High-precision closed-loop force control linear rotating motor and force control method thereof

Abstract

The invention discloses a high-precision closed-loop force control linear rotating motor and a force control method thereof, and relates to the technical field of motors, the linear rotating motor comprises a shell, a linear motor, a rotating output shaft part, a constant force spring device, a force sensor and a controller, the rotary output shaft part comprises a rotary motor, a rotary connecting piece and an output rotating shaft, and can realize composite motion of axial reciprocating and angular rotation; the constant-force spring device provides constant balance force in the linear direction to compensate for gravity loads. The force sensor detects output thrust in real time and generates a feedback signal; the controller performs closed-loop force control adjustment according to the feedback signal; according to the motor, through the built-in high-precision force sensor and the constant-force spring structure, high-precision, low-force-value and stable force control performance is achieved, output fluctuation can be effectively reduced, and the system response speed and control precision can be improved.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a high-precision closed-loop force-controlled linear rotary motor and its force control method. Background Technology

[0002] Traditional linear rotary motors generally employ open-loop algorithms to control linear motion. While these mechanisms are mature, they suffer from limitations such as the inability to detect real-time changes in the actual downward pressure on the motor's output shaft, fluctuations in the force of the mechanical spring itself, and constraints on improving force control accuracy. These issues affect the long-term stability of the system's output force, leading to a decrease in the yield of actual manufactured products. With technological advancements, higher demands are placed on the accuracy and reliability of force control for linear motion components, urgently requiring an innovative control scheme to overcome the limitations of existing technologies.

[0003] To address the issues of low force control accuracy, limited force control range, and limited force control stability in existing linear rotary motors, a key challenge is how to propose a structure with an integrated sensor and constant force spring to achieve higher precision, lower force, and more stable force control, thereby meeting the stringent requirements of precision manufacturing and high-quality automation. Summary of the Invention

[0004] One technical problem to be solved by the embodiments of the present invention is how to provide a linear motor structure with a built-in sensor and a constant force spring to achieve higher precision, lower force, and more stable force control.

[0005] To address the aforementioned scenarios, firstly, embodiments of this application provide a high-precision closed-loop force-controlled linear rotary motor, comprising: Housing 1, used to support and install the internal components; Linear motor 2, installed inside the housing 1, is used to provide linear thrust along the axial direction; The rotary output shaft 3 includes a rotary motor 301, a force sensor 302, a rotary connector 303, and an output shaft 304. The rotary motor 301 is installed inside the housing 1 and is used for rotational driving force. The rotary connector 303 is used to mechanically connect the rotary motor 301 and the output shaft 304. The output shaft 304 is used to realize a combined motion of axial reciprocating and angular rotation. A constant force spring device 4 is installed inside the housing 1 and is used to provide a constant balancing force in the linear direction to compensate for gravity load. The force sensor 302 is installed on the side of the rotary output shaft 3 near the linear motor 2 and is used to detect the output thrust in real time and generate a feedback signal. The controller is electrically connected to the force sensor 302, the linear motor 2, and the rotary output shaft 3, and is used to perform closed-loop force control adjustment based on the signal fed back by the force sensor 302.

[0006] In conjunction with the first aspect, in some embodiments, the linear motor 2 includes: Stator 201 is fixedly installed inside the housing 1; The mover 202 is connected to the linear guide rail 5 and can move relative to the stator 201 in a linear direction. The mover 202 is mechanically coupled to the rotary output shaft 3 via a linear connector 306.

[0007] In conjunction with the first aspect, in some embodiments, the constant force spring device 4 includes: The constant force spring mover 401 is a hollow cylindrical structure with a guide hole and a fixing groove inside for installing and guiding the spring movement. One end is provided with a mounting part to connect to the rotating connector 303. The constant force spring stator 402 has one end fixedly connected to the inner wall of the constant force spring mover 401, and the other end can extend out along the guide hole. The constant force spring mover 401 outputs a constant force during the extension and retraction process.

