Electronic element stamping raw material feeding clamping mechanical hand and clamping method thereof

The invention relates to an electronic element stamping raw material feeding clamping mechanical hand and a clamping method thereof, and belongs to the technical field of industrial robots. The mechanical hand comprises three supports which are distributed on a mounting plate, wherein the included angles between the supports are 120 degrees; each support is provided with a cylinder, the shaft end of each cylinder is connected with a connecting rod I and a connecting rod II, the lower ends of the connecting rods I and the lower ends of the connecting rods II are connected with connecting rods III and connecting rods IV which are all fixedly hinged to the supports, an inner arc plate and an outer arc plate are arranged at the lower end of each connecting rod III and the lower end of each connecting rod IV respectively, and force sensors are mounted on the outer arc plates. The clamping method of the mechanical hand comprises the following steps of locating, clamping and carrying. The three sets of inner arc plates and outer arc plates are adopted to grab workpieces at the same time, based on the principle that a plane is defined by three points, the workpiece grabbing process is more stable and reliable and more precise in locating, loads of all claws are greatly lowered, and the problems that in the feeding process, electronic element metal outer shell stamping parts are prone to being damaged and easily fall off are solved.