Electric clamping jaw

Abstract

The utility model discloses an electric clamping jaw which comprises a mounting frame, a connecting structure, a clamping jaw structure and a driving structure. The connecting structure comprises a first swing rod, a second swing rod and a connecting rope, the first swing rod and the second swing rod are rotatably arranged on the mounting frame, the connecting rope comprises a first section and a second section, the first section is wound on the first swing rod around the rotating axis of the first swing rod, and the second section is wound on the second swing rod around the rotating axis of the second swing rod; the winding directions of the first section and the second section are the same; the clamping jaw structure comprises a first clamping jaw and a second clamping jaw which are connected with the first swing rod and the second swing rod respectively. The driving structure is connected with the first clamping jaw. According to the electric clamping jaw, due to the fact that the first swing rod and the second swing rod are in transmission connection through the connecting rope, when the first swing rod rotates, the first swing rod can immediately drive the second swing rod to rotate through the connecting rope, the time that the second swing rod does not respond after the first swing rod rotates is shortened, and the clamping precision of the electric clamping jaw is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping devices, in particular to an electric clamping claw. Background Art

[0002] The electric gripper is an actuator installed at the end of a robotic arm and is often used to grasp workpieces.

[0003] In the related art, the electric gripper includes two gripping fingers, which are respectively arranged on two meshing gears. The gears are driven to rotate by a driver to achieve the two gripping fingers to move closer or farther away from each other, thereby enabling the electric gripper to grasp or put down the workpiece.

[0004] However, when grasping some high-precision workpieces, due to the tooth gap between the meshing gears, the grasping accuracy of the existing electric grippers is low and the workpieces are easily damaged. Utility Model Content

[0005] The purpose of the utility model is to solve at least one of the technical problems existing in the prior art. The utility model provides an electric clamp with higher grasping accuracy.

[0006] The electric clamp provided according to the embodiment of the utility model includes a mounting frame, a connecting structure, a clamping structure and a driving structure; the connecting structure includes a first swing rod, a second swing rod and a connecting rope, the first swing rod and the second swing rod are both rotatably arranged on the mounting frame, the connecting rope includes a first section and a second section, the first section is wound around the rotation axis of the first swing rod, and the second section is wound around the rotation axis of the second swing rod, and the winding directions of the first section and the second section are the same; the clamping structure includes a first clamping jaw and a second clamping jaw, the first clamping jaw is connected to the first swing rod, and the second clamping jaw is connected to the second swing rod; the driving structure is arranged on the mounting frame and is transmission-connected to the first swing rod, and under the drive of the driving structure, the first swing rod and the second swing rod can swing in conjunction to make the first clamping jaw and the second clamping jaw approach each other.

[0007] The electric clamp described in the utility model has at least the following beneficial effects: in the electric clamp of the present application, the first swing arm and the second swing arm are connected by a connecting rope transmission, the first section of the connecting rope is wound around the rotation axis of the first swing arm, and the second section of the connecting rope is wound around the rotation axis of the second swing arm, and the winding directions of the first section and the second section are the same, and then, when the driving structure drives the first swing arm to rotate, the first swing arm can drive the second swing arm to rotate through the connecting rope, and the rotation direction of the second swing arm is opposite to the rotation direction of the first swing arm, so as to achieve the mutual approach or distance between the first clamp and the second clamp; because the first swing arm and the second swing arm are connected by the connecting rope transmission, when the first swing arm rotates, the first swing arm can immediately drive the second swing arm to rotate through the connecting rope, so as to reduce the time that the second swing arm does not respond after the first swing arm rotates, thereby improving the clamping accuracy of the electric clamp.

[0008] According to the electric clamp described in the embodiment of the utility model, one end of the first section away from the second section is detachably connected to the first swing rod, and one end of the second section away from the first section is detachably connected to the second swing rod.