[0008] In conjunction with the first aspect, in some embodiments, the rotary output shaft portion 3 includes: Force sensor 302 includes a first force sensor and a second force sensor. The first force sensor is used to detect the output thrust of the linear motor 2 in real time and generate a first feedback signal. The second force sensor is used to detect the output thrust of the rotary output shaft 3 in real time and generate a second feedback signal.

[0009] In conjunction with the first aspect, some embodiments include: an encoder 305, installed between the linear motor 2 and the rotary output shaft 3, for detecting the rotation angle of the rotary output shaft 3 or the displacement signal of the linear motor 2, to realize three-closed-loop control of angle, position, speed and force.

[0010] In conjunction with the first aspect, in some embodiments, the force sensor 302 is a strain gauge or piezoelectric high-precision sensing element capable of detecting changes in axial thrust at micronewton resolution.

[0011] In conjunction with the first aspect, in some embodiments, the housing 1 is provided with multiple internal wiring harnesses for connecting the linear motor 2, the rotary output shaft 3, the force sensor 302 and the photoelectric switch 6, and transmitting the data to the external control system through the DB connector 7.

[0012] In conjunction with the first aspect, in some embodiments, the controller dynamically adjusts the current output of the linear motor 2 based on the output signal of the force sensor 302 to eliminate the deviation between the target thrust and the actual thrust, thereby achieving real-time closed-loop adjustment of the thrust.

[0013] In conjunction with the first aspect, in some embodiments, the controller is also used to control the linear motor 2 and the rotary output shaft 3 to achieve the following motion modes: Only linear motion; Rotational motion only; A combination of linear and rotational motion.

[0014] Secondly, embodiments of this application provide a force control method for a high-precision closed-loop force-controlled linear rotary motor, including: Force sensor 302 detects the thrust output by linear motor 2 in real time and generates a thrust signal; The controller receives the thrust signal and calculates the deviation between the target thrust and the actual thrust; The controller automatically adjusts the current output of the linear motor 2 according to the deviation between the target thrust and the actual thrust, thereby realizing closed-loop thrust control. When the rotary motor 301 operates synchronously, it drives the output shaft 304 through the rotary connector 303 to achieve linear rotation composite force control.

[0015] This invention relates to a high-precision closed-loop force-controlled linear rotary motor and its force control method. By integrating a built-in force sensor and a constant-force spring device into the linear rotary motor structure, it achieves high-precision, low-force, and stable force control performance. The constant-force spring device provides a constant balancing force in the linear direction, effectively compensating for gravitational loads and reducing fluctuations in motor output force. The built-in high-precision force sensor detects thrust changes in real time, and in conjunction with the closed-loop feedback adjustment of the controller, the system can respond quickly and accurately maintain the target force value, thereby improving force control accuracy and system stability. Furthermore, the combination of linear and rotary dual-motor structures allows the device to flexibly switch between linear, rotary, and composite motion modes, expanding application scenarios and meeting the requirements of complex operations for precise force control. The overall structure is compact, responsive, and highly accurate, possessing excellent engineering applicability and promotional value.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] The accompanying drawings, which form part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0018] The invention will be more clearly understood with reference to the accompanying drawings and the following detailed description, wherein: Figure 1 This is a front view of the structure of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention; Figure 2 This is a perspective view of the structure of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention; Figure 3 This diagram shows the structure of a linear motor, specifically a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figure 4 This diagram illustrates the structure of a constant force magnetic spring for a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figure 5 This diagram shows the structure of the rotary output shaft of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Detailed Implementation

[0019] The present application will be further described below with reference to specific embodiments and accompanying drawings. It is understood that the illustrative embodiments of this disclosure include, but are not limited to, related methods, devices, and systems. The specific embodiments described herein are merely for explaining the present application and not for limiting it. Furthermore, for ease of description, the accompanying drawings show only the parts relevant to the present application, and not all of the structures or processes.

