Two-degree-of-freedom double-crank servo mechanical press

Abstract

The invention discloses a two-degree-of-freedom double-crank servo mechanical press, and belongs to the technical field of mechanical engineering forging and pressing equipment. According to the technical scheme, the two-degree-of-freedom double-crank servo mechanical press comprises a press body, a master servo motor, a slave servo motor, a transmission mechanism, a sliding block and a control system, and the master servo motor and the slave servo motor are both fixedly installed on the press body; the sliding block is in sliding connection with the machine body and can move in the vertical direction of the machine body. The transmission mechanism is installed on the machine body and connected with the main servo motor, the auxiliary servo motor and the sliding block. The control system is electrically connected with the master servo motor and the slave servo motor. The driving mechanism of the two-degree-of-freedom double-crank servo mechanical press is a two-degree-of-freedom mechanism, the stroke of the sliding block can be dynamically adjusted in the working process, and the kinematics process flexibility of the sliding block is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering forging equipment, in particular to a two-degree-of-freedom double-crank servo mechanical press. Background Art

[0002] Presses are essential equipment in the forging industry and are widely used in manufacturing industries such as automotive, electronics, furniture, appliances, and hardware. Traditional presses are primarily hydraulic and mechanical presses. Due to the low production efficiency of traditional hydraulic presses and the poor process flexibility of traditional mechanical presses, these presses are being gradually replaced by servo-mechanical presses, which offer higher production efficiency and process flexibility.

[0003] Although the current servo mechanical press has the advantages of high production efficiency and high process flexibility, it still has the following disadvantages: 1. The current driving mechanism of the servo mechanical press is a single-degree-of-freedom mechanism, and the slider stroke is fixed and cannot be adjusted, which limits the further improvement of the slider's kinematic process flexibility.

[0004] 2. The bottom dead center position of the current servo mechanical press slider cannot be adjusted during operation, and cannot compensate for the bottom dead center drift of the slider caused by temperature changes. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a two-degree-of-freedom double-crank servo mechanical press in response to the defects of the prior art.

[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is a two-degree-of-freedom double-crank servo mechanical press, including a machine body, a main servo motor, a slave servo motor, a transmission mechanism, a slider and a control system. The main servo motor and the slave servo motor are fixedly mounted on the machine body; the slider is slidably connected to the machine body, and the slider can move in the vertical direction of the machine body; the transmission mechanism is mounted on the machine body, and at the same time, the transmission mechanism is respectively connected to the main servo motor, the slave servo motor and the slider; the control system is respectively electrically connected to the main servo motor and the slave servo motor.

[0007] As an optimal implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the fuselage includes a fuselage body, a workbench and a fuselage guide rail, and the workbench and the fuselage guide rail are fixedly installed on the fuselage body; the working surface of the workbench is a horizontal plane; the guide surface of the fuselage guide rail is vertical and perpendicular to the working surface of the workbench; a fixed core shaft hole is provided on the fuselage body, and the fixed core shaft hole is parallel to the working surface of the fuselage guide rail; a main drive shaft hole and a slave drive shaft hole are also provided on the fuselage body, and both are parallel to the fixed core shaft hole.

[0008] As an optimal implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the slider includes a slider body, a slider connector and a slider guide rail, and the slider connector and the slider guide rail are fixedly installed on the slider body; a horizontal working surface is provided on the slider body; the guide surface of the slider guide rail is vertical and perpendicular to the working surface of the slider body; a rotating shaft is provided on the slider connector, and the axis of the rotating shaft is perpendicular to the working surface of the slider body; the rotating shaft on the slider connector is hingedly connected to one end of the connecting rod 204; the guide surface of the slider guide rail is in contact with the guide surface of the fuselage guide rail, limiting the slider to move only in the vertical direction, and keeping the working surface on the slider body and the working surface on the workbench parallel during movement.

