A two-degree-of-freedom double-crank servo mechanical press

Abstract

The application discloses a two-degree-of-freedom double-crank servo mechanical press, and belongs to the technical field of mechanical engineering forging and pressing equipment.The two-degree-of-freedom double-crank servo mechanical press comprises a machine body, a main servo motor, a slave servo motor, a transmission mechanism, a sliding block and a control system, the main servo motor and the slave servo motor are fixedly installed on the machine body, the sliding block is in sliding connection with the machine body and can move along the vertical direction of the machine body, the transmission mechanism is installed on the machine body, and the transmission mechanism is connected with the main servo motor, the slave servo motor and the sliding block, and the control system is electrically connected with the main 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 during the working process, and the kinematic 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:

[0004] 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.

[0005] 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

[0006] 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.

[0007] 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.

[0008] 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.

[0009] As a preferred 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 both fixedly installed on the slider body; the slider body is provided with a working surface in the horizontal direction; the guide surface of the slider guide rail is in the vertical direction and is perpendicular to the working surface of the slider body; the slider connector is provided with a rotating shaft, 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 close contact with the guide surface of the body guide rail, so that the slider is limited to move only in the vertical direction and the working surface on the slider body and the working surface on the workbench remain parallel during movement.

[0010] As a preferred 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 mandrel, an eccentric body gear, an eccentric sleeve gear and a connecting rod: the fixed mandrel is fixedly installed on the main shaft hole of the body; the eccentric body gear has a first gear face, a first center hole and a first 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; the eccentric body gear is further provided with an offset hole, and the axis of the offset hole is parallel to and offset from the axis of the first center hole; the first center hole of the eccentric body gear is coaxially installed with the fixed mandrel, and the eccentric body gear can rotate along the axis of the fixed mandrel.

[0011] As a preferred implementation scheme of a two-degree-of-freedom double-crank servo mechanical press, the eccentric sleeve gear has a second gear face, a second center hole and a second eccentric shaft, wherein the second gear face 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; 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 of the eccentric body gear; the two ends of the connecting rod are provided with shaft holes, one end of which is hingedly connected to the second eccentric shaft of the eccentric sleeve gear, and the other end is hingedly connected to the slider; the two ends of the shaft of the planetary gear are respectively provided with gears, and both coincide with the central axis of the planetary gear; the planetary gear is installed on the first offset hole of the eccentric body gear, and the two axes coincide; the planetary gear can rotate along the axis of the first offset hole of the eccentric body gear; the end gear of the planetary gear is engaged with the eccentric sleeve gear; the two ends of the shaft of the speed regulating gear are respectively provided with end face gears, and both coincide with the central hole axis of the speed regulating gear; the central hole of the speed regulating gear is installed on the fixed mandrel, and the speed regulating gear can rotate along the fixed mandrel; the end face gear on one side of the speed regulating gear is engaged 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 body, and can rotate along the axis.

[0012] As a preferred implementation scheme of the two-degree-of-freedom double-crank servo mechanical press, the main drive gear shaft and the slave drive gear shaft are coaxially connected with the main servo motor and the slave servo motor respectively and can be driven to rotate by the servo motor; the main drive gear shaft is in gear meshing transmission with the eccentric body gear; and the outer peripheral tooth surface of the slave drive gear shaft is in gear meshing transmission with the end face gear on the other side of the speed regulating gear.

[0013] As a preferred implementation scheme of the two-degree-of-freedom double-crank servo mechanical press, the control system comprises a controller, a first angle sensor and a second angle sensor; the controller is electrically connected with 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 with the eccentric body gear in fixed transmission ratio rotation transmission; the second angle sensor is mechanically connected with the eccentric sleeve gear in fixed transmission ratio rotation transmission; the controller calculates the real-time position of the slider by detecting the position signals of the first angle sensor and the second angle sensor in real time.

[0014] As a preferred implementation scheme of the two-degree-of-freedom double-crank servo mechanical press, a position sensor is installed between the machine body and the slider, the position sensor can detect the relative position between the machine body and the slider in real time and transmit the position signal to the control system, and the control system compares and calculates according to the signals of the first angle sensor, the second angle sensor and the position sensor, so as to ensure the correctness of the transmission mechanism transmission and the accuracy of the slider position.

[0015] Through the above technical scheme, the beneficial effects of the present application relative to the prior art are: the present scheme solves the deficiencies in the prior art, which is reflected in that: the driving mechanism of the two-degree-of-freedom double-crank servo mechanical press of the present application is a two-degree-of-freedom mechanism, the slider stroke can be dynamically adjusted during the working process, and the kinematic process flexibility of the slider is improved; the lower dead point position of the slider of the two-degree-of-freedom double-crank servo mechanical press of the present application can be dynamically adjusted during the working operation process, so as to compensate for the drift of the lower dead point of the slider caused by temperature change. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the present application, the drawings needed to be used in the description will be briefly introduced as follows: obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0018] Figure 2 It is a schematic diagram of the local structure of the moving parts of the present application.