[0020] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Although the description of this application will be presented in conjunction with preferred embodiments, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of this application. To provide a thorough understanding of this application, many specific details will be included in the following description. This application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0021] Figure 1 This diagram shows a front view of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figure 2 This diagram shows a perspective view of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figure 3 This diagram shows the structure of a linear motor, specifically a high-precision closed-loop force-controlled linear rotary motor, according to an embodiment of the present invention. Figure 4 This diagram shows the structure of a constant force magnetic spring for a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figure 5 This diagram illustrates the structure of the rotary output shaft of a high-precision closed-loop force-controlled linear rotary motor according to an embodiment of the present invention. Figures 1-5As shown, the high-precision closed-loop force-controlled linear rotary motor includes: a housing 1 for supporting and mounting internal components; a linear motor 2, installed inside the housing 1, for providing axial linear thrust; a rotary output shaft 3, including a rotary motor 301, a force sensor 302, a rotary connector 303, and an output shaft 304, wherein the rotary motor 301 is installed inside the housing 1 for providing rotational driving force; the rotary connector 303 is used to mechanically connect the rotary motor 301 and the output shaft 304; the output shaft 304 is used to realize a composite motion of axial reciprocating and angular rotation; a constant force spring device 4, installed inside the housing 1, for providing a constant balancing force in the linear direction to compensate for gravitational loads; a force sensor 302, installed on the rotary output shaft 3 near the linear motor 2, for detecting the output thrust in real time and generating a feedback signal; and a controller (not shown), electrically connected to the force sensor 302, the linear motor 2, and the rotary output shaft 3, for performing closed-loop force control adjustment based on the signal fed back by the force sensor 302.

[0022] In one embodiment, the force sensor 302 is a high-sensitivity strain gauge force measurement structure with a resolution better than 0.01N and a nonlinear error of less than 0.05%. The output signal is amplified, filtered, and converted by an A / D converter before being input to the control system.

[0023] In one embodiment, the controller incorporates a force-current dual closed-loop control algorithm based on feedforward compensation. This algorithm generates a correction current by calculating the force deviation ΔF = F_set - F_meas in real time. It dynamically compensates for thrust errors caused by friction, gravity fluctuations and mechanical coupling, and achieves high-precision output with thrust stability better than ±0.1N.

[0024] In one embodiment, an automatic zero-point calibration procedure is established between the force sensor 302 and the controller, performing self-calibration upon each startup. Specifically, the sensor contains a reference strain gauge, and when a long-term drift exceeding 0.2%FS (full-scale output value) is detected, the system automatically performs zero-point regression.

[0025] In one embodiment, the linear motor 2 includes: a stator 201, which is fixedly installed in the housing 1; a mover 202, which is connected to the linear guide rail 5 and can move relative to the stator 201 in a linear direction; the mover 202 is mechanically coupled to the rotary output shaft 3 through a linear connector 306.

[0026] In a preferred embodiment, the linear motor 2 is a high-response permanent magnet direct-drive motor structure, comprising a stator 201 fixed within a housing 1 and a mover 202. The stator 201 contains a segmented array of permanent magnets arranged in parallel, employing a gradient magnetic field optimization arrangement and a staggered slot winding structure to reduce cogging force fluctuations. The mover 202 is mechanically coupled to the rotary output shaft 3 via a linear connector 306. The linear connector 306 is made of high-rigidity, lightweight titanium alloy and features flexible compensation joints at both ends to absorb minor assembly deviations and thermal expansion errors, thereby ensuring that the collinearity deviation between the linear and rotary transmission axes is less than 0.01 mm. To improve drive efficiency, in one embodiment, the mover 202 windings can be connected in a three-phase symmetrical star configuration and equipped with a position feedback encoder to achieve dual closed-loop control of the current and speed loops. Through the above structural design, the linear motor achieves high-precision, low-vibration, and fast-response force control characteristics while ensuring high thrust output, significantly improving the dynamic performance and stability of the entire linear-rotary composite system.

