High-positioning-precision mechanical gripper for grabbing motor punching sheets

Abstract

The high-positioning-precision mechanical gripper comprises a punching sheet storage structure and a grabbing mechanical gripper body, the grabbing mechanical gripper body is arranged on the upper side of the punching sheet storage structure, and the punching sheet storage structure is composed of a storage cylinder, a center positioning structure and a punching sheet edge groove positioning structure. The center positioning structure is arranged on the inner bottom side of the storage barrel, the punching sheet edge groove positioning structure is arranged on the side edge of the storage barrel, the grabbing mechanical claw is composed of a grabbing driving machine head, a replaceable grabbing claw and a driving side arm, the top end of the replaceable grabbing claw is connected to the side edge of the bottom end of the grabbing driving machine head, and the driving side arm is connected to the side edge of the bottom end of the replaceable grabbing claw. The top end of the driving side arm is connected to the side edge of the top end of the grabbing driving machine head, and the bottom end of the driving side arm is connected to the outer side of the replaceable grabbing claw. According to the motor punching sheet grabbing device, the arrangement of the motor punching sheet grabbing device is optimized, the working steps before traditional application are changed, the motor punching sheet can be overlaid by means of the self weight of the motor punching sheets, the effect on the motor punching sheets is achieved, the punching sheets with the accurate number can be achieved in cooperation with a grabbing mechanical claw, and follow-up work is facilitated.

Description

Technical Field

[0001] The invention relates to the field of motor punching sheets, and in particular to a mechanical hand gripper with high positioning accuracy for grabbing motor punching sheets. Background Art

[0002] The motor punching is composed of silicon steel sheets in the center of the rotor winding in the motor group. Most of the structural centers and outer edges of the motor punching have openings for winding. Before the motor punching is used, the openings for winding need to be aligned so that they can be relatively fixed. If the traditional manual picking and alignment method is adopted, the efficiency is slow and the specific stacking quantity is not accurate enough. In order to solve this kind of problem, a mechanical gripper with high positioning accuracy is designed for grabbing motor punching. Summary of the invention

[0003] The purpose of the present invention is to provide a high positioning accuracy mechanical gripper for grabbing motor punching sheets to solve the above technical problems. To achieve the above purpose, the present invention adopts the following technical solutions: A mechanical gripper with high positioning accuracy for grabbing motor punching sheets comprises a punching sheet storage structure and a grabbing mechanical gripper, wherein the grabbing mechanical gripper can be moved onto the punching sheet storage structure and can move on both sides of the punching sheet storage structure, wherein the punching sheet storage structure is composed of a storage cylinder, a center positioning structure and a punching sheet side groove positioning structure, wherein the center positioning structure is arranged on the inner bottom side of the storage cylinder, and the punching sheet side groove positioning structure is arranged on the side of the storage cylinder, wherein the grabbing mechanical gripper is composed of a grabbing driving machine head, a replaceable grabbing claw and a driving side arm, wherein the top end of the replaceable grabbing claw is connected to the bottom side of the grabbing driving machine head, the top end of the driving side arm is connected to the top side of the grabbing driving machine head, and the bottom end of the driving side arm is connected to the outer side of the replaceable grabbing claw.

[0004] On the basis of the above technical solution, a punching sheet storage groove is provided at the upper section of the storage cylinder, clamping arm slots are provided on both sides of the punching sheet storage groove, a side slot insertion slot is provided on the front side of the punching sheet storage groove, the bottom end of the center positioning structure is inserted and fixed on the bottom side of the punching sheet storage groove, and the center positioning structure is arranged at the center of the punching sheet storage groove, the punching sheet side slot positioning structure is inserted and fixed on the side slot insertion slot, and the replaceable grabbing claw can pass through the clamping arm slot.

[0005] On the basis of the above technical scheme, the grabbing driving head is composed of a head shell, a top mounting position, and a driving mechanism. The top mounting position is arranged on the top side of the head shell, and the top side of the head shell is provided with symmetrical side arm connecting grooves, and the bottom side of the head shell is provided with symmetrical clamping arm connecting grooves, and the side wall of the clamping arm connecting groove is provided with an arm end shaft hole. The driving mechanism is arranged in the head shell, and the side end of the driving mechanism is arranged on one side of the side arm connecting groove, the top end of the driving side arm is connected in the side arm connecting groove, and one side of the top end of the driving side arm is connected to the driving mechanism, and the top end of the replaceable grabbing claw is connected to the arm end shaft hole on the side wall of the clamping arm connecting groove.

