A linear motion mechanism with force control

Abstract

The present invention discloses a linear motion mechanism with force control, including an output adapter, a tension and pressure sensor, a telescopic rod, a mounting flange, a sensor adjustment screw, a sensor, a ball screw, a housing, a cylindrical gear, a reducer, a motor, an input shaft, a brake, an encoder, a bevel gear, a hand crank assembly, a pointer assembly, a driver, a cable aviation plug, and an anti-rotation slider. The tension and pressure sensor is located at one end of the telescopic rod, the output adapter is located at one end of the tension and pressure sensor, the telescopic rod is located on the outside of the ball screw, the anti-rotation slider is located on the outside of the telescopic rod, and the cylindrical gear is located at the other end of the ball screw. The linear motion mechanism with force control described in the present invention increases force feedback, can read the push and pull force of the linear motion mechanism in real time, and then adjust the torque of the motor in real time to meet the control requirements, bringing better usage prospects.

Description

Technical Field

[0001] The invention relates to the field of motion mechanisms, and in particular to a linear motion mechanism with force control. Background Art

[0002] A linear motion mechanism is a mechanism that allows a point on a component to move accurately or approximately in a linear direction. In the late 17th century, before humans could create precise slides and guide grooves, a mechanical design concept emerged. The purpose was to use a combination of easy-to-manufacture steel plates, connecting rods, and hinges to complete the functions of linear guide grooves and slides, so that a point on a component can move accurately or approximately in a linear direction. Since it is no longer difficult to process high-precision slides and guide grooves, this mechanism is no longer common and is only used in instruments and some machinery. However, this design concept has an important inspiration for modern bionic mechanical design. Linear motion mechanisms are divided into approximate linear motion and accurate linear motion. There are two types of linear motion, each with its own characteristics, and are used in different occasions. There are two main design ideas for precise linear motion mechanisms: one is to use the inversion transformation in geometry to invert the arc path at the end of the connecting rod into a straight line, and a mechanical invertor can accomplish this function; the other is to use two non-parallel connecting rod structures to limit the path to the intersection of two planes. Approximate linear motion mechanisms use multiple rods to achieve a connection with a degree of freedom of 1, and adjust the length of the rods so that the motion trajectory of a point contains an approximately straight line segment. Its motion characteristics are: 1. Simple structure, easy to manufacture, and easy to work. 1. Reliable, long transmission distance, large transmission load, can realize quick return motion law, but it is not easy to obtain uniform motion or other arbitrary motion laws, the transmission is not smooth, the impact and vibration are large, 2. Compact structure, reliable operation, easy adjustment, can obtain arbitrary motion law, but the dynamic load is large, the transmission efficiency is low, 3. The transmission is stable and noiseless, and the reduction ratio is large; it can realize rotation and linear movement, the transmission is stable and noiseless, and it is interchangeable; the sliding screw can be made into a self-locking screw mechanism; the working speed is generally very low, and it is only suitable for low-power transmission, 4. The allowable range of load and speed is large, the transmission ratio is constant, the outer size is small, and the work Reliable and efficient; the manufacturing and installation precision requirements are high, the transmission noise is large when the precision is low, and there is no overload protection function; the helical cylindrical gear mechanism moves smoothly and has a strong load-bearing capacity, but it will generate axial force during the transmission, and thrust bearings or angular contact bearings must be installed when used. 5. The distance between axes is large, the operation is stable and noiseless, it can buffer and absorb vibration, and the friction belt drive has an overload protection function; the structure is simple, the installation requirements are not high, and the outer dimensions are large; the friction belt drive has elastic sliding and cannot be used for indexing systems; friction is easy to generate electricity, and it is not suitable for flammable and explosive occasions; the shaft and bearings are subjected to large forces, and the transmission belt has a short life.