[0009] As an optimal implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the transmission mechanism includes a main drive gear shaft, a slave drive gear shaft, a speed regulating gear, a planetary gear, a fixed core shaft, an eccentric gear, an eccentric sleeve gear and a connecting rod: the fixed core shaft is fixedly mounted on the main shaft hole of the fuselage body; the eccentric gear has a first gear surface, a first center hole and a first eccentric shaft, wherein the first gear coincides with the axis of the first center hole, and the axis of the first eccentric shaft is parallel to the axis of the first center hole and offset by a certain distance; an offset hole is also provided on the eccentric gear, and the axis of the offset hole is parallel to the axis of the first center hole and offset by a certain distance; the first center hole of the eccentric gear is coaxially mounted with the fixed core shaft, and the eccentric gear can rotate along the axis of the fixed core shaft.

[0010] As an optimal implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the eccentric sleeve gear has a second gear surface, a second center hole and a second eccentric shaft, wherein the second gear surface coincides with the axis of the second center hole, and the axis of the second eccentric shaft is parallel to the axis of the second center hole and offset by a certain distance; the second center hole of the eccentric sleeve gear is installed on the first eccentric shaft of the eccentric body gear, and the eccentric sleeve gear can rotate along the axis of the second eccentric shaft on the eccentric body gear; shaft holes are provided at both ends of the connecting rod, wherein the shaft hole at one end is hingedly connected to the second eccentric shaft of the eccentric sleeve gear, and the shaft hole at the other end is hingedly connected to the slider; gears are provided at both ends of the shaft of the planetary gear, and both are connected to the planetary gear The central axis of the wheel coincides; the planetary gear is installed on the first offset hole of the eccentric gear, and the axes of the two coincide; the planetary gear can rotate along the axis of the first offset hole of the eccentric gear; one end gear of the planetary gear is meshed with the eccentric sleeve gear; end face gears are respectively provided at both ends of the shaft of the speed regulating gear, and both coincide with the axis of the central hole of the speed regulating gear; the central hole of the speed regulating gear is installed on the fixed core shaft, and the speed regulating gear can rotate along the fixed core shaft; the end face gear on one side of the speed regulating gear is meshed with the gear on the other side of the planetary gear; the main drive gear shaft and the slave drive gear shaft are respectively installed in the main drive shaft hole and the slave drive shaft hole provided on the fuselage body, and can rotate along the axis respectively.

[0011] As an optimal implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the main drive gear shaft and the slave drive gear shaft are also coaxially connected to the main servo motor and the slave servo motor respectively, and can be driven by the servo motor to rotate; the main drive gear shaft and the eccentric body gear are gear-engaged for transmission; the outer peripheral tooth surface of the slave drive gear shaft is gear-engaged for transmission with the end gear on the other side of the speed regulating gear.

[0012] As an optimal implementation scheme for a two-degree-of-freedom double-crank servo mechanical press, the control system includes a controller, a first angle sensor and a second angle sensor: the controller is electrically connected to the first angle sensor, the second angle sensor, the main servo motor and the slave servo motor respectively; the first angle sensor is mechanically connected to the eccentric body gear for rotational transmission with a fixed transmission ratio; the second angle sensor is mechanically connected to the eccentric sleeve gear for rotational transmission with a fixed transmission ratio; the controller calculates the real-time position of the slider by real-time detection of the position signals of the first angle sensor and the second angle sensor.

[0013] As an optimal implementation scheme for a two-degree-of-freedom double-crank servo mechanical press, a position sensor is installed between the body and the slider. The position sensor can detect the relative position between the body and the slider in real time and transmit the position signal to the control system. The control system compares and calculates based on the signals of the first angle sensor, the second angle sensor and the position sensor to ensure the correctness of the transmission of the transmission mechanism and the accuracy of the slider position.

