CN215471212U

CN215471212U - Composite clamping jaw

Info

Publication number: CN215471212U
Application number: CN202121800881.7U
Authority: CN
Inventors: 李宏; 黄游; 景健; 张江水; 王俊; 张广犬; 刘哲; 方勇健
Original assignee: Hangzhou Zhongwei Photoelectricity Co Ltd
Current assignee: Hangzhou Zhongwei Photoelectricity Co Ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2022-01-11
Anticipated expiration: 2031-08-02

Abstract

The utility model relates to the field of semiconductor processing auxiliary tools, in particular to a composite clamping jaw. A composite clamping jaw comprises a connecting body, a guide rail mechanism and a grabbing mechanism, wherein the guide rail mechanism and the grabbing mechanism are respectively connected to the connecting body; the grabbing mechanism comprises a first clamping jaw assembly and a second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly are respectively connected to the connecting body, the second clamping jaw assembly is arranged on the inner side of the first clamping jaw assembly, and the first clamping jaw assembly and the second clamping jaw assembly can grab different articles respectively. The utility model has the advantages that: can realize snatching the material frame and snatch the brilliant support dual-purpose, use space is saved, the cost of using manpower sparingly.

Description

Composite clamping jaw

Technical Field

The utility model relates to the field of semiconductor processing auxiliary tools, in particular to a composite clamping jaw.

Background

The semiconductor silicon chip is formed by cutting the silicon chip adhered on the crystal support by a wire cutting machine, in the prior art, the silicon chip after wire cutting is still adhered on the crystal support, the silicon chip is conveyed to a degumming machine by manpower or a transport vehicle for degumming, after degumming, the crystal support is hooked by a clamping jaw, the silicon chip is placed in a cartridge clip, and an empty material frame is hung by another clamping jaw.

The existing clamping jaw can not simultaneously realize grabbing of the material frame and the crystal support, and can not be used for two purposes, and multiple clamping jaws cause waste of use space.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model provides a composite clamping jaw aiming at the technical problems, and the technical scheme is as follows:

a composite clamping jaw comprises a connecting body, a guide rail mechanism and a grabbing mechanism, wherein the guide rail mechanism and the grabbing mechanism are respectively connected to the connecting body; the grabbing mechanism comprises a first clamping jaw assembly and a second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly are respectively connected to the connecting body, the second clamping jaw assembly is arranged on the inner side of the first clamping jaw assembly, and the first clamping jaw assembly and the second clamping jaw assembly can grab different articles respectively.

So set up, compound clamping jaw can realize snatching the material frame and snatch two kinds of functions of brilliant support, can save usage space, and second clamping jaw subassembly is located first clamping jaw subassembly's inboard, compact structure.

In one embodiment, the first jaw assembly includes a first driving unit and a plurality of first grapples, the plurality of first grapples are disposed on the connecting body in a circumferential direction, and the first driving unit is disposed on the connecting body and can drive the plurality of first grapples to move on the connecting body.

So set up for first grapple can loosen or snatch the material frame.

In one embodiment, a first guide rail is arranged on the connecting body, the first grapple comprises a first matching portion matched with the first guide rail, and the first driving unit is connected to the first grapple and can drive the first grapple to move along the first guide rail; or, be equipped with first cooperation portion on the connection body, be equipped with on the first grapple with first cooperation portion complex first guide rail, first drive unit connect in first grapple can drive first guide rail along first cooperation portion motion.

So set up, realize the smooth removal of first grapple.

In one embodiment, the number of the first grapples is four, two of the four first grapples are respectively disposed at two ends of the connecting body, the number of the first driving units is two, each of the four first driving units includes a first connecting rod and a first driving member, two ends of each of the first connecting rods are respectively connected to one of the first grapples, each of the first driving members is respectively connected to one of the first connecting rods, and each of the first connecting rods drives two of the first grapples to move along the width direction of the connecting body.

So set up, can make the first grapple of both ends move simultaneously to steadily snatch.

In one embodiment, the connection body includes a connection frame and a first connection plate, the first connection plate is disposed on the connection frame, the first jaw assembly is connected to the connection frame, the guide rail mechanism is connected to one side of the first connection plate, and the second jaw assembly is disposed on the other side of the first connection plate.