[0009] According to the electric clamp described in the embodiment of the utility model, a first threaded fastener is threadedly penetrated on the first rocker arm, a nut is provided on the first threaded fastener, a first locking area is formed between the nut and the first rocker arm, the first section is penetrated in the first locking area, and under the action of external force, the first threaded fastener can rotate to make the nut approach or move away from the first locking area.

[0010] According to the electric clamp described in the embodiment of the utility model, a plurality of first threaded fasteners are threadedly penetrated on the first swing arm, and the first section is wound around each first threaded fastener in sequence. Along the extension direction of the first section, the winding directions of the first section on any two adjacent first threaded fasteners are opposite.

[0011] According to the electric clamp described in the embodiment of the utility model, the connection structure includes two connection ropes, the first sections of the two connection ropes are wound in opposite directions on the first swing rod, and the second sections of the two connection ropes are wound in opposite directions on the second swing rod.

[0012] According to the electric clamp described in the embodiment of the utility model, the first swing arm and the second swing arm are both provided with limiting channels, the connecting rope is passed through the limiting channels, and the channel wall of the limiting channel can limit the connecting rope in the radial direction of the connecting rope.

[0013] According to the electric clamp described in the embodiment of the utility model, the first clamp includes a clamping finger and a first transmission member, the clamping finger is arranged on the first transmission member, the first transmission member is provided with a first connecting node and a second connecting node, the driving structure includes a second transmission member and a driver, the second transmission member is provided with a third connecting node and a fourth connecting node, the first connecting node is rotatably connected to the first rocker arm, the second connecting node is rotatably connected to the third connecting node, the fourth connecting node is rotatably connected to the mounting frame, the driver is connected to the second transmission member, and is used to drive the second transmission member to rotate around the fourth connecting node.

[0014] According to the electric clamp described in the embodiment of the utility model, the driving structure also includes a third transmission member and a fourth transmission member. The second transmission member is also provided with a fifth connection node, the fourth connection node is located between the third connection node and the fifth connection node, one end of the third transmission member is hinged to the fifth connection node, the other end of the third transmission member is hinged to one end of the fourth transmission member, and the other end of the fourth transmission member is connected to the driving end of the driver, and the driver is used to drive the fourth transmission member to rotate around the rotation axis of the driving end.

[0015] According to the electric clamp described in the embodiment of the utility model, a first transmission member is provided with a plurality of first mounting holes spaced apart along a first direction, a second mounting hole is provided on the clamping finger, a threaded connector is passed through the second mounting hole, and the threaded connector is passed through a first mounting hole.

[0016] According to the electric clamp described in the embodiment of the utility model, the second mounting hole is an elongated hole extending along the second direction, and the threaded connection piece can be slidably penetrated into the elongated hole, and a certain angle is spaced between the first direction and the second direction.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0019] Figure 1 This is a schematic diagram of the structure of an electric gripper according to an embodiment of the utility model;

[0020] Figure 2 for Figure 1 A cross-sectional view of the electric gripper shown;

[0021] Figure 3 for Figure 2 A partial enlarged view of the structure at position A of the electric gripper shown;

[0022] Figure 4 for Figure 2 A partial enlarged view of the structure at point B of the electric gripper shown.

[0023] Reference numerals:

[0024] Mounting frame 100;

[0025] Connecting structure 200; first swing rod 210; first threaded fastener 211; second swing rod 220; second threaded fastener 221; connecting rope 230;

[0026] Clamping jaw structure 300; first clamping jaw 310; clamping finger 311; second mounting hole 311a; first transmission member 312; first mounting hole 312a; threaded connection member 313; second clamping jaw 320;

[0027] Driving structure 400; second transmission member 410; driver 420; third transmission member 430; fourth transmission member 440. DETAILED DESCRIPTION

[0028] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0029] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0032] Reference below Figures 1 to 4 The electric gripper of the utility model is described.

[0033] refer to Figure 1 and Figure 2 According to an embodiment of the utility model, the electric clamp includes a mounting frame 100, a connecting structure 200, a clamp structure 300 and a driving structure 400.