[0014] It can be seen from the above technical solutions that the beneficial effects of the present invention relative to the prior art are: this solution solves the shortcomings existing in the prior art, which are manifested in that: the driving mechanism of the two-degree-of-freedom double-crank servo mechanical press of the present invention is a two-degree-of-freedom mechanism, and the slider stroke can be dynamically adjusted during operation, thereby improving the kinematic process flexibility of the slider; the bottom dead point position of the slider of the two-degree-of-freedom double-crank servo mechanical press of the present invention can be dynamically adjusted during operation, thereby compensating for the bottom dead point drift of the slider caused by temperature changes. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the local structure of the moving parts of the present invention.

[0018] Figure 3 It is a schematic diagram of the assembly of the transmission mechanism of the present invention.

[0019] Figure 4 It is an explosion effect diagram of the transmission mechanism of the present invention.

[0020] Figure 5 It is an explosion effect diagram of the transmission mechanism of the present invention.

[0021] Figure 6 It is a cross-sectional view of the transmission mechanism of the present invention.

[0022] Figure 7 It is the mechanism principle diagram of the present invention.

[0023] Figure 8 This is a motion trajectory diagram of the hinge point at the upper end of the connecting rod of the present invention.

[0024] Figure 9 The figure is a comparison between the motion trajectory of the slider of the present invention and that of a conventional press.

[0025] Figure 10 This is a comparison chart of the slider movement speed of the present invention and that of a conventional press.

[0026] Figure 11 This is a motion trajectory diagram of the hinge point at the upper end of the connecting rod of the present invention.

[0027] Figure 12 The figure is a comparison between the motion trajectory of the slider of the present invention and that of a conventional press.

[0028] Figure 13 This is a comparison chart of the slider movement speed of the present invention and that of a conventional press.

[0029] Description of main reference numerals 100. Fuselage, 101. Fuselage body, 102. Workbench, 104. Fuselage guide rail, 280. Main servo motor, 281. Slave servo motor, 200. Transmission mechanism, 2021. Main drive gear shaft, 2022. Slave drive gear shaft, 2031. Speed ​​regulating gear, 2032. Planetary gear, 2041. Fixed core shaft, 2042. Eccentric body gear, 2043 Eccentric sleeve gear, 205. Connecting rod, 300. Slider, 301. Slider body, 309. Slider guide rail, 310. Slider connector, 800. Control system, 801. Controller, 820. First angle sensor, 821. Second angle sensor, 830. Position sensor. DETAILED DESCRIPTION

[0030] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this patent.

[0031] like Figure 1 、 Figure 2 As shown, the technical problem to be solved by the present invention is to address the defects of the prior art and provide a two-degree-of-freedom double-crank servo mechanical press, including a body 100, a main servo motor 280, a slave servo motor 281, a transmission mechanism 200, a slider 300 and a control system 800. The main servo motor 280 and the slave servo motor 281 are both fixedly mounted on the body 100; the slider 300 is slidably connected to the body 100 and can move in the vertical direction of the body; the transmission mechanism 200 is mounted on the body 100 and is respectively connected to the main servo motor 280, the slave servo motor 281 and the slider 300; the control system 800 is respectively electrically connected to the main servo motor 280 and the slave servo motor 281; The fuselage 100 includes a fuselage body 101, a workbench 102 and a fuselage guide rail 104, and the workbench 102 and the fuselage guide rail 104 are fixedly mounted on the fuselage body 101; the working surface of the workbench 102 is a horizontal surface; the guide surface of the fuselage guide rail 104 is vertical and perpendicular to the working surface of the workbench 102; a fixed core shaft hole is provided on the fuselage body 101, and the fixed core shaft hole is parallel to the working surface of the fuselage guide rail 104; a main drive shaft hole and a slave drive shaft hole are also provided on the fuselage body 101, and both are parallel to the fixed core shaft hole; the slider 300 includes a slider body 301, a slider connector 310 and a slider guide rail 309, and the slider connector 31 0 and the slider guide rail 309 are both fixedly mounted on the slider body 301; the slider body 301 is provided with a horizontal working surface; the guide surface of the slider guide rail 309 is vertical and perpendicular to the working surface of the slider body 301; the slider connector 310 is provided with a rotating shaft, the axis of the rotating shaft is perpendicular to the working surface of the slider body 301; the rotating shaft on the slider connector 310 is hingedly connected to one end of the connecting rod 204; the guide surface of the slider guide rail 309 is in contact with the guide surface of the fuselage guide rail 104, limiting the slider 300 to move only in the vertical direction, and keeping the working surface on the slider body 301 parallel to the working surface on the workbench 102 during movement.