In one embodiment, the second gripper assembly includes a second connecting plate, a second driving unit, and a plurality of second grippers, the plurality of second grippers are disposed on the second connecting plate in the circumferential direction, and the second driving unit is disposed on the second connecting plate and can drive the plurality of second grippers to move on the second connecting plate.

So set up, can make the second grapple loosen or snatch the crystal and hold in the palm.

In one embodiment, a second guide rail is arranged on the second connecting plate, the second grapple comprises a second matching portion matched with the second guide rail, and the second driving unit is connected to the second grapple and can drive the second grapple to move along the second guide rail; or, a second matching part is arranged on the second connecting plate, a second guide rail matched with the second matching part is arranged on the second grapple, and the second driving unit is connected to the second grapple and can drive the second guide rail to move along the second matching part.

So set up, realize the smooth removal of second grapple.

In one embodiment, the second clamping jaw assembly includes a fourth driving unit and a pressing plate, the pressing plate is located on one side of the second connecting plate away from the first connecting plate, the fourth driving unit is disposed on the second connecting plate and connected to the pressing plate, and the fourth driving unit can drive the pressing plate to extend and retract relative to the second connecting plate.

So set up, when snatching brilliant support, the pressure plate can push down brilliant support for it is more steady to snatch.

In one embodiment, the number of the second grapples is four, the four second grapples are respectively arranged at two ends of the second connecting plate in a pairwise manner, the number of the second driving units is two, each second driving unit comprises a second connecting rod and a second driving piece, two ends of each second connecting rod are respectively connected to one second grapple, each second driving piece is respectively connected to one second connecting rod, and each second connecting rod drives two second grapples to move along the width direction of the second connecting plate.

So set up for the second grapple at both ends moves simultaneously, thereby snatchs steadily.

In one embodiment, the composite clamping jaw includes a third driving assembly, the third driving assembly is disposed on the first connecting plate and connected to the second clamping jaw assembly, and the third driving assembly can drive the second clamping jaw assembly to extend and retract relative to the first connecting plate.

So set up, when the second snatchs the subassembly inoperative, utilize the third drive assembly to withdraw the second clamping jaw subassembly, prevent when first clamping jaw subassembly snatchs article that the second clamping jaw subassembly can form the interference.

Compared with the prior art, the composite clamping jaw provided by the utility model has the advantages that the first clamping jaw assembly and the second clamping jaw assembly are arranged, so that the composite clamping jaw can be used for two purposes, the second clamping jaw assembly is arranged on the inner side of the first clamping jaw assembly, the structure is compact, the use space is saved, the composite clamping jaw can be used for automatically carrying a material frame and a crystal support, and the labor cost is saved.

Drawings

FIG. 1 is a perspective view of a composite jaw provided in accordance with the present invention from one perspective;

FIG. 2 is a perspective view from another perspective of the composite jaw;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a perspective view of a composite jaw from yet another perspective;

fig. 5 is a partially enlarged view of fig. 4 at B.

The symbols in the drawings represent the following meanings:

100. a composite jaw; 10. a guide rail mechanism; 11. a slide rail; 12. a rack; 13. a first chain; 20. a connecting body; 21. a connecting frame; 211. a first guide rail; 22. a first connecting plate; 23. a second chain; 30. a grabbing mechanism; 31. a first jaw assembly; 311. a first drive unit; 3111. a first connecting rod; 3112. a first driving member; 312. a first grapple; 3121. a first mating portion; 3121a, a first channel; 3121b, a first guide bar; 32. a second jaw assembly; 321. a second connecting plate; 3211. a second guide rail; 322. a second driving unit; 3221. a second driving member; 3222. a second connecting rod; 323. a second grapple; 3231. a second mating portion; 3231a, a second channel; 3231b, a second guide bar; 324. a fourth drive unit; 3241. a second cylinder; 3242. a second bearing; 325. pressing a plate; 40. a third drive assembly; 41. a first cylinder; 42. a first bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, the composite clamping jaw 100 provided by the utility model is used as a manipulator in a silicon wafer processing process, and is used for carrying, grabbing and releasing a material frame and grabbing and releasing a crystal support during blanking.

Specifically, the composite clamping jaw 100 includes a guide rail mechanism 10, a connecting body 20, and a grabbing mechanism 30, and the guide rail mechanism 10 and the grabbing mechanism 30 are respectively connected to the connecting body 20. The guide rail mechanism 10 is used for realizing the front-back, left-right and up-down movement of the composite clamping jaw 100, and the grabbing mechanism 30 is used for grabbing.