[0006] On the basis of the above technical scheme, the driving side arm is composed of an arched side arm, a top connecting protrusion, and a bottom connecting protrusion. The top connecting protrusion is arranged on the top side of the arched side arm, and the bottom connecting protrusion is arranged on the bottom side of the arched side arm. The arched side arm, the top connecting protrusion, and the bottom connecting protrusion are fixed as a whole. A shaft connecting spline hole is arranged on the top side of the arched side arm, and the shaft connecting spline hole and the top connecting protrusion are arranged oppositely. The top connecting protrusion, the bottom connecting protrusion, and the shaft connecting spline hole in the two groups of driving side arms are arranged oppositely. The replaceable grabbing claw is composed of a straight clamping arm, a bottom supporting fork, a clamping arm connecting protrusion, and an outer connecting shaft position. The bottom The bottom supporting fork is arranged at the bottom end of the inner side surface of the straight plate clamp arm, the clamp arm connecting protrusion is arranged on both sides of the top end of the straight plate clamp arm, and the outer connecting shaft position is arranged on the outer side surface of the straight plate clamp arm. The straight plate clamp arm, the bottom supporting fork, the clamp arm connecting protrusion and the outer connecting shaft position are fixed as a whole, and the clamp arm connecting protrusions are respectively connected to the arm end shaft holes of the side walls of the clamp arm connecting groove, and the straight plate clamp arm is rotatable around the clamp arm connecting protrusion as the axis, the bottom connecting protrusion is connected to the outer connecting shaft position, the top connecting protrusion is connected to the side wall of the side arm connecting groove, and the arched side arm is rotatable around the top connecting protrusion as the axis, and the connecting end of the driving mechanism is connected to the shaft connecting spline hole.

[0007] On the basis of the above technical scheme, the center positioning structure is composed of a top perforation tip, a perforation slope head, a center column, a supporting plate, and a fixed insertion rod. The perforation slope head is arranged at the top of the center column, the top perforation tip is arranged at the top of the perforation slope head, the supporting plate is arranged at the bottom end of the center column, and the fixed insertion rod is arranged at the bottom side of the supporting plate. The top perforation tip, the perforation slope head, the center column, the supporting plate, and the fixed insertion rod are coaxial and fixed as a whole. The bottom side of the supporting plate is tightly attached to the inner bottom side of the punching sheet storage slot, and the fixed insertion rod is inserted and fixed on the inner bottom side of the punching sheet storage slot. The punching sheet side groove positioning structure is composed of a groove-type fixing clip, a side groove convex, and a widened groove convex. The side groove convex and the widened groove convex are both arranged on the side of the groove-type fixing clip, and the widened groove convex is arranged on the top side of the side groove convex. The groove-type fixing clip, the side groove convex, and the widened groove convex are fixed as a whole, and the groove-type fixing clip is inserted and embedded in the side groove slot.

[0008] On the basis of the above technical scheme, the driving mechanism consists of a driving motor group, a main driving shaft, a driven shaft, a first gear, a second gear, a third gear, a fourth gear, a fifth gear, a sixth gear, a driving end spline shaft, and a transmission toothed belt. The main driving shaft is connected to the side end of the driving motor group, the second gear and the third gear are arranged in parallel at both ends of the main driving shaft, the first gear is connected to the left side of the second gear through a transmission toothed belt, the fourth gear and the fifth gear are arranged in parallel on the driven shaft, and the fourth gear, the fifth gear, and the driven shaft are coaxially arranged as a whole, the fourth gear is connected to the right side of the third gear through a transmission toothed belt, the fifth gear and the sixth gear are laterally parallel and meshed, the driving end spline shaft is respectively arranged on the eccentric inner sides of the first gear and the sixth gear, the two groups of driving end spline shafts are respectively arranged on the eccentric sides of the side arm connecting groove, and the two groups of driving end spline shafts are respectively connected to the shaft connecting spline holes on the eccentric sides of the top ends of the two groups of bow-shaped side arms.

[0009] Compared with the prior art, the present invention has the following advantages: the present invention optimizes the setting of the motor punching grabbing device, changes the traditional working steps before application, and designs a method that can rely on the motor punching's own weight to stack the motor punchings and achieve the effect on them. In conjunction with the grabbing mechanical claw, a more accurate number of punchings can be achieved, which facilitates subsequent work. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a diagram of the overall appearance of the present invention.