[0019] Figure 3 Assembly view of the transmission mechanism of the present application.

[0020] Figure 4 Exploded view of the transmission mechanism of the present application.

[0021] Figure 5 Exploded view of the transmission mechanism of the present application.

[0022] Figure 6 Sectional view of the transmission mechanism of the present application.

[0023] Figure 7 Mechanism principle diagram of the present application.

[0024] Figure 8 Motion trajectory diagram of the upper end hinge point of the connecting rod of the present application.

[0025] Figure 9 Comparison diagram of the motion trajectory of the slider of the present application and the conventional press.

[0026] Figure 10 Comparison diagram of the motion speed of the slider of the present application and the conventional press.

[0027] Figure 11 Motion trajectory diagram of the upper end hinge point of the connecting rod of the present application.

[0028] Figure 12 Comparison diagram of the motion trajectory of the slider of the present application and the conventional press.

[0029] Figure 13 Comparison diagram of the motion speed of the slider of the present application and the conventional press.

[0030] Explanation of main reference numerals

[0031] 100. machine body, 101. machine body body, 102. worktable, 104. machine body 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 mandrel, 2042. eccentric 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

[0032] In order to make the purposes, features and advantages of the present application more obvious and easy to understand, the technical solutions in the present application will be clearly and completely described below in combination with the drawings in the specific embodiments. Obviously, the following described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present patent, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present patent.

[0033] As shown in Figure 1 、 Figure 2 , the technical problem to be solved by the present application is to provide a two-degree-of-freedom double-crank servo mechanical press machine in view of the defects existing in the prior art, which comprises a machine body 100, a main servo motor 280, a slave servo motor 281, a transmission mechanism 200, a sliding block 300 and a control system 800, the main servo motor 280 and the slave servo motor 281 are both fixedly installed on the machine body 100; the sliding block 300 is in sliding connection with the machine body 100, and the sliding block 300 can move along the vertical direction of the machine body; the transmission mechanism 200 is installed on the machine body 100, and the transmission mechanism 200 is connected with the main servo motor 280, the slave servo motor 281 and the sliding block 300 respectively; the control system 800 is electrically connected with the main servo motor 280 and the slave servo motor 281 respectively.

[0034] The machine body 100 comprises a machine body proper 101, a workbench 102 and a machine body guide rail 104, the workbench 102 and the machine body guide rail 104 are both fixedly installed on the machine body proper 101; the working surface of the workbench 102 is a horizontal surface; the guide surface of the machine body guide rail 104 is a vertical surface and is perpendicular to the working surface of the workbench 102; the machine body proper 101 is provided with a fixed mandrel hole, which is parallel to the working surface of the machine body guide rail 104; the machine body proper 101 is also provided with a main drive shaft hole and a slave drive shaft hole, which are both parallel to the fixed mandrel hole; the sliding block 300 comprises a sliding block proper 301, a sliding block connector 310 and a sliding block guide rail 309, the sliding block connector 310 and the sliding block guide rail 309 are both fixedly installed on the sliding block proper 301; the sliding block proper 301 is provided with a horizontal working surface; the guide surface of the sliding block guide rail 309 is a vertical surface and is perpendicular to the working surface of the sliding block proper 301; the sliding block connector 310 is provided with a rotating shaft, the axis of the rotating shaft is perpendicular to the working surface of the sliding block proper 301; the rotating shaft on the sliding block connector 310 is hingedly connected with one end of a connecting rod 204; the guide surface of the sliding block guide rail 309 is in abutment with the guide surface of the machine body guide rail 104, so as to limit the sliding block 300 to move only along the vertical direction and keep the working surface on the sliding block proper 301 parallel to the working surface on the workbench 102 during movement.

[0035] According to the above description, and in combination with Figure 1 、 Figure 2As shown, the specific working process of the two-degree-of-freedom double-crank servo mechanical press mentioned in the embodiment is that 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 sliding block 300 to move; the sliding block 300 moves linearly under the support and guidance of the machine body 100, thereby completing the stamping action of the press.