The guide rail mechanism 10 is in a strip shape, a slide rail 11 is arranged on the outer side of the guide rail mechanism 10, and the slide rail 11 extends from one end of the guide rail mechanism 10 to the other end.

The two slide rails 11 are respectively disposed on two sides of the guide rail mechanism 10, a base (not shown) is disposed on the guide rail mechanism 10, a sliding groove (not shown) matched with the slide rail 11 is formed in the base, and the guide rail mechanism 10 can move up and down in the sliding groove along the height direction of the guide rail mechanism 10. It should be understood that the height direction of the present invention refers to the direction perpendicular to the ground when the composite jaw 100 is mounted vertically.

A rack 12 is arranged in the guide rail mechanism 10, a gear (not shown) meshed with the rack 12 is arranged on the seat body, and the gear rotates and does not displace in the height direction, so that the guide rail mechanism 10 can move up and down.

One side of the base body is provided with a sliding seat (not shown), and the sliding seat can be matched with a transverse shaft (not shown) to drive the base body to move along the length direction of the transverse shaft, so as to drive the composite clamping jaw 100 to move back and forth.

Longitudinal shafts (not shown) are arranged on two sides of the transverse shaft, and the transverse shaft can move along the length direction of the longitudinal shafts so as to drive the composite clamping jaw 100 to move left and right.

Further, the guide rail mechanism 10 is provided with a first chain 13 for the cable to pass through, so as to protect the cable and prevent the cable from being messy.

Referring to fig. 1, the connecting body 20 includes a connecting frame 21 and a first connecting plate 22, the first connecting plate 22 is disposed on the connecting frame 21, the first jaw assembly 31 is connected to the connecting frame 21, the guide rail mechanism 10 is connected to one side of the first connecting plate 22, and the second jaw assembly 32 is disposed on the other side of the first connecting plate 22.

Preferably, the first coupling plate 22 is provided at the middle of the coupling frame 21 to enable the coupling frame 21 to be balanced.

The first connecting plate 22 is provided with a second chain 23 for the cable to pass through, and the second chain 23 can also be arranged on the connecting frame 21.

Specifically, the grasping mechanism 30 includes a first jaw assembly 31 and a second jaw assembly 32, the first jaw assembly 31 is connected to the connecting frame 21, the second jaw assembly 32 is connected to the first connecting plate 22, the second jaw assembly 32 is disposed on the inner side of the first jaw assembly 31, and the first jaw assembly 31 and the second jaw assembly 32 can grasp different objects respectively.

In this embodiment, the first clamping jaw assembly 31 is used for grabbing the material frame, and the second clamping jaw assembly 32 is used for grabbing the crystal holder. Simultaneously, the arrangement of the first clamping jaw assembly 31 and the second clamping jaw assembly 32 can realize that the composite clamping jaw 100 can simultaneously grab different articles, the use space is saved, the labor cost is saved, and the second clamping jaw assembly 32 is arranged on the inner side of the first clamping jaw assembly 31, so that the structure is compact.

Further, the first jaw assembly 31 includes a first driving unit 311 and a plurality of first grapples 312, the plurality of first grapples 312 are disposed on the connecting frame 21, and the first driving unit 311 is disposed on the connecting body 20 and can drive the plurality of first grapples 312 to move on the connecting frame 21, so as to clamp or loosen the material frame.

Referring to fig. 2 and 3, the connecting frame 21 is provided with a first guide rail 211, the first grapple 312 includes a first engaging portion 3121 engaged with the first guide rail 211, and the first driving unit 311 is connected to the first grapple 312 and can drive the first grapple 312 to move along the first guide rail 211. Or, the connecting frame 21 is provided with a first matching portion 3121, the connecting frame 21 is provided with a first guide rail 211, and the first driving unit 311 is connected to the first grapple 312 and can drive the first guide rail 211 to move along the first matching portion 3121.

Preferably, the first fitting portion 3121 is formed with a first guide groove 3121a, the first guide groove 3121a slides along the first guide rail 211, or the first guide rail 211 slides in the first guide groove 3121 a.