[0011] Figure 2 It is a schematic diagram of the structural separation of the present invention.

[0012] Figure 3 It is a schematic diagram of the splitting of the punching sheet storage structure of the present invention.

[0013] Figure 4 Schematic diagram of the grabbing mechanical claw of the present invention.

[0014] Figure 5 It is a schematic diagram of the grabbing drive head of the present invention.

[0015] Figure 6 It is a schematic diagram of the driving side arm of the present invention.

[0016] Figure 7 This is a schematic diagram of the replaceable grabbing claw of the present invention.

[0017] Figure 8 It is a schematic diagram of the center positioning structure of the present invention.

[0018] Fig. 9 It is a schematic diagram of the punching edge groove positioning structure of the present invention.

[0019] Fig.10 Schematic diagram of the driving mechanism of the present invention.

[0020] Fig.11 It is a schematic diagram of the disassembly of the driving mechanism of the present invention.

[0021] In the figure: punch storage structure 1, grabbing mechanical claw 2, storage cylinder 3, center positioning structure 4, punch side groove positioning structure 5, grab driving head 7, replaceable grab claw 8, driving side arm 9; Punch storage slot 3-1, clamp arm through slot 3-2, side slot insertion slot 3-3; Head housing 7-1, top mounting position 7-2, driving mechanism 7-3, side arm connecting slot 7-4, clamp arm connecting slot 7-5, arm end shaft hole 7-6; Arched side arm 9-1, top connecting protrusion 9-2, bottom connecting protrusion 9-3, shaft connecting spline hole 9-4; Straight plate clamp arm 8-1, bottom supporting fork 8-2, clamp arm connecting protrusion 8-3, outer connecting shaft 8-4; The top perforated tip 4-1, the perforated slope head 4-2, the central column 4-3, the plate supporting plate 4-4, the fixed plug rod 4-5, the groove type fixed clip 5-1, the side groove protrusion 5-2, the widened groove protrusion 5-3; Driving motor group 73-1, main driving shaft 73-2, driven shaft 73-3, No. 1 gear 73-4, No. 2 gear 73-5, No. 3 gear 73-6, No. 4 gear 73-7, No. 5 gear 73-8, No. 6 gear 73-9, driving end spline shaft 73-10, transmission belt 73-11. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementations.

[0023] A high positioning precision mechanical gripper for grabbing motor punching sheets, comprising a punching sheet storage structure 1 and a grabbing mechanical gripper 2, wherein the grabbing mechanical gripper 2 can be moved onto the punching sheet storage structure 1, and the grabbing mechanical gripper 2 can move on both sides of the punching sheet storage structure 1, wherein the punching sheet storage structure 1 is composed of a storage tube 3, a center positioning structure 4, and a punching sheet side groove positioning structure 5, wherein the center positioning structure 4 is arranged on the inner bottom side of the storage tube 3, and the punching sheet side groove positioning structure 5 is arranged on the side of the storage tube 3, wherein the grabbing mechanical gripper 2 is composed of a grabbing driving head 7, a replaceable grabbing claw 8, and a driving side arm 9, wherein the top end of the replaceable grabbing claw 8 is connected to the bottom side of the grabbing driving head 7, the top end of the driving side arm 9 is connected to the top side of the grabbing driving head 7, and the bottom end of the driving side arm 9 is connected to the outer side of the replaceable grabbing claw 8.

[0024] The upper section of the storage tube 3 is provided with a punching sheet storage slot 3-1, and clamping arm slots 3-2 are provided on both sides of the punching sheet storage slot 3-1. The front side of the punching sheet storage slot 3-1 is provided with a side slot insertion slot 3-3. The bottom end of the center positioning structure 4 is inserted and fixed on the bottom side of the punching sheet storage slot 3-1, and the center positioning structure 4 is arranged at the center of the punching sheet storage slot 3-1. The punching sheet side slot positioning structure 5 is inserted and fixed on the side slot insertion slot 3-3, and the replaceable grabbing claw 8 can pass through the clamping arm slot 3-2.

