Linear actuating device with stress detection mechanism

Abstract

The utility model relates to a linear actuating device with a stress detection mechanism, which comprises a shell seat, a transmission mechanism, an elastic body and a Hall sensing assembly, and is characterized in that the shell seat comprises a fixed part; the transmission mechanism is connected with the shell seat and comprises a stress component; the elastic body is arranged between the fixed part and the stressed part; the Hall sensing assembly is arranged between the fixed part and the stressed part; when the stress of the transmission mechanism changes, the stress component and the fixing component generate relative displacement, and the Hall sensing assembly generates an output signal through the displacement. Therefore, damage to the product due to collision can be reduced, and whether the patient is in a bed state or an off-bed state can be known at any time.

Description

[0001] This application claims priority to U.S. Patent Application No. 63 / 694,365, filed on September 13, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to a linear actuator technology, and more particularly to a linear actuator with a force detection mechanism. Background Technology

[0003] Linear actuators are commonly used in devices such as electric beds, nursing beds, hospital beds, and electric height-adjustable desks or chairs for adjusting height or tilt. When a user encounters an obstacle during the adjustment process, the user will come into contact with the obstacle and generate an interaction force. This force will be transmitted to the linear actuator. If the linear actuator does not stop operating immediately, it will be damaged by the obstacle. If the obstacle is a human body, it will cause injury to the human body.

[0004] Furthermore, most existing linear actuators do not have dynamic detection capabilities. When they are used on medical bed frames, medical staff or patients' families cannot actually know whether the patient is in bed or out of bed through terminal devices or equipment.

[0005] Therefore, how to solve the problems of product damage due to impact, human injury, and whether the patient is in bed or out of bed is the technical issue that the applicant needs to address. Utility Model Content

[0006] The purpose of this application is to provide a linear actuator with a force detection mechanism, which can reduce product damage due to impact and can know at any time whether the patient is in bed or out of bed.

[0007] To achieve the above objectives, this application provides a linear actuation device with a force detection mechanism, including a housing, a transmission mechanism, an elastomer, and a Hall sensor component. The housing includes a fixed component; the transmission mechanism is connected to the housing and includes a force-receiving component; the elastomer is disposed between the fixed component and the force-receiving component; and the Hall sensor component is disposed between the fixed component and the force-receiving component. When the force on the transmission mechanism changes, the force-receiving component and the fixed component will generate a relative displacement, and the Hall sensor component will generate an output signal through the displacement.

[0008] In one embodiment, the Hall sensor assembly includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on a fixed component, and the second sensor is disposed on a force-bearing component.

[0009] In one embodiment, the fixing component has a boss with a recess, the force-bearing component includes a mechanism, the first sensing element is a magnetic body disposed in the recess, and the second sensing element is a Hall sensor disposed on the end face of the mechanism.

[0010] In one embodiment, the fixing component has an inner ring, the force-bearing component includes a bearing, and the elastomer is a swashplate having a central hole and a swashplate formed around the central hole. The central hole is fitted with the inner ring, and the area of ​​the swashplate away from the central hole abuts against the bearing.

[0011] In one embodiment, the fixing component has a boss with a recess, the force-bearing component includes a mechanism, the first sensing element is a Hall sensor disposed in the recess, and the second sensing element is a magnetic body disposed on the end face of the mechanism.

[0012] In one embodiment, the fixing component has a boss with a recess, the force-bearing component includes a mechanism, a bearing and a sleeve, the mechanism passes through the bearing, the sleeve is disposed between the bearing and the elastic body, the first sensing element is a magnetic body disposed in the recess, and the second sensing element is a Hall sensor disposed on the end face of the mechanism.

[0013] In one embodiment, the fixing component has a boss, the force-bearing component includes a mechanism, a bearing and a sleeve, the mechanism passes through the bearing, the sleeve is disposed between the bearing and the elastic body, the first sensing element is a Hall sensor disposed on the boss, and the second sensing element is a magnetic body disposed on the end face of the mechanism.

[0014] In one embodiment, the fixing component has a boss with a recess, the force-bearing component includes a mechanism, a bearing and a sleeve, the mechanism passes through the bearing, the sleeve is disposed between the bearing and the elastic body and has an intermediate partition, the first sensing element is a magnetic body disposed in the recess, and the second sensing element is a Hall sensor disposed in the intermediate partition.

