Two-shaft crank connecting rod positioning mechanism and positioning analysis method thereof

Abstract

The invention discloses a two-axis crank connecting rod positioning mechanism and a positioning analysis method thereof, and aims to solve the problems that a single connecting rod is used for driving a sliding block to move in an existing crank connecting rod mechanism, so that lateral pulling force is generated when the single connecting rod is driven; and therefore, the service life is influenced, and the positioning accuracy is influenced. Comprising a machine frame, a rotary driving piece installed on the machine frame, two sliding blocks connected to the machine frame in a sliding mode, a positioning sensor and a controller, and the machine frame comprises a transverse plate. The left-right adjusting assembly drives the two movable blocks and the positioning sensor to get close to each other or get away from each other, so that when preset points of the clamping jaw and the sliding block need to be changed, positioning adjustment is very convenient to achieve so as to be suitable for grabbing operation of different products, and the situation that the products are damaged due to too large clamping force is prevented; or the clamping force is too small, so that the product falls off from the clamping jaw.

Description

Technical Field

[0001] The invention belongs to the technical field of crank-connecting rods, and in particular relates to a two-axis crank-connecting rod positioning mechanism and a positioning analysis method thereof. Background Art

[0002] Mechanical transmission system is a common mechanical structure, widely used in engineering machinery, automation equipment and robots. Traditional transmission methods include gear transmission, chain transmission and belt transmission. These transmission methods have their own advantages and disadvantages, but in some specific applications, there may be problems such as low efficiency, large space occupation and poor flexibility. The crank-connecting rod mechanism has become an important part of mechanical design due to its simple structure and good motion conversion ability. This mechanism can convert rotational motion into linear motion and is commonly found in various mechanical equipment.

[0003] The slider in the existing crank-connecting rod mechanism usually reciprocates at a preset point under the action of a driving member. During the sliding process of the slider, the preset point of the reciprocating motion of the slider is usually used as the positioning point of the slider. When the slider slides to the positioning point, the state of the sensor changes, thereby determining that the slider is at the positioning point at this time. Since the slider in the crank-connecting rod mechanism usually uses a single connecting rod to drive the slider to move, this will cause lateral pulling force when the single connecting rod is driven, causing the slider to easily produce unilateral wear, which not only affects the service life but also affects the positioning accuracy. Summary of the invention

[0004] (1) Technical issues to be solved

[0005] In view of the deficiencies in the prior art, an object of the present invention is to provide a two-axis crank-connecting rod positioning mechanism and a method for positioning analysis thereof. The method for positioning analysis of the two-axis crank-connecting rod positioning mechanism is intended to solve the problem that the existing crank-connecting rod mechanism uses a single connecting rod to drive the slider to move, which will cause lateral pulling force when the single connecting rod is driven, resulting in unilateral wear of the slider, which not only affects the service life but also affects the positioning accuracy.

[0006] (2) Technical solution

[0007] In order to solve the above technical problems, the present invention provides a two-axis crank-connecting rod positioning mechanism, comprising a frame, a rotating driving member installed on the frame, two sliders slidably connected to the frame, a positioning sensor and a controller, the frame comprising a horizontal plate, two L-shaped side plates are fixedly connected to the left and right sides of the horizontal plate, the L-shaped side plates are provided with mounting holes, the left and right sides of the horizontal plate are rotatably connected to two rotating shafts through bearings, the two rotating shafts are transmission-connected, the output end of the rotating driving member is fixedly connected to one of the rotating shafts, the other end of the rotating shaft is fixedly connected to a main crank, the main crank is movably connected to the slider through a main connecting rod, and the lower surfaces of the two sliders are fixedly connected to two clamping claws;

[0008] A cover plate is fixedly connected to the lower surfaces of the two L-shaped side plates, a through hole corresponding to the clamping claw is opened on the cover plate, a box body is fixedly connected to the middle part of the upper surface of the cover plate, a hollow shaft and a rotating shaft are rotatably connected to the left and right sides of the box body through bearings respectively, the hollow shaft and the rotating shaft are transmission connected, the top ends of the hollow shaft and the rotating shaft are fixedly connected to an auxiliary crank, the auxiliary crank is movably connected to the slider through an auxiliary connecting rod, the bottom end of the rotating shaft is located inside the box body and fixedly connected to the first synchronous pulley, the bottom end of the rotating shaft passes through the hollow shaft and is located inside the box body and fixedly connected to the second synchronous pulley, the rotating shaft is rotatably connected to the hollow shaft, and the first synchronous pulley and the second synchronous pulley are connected through a synchronous belt transmission.