[0025] The grabbing driving head 7 is composed of a head shell 7-1, a top mounting position 7-2, and a driving mechanism 7-3. The top mounting position 7-2 is arranged on the top side of the head shell 7-1, and the top side of the head shell 7-1 is provided with symmetrical side arm connecting grooves 7-4, and the bottom side of the head shell 7-1 is provided with symmetrical clamping arm connecting grooves 7-5. The side wall of the clamping arm connecting groove 7-5 is provided with an arm end shaft hole 7-6. The driving mechanism 7-3 is arranged in the head shell 7-1, and the side end of the driving mechanism 7-3 is arranged on one side of the side arm connecting groove 7-4. The top end of the driving side arm 9 is connected in the side arm connecting groove 7-4, and one side of the top end of the driving side arm 9 is connected to the driving mechanism 7-3. The top end of the replaceable grabbing claw 8 is connected to the arm end shaft hole 7-6 on the side wall of the clamping arm connecting groove 7-5.

[0026] The driving side arm 9 is composed of an arched side arm 9-1, a top connecting protrusion 9-2, and a bottom connecting protrusion 9-3. The top connecting protrusion 9-2 is arranged on the top side of the arched side arm 9-1, and the bottom connecting protrusion 9-3 is arranged on the bottom side of the arched side arm 9-1. The arched side arm 9-1, the top connecting protrusion 9-2, and the bottom connecting protrusion 9-3 are fixed as a whole. A shaft connecting spline hole 9-4 is arranged on the top side of the arched side arm 9-1, and the shaft connecting spline hole 9-4 and the top connecting protrusion 9-2 are arranged oppositely. The top connecting protrusion 9-2, the bottom connecting protrusion 9-3, and the shaft connecting spline hole 9-4 in the two groups of driving side arms 9 are arranged oppositely. The replaceable grabbing claw 8 is composed of a straight clamping arm 8-1, a bottom supporting fork 8-2, a clamping arm connecting protrusion 8-3, and an outer connecting shaft position 8-4. The bottom supporting fork 8-2 is arranged It is arranged at the bottom end of the inner side surface of the straight plate clamp arm 8-1, the clamp arm connecting protrusion 8-3 is arranged on both sides of the top end of the straight plate clamp arm 8-1, and the outer connecting axis position 8-4 is arranged on the outer side surface of the straight plate clamp arm 8-1. The straight plate clamp arm 8-1, the bottom supporting fork 8-2, the clamp arm connecting protrusion 8-3, and the outer connecting axis position 8-4 are fixed as a whole, the clamp arm connecting protrusion 8-3 is respectively connected to the arm end axis hole 7-6 of the side wall of the clamp arm connecting groove 7-5, and the straight plate clamp arm 8-1 is rotatable around the clamp arm connecting protrusion 8-3 as the axis, the bottom end connecting protrusion 9-3 is connected to the outer connecting axis position 8-4, the top connecting protrusion 9-2 is connected to the side wall of the side arm connecting groove 7-4, and the arched side arm 9-1 is rotatable around the top connecting protrusion 9-2 as the axis, and the connecting end of the driving mechanism 7-3 is connected to the shaft spline hole 9-4.

[0027] The center positioning structure 4 is composed of a top perforated tip 4-1, a perforated slope head 4-2, a center column 4-3, a support plate 4-4, and a fixed insertion rod 4-5. The perforated slope head 4-2 is arranged at the top of the center column 4-3, the top perforated tip 4-1 is arranged at the top of the perforated slope head 4-2, the support plate 4-4 is arranged at the bottom end of the center column 4-3, and the fixed insertion rod 4-5 is arranged on the bottom side of the support plate 4-4. The top perforated tip 4-1, the perforated slope head 4-2, the center column 4-3, the support plate 4-4, and the fixed insertion rod 4-5 are coaxial and fixed as a whole. The bottom side of the sheet support plate 4-4 is tightly attached to the inner bottom side of the punching sheet storage slot 3-1, the fixed insert rod 4-5 is inserted and fixed on the inner bottom side of the punching sheet storage slot 3-1, the punching sheet side slot positioning structure 5 is composed of a slot-type fixed clip 5-1, a side slot convex 5-2, and a widened slot convex 5-3, the side slot convex 5-2 and the widened slot convex 5-3 are both arranged on the side of the slot-type fixed clip 5-1, and the widened slot convex 5-3 is arranged on the top side of the side slot convex 5-2, the slot-type fixed clip 5-1, the side slot convex 5-2, and the widened slot convex 5-3 are fixed as a whole, and the slot-type fixed clip 5-1 is inserted into the side slot slot 3-3.

