Executing driving mechanism of broaching machine feeding and discharging mechanical hand

The utility model discloses an executing driving mechanism of a broaching machine feeding and discharging mechanical hand. The executing driving mechanism comprises an executing mechanism, a driving mechanism and a hydraulic control mechanism, wherein the driving mechanism comprises a waist base, a big gear, a small gear, a stepping motor, a waist rotating shaft, a conical roller bearing, a fixed stand column and a rack cylinder. The executing mechanism comprises an ascending oil cylinder, an ascending oil cylinder piston, an ascending oil cylinder piston rod, an ascending guide rod, a sleeve, a lifting platform, a rolling bearing, a supporting plate, a supporting frame, a translation oil cylinder, a translation oil cylinder piston rod, a guide rod, a guide sleeve, an annular sleeve and the mechanical hand. The mechanical hand comprises a paw and a telescopic oil cylinder. The executing driving mechanism ensures the positioning control precision, meanwhile, reduces impacting and vibration to the greatest exte