[0034] The connecting structure 200 includes a first swing rod 210, a second swing rod 220 and a connecting rope 230. The first swing rod 210 and the second swing rod 220 are distributed in the left and right directions, and the first swing rod 210 and the second swing rod 220 are both rotatably arranged on the mounting frame 100. The connecting rope 230 includes a first section and a second section. The first section is wound around the rotation axis of the first swing rod 210 on the first swing rod 210, and the second section is wound around the rotation axis of the second swing rod 220 on the second swing rod 220, and the winding directions of the first section and the second section are the same; the clamping jaw structure 300 includes a first clamping jaw 310 and a second clamping jaw 320. The first clamping jaw 310 is installed on the first swing rod 210, and the second clamping jaw 320 is installed on the second swing rod 220; the driving structure 400 is arranged on the mounting frame 100, and is transmission-connected to the first swing rod 210 through the first clamping jaw 310.

[0035] In the electric clamp of the present embodiment, when it is necessary to clamp the workpiece, the driving structure 400 drives the first clamp 310 to rotate to the right. At this time, the first clamp 310 drives the first swing rod 210 to swing to the right. Driven by the connecting rope 230, the second swing rod 220 swings to the left. At this time, the second clamp 320 swings to the left driven by the second swing rod 220 to achieve the mutual approach between the first clamp 310 and the second clamp 320.

[0036] It should be noted that in the traditional electric gripper, the first rocker arm 210 and the second rocker arm 220 are connected by a meshing gear set, and there is inevitably a tooth gap between the two meshing gears. In this case, when the first rocker arm 210 rotates a certain angle, due to the influence of the tooth gap, the difference between the rotation angle of the second rocker arm 220 and the rotation angle of the first rocker arm 210 is large, thereby making the gripping accuracy of the electric gripper low.

[0037] In the electric gripper of the present embodiment, the first swing arm 210 and the second swing arm 220 are connected by a connecting rope 230, so that when the first swing arm 210 swings, the second swing arm 220 can immediately follow the swing of the first swing arm 210 driven by the connecting rope 230. Compared with the traditional transmission connection between the first swing arm 210 and the second swing arm 220 through a meshing gear set, in the electric gripper of the present embodiment, the difference between the rotation angle of the second swing arm 220 and the rotation angle of the first swing arm 210 is smaller, so that the gripping accuracy of the electric gripper of the present embodiment is higher.

[0038] After the electric clamp of the present application has been used for a period of time, the strength of the connecting rope 230 may be reduced. In this case, the connecting rope 230 needs to be replaced.

[0039] In order to enable the connection rope 230 in the present application to be replaced, in a further embodiment of the present invention, one end of the first section facing away from the second section is detachably connected to the first swing rod 210 , and one end of the second section facing away from the first section is detachably connected to the second swing rod 220 .

[0040] Specifically, in order to realize the detachable connection between the first section and the first swing rod 210, refer to Figure 3 A first threaded fastener 211 is threadedly passed through the first swing rod 210, a nut is provided on the first threaded fastener 211, a first locking area is formed between the nut and the first swing rod 210, and an end of the first section away from the second section is passed through the first locking area.

[0041] Furthermore, when it is necessary to install the first section on the first rocker arm 210, the staff can insert the first section into the first locking area, and then rotate and tighten the first threaded fastener 211 to make the nut of the first locking piece close to the first locking area, so that the nut of the first locking piece can cooperate with the rod surface of the first rocker arm 210 to clamp the first section inserted into the first locking area, so as to achieve the locking and fixation of the first section; when it is necessary to detach the first section from the first rocker arm 210, the staff can rotate and loosen the first threaded fastener 211 to make the nut of the first locking piece away from the first locking area, so that the nut of the first locking piece can loosen the first section clamped in the first locking area, and at this time, the first section can smoothly detach from the first locking area.

[0042] Similarly, in order to realize the detachable connection between the second section and the second swing rod 220, refer to Figure 3 A second threaded fastener 221 is threadedly passed through the second swing rod 220, and a nut is provided on the second threaded fastener 221. A second locking area is formed between the nut on the second threaded fastener 221 and the second swing rod 220, and an end of the second section away from the first section is passed through the second locking area.