[0015] In one embodiment, the fixing component has a boss, the force-bearing component includes a bearing and a sleeve, the sleeve is disposed between the bearing and the elastic body and has an intermediate partition, the first sensing element is a Hall sensor disposed on the boss, and the second sensing element is a magnetic body disposed on the intermediate partition.

[0016] In one embodiment, the fixing component has a base plate, the force-bearing component includes a motor, the first sensing element is a Hall sensor disposed on the base plate, and the second sensing element is a magnetic body disposed on the motor.

[0017] In one embodiment, the fixing component has a bottom cover, the force-bearing component includes a mounting plate, the first sensing element is a magnetic body disposed on the bottom cover, and the second sensing element is a Hall sensor disposed on the mounting plate.

[0018] In one embodiment, the fixing component has a base plate, the force-bearing component includes the fixing plate, the first sensing element is a Hall sensor disposed on the base plate, and the second sensing element is a magnetic body disposed on the fixing plate.

[0019] In one embodiment, the fixing component has a bottom cover, the force-bearing component includes a mounting plate, the first sensing element is a Hall sensor disposed on the bottom cover, and the second sensing element is a magnetic body disposed below the mounting plate.

[0020] In one embodiment, the fixing component has a cover, and the Hall sensing assembly includes a first sensing element and a second sensing element disposed corresponding to the first sensing element. The first sensing element is a magnetic body disposed on the cover, and the second sensing element is a Hall sensor disposed on an elastic body.

[0021] In one embodiment, the fixing component has a base plate, the force-bearing component includes a fixing plate, the elastic body has a closed end and an open end, the open end is connected to the fixing plate, the closed end is disposed on the base plate, and the Hall sensing component includes a first sensing element and a second sensing element configured corresponding to the first sensing element. The first sensing element is a Hall sensor, which is disposed on the closed end, and the second sensing element is a magnetic body, which is disposed below the fixing plate.

[0022] In one embodiment, the force-bearing component includes a mounting plate and an electric push rod. The Hall sensing assembly includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is a Hall sensor disposed above the mounting plate, and the second sensor is a magnetic body disposed below the electric push rod.

[0023] In one embodiment, the device further includes a drive mechanism having a motor housing. The Hall effect sensing component includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on the motor housing, and the second sensor is disposed on the force-bearing component.

[0024] In one embodiment, the force-bearing component includes a bearing, the first sensing element is a Hall sensor disposed on the motor housing, and the second sensing element is a magnetic material disposed on the bearing.

[0025] In one embodiment, the force-bearing component includes a bearing and a sleeve, the sleeve being disposed between the bearing and the elastic body, the first sensing element being a Hall sensor disposed on the motor housing, and the second sensing element being a magnetic body disposed on the bearing.

[0026] In one embodiment, the force-bearing component includes a mechanism, a first sensing element is a Hall sensor disposed on the motor housing, and a second sensing element is a magnetic body disposed on the mechanism.

[0027] In one embodiment, the force-bearing component further includes a sleeve disposed between the bearing and the elastomer.

[0028] In one embodiment, the Hall effect sensing component includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on an elastic body, and the second sensor is disposed on a force-bearing component.

[0029] In one embodiment, the force-bearing component includes a bearing and a sleeve, the sleeve being disposed between the bearing and the elastic body and having an intermediate partition, the first sensing element being a magnetic body disposed on the elastic body, and the second sensing element being a Hall sensor disposed on the intermediate partition.

[0030] In one embodiment, the force-bearing component includes a bearing and a sleeve, the sleeve being disposed between the bearing and the elastic body, the first sensing element being a magnetic body disposed on the elastic body, and the second sensing element being a Hall sensor disposed on the fixed component.

[0031] In one embodiment, the force-bearing component includes a bearing, the first sensing element is a Hall sensor disposed on an elastic body, and the second sensing element is a magnetic body disposed on the bearing.