[0027] In one embodiment, the constant force spring device 4 includes: a constant force spring mover 401, which is a hollow cylindrical structure with a guide hole and a fixing groove inside for installing and guiding the spring movement, and a mounting part for connecting a rotating connector 303 at one end; and a constant force spring stator 402, one end of which is fixedly connected to the inner wall of the constant force spring mover 401, and the other end of which can extend along the guide hole; wherein the constant force spring mover 401 outputs a constant force during the extension and contraction process. Specifically, the constant force spring mover 401 is a high-strength aluminum alloy hollow cylinder, and its inner wall is provided with a low-friction PTFE (polytetrafluoroethylene) guide bushing and a spiral groove structure for guiding the axial extension and contraction of the constant force spring stator 402 and preventing deflection; the constant force spring stator 402 is made of high-elasticity stainless steel strip wound, and its winding radius r and strip thickness t satisfy the empirical relationship F=(E·t³) / (6·r²), and the rate of change of the output constant force within the rated working stroke range of 0 to 50 mm does not exceed ±2%. To improve output smoothness and lifespan, the free end of the constant force spring stator 402 is connected to a miniature roller guide mechanism and a magnetic buffer washer. Dynamic buffering of the output force is achieved through magnetic reluctance damping, avoiding the impact caused by traditional mechanical limiting. This structure achieves this by precisely controlling the spring winding tension and guide friction. The system exhibits high reliability with force attenuation less than 3% after multiple reciprocating cycles. After assembling this constant force spring device, the static balance error of the linear motor in vertical orientation is reduced from ±1.5N to ±0.2N, the force control response delay is shortened by approximately 20%, and the overall thrust linearity of the system is improved. Through this design, the constant force spring device provides stable gravity compensation while possessing high durability and high responsiveness, thereby effectively improving the control accuracy and dynamic balance performance of the composite motor system in the low thrust range.

[0028] In one embodiment, the rotary output shaft 3 includes a force sensor 302, comprising a first force sensor and a second force sensor. The first force sensor is used to detect the output thrust of the linear motor 2 in real time and generate a first feedback signal, while the second force sensor is used to detect the output thrust of the rotary output shaft 3 in real time and generate a second feedback signal. By employing this dual-sensor collaborative detection and fusion algorithm structure, the system's real-time detection capability and control stability for multi-axis composite motion are significantly improved, ensuring high-precision force control output even under high-frequency dynamic conditions, and enhancing system reliability and anti-interference capabilities.

[0029] In one embodiment, an encoder 305 is included, installed between the linear motor 2 and the rotary output shaft 3, for detecting the rotation angle of the rotary output shaft 3 or the displacement signal of the linear motor 2, thereby achieving three-loop control of angle, position, speed, and force. The arrangement of the encoder 305 and the algorithm work together to achieve precise synchronization of linear and rotary motion, significantly improving the system's multi-dimensional collaborative control accuracy and dynamic response performance, ensuring millisecond-level force control and position coordination control under high-frequency, high-load conditions.

[0030] In one embodiment, the force sensor 302 is a strain gauge or piezoelectric high-precision sensing element capable of detecting axial thrust changes at micro-Newton level resolution. The force sensor 302 can be a strain gauge or piezoelectric high-precision sensing element, internally employing a micro-shear beam structure and a full-bridge strain gauge array design. This maintains stable output under high-frequency dynamic loads, significantly improving the system's micro-force detection capability and closed-loop control accuracy, providing reliable support for achieving sub-Newton level force control and high-speed response.

[0031] In one embodiment, the housing 1 contains multiple internal wiring harnesses for connecting the linear motor 2, the rotary output shaft 3, the force sensor 302, and the photoelectric switch 6, and transmitting data to an external control system via a DB connector 7. The DB connector 7 is a high-density multi-pin interface with waterproof sealing and EMI shielding capabilities, capable of simultaneously transmitting power, control signals, and feedback signals. This modular wiring and unified transmission structure not only improves signal anti-interference capability and reliability but also simplifies assembly and maintenance, significantly enhancing the overall electrical stability and industrial usability of the machine.

[0032] In one embodiment, the controller dynamically adjusts the current output of the linear motor 2 based on the output signal of the force sensor 302 to eliminate the deviation between the target thrust and the actual thrust, thereby achieving real-time closed-loop adjustment of the thrust. In another embodiment, the controller is also used to control the linear motor 2 and the rotary output shaft 3 to achieve the following motion modes: linear motion only; rotary motion only; and a combination of linear and rotary motion.