[0043] Furthermore, when it is necessary to install the second section on the second rocker arm 220, the staff can insert the second section into the second locking area, and then rotate and tighten the second threaded fastener 221 to make the nut of the second locking member close to the second locking area, so that the nut of the second locking member can cooperate with the rod surface of the second rocker arm 220 to clamp the second section inserted into the second locking area, so as to achieve the locking and fixation of the second section; when it is necessary to detach the second section from the second rocker arm 220, the staff can rotate and loosen the second threaded fastener 221 to make the nut of the second locking member away from the second locking area, so that the nut of the second locking member can loosen the second section clamped in the second locking area, and at this time, the second section can smoothly detach from the second locking area.

[0044] It should be noted that when the first rocker arm 210 rotates, the first rocker arm 210 needs to drive the second rocker arm 220 to rotate through the connecting rope 230. During this process, if relative sliding occurs between the connecting rope 230 and the first rocker arm 210 or the second rocker arm 220, it will undoubtedly greatly reduce the clamping accuracy of the electric clamp of the present application.

[0045] Based on the above reasons, in a further embodiment of the present invention, reference Figure 3 A plurality of first threaded fasteners 211 are threadedly penetrated on the first swing rod 210, and the first section is wound around each of the first threaded fasteners 211 in sequence. Along the extension direction of the first section, the winding directions of the first section on any two adjacent first threaded fasteners 211 are opposite.

[0046] Furthermore, by such an arrangement, a sufficiently large friction force can be generated between the first section and the circumferential surface of each first threaded fastener 211. In this case, even if the first threaded fastener 211 becomes loose, the probability of relative sliding of the first section relative to the first swing arm 210 can still be reduced.

[0047] Similarly, a plurality of second threaded fasteners 221 may be threadedly provided on the second swing arm 220. In this case, the second section is sequentially wound around each second threaded fastener 221, and along the extension direction of the second section, the winding directions of the second section on any two adjacent second threaded fasteners 221 are opposite.

[0048] It should be noted that when the connection structure 200 includes a connection rope 230, when the first swing rod 210 rotates in a direction close to the second swing rod 220, the first swing rod 210 can drive the second swing rod 220 to rotate in a direction close to the first swing rod 210 through the connection rope 230, so as to achieve the mutual approach of the first clamping jaw 310 and the second clamping jaw 320. When the first swing rod 210 rotates in a direction away from the second swing rod 220, the connection rope 230 is in a loose state, and the connection rope 230 cannot drive the second swing rod 220 to rotate.

[0049] Based on the above reasons, in some embodiments of the present invention, the connection structure 200 includes two connection ropes 230, the first sections of the two connection ropes 230 are wound in opposite directions on the first swing rod 210, and the second sections of the two connection ropes 230 are wound in opposite directions on the second swing rod 220.

[0050] It can be understood that by setting up two connecting ropes 230, the two connecting ropes 230 are respectively used to play a transmission role when the first swing rod 210 rotates close to or away from the second swing rod 220, so as to drive the second swing rod 220 close to or away from the first swing rod 210, thereby realizing the mutual approach or distance between the first clamp 310 and the second clamp 320.

[0051] In order to improve the stability and accuracy of the transmission of the connecting rope 230, in some embodiments of the present invention, a limiting channel is provided on the first rocker arm 210 and the second rocker arm 220, and the connecting rope 230 is passed through the limiting channel. The channel wall of the limiting channel can limit the connecting rope 230 in the radial direction of the connecting rope 230.

[0052] In some embodiments of the present invention, reference Figure 1 and Figure 2 The first clamping jaw 310 includes a clamping finger 311 and a first transmission member 312, the clamping finger 311 is arranged on the first transmission member 312, and the first transmission member 312 is provided with a first connection node and a second connection node. The driving structure 400 includes a second transmission member 410 and a driver 420. The second transmission member 410 is provided with a third connection node and a fourth connection node. The first connection node is rotatably connected to the first rocker arm 210, the second connection node is rotatably connected to the third connection node, and the fourth connection node is rotatably connected to the mounting frame 100. The driver 420 is connected to the second transmission member 410 and is used to drive the second transmission member 410 to rotate around the fourth connection node.