[0032] In one embodiment, the Hall sensing component includes a first sensing element and a second sensing element configured corresponding to the first sensing element. The first sensing element is a Hall sensor disposed on a fixed component, and the second sensing element is a magnetic body disposed on an elastic body.

[0033] This application also has the following advantages: when the load changes during the extension or retraction of the telescopic tube, the internal elastomer will undergo slight deformation, changing the distance between the first and second sensors and generating an output signal. This output signal will be transmitted to the control box or control terminal, allowing medical personnel to detect whether the patient is in bed or out of bed (i.e., detection of bed frame dynamics). In addition, it can be used for collision avoidance warning. If the telescopic tube encounters an obstacle during extension or retraction, preventing smooth extension or retraction, or if the telescopic tube is impacted, the force on the guide screw will change, causing the elastomer to deform. The Hall effect sensor component senses the deformation of the elastomer and transmits the sensing result to the control box, thereby cutting off power to the electric actuator to improve safety. This application has a simple structure, is easy to assemble, and has relatively low material costs. Attached Figure Description

[0034] Figure 1 This is an exploded view of the first embodiment of this application.

[0035] Figure 2 This is a schematic diagram of some component combinations in the first embodiment of this application.

[0036] Figure 3 This is an exploded view of some components of the first embodiment of this application.

[0037] Figure 4 This is a cross-sectional view of a portion of the components of the first embodiment of this application.

[0038] Figure 5 for Figure 4 A magnified view of a local area.

[0039] Figure 6 This is a cross-sectional view of the first embodiment of this application in its usage state.

[0040] Figure 7 This is a combined cross-sectional view of the second embodiment of this application.

[0041] Figure 8 This is an exploded view of the third embodiment of this application.

[0042] Figure 9 This is a combined cross-sectional view of the third embodiment of this application.

[0043] Figure 10 This is a combined cross-sectional view of the fourth embodiment of this application.

[0044] Figure 11 This is an exploded view of the fifth embodiment of this application.

[0045] Figure 12 This is a combined cross-sectional view of the fifth embodiment of this application.

[0046] Figure 13 This is a combined cross-sectional view of the sixth embodiment of this application.

[0047] Figure 14 This is a schematic diagram of the seventh embodiment of this application.

[0048] Figure 15 This is a combined cross-sectional view of the seventh embodiment of this application.

[0049] Figure 16 This is an exploded view of the eighth embodiment of this application.

[0050] Figure 17 This is an enlarged view of some component combinations in the eighth embodiment of this application.

[0051] Figure 18 This is an exploded view of some components of the eighth embodiment of this application.

[0052] Figure 19 This is a combined cross-sectional view of the eighth embodiment of this application.

[0053] Figure 20 This is an exploded view of the ninth embodiment of this application.

[0054] Figure 21 This is a partial component assembly diagram of the ninth embodiment of this application.

[0055] Figure 22 This is a combined cross-sectional view of the ninth embodiment of this application.

[0056] Figure 23 This is a combined cross-sectional view of the tenth embodiment of this application.

[0057] Figure 24 This is an exploded view of the eleventh embodiment of this application.

[0058] Figure 25 This is a combined cross-sectional view of the eleventh embodiment of this application.

[0059] Figure 26 This is a cross-sectional view of the twelfth embodiment of this application.

[0060] Figure 27 This is a combined cross-sectional view of the thirteenth embodiment of this application.

[0061] Figure 28 This is an exploded view of the fourteenth embodiment of this application.

[0062] Figure 29 This is a combined cross-sectional view of the fourteenth embodiment of this application.

[0063] Figure 30 This is a combined cross-sectional view of the fifteenth embodiment of this application.

[0064] Figure 31 This is an exploded view of the sixteenth embodiment of this application.

[0065] Figure 32 This is a combined cross-sectional view of the sixteenth embodiment of this application.

[0066] Figure 33 This is a combined cross-sectional view of the seventeenth embodiment of this application.

[0067] Figure 34 This is an exploded view of the eighteenth embodiment of this application.

[0068] Figure 35 This is a combined cross-sectional view of the eighteenth embodiment of this application.

[0069] Figure 36 This is a combined cross-sectional view of the nineteenth embodiment of this application.

[0070] Figure 37 This is an exploded view of the twentieth embodiment of this application.