[0032] According to the above description, combined with Figure 1 、 Figure 2As shown, the specific working process of the two-degree-of-freedom double-crank servo mechanical press mentioned in this embodiment is: the control system 800 drives the main servo motor 280 and the slave servo motor 281 to rotate, and drives the transmission mechanism 200 to move, and then drives the slider 300 to move; the slider 300 performs a linear reciprocating motion under the support and guidance of the body 100, thereby completing the stamping action of the press.

[0033] like Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 As shown, the transmission mechanism 200 includes a main drive gear shaft 2021, a slave drive gear shaft 2022, a speed regulating gear 2031, a planetary gear 2032, a fixed core shaft 2041, an eccentric gear 2042, an eccentric sleeve gear 2043 and a connecting rod 205: the fixed core shaft 2041 is fixedly mounted on the main shaft hole of the fuselage body 101; the eccentric gear 2042 has a first gear surface, a first center hole and a first eccentric shaft, wherein the first gear coincides with the axis of the first center hole, and the axis of the first eccentric shaft is parallel to the axis of the first center hole and offset by a certain distance; the eccentric gear 2042 is also provided with an offset hole, the axis of the offset hole is parallel to the axis of the first center hole and offset by a certain distance; the first center hole of the eccentric gear 2042 is coaxially mounted with the fixed core shaft 2041, and the eccentric gear 2042 can rotate along the axis of the fixed core shaft 2041; The eccentric sleeve gear 2043 has a second gear surface, a second center hole and a second eccentric shaft, wherein the second gear surface coincides with the axis of the second center hole, and the axis of the second eccentric shaft is parallel to and offset from the axis of the second center hole by a certain distance; the second center hole of the eccentric sleeve gear 2043 is mounted on the first eccentric shaft of the eccentric body gear 2042, and the eccentric sleeve gear 2043 can rotate along the axis of the second eccentric shaft on the eccentric body gear 2042; shaft holes are provided at both ends of the connecting rod 205, and one end of the shaft hole is connected to the connecting rod 205. The second eccentric shaft of the eccentric sleeve gear 2043 is hingedly connected, and the shaft hole at the other end is hingedly connected to the slider 300; gears are respectively provided at both ends of the shaft of the planetary gear 2032, and both coincide with the central axis of the planetary gear 2032; the planetary gear 2032 is installed on the first offset hole of the eccentric body gear 2042, and the axes of the two coincide; the planetary gear 2032 can rotate along the axis of the first offset hole of the eccentric body gear 2042; one end gear of the planetary gear 2032 and the eccentric sleeve gear 2 043; end gears are provided at both ends of the shaft of the speed regulating gear 2031, and both coincide with the axis of the center hole of the speed regulating gear 2031; the center hole of the speed regulating gear 2031 is mounted on the fixed core shaft 2041, and the speed regulating gear 2031 can rotate along the fixed core shaft 2041; the end gear on one side of the speed regulating gear 2031 is meshed with the gear on the other side of the planetary gear 2032; the main drive gear shaft 2021 and the slave drive gear shaft 2022 are respectively mounted on the fuselage body 101 The main drive shaft hole and the slave drive shaft hole are set on it, and can rotate along the axis respectively; the main drive gear shaft 2021 and the slave drive gear shaft 2022 are also coaxially connected to the main servo motor 280 and the slave servo motor 281 respectively, and can be driven to rotate by the servo motor; the main drive gear shaft 2021 and the eccentric body gear 2042 are gear meshing transmission; the outer peripheral tooth surface of the slave drive gear shaft 2022 is gear meshing transmission with the end gear on the other side of the speed regulating gear 2031.