[0003] The existing linear motion mechanisms have certain drawbacks when used. Most of the existing linear motion mechanisms do not have force feedback, and the actual output size cannot be known. In the event of a power outage, manual operation cannot be used to complete the operation, which is not conducive to people's use and has brought certain adverse effects to people's use process. For this reason, we propose a linear motion mechanism with force control. Summary of the invention

[0004] The main purpose of the present invention is to provide a linear motion mechanism with force control, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A linear motion mechanism with force control, comprising an output adapter, a tension and pressure sensor, a telescopic rod, a mounting flange, a sensor adjustment screw, a sensor, a ball screw, a housing, a cylindrical gear, a reducer, a motor, an input shaft, a brake, an encoder, a bevel gear, a hand-cranked assembly, a pointer assembly, a driver, a cable aviation plug, and an anti-rotation slider, wherein the tension and pressure sensor is located at one end of the telescopic rod, the output adapter is located at one end of the tension and pressure sensor, the telescopic rod is located on the outside of the ball screw, the anti-rotation slider is located on the outside of the telescopic rod, the cylindrical gear is located at the other end of the ball screw, the reducer is located at one end of the cylindrical gear, the input shaft is located at one end of the reducer, the motor is located between the reducer and the input shaft, the encoder is located at one end of the input shaft, the brake is located between the input shaft and the encoder, the cable aviation plug is located at one end of the driver, and the mounting flange is located at one end of the housing.

[0007] As a preferred technical solution, the hand-cranked assembly includes a handwheel, a handwheel mounting shaft, upper and lower sliding sleeves, a compression spring, a rotating bushing, a bevel gear pair, an elastic screw, and an arc groove. The handwheel is located at the upper end of the handwheel mounting shaft, the upper and lower sliding sleeves are located at the lower end of the handwheel mounting shaft, the compression spring is located at the outer ring of the upper and lower sliding sleeves, the rotating bushing is located at the lower end of the upper and lower sliding sleeves, and the bevel gear pair is located on the inner wall of the rotating bushing.

[0008] As a preferred technical solution, the pointer assembly includes a primary reduction gear, a secondary reduction gear and a pointer, the secondary reduction gear is located on one side of the primary reduction gear, and the pointer is located on the outer wall of the secondary reduction gear.

[0009] As a preferred technical solution, one end of the motor is connected to one end of the encoder through an input shaft and a brake, a bearing is arranged between the motor and the reducer, the other end of the motor is movably connected to one end of the reducer through a bearing, and the reducer is connected to the ball screw.

[0010] As a preferred technical solution, a sensor is installed on the outside of the telescopic rod through a sensor adjusting screw, a mounting block is arranged between the telescopic rod and the tensile pressure sensor, one end of the telescopic rod is positioned and connected to one end of the tensile pressure sensor through the mounting block, a connecting frame is arranged between the tensile pressure sensor and the output adapter, and one end of the tensile pressure sensor is positioned and connected to one end of the output adapter through the connecting frame.

[0011] As a preferred technical solution, a mounting socket is provided between the driver and the cable aviation plug, and one side of the driver is positioned and connected to one end of the cable aviation plug through the mounting socket.

[0012] As a preferred technical solution, the upper outer wall of the bevel gear pair is connected to the inner wall of the upper and lower sliding sleeves through a rotating bushing, a slider is provided between the handwheel mounting shaft and the upper and lower sliding sleeves, the upper ends of the upper and lower sliding sleeves are movably connected to the lower ends of the handwheel mounting shaft through the slider, a rotating shaft is provided between the handwheel mounting shaft and the handwheel, and the upper end of the handwheel mounting shaft is movably connected to the lower end of the handwheel through the rotating shaft.