[0028] The driving mechanism 7-3 is composed of a driving motor group 73-1, a main driving shaft 73-2, a driven shaft 73-3, a first gear 73-4, a second gear 73-5, a third gear 73-6, a fourth gear 73-7, a fifth gear 73-8, a sixth gear 73-9, a driving end spline shaft 73-10, and a transmission toothed belt 73-11. The main driving shaft 73-2 is connected to the side end of the driving motor group 73-1, the second gear 73-5 and the third gear 73-6 are arranged in parallel at both ends of the main driving shaft 73-2, the first gear 73-4 is connected to the left side of the second gear 73-5 through the transmission toothed belt 73-11, and the fourth gear 73-7 and the fifth gear 73 -8 are arranged in parallel on the driven shaft 73-3, and the fourth gear 73-7, the fifth gear 73-8 and the driven shaft 73-3 are coaxially arranged as a whole, the fourth gear 73-7 is connected to the right side of the third gear 73-6 through a transmission belt 73-11, the fifth gear 73-8 and the sixth gear 73-9 are laterally parallel and meshingly connected, the driving end spline shaft 73-10 is respectively arranged on the eccentric inner sides of the first gear 73-4 and the sixth gear 73-9, the two groups of driving end spline shafts 73-10 are respectively arranged on the eccentric sides of the side arm connecting groove 7-4, and the two groups of driving end spline shafts 73-10 are respectively connected to the shaft connecting spline holes 9-4 on the eccentric sides of the top ends of the two groups of bow-shaped side arms 9-1.

[0029] Working principle of the invention: The working of the structure is divided into the storage of motor punching sheets and the grabbing of motor punching sheets.

[0030] The motor punching sheets need to be assembled and stacked before being used in combination. During the transportation of the motor punching sheets, the end is directly connected to the top side of the punching sheet storage structure 1. When the motor punching sheet falls into the punching sheet storage slot 3-1, the center positioning structure 4 in the center will be directly inserted into the perforation in the center of the motor punching sheet. When the punching sheet continues to fall due to its own weight, the perforated slope head 4-2 will correct the direction of the motor punching sheet so that the motor punching sheet remains relatively horizontal. Thereafter, the center column 4-3 can center the motor punching sheet. During the descent, the multiple open slots of the motor punching sheet are set at equal circular angles, and the widening slot convex 5-3 randomly enters the open slot at the edge of the motor punching sheet. During the descent of the motor punching sheet, the side slot convex 5-2 is used to stabilize the motor punching sheet and limit the rotation of the motor punching sheet, thereby stacking multiple groups of motor punching sheets on the upper side of the sheet tray 4-4. Sheet tray 4-4 During the grabbing process of the motor punching sheet, the driving motor group 73-1 drives its short main driving shaft 73-2 to rotate, and drives the driving end spline shaft 73-10 set on the inner side of the No. 1 gear 73-4 and the No. 6 gear 73-9 on both sides to rotate through the transmission. The rotated driving end spline shaft 73-10 will rotate in two opposite directions, and the angular velocity of the rotation is consistent, thereby driving the arched side arms 9-1 connected on both sides to perform a pitching movement, and the straight plate clamping arm 8-1 connected to the bottom end of the arched side arm 9-1 will perform a pitching movement with the axis of the top end, thereby realizing the opening and closing of the straight plate clamping arm 8-1. In the opening stage, it can move to the top side of the punching sheet storage structure 1, and move the straight plate clamping arm 8-1 to the outside of the clamping arm grooves 3-2 on both sides, and then close it to the inside, and its bottom support fork 8-2 can be directly inserted into the bottom side of the motor punching sheet for supporting the bottom, and the motor punching sheet is taken out of the punching sheet storage structure 1.

[0031] The operation of the above-mentioned equipment needs to be coordinated with the transmission mechanism of the motor punching sheet and the mobile truss and power supply mechanism of the grasping mechanical claw 2. The main function provided by this structure is to realize the positioning, stacking and clamping of the motor punching sheet. In addition, this structure can change the specifications of the storage tube 3, the center positioning structure 4 and the punching sheet side groove positioning structure 5 according to different motor punching sheet sizes, different apertures, different opening positions and widths, and can even replace the straight plate clamping arm 8-1 of different lengths according to the number and thickness of the stacking.

[0032] The above is a preferred embodiment of the present invention. For ordinary technicians in this field, according to the teachings of the present invention, without departing from the principles and spirit of the present invention, changes, modifications, substitutions and variations made to the implementation methods are still within the scope of protection of the present invention.