[0033] In one embodiment, the high-precision closed-loop force-controlled linear rotary motor further includes an air pipe interface 8, which is located on the top or side of the housing and is used to connect to an external air source.

[0034] In one embodiment, the high-precision closed-loop force-controlled linear rotary motor further includes an air pipe 9 connected to an air pipe interface 8.

[0035] This invention also provides a force control method for a high-precision closed-loop force-controlled linear rotary motor, comprising the following steps: Step 61: Force sensor 302 detects the thrust output of linear motor 2 in real time and generates a thrust signal; Step 62: The controller receives the thrust signal and calculates the deviation between the target thrust and the actual thrust; Step 63: The controller automatically adjusts the current output of the linear motor 2 according to the deviation between the target thrust and the actual thrust to achieve closed-loop thrust control; Step 64: When the rotary motor 301 operates synchronously, the output shaft 304 is driven by the rotary connector 303 to achieve linear rotation composite force control.

[0036] In one embodiment, the force control method of the high-precision closed-loop force-controlled linear rotary motor includes the following process: Force sensor 302 detects the output thrust of linear motor 2 in real time and converts it into an electrical signal. The signal is amplified, filtered, and converted by an A / D converter before being input to the controller to ensure high precision and real-time performance of the thrust detection. After receiving the thrust signal, the controller calculates the deviation ΔF between the target thrust and the actual thrust, and automatically adjusts the current output according to a preset control algorithm (such as fuzzy self-tuning PID or feedforward compensation algorithm). Linear motor 2 achieves real-time closed-loop control of the thrust based on the adjustment signal output by the controller, which can quickly eliminate external disturbances and friction errors, maintaining stable thrust. Furthermore, when rotary motor 301 operates synchronously, the controller simultaneously coordinates the operation of the linear and rotary motors, driving the output shaft 304 through the rotary connector 303 to complete the composite force control of linear and rotary motion. This method introduces a force-current closed-loop regulation mechanism, enabling the system to respond to thrust changes within milliseconds, with force control error controlled within ±0.1N. This significantly improves the stability, response speed, and control accuracy of the output force, ensuring that the equipment has excellent force control performance and reliability in high-precision assembly, precision grinding, and micro-operation scenarios.

[0037] This invention integrates a high-precision force sensor within a linear rotary motor, combined with a closed-loop control system and adaptive adjustment algorithm, to achieve real-time monitoring and precise control of the output thrust. This fundamentally solves the problems of low force control accuracy and limited force control range caused by the inability of traditional linear rotary motors to detect actual forces and perform feedback adjustment. This structure can feed the actual output force back to the controller in real time. The controller automatically adjusts the current output based on the feedback signal, enabling the motor to maintain stable and precise thrust output under different loads and operating conditions, significantly improving the system's control sensitivity and dynamic response performance.

[0038] Through the aforementioned structural design and control strategy, the motor of this invention can achieve high-precision, fast-response closed-loop thrust regulation during operation, effectively improving the lag, fluctuations, and instability inherent in traditional systems during force control, and enhancing the stability and consistency of force control. This solution not only makes the linear rotary motor more adaptable to applications requiring constant thrust control, such as high-precision assembly, micro-operation, grinding, and semiconductor processing, but also significantly improves the reliability and control accuracy of equipment operation, making the overall force control performance more precise, efficient, and controllable.

[0039] Furthermore, the overall design of this invention is compact and highly modular, integrating sensing and control, which reduces the complexity of external installation and debugging, and improves the system's anti-interference capability and long-term operational stability. With its comprehensive advantages in accuracy, reliability, and versatility, this invention can be widely applied in high-end equipment manufacturing, precision medical equipment, and intelligent automation systems, possessing significant promotional value and promising industrial application prospects.