[0013] As a preferred technical solution, a gear groove is provided between the primary reduction gear and the secondary reduction gear, the outer wall of the primary reduction gear is movably connected to the outer wall of the secondary reduction gear through the gear groove, and the outer wall of the secondary reduction gear is movably connected to the outer wall of the pointer.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the linear motion mechanism with force control increases force feedback, can read the push-pull force of the linear motion mechanism in real time, and then adjust the torque of the motor in real time to meet the control requirements. One end of the motor is equipped with an encoder, which can control the speed and angle of the motor, and the other end is connected to the reducer, which can increase its output torque. The reducer is connected to the ball screw, and a linear slide groove is opened inside the shell. An anti-rotation slider is installed on the nut of the ball screw. When the screw rotates, the nut can only move linearly. A sensor is arranged at the left end of the telescopic rod. When the sensor touches the sensing position of the telescopic rod movement, a signal will be triggered, and the telescopic rod stops moving. A sensor adjustment screw is arranged at the left end of the sensor, which is convenient for the staff to adjust the movement stroke of the telescopic rod according to different needs. A tension pressure sensor is connected to the tail of the telescopic rod, which can detect the push-pull force of the output end telescopic rod at any time. After the data is uploaded to the control board, the control board can automatically adjust the torque of the motor accordingly according to the push-pull force, thereby realizing the force control of the linear motion mechanism. This invention has two working modes: the first is the electric working mode, that is, the motor The second is the manual working mode. For example, when the power is off, the motor cannot work. At this time, the ball screw is driven by the hand-crank assembly. In the electric working mode, the hand-crank assembly is in a separated state, that is, under the thrust of the compression spring, the bevel gear remains in an upward state, and the bevel gear combined with it cannot transmit the rotational motion. This ensures that the handwheel will not rotate in the electric working mode, which greatly increases the safety of the mechanism of this invention. In the manual working mode, the staff presses the handwheel down hard, and an arc is opened on the upper and lower sliding sleeves. When it When it moves to the lower limit, the ball at the front end of the elastic screw is stuck in the arc position, ensuring that the handwheel assembly cannot move upward under the thrust of the compression spring, thereby realizing the meshing state of the bevel gear pair. The hand-cranked bevel gear transmits the rotational motion to the cylindrical gear pair through the bevel gear pair, and then transmits it to the ball screw to realize linear motion. In the manual working mode, the sensor fails and cannot detect whether the telescopic rod has moved to the specified position. Therefore, we add a set of pointer assemblies at the tail to facilitate the staff to determine whether the movement is in place by the rotation of the pointer. The effect of using it is better than the traditional method. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of the overall structure of a linear motion mechanism with force control according to the present invention.

[0016] Figure 2 The present invention is a schematic structural diagram of a shell in a linear motion mechanism with force control.

[0017] Figure 3 The present invention is a schematic structural diagram of a hand-cranked assembly in a linear motion mechanism with force control in a separated state.

[0018] Figure 4 The present invention is a structural schematic diagram of the combined state of a hand-cranked assembly in a linear motion mechanism with force control.

[0019] Figure 5 The present invention is a schematic structural diagram of upper and lower sliding sleeves in a linear motion mechanism with force control.

[0020] Figure 6 The present invention is a schematic structural diagram of a pointer assembly in a linear motion mechanism with force control.

[0021] In the figure: 1. Output adapter; 2. Tension and pressure sensor; 3. Telescopic rod; 4. Mounting flange; 5. Sensor adjustment screw; 6. Sensor; 7. Ball screw; 8. Housing; 9. Cylindrical gear; 10. Reducer; 11. Motor; 12. Input shaft; 13. Brake; 14. Encoder; 15. Bevel gear; 16. Hand crank assembly; 17. Pointer assembly; 18. Driver; 19. Cable plug; 20. Anti-rotation slider; 21. Handwheel; 22. Handwheel mounting shaft; 23. Upper and lower sliding sleeves; 24. Compression spring; 25. Rotating bushing; 26. Bevel gear pair; 27. Elastic screw; 28. Arc groove; 29. ​​Primary reduction gear; 30. Secondary reduction gear; 31. Pointer. DETAILED DESCRIPTION

[0022] The technical scheme of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific embodiments, but it will be understood by those skilled in the art that the following described embodiments are part of embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention, and should not be considered as limiting the scope of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present invention. If specific conditions are not specified in the embodiments, they are carried out according to normal conditions or conditions recommended by the manufacturer. If the manufacturer is not specified in the reagents or instruments used, they are all conventional products that can be purchased commercially.