Claims

1. A high positioning precision mechanical gripper for grabbing motor punching sheets, characterized in that: The invention comprises a sheet storage structure (1) and a grabbing mechanical claw (2), wherein the grabbing mechanical claw (2) can be moved onto the sheet storage structure (1), and the grabbing mechanical claw (2) can move on both sides of the sheet storage structure (1), wherein the sheet storage structure (1) is composed of a storage tube (3), a center positioning structure (4), and a sheet side groove positioning structure (5), wherein the center positioning structure (4) is arranged on the inner bottom side of the storage tube (3), and the sheet side groove positioning structure (5) is arranged on the side of the storage tube (3), and the grabbing mechanical claw (2) is composed of a grabbing driving machine head (7), a replaceable grabbing claw (8), and a driving side arm (9), wherein the top end of the replaceable grabbing claw (8) is connected to the bottom side of the grabbing driving machine head (7), the top end of the driving side arm (9) is connected to the top side of the grabbing driving machine head (7), and the bottom end of the driving side arm (9) is connected to the outer side of the replaceable grabbing claw (8).

2. A high positioning precision mechanical gripper for grabbing motor punching sheets according to claim 1, characterized in that: The upper section of the storage tube (3) is provided with a punching sheet storage slot (3-1), the two sides of the punching sheet storage slot (3-1) are provided with clamping arm through slots (3-2), the front side of the punching sheet storage slot (3-1) is provided with a side slot insertion slot (3-3), the bottom end of the center positioning structure (4) is inserted and fixed on the bottom side of the punching sheet storage slot (3-1), and the center positioning structure (4) is arranged at the center of the punching sheet storage slot (3-1), the punching sheet side slot positioning structure (5) is inserted and fixed on the side slot insertion slot (3-3), and the replaceable grab claw (8) can pass through the clamping arm through slot (3-2).

3. The high positioning precision mechanical gripper for grabbing motor punching sheets according to claim 1 is characterized in that: The grabbing drive machine head (7) is composed of a machine head housing (7-1), a top mounting position (7-2), and a driving mechanism (7-3); the top mounting position (7-2) is arranged on the top side of the machine head housing (7-1); the top side of the machine head housing (7-1) is provided with symmetrical side arm connecting grooves (7-4); the bottom side of the machine head housing (7-1) is provided with symmetrical clamping arm connecting grooves (7-5); and the side walls of the clamping arm connecting grooves (7-5) are provided with arm connecting grooves. The drive mechanism (7-3) is arranged in the machine head housing (7-1), and the side end of the drive mechanism (7-3) is arranged on one side of the side arm connecting groove (7-4), the top end of the drive side arm (9) is connected to the side arm connecting groove (7-4), and one side of the top end of the drive side arm (9) is connected to the drive mechanism (7-3), and the top end of the replaceable grab claw (8) is connected to the arm end shaft hole (7-6) on the side wall of the clamp arm connecting groove (7-5).

4. A high positioning precision mechanical gripper for grabbing motor punching sheets according to claim 3, characterized in that: The driving side arm (9) is composed of an arched side arm (9-1), a top connecting protrusion (9-2), and a bottom connecting protrusion (9-3); the top connecting protrusion (9-2) is arranged on the top side of the arched side arm (9-1); the bottom connecting protrusion (9-3) is arranged on the bottom side of the arched side arm (9-1); the arched side arm (9-1), the top connecting protrusion (9-2), and the bottom connecting protrusion (9-3) are fixed as a whole; the top side of the arched side arm (9-1) is arranged A shaft connecting spline hole (9-4) is provided, and the shaft connecting spline hole (9-4) and the top connecting protrusion (9-2) are arranged oppositely, the top connecting protrusion (9-2), the bottom connecting protrusion (9-3) and the shaft connecting spline hole (9-4) in the two sets of driving side arms (9) are arranged oppositely, and the replaceable grab claw (8) is composed of a straight plate clamping arm (8-1), a bottom supporting fork (8-2), a clamping arm connecting protrusion (8-3), and an outer connecting shaft position (8-4), and the bottom supporting fork (8- 2) is arranged at the bottom end of the inner side surface of the straight plate clamp arm (8-1), the clamp arm connecting protrusion (8-3) is arranged on both sides of the top end of the straight plate clamp arm (8-1), the outer connecting axis position (8-4) is arranged on the outer side surface of the straight plate clamp arm (8-1), the straight plate clamp arm (8-1), the bottom end supporting fork (8-2), the clamp arm connecting protrusion (8-3), and the outer connecting axis position (8-4) are fixed as a whole, and the clamp arm connecting protrusion (8-3) is respectively connected to the clamp arm connecting groove (7-5 ) in the arm end shaft hole (7-6) of the side wall, and the straight plate clamp arm (8-1) is rotatable with the clamp arm connecting protrusion (8-3) as the axis, the bottom end connecting protrusion (9-3) is connected to the outer connecting shaft position (8-4), the top end connecting protrusion (9-2) is connected to the side wall of the side arm connecting groove (7-4), and the arched side arm (9-1) is rotatable with the top end connecting protrusion (9-2) as the axis, and the connecting end of the driving mechanism (7-3) is connected to the shaft connecting spline hole (9-4).