[0034] According to the above description, combined with Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 As shown, the transmission mechanism of this solution is a double-crank crank-connecting rod mechanism, the two cranks are the eccentric body gear 2042 and the eccentric sleeve gear 2043, and the two cranks can be driven directly or indirectly by the main servo motor 280 and the slave servo motor 281 respectively.

[0035] like Figure 8 and Figure 11As shown, the trajectory curve of the crank end (i.e., the upper hinge point of the connecting rod 204) of a conventional crank-connecting rod press is a circle with a fixed radius and is concentric with the circle a in the figure. However, in the present invention, the trajectory curve of the upper hinge point of the connecting rod 204 is the composite motion trajectory curve of the double crank composed of the eccentric body gear 2042 and the eccentric sleeve gear 2043, i.e. Figure 8 The curve c and Figure 11 The trajectory curve of the hinge point at the upper end of the connecting rod 204 can be any continuous curve located between circles a and b (wherein the radius of circle a is Ra, the radius of circle b is Rb, the eccentricity of the eccentric body gear 2042 is R1, the eccentricity of the eccentric sleeve gear 2043 is R2, circles a and b are concentric, and Ra = R1 + R2, Rb = R1 - R2).

[0036] like Figure 8 、 Figure 9 、 Figure 10 As shown, under the action of the double crank synthetic motion trajectory curve c, the motion position curve and speed curve of the slider 300 are divided into Figure 9 and Figure 10 The solid curve in . Figure 9 and Figure 10 The dashed lines in the figure represent the slider position and speed curves for a conventional press. It is readily apparent that within the stamping operating range of the slider 300 from its bottom dead center, the present invention offers a wider operating angle and lower operating speed than conventional presses, improving the processability of stamping and stretching and reducing the vibration intensity caused by overshoot. Consequently, it offers the advantage of greater process flexibility.

[0037] like Figure 11 、 Figure 12 、 Figure 13 As shown, under the action of the double crank synthetic motion trajectory curve d, the motion position curve and speed curve of the slider 300 are divided into Figure 12 and Figure 13 The solid curve in . Figure 12 and Figure 13 The dashed lines in the figure represent the slider position and speed curves for a conventional press. It is readily apparent that, when the slider 300 is near its bottom dead center, the present invention, compared to conventional presses, can make subtle adjustments to compensate for the bottom dead center position of the slider 300. This helps maintain the stability of the absolute bottom dead center position of the slider 300 during the stamping process, thereby avoiding mold wear and other issues caused by temperature fluctuations during long-term continuous operation.

[0038] like Figure 1As shown, the control system 800 includes a controller 801, a first angle sensor 820, and a second angle sensor 821. The controller 801 is electrically connected to the first angle sensor 820, the second angle sensor 821, the master servo motor 280, and the slave servo motor 281, respectively. The first angle sensor 820 is mechanically connected to the eccentric body gear 2042 for rotational transmission with a fixed transmission ratio. The second angle sensor 821 is mechanically connected to the eccentric sleeve gear 2043 for rotational transmission with a fixed transmission ratio. The controller 801 calculates the real-time position of the slider 300 by detecting the position signals of the first angle sensor 820 and the second angle sensor 821 in real time. This enables open-loop control of the position of the slider 300.

[0039] Furthermore, if Figure 6 As shown, a position sensor 830 is installed between the body 100 and the slider 300. The position sensor 830 can detect the relative position between the body 100 and the slider 300 in real time and transmit the position signal to the control system 800. The control system 800 compares and calculates the signals from the first angle sensor 820, the second angle sensor 821, and the position sensor 830 to ensure the correct transmission of the transmission mechanism 200 and the accuracy of the position of the slider 300. This enables closed-loop control of the position of the slider 300.