[0036] As 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 body gear 2042, an eccentric sleeve gear 2043, and a connecting rod 205: the fixed core shaft 2041 is fixedly installed on the main shaft hole of the machine body 101; the eccentric body gear 2042 has a first gear face, a first center hole, and a first eccentric shaft, wherein the first gear face 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; the eccentric body gear 2042 is further provided with a bias hole, the axis of the bias hole is parallel to and offset from the axis of the first center hole; the first center hole of the eccentric body gear 2042 is coaxially installed with the fixed core shaft 2041, and the eccentric body gear 2042 can rotate and move along the axis of the fixed core shaft 2041;

[0037] The eccentric sleeve gear 2043 has a second gear face, a second center hole and a second eccentric shaft, wherein the second gear face 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; the second center hole of the eccentric sleeve gear 2043 is installed 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; the two ends of the connecting rod 205 are provided with shaft holes, one end of which is hingedly connected with the second eccentric shaft of the eccentric sleeve gear 2043, and the other end is hingedly connected with the sliding block 300; the shaft of the planetary gear 2032 is provided with gears at both ends, which 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 is engaged with the eccentric sleeve gear 2043; the shaft of the speed regulating gear 2031 is provided with end face gears at both ends, which coincide with the central hole axis of the speed regulating gear 2031; the central hole of the speed regulating gear 2031 is installed on the fixed mandrel 2041, and the speed regulating gear 2031 can rotate along the fixed mandrel 2041; the end face gear on one side of the speed regulating gear 2031 is engaged with the gear on the other side of the planetary gear 2032; the main drive gear shaft 2021 and the driven gear shaft 2022 are respectively installed in the main drive shaft hole and the driven shaft hole provided on the body 101, and can rotate along the axis; the main drive gear shaft 2021 and the driven gear shaft 2022 are also coaxially connected with the main servo motor 280 and the driven 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 engaged and driven; the outer peripheral tooth surface of the driven gear shaft 2022 is gear engaged and driven with the end face gear on the other side of the speed regulating gear 2031.

[0038] According to the above description, in combination with Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 It is shown that the transmission mechanism of the scheme is a double-crank crank connecting rod mechanism, two cranks are eccentric body gear 2042 and eccentric sleeve gear 2043, and the two cranks can be directly or indirectly driven by main servo motor 280 and driven servo motor 281.

[0039] As Figure 8 and Figure 11As shown in the figure, the trajectory curve of the crank end of a conventional crank and connecting rod press (i.e. the upper end hinge point of the connecting rod 204) is a fixed radius circle and is concentric with circle a in the figure. In the present application, the trajectory curve of the upper end hinge point of the connecting rod 204 is the combined trajectory curve of the double crank composed of the eccentric body gear 2042 and the eccentric sleeve gear 2043, i.e. curve c in Figure 8 and curve d in Figure 11 . The trajectory curve of the upper end hinge point of the connecting rod 204 can be any continuous curve between circle a and circle b (where 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, circle a and circle b are concentric, and Ra = R1 + R2 and Rb = R1 - R2).

[0040] As shown in Figure 8 , Figure 9 , Figure 10 , under the action of the double crank combined trajectory curve c, the movement position curve and the speed curve of the slider 300 are divided into the solid curves in Figure 9 and Figure 10 . The dashed curves in Figure 9 and Figure 10 are the slider position curve and the speed curve of a conventional press, respectively. It can be easily seen that in the stamping working area where the position of the slider 300 is close to the lower dead point of its movement, the present application has a wider working angle and a lower working speed compared to a conventional press, which is beneficial to improve the processability of the stamping and drawing forming and reduce the vibration intensity caused by over-striking. Therefore, it has the advantage of better process flexibility.

[0041] As shown in Figure 11 , Figure 12 , Figure 13 , under the action of the double crank combined trajectory curve d, the movement position curve and the speed curve of the slider 300 are divided into the solid curves in Figure 12 and Figure 13 . The dashed curves in Figure 12 and Figure 13 are the slider position curve and the speed curve of a conventional press, respectively. It can be easily seen that in the vicinity of the lower dead point of the slider 300, the present application can make a slight adjustment and compensation to the position of the lower dead point of the slider 300 compared to a conventional press, which is beneficial to maintain the stability of the absolute lower dead point position of the slider 300 during stamping, thereby avoiding problems such as die wear caused by the drift of the absolute lower dead point position of the slider 300 due to temperature changes during long-term continuous work.

[0042] As shown in 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.

[0043] Further, 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.

[0044] 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.