[0071] Figure 38 This is a combined cross-sectional view of the twentieth embodiment of this application.

[0072] Figure 39 This is a combined cross-sectional view of the twenty-first embodiment of this application.

[0073] Explanation of reference numerals in the attached figures:

[0074] 10: Shell base;

[0075] 11, 11C, 11D, 11E: Fixed components;

[0076] 111: Boss;

[0077] 112: Outer ring body;

[0078] 113: pit;

[0079] 114: Inner Ring Road;

[0080] 115: Groove;

[0081] 116: Base plate;

[0082] 117: Bottom cover;

[0083] 118: Cover;

[0084] 12: Buckle;

[0085] 20: Transmission mechanism;

[0086] 21, 21A, 21B, 21C, 21D, 21E: Load-bearing components;

[0087] 211: Movement;

[0088] 212: Bearing;

[0089] 213: Telescopic tube;

[0090] 2131: Nut;

[0091] 214: Locking hardware;

[0092] 215: Fixed wheel;

[0093] 216: Sleeve;

[0094] 2161: Intermediate partition;

[0095] 217: Fixing plate;

[0096] 218: Motor;

[0097] 219: Electric linear actuator;

[0098] 220: Mounting plate;

[0099] 22: Worm gear;

[0100] 23: Guiding components;

[0101] 24: Clutch wheel;

[0102] 25: Bolt;

[0103] 30, 30C, 30D, 30E, 30F: Elastomers;

[0104] 31: Center hole;

[0105] 32: Inclined plate;

[0106] 33: Closed end;

[0107] 34: Open end;

[0108] 40: Hall effect sensing components;

[0109] 41: First sensing element;

[0110] 42: Second sensing element;

[0111] 50: Drive mechanism;

[0112] 51: Motor housing. Detailed Implementation

[0113] The detailed description and technical content of this application are explained below with reference to the accompanying drawings. However, the accompanying drawings are provided for reference and illustration only and are not intended to limit this application.

[0114] This application provides a linear actuator with a force detection mechanism. Please refer to [link to relevant documentation]. Figures 1 to 6 The diagram shown is an exploded view, a schematic diagram of partial component assembly, an exploded view of partial components, and a cross-sectional view of partial component assembly, representing the first embodiment of this application. Figure 4 Enlarged view of a section and cross-sectional view in use.

[0115] The linear actuator in this embodiment is an electric push rod, which mainly includes a housing 10, a transmission mechanism 20, an elastomer 30, and a Hall sensor component 40.

[0116] The housing 10 of this embodiment mainly includes a fixing component 11 and a buckle 12. The fixing component 11 of this embodiment is the rear support of the electric push rod. It has a boss 111 and an outer ring 112 formed around the boss 111. A recess 113 is provided at the center of the boss 111. An inner ring 114 is provided on the end face of the boss 111. A groove 115 is provided on the inner wall of the outer ring 112.

[0117] The transmission mechanism 20 is connected to the housing 10. In this embodiment, the transmission mechanism 20 mainly includes a force-bearing component 21, which mainly includes a movement 211, a bearing 212, a telescopic tube 213, a locking fastener 214, and a fixed wheel 215. One end of the movement 211 is connected to the bearing 212, and one end of the telescopic tube 213 is connected to a nut 2131. The telescopic tube 213 is screwed to the movement 211 through its nut 2131 and drives the movement. The locking fastener 214 locks the movement 211 and clamps the bearing 212. The bearing 212 is housed in the aforementioned outer ring 112 and is stopped by a retaining ring 12 embedded in the groove 115. The fixed wheel 215 is sleeved on the aforementioned movement 211 and abuts against the end face of the bearing 212.

[0118] The transmission mechanism 20 in this embodiment also includes a worm gear 22, a guide 23 and a clutch wheel 24. The guide 23 is sleeved on the movement 211, the worm gear 22 is sleeved on the guide 23, and the clutch wheel 24 is sleeved between the guide 23 and the fixed wheel 215 and can move axially along the guide 23 to engage or disengage with the fixed wheel 215.