[0023] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] like Figure 1-6 As shown, a linear motion mechanism with force control includes an output adapter 1, a tension and pressure sensor 2, a telescopic rod 3, a mounting flange 4, a sensor adjustment screw 5, a sensor 6, a ball screw 7, a housing 8, a cylindrical gear 9, a reducer 10, a motor 11, an input shaft 12, a brake 13, an encoder 14, a bevel gear 15, a hand crank assembly 16, a pointer assembly 17, a driver 18, a cable aviation plug 19, and an anti-rotation slider 20. The tension and pressure sensor 2 is located at one end of the telescopic rod 3, and the output adapter 1 is located at the tension and pressure sensor. The telescopic rod 3 is located at one end of the ball screw 7, the anti-rotation slider 20 is located at the outside of the telescopic rod 3, the cylindrical gear 9 is located at the other end of the ball screw 7, the reducer 10 is located at one end of the cylindrical gear 9, the input shaft 12 is located at one end of the reducer 10, the motor 11 is located between the reducer 10 and the input shaft 12, the encoder 14 is located at one end of the input shaft 12, the brake 13 is located between the input shaft 12 and the encoder 14, the cable aviation plug 19 is located at one end of the driver 18, and the mounting flange 4 is located at one end of the housing 8.

[0026] Furthermore, the hand-cranked assembly 16 includes a handwheel 21, a handwheel mounting shaft 22, upper and lower sliding sleeves 23, a compression spring 24, a rotating bushing 25, a bevel gear pair 26, an elastic screw 27, and an arc groove 28. The handwheel 21 is located at the upper end of the handwheel mounting shaft 22, the upper and lower sliding sleeves 23 are located at the lower end of the handwheel mounting shaft 22, the compression spring 24 is located at the outer ring of the upper and lower sliding sleeves 23, the rotating bushing 25 is located at the lower end of the upper and lower sliding sleeves 23, and the bevel gear pair 26 is located on the inner wall of the rotating bushing 25. The hand-cranked assembly 16 is in a separated state, that is, under the thrust of the compression spring 24, the bevel gear 15 remains in an upward state, and the bevel gear 15 combined therewith cannot transmit the rotational motion. This can ensure that the handwheel 21 will not rotate therewith in the electric working mode, greatly increasing the safety of the invented mechanism.

[0027] Furthermore, the pointer assembly 17 includes a primary reduction gear 29, a secondary reduction gear 30 and a pointer 31. The secondary reduction gear 30 is located on one side of the primary reduction gear 29, and the pointer 31 is located on the outer wall of the secondary reduction gear 30 to facilitate better observation.

[0028] Furthermore, one end of the motor 11 is connected to one end of the encoder 14 through the input shaft 12 and the brake 13, a bearing is arranged between the motor 11 and the reducer 10, the other end of the motor 11 is movably connected to one end of the reducer 10 through the bearing, the reducer 10 is connected to the ball screw 7, one end of the motor 11 is equipped with an encoder 14, which can control the speed and angle of the motor 11, and the other end is connected to the reducer 10, which can increase its output torque.

[0029] Furthermore, a sensor 6 is installed on the outer side of the telescopic rod 3 through a sensor adjusting screw 5, a mounting block is arranged between the telescopic rod 3 and the tension and pressure sensor 2, one end of the telescopic rod 3 is positioned and connected with one end of the tension and pressure sensor 2 through the mounting block, a connecting frame is arranged between the tension and pressure sensor 2 and the output adapter 1, one end of the tension and pressure sensor 2 is positioned and connected with one end of the output adapter 1 through the connecting frame, and a sensor 6 is arranged at the left end of the telescopic rod 3. When the telescopic rod 3 moves to the sensing position of the sensor 6, a signal will be triggered, and the telescopic rod 3 stops moving. A sensor adjusting screw 5 is arranged at the left end of the sensor 6, which is convenient for the staff to adjust the movement stroke of the telescopic rod 3 according to different needs.

[0030] Furthermore, a mounting socket is provided between the driver 18 and the cable aviation plug 19, and one side of the driver 18 is positioned and connected to one end of the cable aviation plug 19 through the mounting socket to facilitate driving operation.

[0031] Furthermore, the outer wall of the upper end of the bevel gear pair 26 is connected to the inner wall of the upper and lower sliding sleeves 23 through a rotating bushing 25, a slider is provided between the handwheel mounting shaft 22 and the upper and lower sliding sleeves 23, the upper end of the upper and lower sliding sleeves 23 is movably connected to the lower end of the handwheel mounting shaft 22 through the slider, a rotating shaft is provided between the handwheel mounting shaft 22 and the handwheel 21, the upper end of the handwheel mounting shaft 22 is movably connected to the lower end of the handwheel 21 through the rotating shaft, and an arc snap is opened on the upper and lower sliding sleeves 23. When it moves to the lower limit position, the ball at the front end of the elastic screw 27 is just stuck in the arc snap, ensuring that the handwheel assembly cannot move upward under the thrust of the compression spring 24, thereby realizing the meshing state of the bevel gear pair 26.