[0053] Furthermore, the first transmission member 312 , the second transmission member 410 , the first rocker arm 210 and the mounting frame 100 together form a parallel four-bar linkage structure. When the driver 420 drives the second transmission member 410 to rotate, the second transmission member 410 can drive the first rocker arm 210 to rotate synchronously through the first transmission member 312 .

[0054] In a further embodiment of the present invention, reference Figure 1 The driving structure 400 also includes a third transmission member 430 and a fourth transmission member 440. A fifth connection node is also provided on the second transmission member 410. The fourth connection node is located between the third connection node and the fifth connection node. One end of the third transmission member 430 is hinged to the fifth connection node, and the other end of the third transmission member 430 is hinged to one end of the fourth transmission member 440. The other end of the fourth transmission member 440 is connected to the driving end of the driver 420. The driver 420 is used to drive the fourth transmission member 440 to rotate around the rotation axis of the driving end.

[0055] Furthermore, the second transmission member 410 , the third transmission member 430 , the fourth transmission member 440 and the mounting frame 100 together form a parallel four-bar linkage structure. When the driver 420 drives the fourth transmission member 440 to rotate, the fourth transmission member 440 can drive the second transmission member 410 to rotate synchronously through the third transmission member 430 .

[0056] It is understandable that by providing the third transmission member 430 and the fourth transmission member 440 , the length of the fourth transmission member 440 is smaller than the length of the second transmission member 410 , thereby being able to reduce the torque output by the driver 420 to extend the service life of the driver 420 .

[0057] It should be noted that, during the actual use of the electric gripper of the present application, different types of gripping fingers 311 need to be replaced for workpieces of different specifications.

[0058] In order to facilitate the replacement of the clamping finger 311, in some embodiments of the present utility model, reference Figure 4 The first transmission member 312 is provided with a first mounting hole 312a, the clamping finger 311 is provided with a second mounting hole 311a, and the same threaded connector 313 is inserted into the first mounting hole 312a and the second mounting hole 311a.

[0059] Furthermore, the staff can realize the connection or disassembly between the first transmission member 312 and the clamping finger 311 by screwing the threaded connection member 313 out or screwing it into the second mounting hole 311a.

[0060] In some cases, it is necessary to adjust the installation position of the clamping finger 311 on the first transmission member 312 .

[0061] Based on the above reasons, in a further embodiment of the present invention, a plurality of first mounting holes 312a are provided on the first transmission member 312, and the plurality of first mounting holes 312a are distributed along the first direction on the first transmission member 312. Furthermore, the staff can install the clamping fingers 311 at different positions on the first transmission member 312 by inserting the threaded connectors 313 into different first mounting holes 312a.

[0062] Furthermore, in order to make the installation position of the clamping finger 311 on the first transmission member 312 more diverse, in a further embodiment of the present invention, the second mounting hole 311a is an elongated hole extending along the second direction, and the threaded connecting member 313 can be slidably penetrated into the elongated hole, and a certain angle is spaced between the first direction and the second direction.

[0063] Furthermore, when it is necessary to adjust the position of the clamping finger 311 relative to the first transmission member 312 in the second direction, the staff can loosen the threaded connection 313. At this time, the clamping finger 311 can slide in the second direction relative to the first transmission member 312; when the position of the clamping finger 311 relative to the first transmission member 312 in the second direction is adjusted, the staff can tighten the threaded connection 313 to make the clamping finger 311 fit tightly against the first transmission member 312. At this time, a friction force sufficient to prevent the clamping finger 311 from sliding relative to the first transmission member 312 can be generated between the first transmission member 312 and the clamping finger 311.