In this embodiment, the number of the first grapple 312 is four, two first grapple 312 are respectively disposed at two ends of the connecting frame 21, and two first driving units 311 are provided. Each first driving unit 311 includes a first connecting rod 3111 and a first driving member 3112, the two first driving members 3112 are disposed on the first connecting plate 22, two ends of each first connecting rod 3111 are respectively connected to a first grapple 312, each first driving member 3112 is connected to a first connecting rod 3111 to drive the first grapple 312 to move along the width direction of the connecting frame 21, that is, one first driving member 3112 drives the two first grapples 312 to move simultaneously, so as to smoothly grab the material frame. The width direction of the connection frame 21 is a direction perpendicular to the height direction of the rail mechanism 10 and the first link 3111, respectively.

In this embodiment, the first driving part 3112 is an air cylinder, in other embodiments, the first driving part 3112 may further include a motor, a screw rod connected to the motor, and a nut seat disposed on the first connecting rod 3111 and circumferentially limited, the screw rod penetrating through the nut seat, the motor driving the screw rod to rotate, and the nut seat is circumferentially limited and cannot rotate, so that the nut seat drives the first connecting rod 3111 to reciprocate.

In the embodiment that the first guide groove 3121a is opened at the first grapple 312, the first fitting portion 3121 is provided with a first guide rod 3121b, one end of the first guide rod 3121b is connected to the first fitting portion 3121 of the first grapple 312, and the other end is inserted into the first fitting portion 3121 of the adjacent first grapple 312, so that when the first grapple 312 moves, the first guide rod 3121b plays a role in guiding and limiting.

Because the material frame comprises a plurality of horizontal stripes, first grapple 312 is the form of colluding, can catch on the material frame.

Referring to fig. 4 and 5, the second clamping jaw assembly 32 includes a second connecting plate 321, a second driving unit 322, and a plurality of second grabbing hooks 323, the plurality of second grabbing hooks 323 are disposed on the second connecting plate 321 in the circumferential direction, and the second driving unit 322 is disposed on the second connecting plate 321 and can drive the plurality of second grabbing hooks 323 to move on the second connecting plate 321, so as to clamp or release the wafer holder.

A second guide rail 3211 is arranged on the second connecting plate 321, a second matching portion 3231 matched with the second guide rail 3211 is arranged on the second grapple 323, and the second driving unit 322 is connected to the second grapple 323 and can drive the second grapple 323 to move along the second guide rail 3211; or, the second connecting plate 321 is provided with a second matching portion 3231, the second grapple 323 is provided with a second guide rail 3211, and the second driving unit 322 is connected to the second grapple 323 and can drive the second guide rail 3211 to move along the second matching portion 3231. The second rail 3211 or the second fitting portion 3231 is provided on a side of the second connecting plate 321 away from the first connecting plate 22 to leave an installation space for a third driving assembly 40 described below.

Preferably, the second matching portion 3231 has a second guide groove 3231a, and the second guide groove 3231a can move along the second guide rail 3211, or the second guide rail 3211 slides in the second guide groove 3231 a.

In this embodiment, there are four second hooks 323, two second hooks 323 are respectively disposed at two ends of the second connecting plate 321, and two second driving units 322 are provided. Each second driving unit 322 includes a second connecting rod 3222 and a second driving member 3221, the two second driving members 3221 are disposed on the second connecting plate 321, two ends of each second connecting rod 3222 are respectively connected to one second grapple 323, and each second driving member 3221 is respectively connected to one second connecting rod 3222 to drive the second grapple 323 to move along the width direction of the second connecting plate 321, that is, one second driving member 3221 simultaneously drives the two second grapple 323 to move, so as to smoothly grasp the wafer. The width direction of the second connecting plate 321 refers to a direction perpendicular to the height direction of the rail mechanism 10 and the second connecting rod 3222, respectively.

In this embodiment, the second driving element 3221 is an air cylinder, in other embodiments, the second driving element 3221 includes a motor, a screw rod and a nut seat, the nut seat is disposed on the second connecting rod 3222 and is circumferentially limited, one end of the screw rod is connected to the motor, the other end of the screw rod penetrates through the nut seat, and the motor drives the screw rod to rotate to drive the second connecting rod 3222 to reciprocate.