[0040] In summary, compared with the prior art, the present invention addresses the shortcomings of the prior art and provides the following beneficial effects: The drive mechanism of the two-degree-of-freedom double-crank servo mechanical press of the present invention is a two-degree-of-freedom mechanism, and the slider stroke can be dynamically adjusted during operation, thereby improving the slider's kinematic process flexibility. The bottom dead center position of the slider of the two-degree-of-freedom double-crank servo mechanical press of the present invention can be dynamically adjusted during operation, thereby compensating for slider bottom dead center drift caused by temperature changes.

[0041] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A two-degree-of-freedom double-crank servo mechanical press, comprising a body (100), a main servo motor (280), a slave servo motor (281), a transmission mechanism (200), a slider (300) and a control system (800), characterized in that: The main servo motor (280) and the slave servo motor (281) are both fixedly mounted on the fuselage (100); the slider (300) is slidably connected to the fuselage (100), and the slider (300) can move in a vertical direction of the fuselage; the transmission mechanism (200) is mounted on the fuselage (100), and the transmission mechanism (200) is respectively connected to the main servo motor (280), the slave servo motor (281) and the slider (300); and the control system (800) is respectively electrically connected to the main servo motor (280) and the slave servo motor (281).

2. The two-degree-of-freedom double-crank servo mechanical press according to claim 1, characterized in that: The fuselage (100) comprises a fuselage body (101), a workbench (102) and a fuselage guide rail (104), wherein the workbench (102) and the fuselage guide rail (104) are both fixedly mounted on the fuselage body (101); the working surface of the workbench (102) is a horizontal surface; the guide surface of the fuselage guide rail (104) is in a vertical direction and is perpendicular to the working surface of the workbench (102); a fixed core shaft hole is provided on the fuselage body (101), and the fixed core shaft hole is parallel to the working surface of the fuselage guide rail (104); a main drive shaft hole and a slave drive shaft hole are also provided on the fuselage body (101), and both are parallel to the fixed core shaft hole.

3. The two-degree-of-freedom double-crank servo mechanical press according to claim 2, characterized in that: The slider (300) comprises a slider body (301), a slider connector (310) and a slider guide rail (309), wherein the slider connector (310) and the slider guide rail (309) are both fixedly mounted on the slider body (301); a horizontal working surface is provided on the slider body (301); a guide surface of the slider guide rail (309) is vertical and perpendicular to the working surface of the slider body (301); a rotating shaft is provided on the slider connector (310), and an axis of the rotating shaft is perpendicular to the working surface of the slider body (301); the rotating shaft on the slider connector (310) is hingedly connected to one end of the connecting rod 204; the guide surface of the slider guide rail (309) is in contact with the guide surface of the fuselage guide rail (104), thereby limiting the slider (300) to move only in the vertical direction and keeping the working surface on the slider body (301) and the working surface on the workbench (102) parallel during movement.

4. The two-degree-of-freedom double-crank servo mechanical press according to claim 3, characterized in that: The transmission mechanism (200) comprises a main drive gear shaft (2021), a slave drive gear shaft (2022), a speed regulating gear (2031), a planetary gear (2032), a fixed core shaft (2041), an eccentric body gear (2042), an eccentric sleeve gear (2043) and a connecting rod (205): the fixed core shaft (2041) is fixedly mounted on the main shaft hole of the fuselage body (101); the eccentric body gear (2042) has a first gear surface, a first center hole and a first gear surface. An eccentric shaft, wherein the axis of the first gear coincides with the axis of the first center hole, and the axis of the first eccentric shaft is parallel to and offset from the axis of the first center hole by a certain distance; an offset hole is further provided on the eccentric body gear (2042), and the axis of the offset hole is parallel to and offset from the axis of the first center hole by a certain distance; the first center hole of the eccentric body gear (2042) is coaxially mounted with the fixed core shaft (2041), and the eccentric body gear (2042) is capable of rotating along the axis of the fixed core shaft (2041).