[0009] Preferably, the positioning sensor is installed on the lower side of the cross plate through the left and right adjustment components, and the upper surface of the sliding block is fixedly connected with a sensing sheet corresponding to the positioning sensor.

[0010] Furthermore, the left and right adjustment components include a screw rod rotatably connected between the two L-shaped side plates and a sliding rod fixedly connected between the two L-shaped side plates. Two movable blocks are sleeved on the outer surfaces of the screw rod and the sliding rod. Both movable blocks are slidably connected to the sliding rod. Left-handed threads and right-handed threads are respectively provided on the left and right sides of the outer surface of the screw rod. Both movable blocks are threadedly connected to the screw rod. The positioning sensor is a proximity switch. There are two positioning sensors installed on the front of the movable block. A handle is fixedly connected to the left side of the screw rod.

[0011] Furthermore, the rotary drive member is a stepper motor or a servo motor, and the rotary drive member is fixedly connected to the upper surface of the horizontal plate.

[0012] Furthermore, the outer surfaces of the two rotating shafts are fixedly connected with first gears, the two first gears are meshed and connected and have the same size, and the outer surfaces of the hollow shaft and the rotating shaft are fixedly connected with second gears, the two second gears are meshed and connected and have the same size.

[0013] Furthermore, the lower surface of the main crank is rotationally connected to the main connecting rod through a first pin, the other end of the main connecting rod is rotationally connected to the slider through a second pin, the upper surface of the auxiliary crank is rotationally connected to the auxiliary connecting rod through a third pin, and the other end of the auxiliary connecting rod is rotationally connected to the slider through a fourth pin.

[0014] Furthermore, the main crank and the auxiliary crank are both located between the front and rear guide rods, the main crank is smaller than the diameter of the first gear, and the auxiliary crank is smaller than the diameter of the second gear.

[0015] Furthermore, two guide rods are fixedly connected between the two L-shaped side plates, and linear sliding bearings are installed on both the front and rear sides of the slider, and the slider is sleeved on the outer surfaces of the two guide rods through the linear sliding bearings.

[0016] Furthermore, threaded holes are provided on both the front and rear sides of the lower surface of the slider, and screws are provided on both the front and rear sides of the clamping jaws, and the screws are threadedly connected in the threaded holes.

[0017] A positioning analysis method for a two-axis crank-connecting rod positioning mechanism comprises the following steps:

[0018] Step 1. When the preset points of the clamp and the slider need to be changed, turn the handle to drive the screw to rotate. Since the left and right sides of the outer surface of the screw are respectively provided with left-handed and right-handed threads, and the two movable blocks are connected to the screw threads, the screw can drive the two movable blocks and the positioning sensor to move closer to or away from each other during the rotation process, thereby completing the positioning adjustment of the clamp and the slider.

[0019] The second gear is engaged with the second gear on the left side and can drive the hollow shaft and the auxiliary crank on the left side to rotate. At this time, the upper and lower main cranks and the auxiliary cranks rotate in opposite directions, thereby driving the slider and the clamping claw to approach or move away from each other along the guide rod through the main connecting rod and the auxiliary connecting rod on the left side.

[0020] Step 3: The slider can drive the sensing piece to move during the movement. When the positioning sensor detects the position of the sensing piece, the controller controls the rotary drive member to close, thereby completing the positioning of the slider and the clamp.