[0032] Furthermore, a gear groove is provided between the primary reduction gear 29 and the secondary reduction gear 30, and the outer wall of the primary reduction gear 29 is movably connected to the outer wall of the secondary reduction gear 30 through the gear groove, and the outer wall of the secondary reduction gear 30 is movably connected to the outer wall of the pointer 31, so as to facilitate gear driving.

[0033] Working principle: The present invention includes an output adapter 1, a tension and pressure sensor 2, a telescopic rod 3, a mounting flange 4, a sensor adjustment screw 5, a sensor 6, a ball screw 7, a housing 8, a cylindrical gear 9, a reducer 10, a motor 11, an input shaft 12, a brake 13, an encoder 14, a bevel gear 15, a hand crank assembly 16, a pointer assembly 17, a driver 18, a cable aviation plug 19, an anti-rotation slider 20, a hand wheel 21, a hand wheel mounting shaft 22, an upper and lower sliding sleeve 23, a compression spring 24, a rotating bushing 25, a bevel gear pair 26, an elastic screw 27, an arc groove 28, a primary reduction gear 29, a secondary reduction gear 30, and a pointer 31. One end of the motor 11 is equipped with an encoder 14, which can control the motor 11's speed and angle, the other end is connected to the reducer 10, which can increase its output torque. The reducer 10 is connected to the ball screw, and a linear slide groove is opened inside the housing 8. An anti-rotation slider 20 is installed on the nut of the ball screw. When the screw rotates, the nut can only make a linear motion. A sensor 6 is arranged at the left end of the telescopic rod 3. When the sensor 6 of the movement of the telescopic rod 3 touches the sensing position, a signal will be triggered, and the telescopic rod 3 stops moving. A sensor adjustment screw 5 is arranged at the left end of the sensor 6, which is convenient for the staff to adjust the movement stroke of the telescopic rod 3 according to different needs. A pulling pressure sensor 2 is connected to the tail of the telescopic rod 3, which can detect the push and pull force of the output end telescopic rod 3 at any time, and the data is uploaded to the control After the board is made, the control board can automatically adjust the torque of the motor according to the size of the push-pull force, thereby realizing the force control of the linear motion mechanism. This invention has two working modes: the first is the electric working mode, that is, the motor 11 drives the reducer 10 to rotate; the second is the manual working mode. If the power is off, the motor 11 cannot work. At this time, the transmission of the ball screw is realized through the hand-crank assembly 16. In the electric working mode, the hand-crank assembly 16 is in a separated state, that is, under the thrust of the compression spring 24, the bevel gear 15 remains in an upward state, and the bevel gear 15 combined with it cannot transmit the rotational motion. This can ensure that the handwheel 21 will not rotate with it in the electric working mode, which greatly increases the mechanism of this invention. Safety: In the manual working mode, the staff presses the hand wheel 21 downward with force, and an arc position is opened on the upper and lower sliding sleeves 23. When it moves to the lower limit, the ball at the front end of the elastic screw 27 is just stuck in the arc position, ensuring that the hand wheel assembly cannot move upward under the thrust of the compression spring 24, realizing the meshing state of the bevel gear pair 26. The hand-cranked bevel gear 15 transmits the rotational motion to the cylindrical gear 9 through the bevel gear pair 26, and then transmits it to the ball screw to realize linear motion. In the manual working mode, the sensor 6 fails and cannot detect whether the telescopic rod 3 has moved to the specified position. Therefore, we add a set of pointer assemblies 17 at the tail to facilitate the staff to determine whether the movement is in place by the rotation of the pointer.