[0064] exist Figure 4 In the example, the first direction is a vertical direction and the second direction is a horizontal direction.

[0065] The specific structure and installation form of the second clamping jaw 320 refer to the first clamping jaw 310 .

[0066] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. An electric gripper, It is characterized in that include: Mounting frame; A connecting structure, the connecting structure comprising a first swing rod, a second swing rod and a connecting rope, the first swing rod and the second swing rod are both rotatably disposed on the mounting frame, the connecting rope comprises a first section and a second section, the first section is wound around the first swing rod around the rotation axis of the first swing rod, the second section is wound around the second swing rod around the rotation axis of the second swing rod, and the winding directions of the first section and the second section are the same; A clamping jaw structure, comprising a first clamping jaw and a second clamping jaw, wherein the first clamping jaw is connected to the first swing rod, and the second clamping jaw is connected to the second swing rod; The driving structure is arranged on the mounting frame and is transmission-connected with the first swing rod. Under the driving of the driving structure, the first swing rod and the second swing rod can swing in conjunction with each other to make the first clamping jaw and the second clamping jaw approach each other.

2. An electric gripper according to claim 1, It is characterized in that One end of the first section facing away from the second section is detachably connected to the first swing rod, and one end of the second section facing away from the first section is detachably connected to the second swing rod.

3. An electric gripper according to claim 2, It is characterized in that A first threaded fastener is threadedly penetrated on the first rocker arm, a nut is provided on the first threaded fastener, a first locking area is formed between the nut and the first rocker arm, the first section is penetrated in the first locking area, and under the action of external force, the first threaded fastener can rotate to make the nut approach or move away from the first locking area.

4. An electric gripper according to claim 3, It is characterized in that The first swing rod is threaded with a plurality of first threaded fasteners, and the first section is wound around each of the first threaded fasteners in sequence. Along the extension direction of the first section, the winding directions of the first section on any two adjacent first threaded fasteners are opposite.

5. An electric gripper according to any one of claims 1 to 4, It is characterized in that The connection structure includes two connection ropes, the first sections of the two connection ropes are wound in opposite directions on the first swing rod, and the second sections of the two connection ropes are wound in opposite directions on the second swing rod.

6. An electric gripper according to any one of claims 1 to 4, It is characterized in that The first swing rod and the second swing rod are both provided with limiting channels, the connecting rope is passed through the limiting channels, and the channel wall of the limiting channel can limit the connecting rope in the radial direction of the connecting rope.

7. The electric gripper according to claim 1, It is characterized in that The first clamp includes a clamping finger and a first transmission member, the clamping finger is arranged on the first transmission member, the first transmission member is provided with a first connection node and a second connection node, the driving structure includes a second transmission member and a driver, the second transmission member is provided with a third connection node and a fourth connection node, the first connection node is rotatably connected to the first rocker arm, the second connection node is rotatably connected to the third connection node, the fourth connection node is rotatably connected to the mounting frame, and the driver is connected to the second transmission member and is used to drive the second transmission member to rotate around the fourth connection node.

8. An electric gripper according to claim 7, It is characterized in that The driving structure also includes a third transmission member and a fourth transmission member. The second transmission member is also provided with a fifth connection node, and the fourth connection node is located between the third connection node and the fifth connection node. One end of the third transmission member is hinged to the fifth connection node, and the other end of the third transmission member is hinged to one end of the fourth transmission member. The other end of the fourth transmission member is connected to the driving end of the driver, and the driver is used to drive the fourth transmission member to rotate around the rotation axis of the driving end.

9. The electric gripper according to claim 7, It is characterized in that The first transmission member is provided with a plurality of first mounting holes spaced apart along a first direction, the clamping finger is provided with a second mounting hole, a threaded connector is passed through the second mounting hole, and the threaded connector is passed through one of the first mounting holes.

10. An electric gripper according to claim 9, It is characterized in that The second mounting hole is an elongated hole extending along a second direction, and the threaded connection piece can be slidably inserted into the elongated hole. A certain angle is spaced between the first direction and the second direction.

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