[0119] In this embodiment, the elastic body 30 is a swashplate-shaped spring sheet, which is disposed between the fixed member 11 and the force-receiving member 21. This elastic body 30 has a central hole 31 and a swashplate 32 formed around the central hole 31. The central hole 31 is fitted onto the aforementioned inner ring 114, and the area of ​​the swashplate 32 away from the central hole 31 abuts against the end face of the bearing 212.

[0120] The Hall effect sensing assembly 40 mainly includes a first sensing element 41 and a second sensing element 42 corresponding to the first sensing element 41. The first sensing element 41 is disposed in the recess 113 of the fixing component 11, and the second sensing element 42 is disposed on the end face of the mechanism 211 of the force-receiving component 21. The first sensing element 41 can be a Hall sensor or a magnetic material; the second sensing element 42 can also be a Hall sensor or a magnetic material. In this embodiment, the first sensing element 41 is a magnetic material, and the second sensing element 42 is a Hall sensor. The magnetic material can be a magnet.

[0121] The linear actuation device in this embodiment also includes a drive mechanism 50, which is connected to the aforementioned transmission mechanism 20 and housing 10, and is used to drive the worm gear 22 and the mechanism 211 of the transmission mechanism 20 to produce corresponding actuation. Since the drive mechanism 50 is prior art, it will not be described again.

[0122] During operation, when the telescopic tube 213 of the transmission mechanism 20 is subjected to axial force, the elastic body 30 will deform, causing a change in the distance between the force-bearing component 21 and the fixed component 11. Simultaneously, the distance between the first sensing element 41 and the second sensing element 42 will change accordingly, and this signal will be output electronically. The axial force can be a tensile or pushing force applied to the telescopic tube 213.

[0123] To further explain, when the electric actuator is subjected to an external load, the load is transmitted from the telescopic tube 213 to the nut 2131. The load is transmitted to the mechanism 211 through the screw connection between the nut 2131 and the mechanism 211. The load is then transmitted from the mechanism 211 to the fixed wheel 215 through the mechanical connection between the fixed wheel 215 and the mechanism 211. After that, the load is transmitted to the bearing 212 and then to the elastic body 30. Since the second sensor 42 is fixed to the end face of the mechanism 211 and the locking fastener 214, and the first sensor 41 is set in the recess 113 of the fixed component 11, the elastic body 30 will deform under the load, causing the distance between the mechanism 211 of the force-bearing component 21 and the boss 111 of the fixed component 11 to change. At the same time, the distance between the second sensor 42 and the first sensor 41 will change. When the distance between the second sensor 42 and the first sensor 41 is greater, the received Gaussian value is weaker; conversely, when the distance between the second sensor 42 and the first sensor 41 is smaller, the received Gaussian value is stronger. This displacement signal is output to the controller or control terminal to cut off the power or make the motor rotate in the opposite direction, thereby enabling the electric push rod to play a protective role.

[0124] Please see Figure 7 The figure shown is a combined cross-sectional view of the second embodiment of this application. The linear actuator of this embodiment is also an electric push rod, and its structure is generally the same as that of the first embodiment described above. The difference is that the first sensing element 41 in this embodiment is a Hall sensor, and the second sensing element 42 is a magnetic body.

[0125] Please see Figure 8 and Figure 9 The diagram shows an exploded view and a combined sectional view of the third embodiment of this application. The linear actuator of this embodiment is also an electric actuator, and its structure is largely the same as that of the first embodiment described above. The difference lies in that the force-bearing component 21A of this embodiment further includes a sleeve 216, which is disposed between the bearing 212 and the elastic body 30. The elastic body 30 is sleeved on the outer periphery of the aforementioned boss 111. The first sensing element 41 is disposed in the aforementioned recess 113. When the telescopic tube 213 of the transmission mechanism 20 is subjected to axial force, the bearing 212 pushes the sleeve 216, and the sleeve 216 causes the elastic body 30 to deform, thereby changing the distance between the mechanism 211 of the force-bearing component 21A and the boss 111 of the fixed component 11. A signal is generated and output between the first sensing element 41 and the second sensing element 42. In this embodiment, the first sensing element 41 is a magnetic material, and the second sensing element 42 is a Hall sensor.