[0045] 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 machine body (100), a main servo motor (280), a slave servo motor (281), a transmission mechanism (200), a slide (300) and a control system (800), characterized in that, The main servo motor (280) and the slave servo motor (281) are fixedly installed on the machine body (100); the sliding block (300) is in sliding connection with the machine body (100) and can move along the vertical direction of the machine body; the transmission mechanism (200) is installed on the machine body (100) and is connected with the main servo motor (280), the slave servo motor (281) and the sliding block (300) respectively; the control system (800) is electrically connected with the main servo motor (280) and the slave servo motor (281) respectively; The machine body (100) comprises a machine body body (101), a workbench (102) and a machine body guide rail (104), the workbench (102) and the machine body guide rail (104) are fixedly installed on the machine body body (101); the working surface of the workbench (102) is a horizontal plane; the guide surface of the machine body guide rail (104) is a vertical direction and is perpendicular to the working surface of the workbench (102); the machine body body (101) is provided with a fixed mandrel hole, the fixed mandrel hole is parallel to the working surface of the machine body guide rail (104); the machine body body (101) is further provided with a main drive shaft hole and a slave drive shaft hole, and both are parallel to the fixed mandrel hole; The sliding block (300) comprises a sliding block body (301), a sliding block connector (310) and a sliding block guide rail (309), the sliding block connector (310) and the sliding block guide rail (309) are fixedly installed on the sliding block body (301); the sliding block body (301) is provided with a horizontal working surface; the guide surface of the sliding block guide rail (309) is a vertical direction and is perpendicular to the working surface of the sliding block body (301); the sliding block connector (310) is provided with a rotating shaft, the axis of the rotating shaft is perpendicular to the working surface of the sliding block body (301); the rotating shaft on the sliding block connector (310) is hingedly connected with one end of the connecting rod 204; the guide surface of the sliding block guide rail (309) is attached to the guide surface of the machine body guide rail (104), so that the sliding block (300) can only move along the vertical direction and the working surface on the sliding block body (301) and the working surface on the workbench (102) remain parallel during movement.

2. The 2-DOF double-crank servo-press machine according to claim 1, characterized by, 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 mandrel (2041), an eccentric body gear (2042), an eccentric sleeve gear (2043) and a connecting rod (205): the fixed mandrel (2041) is fixedly installed on the main shaft hole of the machine body body (101); the eccentric body gear (2042) has a first gear face, a first center hole and a first eccentric shaft, wherein the axis of the first gear and the first center hole coincide, the axis of the first eccentric shaft is parallel to the axis of the first center hole and is offset by a certain distance; the eccentric body gear (2042) is further provided with an offset hole, the axis of the offset hole is parallel to the axis of the first center hole and is offset by a certain distance; the first center hole of the eccentric body gear (2042) is coaxially installed with the fixed mandrel (2041), and the eccentric body gear (2042) can rotate along the axis of the fixed mandrel (2041).

3. The 2-DOF double-crank servo-press machine according to claim 2, characterized by, The eccentric sleeve gear (2043) has a second gear face, a second central hole and a second eccentric shaft, wherein the second gear face coincides with the axis of the second central hole, and the axis of the second eccentric shaft is parallel to and offset from the axis of the second central hole; the second central hole of the eccentric sleeve gear (2043) is installed 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); the two ends of the connecting rod (205) are provided with shaft holes, one end of which is hingedly connected with the second eccentric shaft of the eccentric sleeve gear (2043), and the other end is hingedly connected with the sliding block (300); the shaft of the planetary gear (2032) is provided with gears at both ends, which 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) is engaged with the eccentric sleeve gear (2043); the shaft of the speed regulating gear (2031) is provided with end face gears at both ends, which coincide with the central hole axis of the speed regulating gear (2031); the central 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 engaged with the gear on the other side of the planetary gear (2032); the main drive gear shaft (2021) and the driven gear shaft (2022) are respectively installed in the main drive shaft hole and the driven shaft hole provided on the body (101), and can rotate along the axis.

4. The 2-DOF double-crank servo-press machine according to claim 3, characterized by, The main drive gear shaft (2021) and the driven gear shaft (2022) are also coaxially connected with the main servo motor (280) and the driven 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 engaged and transmitted; the outer peripheral gear surface of the driven gear shaft (2022) is gear engaged and transmitted with the end face gear on the other side of the speed regulating gear (2031).

5. The two-degree-of-freedom double-crank servo- mechanical press according to claim 4, characterized in that, The control system (800) comprises a controller (801), a first angle sensor (820) and a second angle sensor (821): the controller (801) is electrically connected with the first angle sensor (820), the second angle sensor (821), the main servo motor (280) and the driven servo motor (281); the first angle sensor (820) is mechanically connected with the eccentric body gear (2042) for rotational transmission with a fixed transmission ratio; the second angle sensor (821) is mechanically connected with the eccentric sleeve gear (2043) for rotational transmission with a fixed transmission ratio; the controller (801) calculates the real-time position of the sliding block (300) by detecting the position signals of the first angle sensor (820) and the second angle sensor (821) in real time.

6. The two-degree-of-freedom double-crank servo- mechanical press according to claim 5, characterized in that, The position sensor (830) is installed between the fuselage (100) and the slider (300), which can detect the relative position between the fuselage (100) and the slider (300) in real time and transmit the position signal to the control system (800), and the control system (800) compares and calculates according to 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 mechanism (200) and the accuracy of the slider (300) position.

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