5. The high positioning precision mechanical gripper for grabbing motor punching sheets according to claim 2 is characterized in that: The central positioning structure (4) is composed of a top perforated tip (4-1), a perforated slope head (4-2), a central column (4-3), a support plate (4-4), and a fixed insertion rod (4-5); the perforated slope head (4-2) is arranged at the top of the central column (4-3); the top perforated tip (4-1) is arranged at the top of the perforated slope head (4-2); the support plate (4-4) is arranged at the bottom of the central column (4-3); the fixed insertion rod (4-5) is arranged at the bottom side of the support plate (4-4); the top perforated tip (4-1), the perforated slope head (4-2), the central column (4-3), the support plate (4-4), and the fixed insertion rod (4-5) are coaxial and fixedly arranged as a whole. The bottom side of the sheet support plate (4-4) is tightly attached to the inner bottom side of the punching sheet storage slot (3-1); the fixed insertion rod (4-5) is inserted and fixed to the inner bottom side of the punching sheet storage slot (3-1); the punching sheet side slot positioning structure (5) is composed of a slot-type fixed clip (5-1), a side slot protrusion (5-2), and a widened slot protrusion (5-3); the side slot protrusion (5-2) and the widened slot protrusion (5-3) are both arranged on the side of the slot-type fixed clip (5-1), and the widened slot protrusion (5-3) is arranged on the top side of the side slot protrusion (5-2); the slot-type fixed clip (5-1), the side slot protrusion (5-2), and the widened slot protrusion (5-3) are fixed as a whole; and the slot-type fixed clip (5-1) is inserted and embedded in the side slot insertion slot (3-3).

6. A high positioning precision mechanical gripper for grabbing motor punching sheets according to claim 4, characterized in that: The driving mechanism (7-3) is composed of a driving motor group (73-1), a main driving shaft (73-2), a driven shaft (73-3), a first gear (73-4), a second gear (73-5), a third gear (73-6), a fourth gear (73-7), a fifth gear (73-8), a sixth gear (73-9), a driving end spline shaft (73-10), and a transmission toothed belt (73-11). The main driving shaft (73-2) is connected to a side end of the driving motor group (73-1), the second gear (73-5) and the third gear (73-6) are arranged in parallel at two ends of the main driving shaft (73-2), the first gear (73-4) is connected to the left side of the second gear (73-5) through the transmission toothed belt (73-11), the fourth gear (73-7) and the fifth gear (73-8) are connected to the left side of the second gear (73-5) through the transmission toothed belt (73-11), and the fifth gear (73-9) and the sixth gear (73-10) are connected to the driving end spline shaft (73-11). The wheels (73-8) are arranged in parallel on the driven shaft (73-3), and the fourth gear (73-7), the fifth gear (73-8) and the driven shaft (73-3) are arranged coaxially and integrally, the fourth gear (73-7) is connected to the right side of the third gear (73-6) through a transmission toothed belt (73-11), the fifth gear (73-8) and the sixth gear (73-9) are laterally parallel and meshingly connected, the driving end spline shaft (73-10) is respectively arranged on the skew inner sides of the first gear (73-4) and the sixth gear (73-9), the two groups of driving end spline shafts (73-10) are respectively arranged on the skew sides of the side arm connecting groove (7-4), and the two groups of driving end spline shafts (73-10) are respectively connected to the shaft connecting spline holes (9-4) on the skew sides of the top ends of the two groups of arched side arms (9-1).

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