In an embodiment that the second guide groove 3231a is opened in the second grapple 323, the second fitting portion 3231 is provided with a second guide rod 3231b, one end of the second guide rod 3231b is connected to the second fitting portion 3231 of the second grapple 323, and the other end of the second guide rod 3231b is inserted into the second fitting portion 3231 of the adjacent second grapple 323, so that when the second grapple 323 moves, the second guide rod 3231b plays a role in guiding and limiting.

Preferably, the second grapple 323 is "L" shaped to drag the wafer holder.

The second clamping jaw assembly 32 further includes a fourth driving unit 324 and a pressing plate 325, the pressing plate 325 is located on one side of the second connecting plate 321 away from the first connecting plate 22, the fourth driving unit 324 is disposed on the second connecting plate 321 and connected to the pressing plate 325, the pressing plate 325 can press the crystal support, so that the crystal support can be grasped more stably, and the fourth driving unit 324 can drive the pressing plate 325 to extend and retract relative to the second connecting plate 321, so that the pressing plate 325 can press or loosen the crystal support.

In this embodiment, the fourth driving unit 324 is a plurality of cylinders, the second connecting plate 321 is provided with a second bearing 3242, the cylinders are inserted into the second bearing 3242 and slide in the second bearing 3242, and the second bearing 3242 is a sliding bearing. In other embodiments, the fourth driving unit 324 includes a motor, a screw rod, and a nut seat, the nut seat is disposed on the second pressing plate 325 and circumferentially limited, one end of the screw rod is connected to the motor, and the other end of the screw rod is in threaded connection with the nut seat, and the motor drives the screw rod to rotate, thereby driving the pressing plate 325 to move.

The composite clamping jaw 100 further includes a third driving assembly 40, the third driving assembly 40 is disposed on the first connecting plate 22 and connected to the second clamping jaw assembly 32, and the third driving assembly 40 can drive the second clamping jaw assembly 32 to extend and retract relative to the first connecting plate 22. When the second clamping jaw assembly 32 works, the second clamping jaw assembly 32 is put down, and when the second clamping jaw assembly 32 does not work, the second clamping jaw assembly 32 is retracted, so that the first clamping jaw assembly 31 works conveniently, the phenomenon that the second clamping jaw assembly 32 interferes with the object grabbed by the first clamping jaw assembly 31 when the first clamping jaw assembly 31 works is avoided, power resources are fully utilized, and the labor cost is saved.

In this embodiment, the third driving assembly 40 is a plurality of cylinders, the first connecting plate 22 is provided with a plurality of first bearings 42, the cylinders are disposed in the first bearings 42 and slide in the first bearings 42, and the first bearings 42 are sliding bearings. In other embodiments, the third driving assembly 40 can also be a motor and a screw rod, and the screw rod is connected to the second connecting plate 321 to drive the second clamping jaw assembly 32 to extend and retract.

During operation, when the material frame needs to be grabbed and the crystal support does not need to be grabbed, the third driving assembly 40 retracts to withdraw the second clamping jaw assembly 32. The guide rail mechanism 10 is utilized to move the composite clamping jaw 100 to the material frame to be carried, the first driving unit 311 drives the first grapple 312 located at the two ends to move in opposite directions, so that the first grapple 312 can hook and lift the material frame, the material frame is carried to a specified position, the first grapple 312 located at the two ends of the first driving unit 311 is driven to move in opposite directions, and the material frame is loosened. When the crystal support needs to be carried, the third driving assembly 40 extends to extend the second clamping jaw assembly 32, the second driving unit 322 drives the second grabbing hooks 323 at the two ends to move oppositely, so that the second grabbing hooks 323 can hook the crystal support, the fourth driving unit 324 adjusts the force of the pressing plate 325 for attaching the crystal support, the guide rail mechanism 10 moves upwards to lift the crystal support and carry the crystal support to a specified position, and the second grabbing hooks 323 at the two ends of the second driving unit 322 are driven to move oppositely to release the crystal support.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A composite clamping jaw comprises a connecting body (20), a guide rail mechanism (10) and a grabbing mechanism (30), wherein the guide rail mechanism (10) and the grabbing mechanism (30) are respectively connected to the connecting body (20);

the grabbing mechanism (30) comprises a first clamping jaw assembly (31) and a second clamping jaw assembly (32), the first clamping jaw assembly (31) and the second clamping jaw assembly (32) are connected to the connecting body (20) respectively, the second clamping jaw assembly (32) is arranged on the inner side of the first clamping jaw assembly (31), and the first clamping jaw assembly (31) and the second clamping jaw assembly (32) can grab different articles respectively.