5. The two-degree-of-freedom double-crank servo mechanical press according to claim 4, characterized in that: The eccentric sleeve gear (2043) has a second gear surface, a second center hole, and a second eccentric shaft, wherein the second gear surface coincides with the axis of the second center hole, and the axis of the second eccentric shaft is parallel to and offset from the axis of the second center hole by a certain distance; the second center hole of the eccentric sleeve gear (2043) is mounted on the first eccentric shaft of the eccentric body gear (2042), and the eccentric sleeve gear (2043) can rotate along the axis of the second eccentric shaft on the eccentric body gear (2042); shaft holes are provided at both ends of the connecting rod (205), wherein the shaft hole at one end is hingedly connected to the second eccentric shaft of the eccentric sleeve gear (2043), and the shaft hole at the other end is hingedly connected to the slider (300); gears are provided at both ends of the shaft of the planetary gear (2032), and both coincide with the center axis of the planetary gear (2032); the planetary gear (2032) is mounted on the eccentric body gear (2042) The axes of the two coincide with each other on the first offset hole; the planetary gear (2032) can rotate along the axis of the first offset hole of the eccentric body gear (2042); the gear at one end of the planetary gear (2032) is meshed with the eccentric sleeve gear (2043); end face gears are respectively provided at both ends of the shaft of the speed regulating gear (2031), and both coincide with the axis of the center hole of the speed regulating gear (2031); the center hole of the speed regulating gear (2031) is installed on the fixed core shaft (2041), and the speed regulating gear (2031) can rotate along the fixed core shaft (2041); the end face gear on one side of the speed regulating gear (2031) is meshed with the gear on the other side of the planetary gear (2032); the main drive gear shaft (2021) and the slave drive gear shaft (2022) are respectively installed in the main drive shaft hole and the slave drive shaft hole provided on the fuselage body (101), and can rotate along their axes respectively.

6. The two-degree-of-freedom double-crank servo mechanical press according to claim 5, characterized in that: The main drive gear shaft (2021) and the slave drive gear shaft (2022) are also coaxially connected to the main servo motor (280) and the slave servo motor (281), respectively, and can be driven by the servo motors to rotate; the main drive gear shaft (2021) and the eccentric body gear (2042) are gear-engaged and transmitted; the outer peripheral tooth surface of the slave drive gear shaft (2022) and the end face gear on the other side of the speed regulating gear (2031) are gear-engaged and transmitted.

7. The two-degree-of-freedom double-crank servo mechanical press according to claim 6, characterized in that: The control system (800) includes a controller (801), a first angle sensor (820) and a second angle sensor (821): the controller (801) is electrically connected to the first angle sensor (820), the second angle sensor (821), the main servo motor (280) and the slave servo motor (281) respectively; the first angle sensor (820) is mechanically connected to the eccentric body gear (2042) for rotation transmission with a fixed transmission ratio; the second angle sensor (821) is mechanically connected to the eccentric sleeve gear (2043) for rotation transmission with a fixed transmission ratio; the controller (801) calculates the real-time position of the slider (300) by detecting the position signals of the first angle sensor (820) and the second angle sensor (821) in real time.

8. The two-degree-of-freedom double-crank servo mechanical press according to claim 7, characterized in that: A position sensor (830) is installed between the body (100) and the slider (300). The position sensor (830) can detect the relative position between the body (100) and the slider (300) in real time and transmit the position signal to the control system (800). The control system (800) performs comparative calculations based on the signals of the first angle sensor (820), the second angle sensor (821) and the position sensor (830) to ensure the correctness of the transmission of the transmission mechanism (200) and the accuracy of the position of the slider (300).

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