[0034] It should be noted that, in this article, relational terms such as first and second (number one, number two), etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0035] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A linear motion mechanism with force control, comprising an output adapter (1), a tension and pressure sensor (2), a telescopic rod (3), a mounting flange (4), a sensor adjustment screw (5), a sensor (6), a ball screw (7), a housing (8), a cylindrical gear (9), a reducer (10), a motor (11), an input shaft (12), a brake (13), an encoder (14), a bevel gear (15), a hand crank assembly (16), a pointer assembly (17), a driver (18), a cable aviation plug (19), and an anti-rotation slider (20), characterized in that: The tension and pressure sensor (2) is located at one end of the telescopic rod (3), the output adapter (1) is located at one end of the tension and pressure sensor (2), the telescopic rod (3) is located on the outside of the ball screw (7), the anti-rotation slider (20) is located on the outside of the telescopic rod (3), the cylindrical gear (9) is located at the other end of the ball screw (7), the reducer (10) is located at one end of the cylindrical gear (9), the input shaft (12) is located at one end of the reducer (10), the motor (11) is located between the reducer (10) and the input shaft (12), the encoder (14) is located at one end of the input shaft (12), the brake (13) is located between the input shaft (12) and the encoder (14), the cable aviation plug (19) is located at one end of the driver (18), and the mounting flange (4) is located at one end of the housing (8); the hand crank assembly (16) The invention comprises a hand wheel (21), a hand wheel mounting shaft (22), an upper and lower sliding sleeves (23), a compression spring (24), a rotating sleeve (25), a bevel gear pair (26), an elastic screw (27), and an arc groove (28); the hand wheel (21) is located at the upper end of the hand wheel mounting shaft (22); the upper and lower sliding sleeves (23) are located at the lower end of the hand wheel mounting shaft (22); the compression spring (24) is located at the outer ring of the upper and lower sliding sleeves (23); the rotating sleeve (25) is located at the lower end of the upper and lower sliding sleeves (23); and the bevel gear pair (26) is located at the inner wall of the rotating sleeve (25); and the pointer assembly (17) comprises a primary reduction gear (29), a secondary reduction gear (30) and a pointer (31); the secondary reduction gear (30) is located at one side of the primary reduction gear (29); and the pointer (31) is located at the outer wall of the secondary reduction gear (30).

2. A linear motion mechanism with force control according to claim 1, characterized in that: One end of the motor (11) is connected to one end of the encoder (14) via an input shaft (12) and a brake (13); a bearing is provided between the motor (11) and the reducer (10); the other end of the motor (11) is movably connected to one end of the reducer (10) via a bearing; and the reducer (10) is connected to a ball screw (7).

3. A linear motion mechanism with force control according to claim 1, characterized in that: A sensor (6) is installed on the outer side of the telescopic rod (3) via a sensor adjustment screw (5); a mounting block is provided between the telescopic rod (3) and the tension and pressure sensor (2); one end of the telescopic rod (3) is positioned and connected to one end of the tension and pressure sensor (2) via the mounting block; a connecting frame is provided between the tension and pressure sensor (2) and the output adapter (1); one end of the tension and pressure sensor (2) is positioned and connected to one end of the output adapter (1) via the connecting frame.

4. A linear motion mechanism with force control according to claim 1, characterized in that: A mounting base is provided between the driver (18) and the cable aviation plug (19), and one side of the driver (18) is positioned and connected to one end of the cable aviation plug (19) via the mounting base.

5. A linear motion mechanism with force control according to claim 2, characterized in that: The outer wall of the upper end of the bevel gear pair (26) is connected to the inner wall of the upper and lower sliding sleeves (23) through a rotating bushing (25); a sliding block is provided between the handwheel mounting shaft (22) and the upper and lower sliding sleeves (23); the upper end of the upper and lower sliding sleeves (23) is movably connected to the lower end of the handwheel mounting shaft (22) through the sliding block; a rotating shaft is provided between the handwheel mounting shaft (22) and the handwheel (21); the upper end of the handwheel mounting shaft (22) is movably connected to the lower end of the handwheel (21) through the rotating shaft.

6. A linear motion mechanism with force control according to claim 3, characterized in that: A gear groove is provided between the primary reduction gear (29) and the secondary reduction gear (30); the outer wall of the primary reduction gear (29) is movably connected to the outer wall of the secondary reduction gear (30) through the gear groove; and the outer wall of the secondary reduction gear (30) is movably connected to the outer wall of the pointer (31).

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