[0021] (3) Beneficial effects

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. In the above scheme, the left and right adjustment components drive the two movable blocks and the positioning sensor to move closer to or farther from each other, so that when the preset points of the clamping claws and the slider need to be changed, the positioning adjustment is very convenient to adapt to the grasping operation of different products, and prevent the clamping force from being too large to damage the product, or the clamping force from being too small to cause the product to fall off the clamping claw;

[0024] 2. In the above scheme, the two main cranks and the two auxiliary cranks are driven to rotate in opposite directions through the rotating driving member and the gear transmission. During the rotation process, the main crank and the auxiliary crank can drive the slider and the clamping claw to approach or move away from each other along the guide rod through the main connecting rod and the auxiliary connecting rod. When the positioning sensor detects the position of the detection sensing piece, the controller controls the rotating driving member to be closed, thereby making the transmission structure simple and the positioning more accurate.

[0025] 3. In the above scheme, by arranging the main crank and the main connecting rod on the upper side of the frame, the main connecting rod can generate lateral pulling force to the front side of the slider during operation; by arranging the auxiliary crank and the auxiliary connecting rod on the lower side of the frame, and the main crank and the auxiliary crank on the upper and lower sides have different rotation directions, the auxiliary connecting rod can generate lateral pulling force to the front side of the slider during operation, thereby balancing the lateral pulling force on the slider, and at the same time, the slider is sleeved on the outer surface of the guide rod through the linear sliding bearing in the inner hole of the slider to reduce the friction between the slider and the guide rod, so that the slider slides more smoothly, thereby avoiding unilateral wear of the slider and improving the service life and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A bottom-up perspective structural diagram of a positioning analysis method for a two-axis crank-connecting rod positioning mechanism;

[0027] Figure 2 A three-dimensional structural schematic diagram of a positioning analysis method for a two-axis crank-connecting rod positioning mechanism;

[0028] Figure 3 A method for analyzing the positioning of a two-axis crank-connecting rod positioning mechanism Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 4 A schematic diagram of the structure of the main connecting rod and the auxiliary connection of the positioning analysis method of the two-axis crank connecting rod positioning mechanism;

[0030] Figure 5 It is a schematic diagram of the internal three-dimensional structure of the positioning analysis method of the two-axis crank connecting rod positioning mechanism;

[0031] Figure 6 It is a front view cross-sectional structural schematic diagram of a positioning analysis method for a two-axis crank-connecting rod positioning mechanism;

[0032] Figure 7 A method for analyzing the positioning of a two-axis crank-connecting rod positioning mechanism Figure 6 A schematic diagram of the enlarged structure at B in the middle;

[0033] Figure 8 A schematic diagram of the installation structure of the clamping jaws of the positioning analysis method of the two-axis crank connecting rod positioning mechanism;

[0034] Fig. 9 A schematic structural diagram of a cover plate for a positioning analysis method of a two-axis crank-connecting rod positioning mechanism.

[0035] The marks in the attached drawings are: 1, frame; 101, horizontal plate; 102, L-shaped side plate; 103, mounting hole; 2, rotating drive member; 3, slider; 4, positioning sensor; 5, rotating shaft; 6, main crank; 7, main connecting rod; 8, clamping claw; 9, left and right adjustment assembly; 10, induction sheet; 11, guide rod; 12, linear sliding bearing; 13, first pin shaft; 1301, second pin shaft; 14, third pin shaft; 14 01. fourth pin; 15. threaded hole; 16. screw; 17. cover plate; 18. through hole; 19. housing; 20. hollow shaft; 21. rotating shaft; 22. auxiliary crank; 23. auxiliary connecting rod; 24. first synchronous pulley; 25. second synchronous pulley; 26. synchronous belt; 501. first gear; 502. second gear; 901. screw rod; 902. slide rod; 903. movable block; 904. handle. DETAILED DESCRIPTION