2. A composite jaw according to claim 1, characterized in that said first jaw assembly (31) comprises a first driving unit (311) and a plurality of first grapples (312), said plurality of first grapples (312) being provided in a circumferential direction of said connecting body (20), said first driving unit (311) being provided on said connecting body (20) and being able to drive said plurality of first grapples (312) to move on said connecting body (20).

3. A composite jaw according to claim 2, characterized in that said connecting body (20) is provided with a first guide rail (211), said first grapple (312) comprises a first engaging portion (3121) engaging with said first guide rail (211), said first drive unit (311) is connected to said first grapple (312) and is capable of moving said first grapple (312) along said first guide rail (211); or, a first matching portion (3121) is arranged on the connecting body (20), a first guide rail (211) matched with the first matching portion (3121) is arranged on the first grapple (312), and the first driving unit (311) is connected to the first grapple (312) and can drive the first guide rail (211) to move along the first matching portion (3121).

4. A composite jaw as claimed in claim 3, characterized in that said first grapple (312) is four, four of said first grapple (312) are respectively provided at two ends of said connecting body (20), said first driving unit (311) is two, and each of said first driving unit (311) comprises a first connecting rod (3111) and a first driving member (3112), each of two ends of each of said first connecting rod (3111) is respectively connected to one of said first grapple (312), each of said first driving member (3112) is respectively connected to one of said first connecting rods (3111), and each of said first connecting rods (3111) drives two of said first grapple (312) to move along the width direction of said connecting body (20).

5. A composite jaw according to claim 1, wherein said connection body (20) comprises a connection frame (21) and a first connection plate (22), said first connection plate (22) being provided on said connection frame (21), said first jaw assembly (31) being connected to said connection frame (21), said rail mechanism (10) being connected to one side of said first connection plate (22), said second jaw assembly (32) being provided on the other side of said first connection plate (22).

6. A composite jaw according to claim 5, characterized in that said second jaw assembly (32) comprises a second connection plate (321), a second driving unit (322) and a plurality of second grapples (323), said plurality of second grapples (323) being provided circumferentially on said second connection plate (321), said second driving unit (322) being provided on said second connection plate (321) and being able to drive said plurality of second grapples (323) to move on said second connection plate (321).

7. A composite jaw according to claim 6, characterized in that said second connecting plate (321) is provided with a second guide rail (3211), said second grapple (323) comprises a second engaging portion (3231) engaging with said second guide rail (3211), said second driving unit (322) is connected to said second grapple (323) and is capable of moving said second grapple (323) along said second guide rail (3211); or, a second matching portion (3231) is arranged on the second connecting plate (321), a second guide rail (3211) matched with the second matching portion (3231) is arranged on the second grapple (323), and the second driving unit (322) is connected to the second grapple (323) and can drive the second guide rail (3211) to move along the second matching portion (3231).

8. A composite jaw according to claim 6, wherein said second jaw assembly (32) comprises a fourth driving unit (324) and a pressing plate (325), said pressing plate (325) is located on a side of said second connecting plate (321) away from said first connecting plate (22), said fourth driving unit (324) is disposed on said second connecting plate (321) and connected to said pressing plate (325), and said fourth driving unit (324) can drive said pressing plate (325) to extend and retract relative to said second connecting plate (321).

9. The composite clamping jaw as claimed in claim 6, wherein there are four second clamping hooks (323), two second clamping hooks (323) are respectively disposed at two ends of the second connecting plate (321), there are two second driving units (322), each second driving unit (322) includes a second connecting rod (3222) and a second driving member (3221), two ends of each second connecting rod (3222) are respectively connected to one second clamping hook (323), each second driving member (3221) is respectively connected to one second connecting rod (3222), and each second connecting rod (3222) drives two second clamping hooks (323) to move along the width direction of the second connecting plate (321).

10. A composite jaw according to claim 5, characterized in that it comprises a third drive assembly (40), said third drive assembly (40) being provided at said first connection plate (22) and being connected to said second jaw assembly (32), said third drive assembly (40) being capable of bringing said second jaw assembly (32) to telescope with respect to said first connection plate (22).