying element in an embodiment of the present invention. Fig. 7B is a schematic diagram showing the separation of the connecting element and the grasping element in an embodiment of the present invention. Figure 7C is a schematic diagram showing the combination of a connecting element and another grabbing element in an embodiment of the present invention. FIG. 7D is a schematic diagram showing the movement of the connecting element and another grasping element in a direction away from the other carrying element in an embodiment of the present invention.

100: connecting element

200: Grab components

202: second contact surface

210: Guide groove

211: open

310: The first magnetic element

320: second magnetic element

330: third magnetic element

410: first magnetic member

420: second magnetic member

430: third magnetic member

500: Carrying element

Claims (20)

A replaceable clamping jaw module includes: A connecting element including a first connecting surface and a second connecting surface, and the normal vector of the first connecting surface is different from the normal vector of the second connecting surface; A grasping element, detachably connected to the connecting element, and including a first contact surface and a second contact surface; A first magnetic element arranged on the connecting element; A first magnetic member arranged on the grasping element; A second magnetic element arranged on the connecting element; and A second magnetic member disposed on the grasping element, wherein when the grasping element is connected to the connecting element, the first connecting surface is in contact with the magnetic attraction between the first magnetic element and the first magnetic member The first contact surface and the second connection surface contact the second contact surface through a magnetic attraction between the second magnetic element and the second magnetic member. Such as the replaceable gripper module of claim 1, wherein the normal vector of the first connecting surface is substantially perpendicular to the normal vector of the second connecting surface. For example, the replaceable clamping jaw module of claim 1, wherein the connecting element includes a slider, the grasping element includes a guide groove, and when the grasping element is connected to the connecting element, the slider is accommodated in the In the guide groove, the first connecting surface is formed on the slider, and the first contact surface is formed in the guide groove. For example, the replaceable clamping jaw module of claim 3, wherein the first contact surface is a bottom surface of the guide groove facing an opening of the guide groove. For example, the replaceable clamping jaw module of claim 3, wherein the first magnetic element is disposed on the slider, and the second magnetic element is separated from the slider. For example, the replaceable clamping jaw module of claim 3, wherein an opening of the guide groove forms a guide angle. For example, the replaceable gripper module of claim 3, 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 that of the guide groove Cross-sectional area, the cross-sectional area of the limiting section is greater than the cross-sectional area of the guide groove. Such as the replaceable gripper module of claim 1, wherein when the grasping 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 The centers are separated by a distance. Such as the replaceable jaw module of claim 8, wherein when the grasping 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 that of the first magnetic element and the connecting element. The distance between the second connecting surfaces. Such as the replaceable jaw module of claim 8, wherein the connecting element further includes a third connecting surface connected to the first connecting surface and substantially perpendicular to the first connecting surface, wherein when the grasping element is connected to the connecting surface When the element is used, the distance between the center of the first magnetic member and the third connecting surface is smaller than the distance between the first magnetic element and the third connecting surface. Such as the replaceable gripper module of claim 1, wherein when the grasping element is connected to the connecting element, viewed from the normal vector of the second connecting surface, the center of the second magnetic member is aligned with that of the second magnetic element center. Such as the replaceable gripper module of claim 1, wherein the grasping element includes a grasping surface and an inclined surface, the inclined surface is connected to the grasping surface, and a gap is formed between the inclined surface and the grasping surface Obtuse angle. For example, the replaceable gripper module of claim 1, wherein the replaceable gripper module further includes: A third magnetic element arranged on the connecting element; and A third magnetic member is disposed on the grasping element, wherein 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, wherein when the grasping element is connected to the connecting element, the third connecting surface passes through the gap between the third magnetic element and the third magnetic member The magnetic attraction contacts the third contact surface. For example, the replaceable clamping jaw module of claim 13, wherein the connecting element includes a slider, the grasping element includes a guide groove, and when the grasping element is connected to the connecting element, the slider is accommodated in the In the guide groove, the third magnetic element is arranged on the slider. For example, the replaceable clamping jaw module of claim 1, wherein the replaceable clamping jaw module further includes a carrying element, and the grabbing element is detachably connected to the carrying element. For example, the replaceable clamping jaw module of claim 15, wherein the carrying element includes a plate body, and when the grabbing element is connected to the carrying element, the plate body and the grabbing element are along the first connecting surface The normal vectors are arranged, and viewed from the normal vector of the first connecting surface, the board and the grabbing element overlap. Such as the replaceable gripper module of claim 16, wherein when the gripping element is connected to the carrying element and the connecting element at the same time, when viewed from the normal vector of the first connecting surface, the plate body and the connecting element do not overlap . A replaceable clamping jaw module includes: A connecting element; A load-bearing element, including a plate; and A grabbing element detachably connects the connecting element and the carrying element, wherein when the grabbing element is connected to the carrying element, the board and the grabbing element are arranged along a first direction, and from the first direction Viewed from one direction, the board and the grabbing element overlap. Such as the replaceable clamping jaw module of claim 18, wherein when the gripping element is connected to the carrying element and the connecting element at the same time, when viewed from the first direction, the plate body and the connecting element do not overlap. A replacement method for grabbing components, including: Providing a connecting element and a grabbing element combined with the connecting element; Move the connecting element toward a supporting element to combine the grabbing element with the supporting element, wherein the supporting element includes a plate body, when viewed from a first direction, the plate body and the grabbing element overlap, and the plate The body and the connecting element do not overlap; Move the connecting element along the first direction toward the board to separate the connecting element from the grasping element; Providing another grabbing element, and the another grabbing element is mounted on another carrying element; Move the connecting element in a second direction toward the other carrying element, so that the connecting element and the other grabbing element are combined, 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 carrying element, wherein the third direction is different from the first direction.

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