[0036] This specific implementation is a two-axis crank-connecting rod positioning mechanism and a positioning analysis method thereof, and its structural schematic diagram is shown in FIG. Figure 1-Figure 9 As shown, it includes a frame 1, a rotating driving member 2 installed on the frame 1, two sliders 3 slidably connected to the frame 1, a positioning sensor 4 and a controller, the frame 1 includes a cross plate 101, two L-shaped side plates 102 are fixedly connected to the left and right sides of the cross plate 101, and the L-shaped side plates 102 are provided with mounting holes 103, the left and right sides of the cross plate 101 are rotatably connected to two rotating shafts 5 through bearings, the two rotating shafts 5 are transmission-connected, the output end of the rotating driving member 2 is fixedly connected to one of the rotating shafts 5, the other end of the rotating shaft 5 is fixedly connected to a main crank 6, the main crank 6 is movably connected to the slider 3 through a main connecting rod 7, the lower surfaces of the two sliders 3 are fixedly connected to two clamps 8, the rotating driving member 2 causes the two rotating shafts 5 to rotate in opposite directions, and causes the two clamps 8 to approach or move away from each other;

[0037] A cover plate 17 is fixedly connected to the lower surfaces of the two L-shaped side plates 102, and a through hole 18 corresponding to the clamping claw 8 is opened on the cover plate 17. A box body 19 is fixedly connected to the middle part of the upper surface of the cover plate 17. A hollow shaft 20 and a rotating shaft 21 are rotatably connected to the left and right sides of the box body 19 through bearings respectively. The hollow shaft 20 and the rotating shaft 21 are transmission connected. The top ends of the hollow shaft 20 and the rotating shaft 21 are fixedly connected to an auxiliary crank 22. The auxiliary crank 22 is movably connected to the slider 3 through an auxiliary connecting rod 23. The bottom end of the rotating shaft 21 is located inside the box body 19 and is fixedly connected to a first synchronous pulley 24. The bottom end of the rotating shaft 5 passes through the hollow shaft 20 and is located inside the box body 19 and is fixedly connected to a second synchronous pulley 25. The rotating shaft 5 is rotatably connected to the hollow shaft 20, and the first synchronous pulley 24 and the second synchronous pulley 25 are transmission connected through a synchronous belt 26.

[0038] like Figure 1 and Figure 2 As shown, in this embodiment, the positioning sensor 4 is installed on the lower side of the horizontal plate 101 through the left and right adjustment components 9, and the upper surface of the slider 3 is fixedly connected with a sensor sheet 10 corresponding to the positioning sensor 4. The positioning sensor 4 is used to detect the position of the sensor sheet 10, and the controller is used to control the opening or closing of the rotating drive member 2 according to the signal of the positioning sensor 4.

[0039] like Figure 1 and Figure 3 As shown, in this embodiment, the left and right adjustment components 9 include a screw rod 901 rotatably connected between the two L-shaped side plates 102 and a sliding rod 902 fixedly connected between the two L-shaped side plates 102, the outer surfaces of the screw rod 901 and the sliding rod 902 are sleeved with two movable blocks 903, the two movable blocks 903 are both slidably connected to the sliding rod 902, the left and right sides of the outer surface of the screw rod 901 are respectively provided with left-handed threads and right-handed threads, the two movable blocks 903 are both threadedly connected to the screw rod 901, the positioning sensor 4 is a proximity switch, the number of positioning sensors 4 is two and they are installed on the front of the movable block 903, and the left side of the screw rod 901 is fixedly connected to a handle 904.

[0040] The screw rod 901 can drive the two movable blocks 903 and the positioning sensor 4 to move closer to or farther from each other during rotation, so that when the preset points of the clamping jaws 8 and the slider 3 need to be changed, the positioning adjustment is very convenient.

[0041] In this embodiment, the rotary driving member 2 is a stepping motor or a servo motor, and the rotary driving member 2 is fixedly connected to the upper surface of the horizontal plate 101 .

[0042] The stepper motor or servo motor effectively ensures that the two clamping jaws 8 move synchronously toward or away from each other, so that the objects can be clamped more accurately and stably. The position of the clamping jaws 8 can be calculated through forward kinematics analysis, and the rotation angle of the rotary drive member 2 can be calculated through inverse kinematics analysis, so as to achieve better positioning.

[0043] The crank angle can be solved through the inverse kinematics formula. These formulas are usually based on geometric relationships and trigonometric functions. For example, if the angle and length of the connecting rod are known, the crank angle can be solved through the cosine theorem or other geometric relationships.