[0040] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For system embodiments, since they largely correspond to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0041] The methods and systems of the present invention may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of the present invention are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present invention may also be implemented as a program recorded on a recording medium, the program comprising machine-readable instructions for implementing the methods according to the present invention. Thus, the present invention also covers recording media storing programs for performing the methods according to the present invention.

[0042] The description of this invention is given for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A high-precision closed-loop force-controlled linear rotary motor, characterized in that, include: The housing (1) is used to support and install the internal components; A linear motor (2), installed inside the housing (1), is used to provide linear thrust along the axial direction; The rotary output shaft section (3) includes a rotary motor (301), a force sensor (302), a rotary connector (303), and an output shaft (304), wherein, A rotary motor (301) is installed inside the housing (1) for rotational driving force; A rotary connector (303) is used to mechanically connect the rotary motor (301) and the output shaft (304). The output shaft (304) is used to realize a combined motion of axial reciprocating and angular rotation; Force sensor (302) is installed on the side of the rotary output shaft (3) near the linear motor (2) to detect the output thrust in real time and generate a feedback signal; A constant force spring device (4) is installed inside the housing (1) to provide a constant balancing force in the straight direction to compensate for the gravitational load; The controller is electrically connected to the force sensor (302), the linear motor (2) and the rotary output shaft (3), and is used to perform closed-loop force control adjustment based on the signal fed back by the force sensor (302).

2. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The linear motor (2) includes: The stator (201) is fixedly installed inside the housing (1); The mover (202) is connected to the linear guide rail (5) and can move in a straight line relative to the stator (201); The mover (202) is mechanically coupled to the rotary output shaft (3) via a linear connector (306).

3. The high-precision closed-loop force-controlled linear rotary motor according to claim 1 or 2, characterized in that, The constant force spring device (4) includes: The constant force spring mover (401) is a hollow cylindrical structure with a guide hole and a fixing groove inside for installing and guiding the spring movement. One end is provided with a mounting part to connect to the rotating connector (303). The constant force spring stator (402) has one end fixedly connected to the inner wall of the constant force spring mover (401), and the other end can extend out along the guide hole; The constant force spring mover (401) outputs a constant force during the extension and retraction process.

4. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The rotary output shaft (3) includes: The force sensor (302) includes a first force sensor and a second force sensor, wherein the first force sensor is used to detect the output thrust of the linear motor (2) in real time and generate a first feedback signal, and the second force sensor is used to detect the output thrust of the rotary output shaft (3) in real time and generate a second feedback signal.

5. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, include: The encoder (305) is installed between the linear motor (2) and the rotary output shaft (3) to detect the rotation angle of the rotary output shaft (3) or the displacement signal of the linear motor (2) and realize three-closed-loop control of angle, position, speed and force.

6. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The force sensor (302) is a strain gauge or piezoelectric high-precision sensing element that can detect changes in axial thrust at micronewton resolution.

7. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The housing (1) is equipped with multiple internal wire harnesses for connecting the linear motor (2), the rotary output shaft (3), the force sensor (302), and the photoelectric switch (6), and transmits the data to the external control system through the DB connector (7).

8. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The controller dynamically adjusts the current output of the linear motor (2) based on the output signal of the force sensor (302) to eliminate the deviation between the target thrust and the actual thrust, thereby realizing real-time closed-loop adjustment of the thrust.

9. The high-precision closed-loop force-controlled linear rotary motor according to claim 1, characterized in that, The controller is also used to control the linear motor (2) and the rotary output shaft (3) to achieve the following motion modes: Only linear motion; Rotational motion only; A combination of linear and rotational motion.

10. A force control method for a high-precision closed-loop force-controlled linear rotary motor as described in any one of claims 1 to 9, characterized in that, include: The force sensor (302) detects the thrust output of the linear motor (2) in real time and generates a thrust signal; The controller receives the thrust signal and calculates the deviation between the target thrust and the actual thrust; The controller automatically adjusts the current output of the linear motor (2) according to the deviation between the target thrust and the actual thrust, thereby realizing closed-loop thrust control; When the rotary motor (301) operates synchronously, the output shaft (304) is driven by the rotary connector (303) to achieve linear rotation compound force control.

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