[0044] like Figure 4 and Figure 5 As shown, in this embodiment, the outer surfaces of the two rotating shafts 5 are fixedly connected with first gears 501, the two first gears 501 are meshingly connected and have the same size, and the outer surfaces of the hollow shaft 20 and the rotating shaft 21 are fixedly connected with second gears 502, the two second gears 502 are meshingly connected and have the same size.

[0045] In this way, the two main cranks 6 rotate at the same angle during the meshing transmission of the two first gears 501 , and the two auxiliary cranks 22 rotate at the same angle during the meshing transmission of the second gear 502 , so that the clamping jaws 8 can be moved better.

[0046] like Figure 4 and Figure 5 As shown, in this embodiment, the lower surface of the main crank 6 is rotatably connected to the main connecting rod 7 through the first pin 13, the other end of the main connecting rod 7 is rotatably connected to the slider 3 through the second pin 1301, the upper surface of the auxiliary crank 22 is rotatably connected to the auxiliary connecting rod 23 through the third pin 14, the other end of the auxiliary connecting rod 23 is rotatably connected to the slider 3 through the fourth pin 1401, the main crank 6 and the auxiliary crank 22 are both located between the front and rear guide rods 11, the main crank 6 is smaller than the diameter of the first gear 501, and the auxiliary crank 22 is smaller than the diameter of the second gear 502.

[0047] In this way, the main crank 6 and the auxiliary crank 22 can drive the slider 3 and the clamping claw 8 to move closer to or away from each other along the guide rod 11 through the main connecting rod 7 and the auxiliary connecting rod 23 during the rotation process.

[0048] like Figure 1 and Figure 2 As shown, in this embodiment, two guide rods 11 are fixedly connected between the two L-shaped side plates 102, and linear sliding bearings 12 are installed on the front and rear sides of the slider 3. The slider 3 is sleeved on the outer surfaces of the two guide rods 11 through the linear sliding bearings 12.

[0049] By fixing the linear sliding bearing 12 in the inner hole of the slider 3, each slider 3 is sleeved on the outer surface of the guide rod 11 through the linear sliding bearing 12 in its inner hole, so as to reduce the friction between the slider 3 and the guide rod 11, make the slider 3 slide more smoothly, reduce wear and tear, and improve the service life of parts.

[0050] like Figure 2 and Figure 8 As shown, in this embodiment, threaded holes 15 are provided on both the front and rear sides of the lower surface of the slider 3, and screws 16 are provided on both the front and rear sides of the clamping jaw 8. The screws 16 are threadedly connected in the threaded holes 15, so that the clamping jaw 8 can be easily replaced or repaired.

[0051] A positioning analysis method for a two-axis crank-connecting rod positioning mechanism comprises the following steps:

[0052] Step 1. When the preset points of the clamping jaws 8 and the slider 3 need to be changed, turn the handle 904 to drive the screw rod 901 to rotate. Since the left and right sides of the outer surface of the screw rod 901 are respectively provided with left-handed threads and right-handed threads, and the two movable blocks 903 are threadedly connected to the screw rod 901, the screw rod 901 can drive the two movable blocks 903 and the positioning sensor 4 to move closer to or away from each other during the rotation process, thereby completing the positioning adjustment of the clamping jaws 8 and the slider 3.

[0053] Step 2, start the rotating drive member 2 to drive the rotating shaft 5 to rotate. Since the outer surfaces of the two rotating shafts 5 are fixedly connected with the first gear 501, and the two first gears 501 are meshed and connected and have the same size, the two rotating shafts 5 drive the two main cranks 6 to rotate in opposite directions. At the same time, the left rotating shaft 5 can drive the second synchronous pulley 25 to rotate during the rotation process. During the rotation process, the second synchronous pulley 25 drives the first synchronous pulley 24, the rotating shaft 21, the second gear 502 on the right and the auxiliary crank 22 on the right to rotate through the synchronous belt 26. During the rotation process, the second gear 502 meshes with the second gear 502 on the left to drive the hollow shaft 20 and the auxiliary crank 22 on the left to rotate. The upper and lower main cranks 6 and the auxiliary crank 22 are the same size. At this time, the upper and lower main cranks 6 and the auxiliary crank 22 rotate in opposite directions, thereby driving the slider 3 and the clamping claw 8 to approach or move away from each other along the guide rod 11 through the main connecting rod 7 and the auxiliary connecting rod 23 on the left and right sides.

[0054] Step 3: The slider 3 can drive the sensing sheet 10 to move during the movement. When the positioning sensor 4 detects the position of the sensing sheet 10 , the controller controls the rotary drive member 2 to close, thereby completing the positioning of the slider 3 and the clamp 8 .

[0055] All technical features in this embodiment can be freely combined according to actual needs.

[0056] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention may also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A two-axis crank-connecting rod positioning mechanism, characterized in that: The invention comprises a frame (1), a rotating driving member (2) mounted on the frame (1), two sliders (3) slidably connected to the frame (1), a positioning sensor (4) and a controller, wherein the frame (1) comprises a transverse plate (101), two L-shaped side plates (102) are fixedly connected to the left and right sides of the transverse plate (101), and the L-shaped side plates (102) are provided with mounting holes (103). Two rotating shafts (5) are rotatably connected to the left and right sides of the transverse plate (101) via bearings, and the two rotating shafts (5) are transmission-connected, the output end of the rotating driving member (2) is fixedly connected to one of the rotating shafts (5), and the other end of the rotating shaft (5) is fixedly connected to a main crank (6), and the main crank (6) is movably connected to the slider (3) via a main connecting rod (7), and the lower surfaces of the two sliders (3) are fixedly connected to two clamping claws (8); The lower surfaces of the two L-shaped side plates (102) are fixedly connected with a cover plate (17), and a through hole (18) corresponding to the clamping claw (8) is opened on the cover plate (17). The middle part of the upper surface of the cover plate (17) is fixedly connected with a box body (19), and the left and right sides of the box body (19) are respectively rotatably connected with a hollow shaft (20) and a rotating shaft (21) through bearings. The hollow shaft (20) and the rotating shaft (21) are transmission-connected, and the top ends of the hollow shaft (20) and the rotating shaft (21) are fixedly connected with an auxiliary crank (22). ), the auxiliary crank (22) is movably connected to the slider (3) through an auxiliary connecting rod (23), the bottom end of the rotating shaft (21) is located inside the box (19) and is fixedly connected to a first synchronous pulley (24), the bottom end of the rotating shaft (5) passes through the hollow shaft (20) and is located inside the box (19) and is fixedly connected to a second synchronous pulley (25), the rotating shaft (5) is rotatably connected to the hollow shaft (20), and the first synchronous pulley (24) and the second synchronous pulley (25) are connected by a synchronous belt (26).

2. The two-axis crank-connecting rod positioning mechanism according to claim 1, characterized in that: The positioning sensor (4) is installed on the lower side of the horizontal plate (101) through a left-right adjustment component (9), and a sensing sheet (10) corresponding to the positioning sensor (4) is fixedly connected to the upper surface of the sliding block (3).

3. The two-axis crank-connecting rod positioning mechanism according to claim 2, characterized in that: The left-right adjustment assembly (9) comprises a screw rod (901) rotatably connected between the two L-shaped side plates (102) and a slide rod (902) fixedly connected between the two L-shaped side plates (102); the outer surfaces of the screw rod (901) and the slide rod (902) are sleeved with two movable blocks (903); the two movable blocks (903) are both slidably connected to the slide rod (902); the left and right sides of the outer surface of the screw rod (901) are respectively provided with left-handed threads and right-handed threads; the two movable blocks (903) are both threadedly connected to the screw rod (901); the positioning sensor (4) is a proximity switch; the number of the positioning sensors (4) is two and they are installed on the front of the movable block (903); the left side of the screw rod (901) is fixedly connected with a handle (904).

4. The two-axis crank-connecting rod positioning mechanism according to claim 1, characterized in that: The rotary drive member (2) is a stepping motor or a servo motor, and the rotary drive member (2) is fixedly connected to the upper surface of the transverse plate (101).

5. The two-axis crank-connecting rod positioning mechanism according to claim 4, characterized in that: The outer surfaces of the two rotating shafts (5) are fixedly connected with a first gear (501), the two first gears (501) are meshingly connected and have the same size, and the outer surfaces of the hollow shaft (20) and the rotating shaft (21) are fixedly connected with a second gear (502), the two second gears (502) are meshingly connected and have the same size.

6. The two-axis crank-connecting rod positioning mechanism according to claim 5, characterized in that: The lower surface of the main crank (6) is rotationally connected to the main connecting rod (7) via a first pin shaft (13), the other end of the main connecting rod (7) is rotationally connected to the slider (3) via a second pin shaft (1301), the upper surface of the auxiliary crank (22) is rotationally connected to the auxiliary connecting rod (23) via a third pin shaft (14), and the other end of the auxiliary connecting rod (23) is rotationally connected to the slider (3) via a fourth pin shaft (1401).

7. The two-axis crank-connecting rod positioning mechanism according to claim 6, characterized in that: The main crank (6) and the auxiliary crank (22) are both located between the front and rear guide rods (11); the main crank (6) is smaller than the diameter of the first gear (501); and the auxiliary crank (22) is smaller than the diameter of the second gear (502).

8. The two-axis crank-connecting rod positioning mechanism according to claim 7, characterized in that: Two guide rods (11) are fixedly connected between the two L-shaped side plates (102), and linear sliding bearings (12) are installed on both the front and rear sides of the slider (3). The slider (3) is sleeved on the outer surfaces of the two guide rods (11) through the linear sliding bearings (12).

9. The two-axis crank-connecting rod positioning mechanism according to claim 1, characterized in that: The front and rear sides of the lower surface of the slider (3) are both provided with threaded holes (15), and the front and rear sides of the clamping jaw (8) are both provided with screws (16), and the screws (16) are threadedly connected in the threaded holes (15).

10. A method for positioning analysis of a two-axis crank-connecting rod positioning mechanism, characterized in that: The two-axis crank-connecting rod positioning mechanism comprises the two-axis crank-connecting rod positioning mechanism according to any one of claims 1 to 9, further comprising the following steps: Step 1. When the preset points of the clamping jaws (8) and the slider (3) need to be changed, the handle (904) is turned to drive the screw rod (901) to rotate. Since the left and right sides of the outer surface of the screw rod (901) are respectively provided with left-handed threads and right-handed threads, and the two movable blocks (903) are both threadedly connected to the screw rod (901), the screw rod (901) can drive the two movable blocks (903) and the positioning sensor (4) to move closer to or away from each other during the rotation process, thereby completing the positioning adjustment of the clamping jaws (8) and the slider (3). Step 2: Start the rotary drive member (2) to drive the rotary shaft (5) to rotate. Since the outer surfaces of the two rotary shafts (5) are fixedly connected with the first gear (501), and the two first gears (501) are meshed and connected and have the same size, the two rotary shafts (5) drive the two main cranks (6) to rotate in opposite directions. At the same time, the left rotary shaft (5) can drive the second synchronous pulley (25) to rotate during the rotation process. During the rotation process, the second synchronous pulley (25) drives the first synchronous pulley (24) through the synchronous belt (26). The rotating shaft (21), the second gear (502) on the right side and the auxiliary crank (22) on the right side rotate. During the rotation process, the second gear (502) meshes with the second gear (502) on the left side to drive the hollow shaft (20) and the auxiliary crank (22) on the left side to rotate. At this time, the upper and lower main cranks (6) and the auxiliary crank (22) rotate in opposite directions, thereby driving the slider (3) and the clamping claw (8) to move closer to or farther away from each other along the guide rod (11) through the main connecting rod (7) and the auxiliary connecting rod (23) on the left and right sides. Step 3: The slider (3) can drive the sensing sheet (10) to move during the movement. When the positioning sensor (4) detects the position of the sensing sheet (10), the controller controls the rotary drive member (2) to close, thereby completing the positioning of the slider (3) and the clamp (8).

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