[0126] Please see Figure 10The image shown is a cross-sectional view of the fourth embodiment of this application. The linear actuator in this embodiment is also an electric actuator, and its structure is largely the same as that of the aforementioned third embodiment, except that: the first sensing element 41 in this embodiment is a Hall sensor, and the second sensing element 42 is a magnetic material. The first sensing element 41 is disposed on the end face of the aforementioned boss 111.

[0127] Please see Figure 11 and Figure 12 The diagram shows an exploded view and a combined sectional view of the fifth embodiment of this application. The linear actuator of this embodiment is also an electric actuator, and its structure is largely the same as that of the third embodiment described above. The difference lies in that the force-bearing component 21B of this embodiment further includes a sleeve 216. The sleeve 216 of this embodiment has a middle partition 2161, and the second sensor 42 is disposed on the middle partition 2161. The elastic body 30 is sleeved on the outer periphery of the aforementioned boss 111, and the first sensor 41 is disposed in the aforementioned recess 113. When the telescopic tube 213 of the transmission mechanism 20 is subjected to axial force, the bearing 212 pushes the sleeve 216, and the sleeve 216 causes the elastic body 30 to deform, thereby changing the distance between the middle partition 2161 of the force-bearing component 21B and the boss 111 of the fixed component 11, and generating an output signal between the first sensor 41 and the second sensor 42. In this embodiment, the first sensor 41 is a magnetic material, and the second sensor 42 is a Hall sensor.

[0128] Please see Figure 13 The figure shown is a combined cross-sectional view of the sixth embodiment of this application. The linear actuator of this embodiment is also an electric push rod, and its structure is generally the same as that of the fifth embodiment mentioned above. The difference is that the first sensing element 41 is disposed on the end face of the aforementioned boss 111. In this embodiment, the first sensing element 41 is a Hall sensor, and the second sensing element 42 is a magnetic body.

[0129] Please see Figure 14 and Figure 15 The diagram shown is a schematic diagram and a cross-sectional view of the seventh embodiment of this application. The linear actuation device in this embodiment is a lifting column, and the fixing component 11C in this embodiment is the motor housing of the lifting column, which has a base plate 116. The first sensing element 41 is disposed on the base plate 116 and is a Hall sensor.

[0130] The transmission mechanism 20 is connected to the housing 10. The transmission mechanism 20 in this embodiment mainly includes a force-bearing component 21C. The force-bearing component 21C in this embodiment mainly includes a core 211, a fixing plate 217, and a motor 218. The elastic body 30C in this embodiment is a rubber sleeve. The fixing plate 217 is fixed to the aforementioned base plate 116 by bolts 25 and the elastic body 30C. The core 211 passes through the motor 218, and the motor 218 is locked and fixed on the fixing plate 217. The second sensing element 42 is disposed on the motor 218 and is configured corresponding to the first sensing element 41, and it is a magnetic body.

[0131] During operation, when the mechanism 211 is subjected to axial force, the elastic body 30C will deform, causing the distance between the motor 218 and the base plate 116 to change, and generating an output signal between the first sensor 41 and the second sensor 42.

[0132] Please see Figures 16 to 19 The diagram shows an exploded view, an enlarged view of a partial component assembly, an exploded view of a partial component assembly, and a cross-sectional view of the assembly of the eighth embodiment of this application. The linear actuation device in this embodiment is a lifting column, and the fixing component 11D in this embodiment is the tube body of the lifting column, which has a bottom cover 117. The first sensing element 41 is disposed on the bottom cover 117 and is a magnetic body.

[0133] The transmission mechanism 20 is connected to the housing 10. The transmission mechanism 20 in this embodiment mainly includes a force-bearing component 21D. The force-bearing component 21D in this embodiment mainly includes an electric push rod 219 and a mounting plate 220. The elastic body 30D in this embodiment is a rubber sleeve. The mounting plate 220 is fixed to the aforementioned bottom cover 117 by bolts 25 and the elastic body 30D. One end of the electric push rod 219 is fixed to the mounting plate 220. The second sensing element 42 is disposed on the mounting plate 220 and is configured corresponding to the first sensing element 41. It is a Hall sensor.

[0134] During operation, when the core of the electric push rod 219 is subjected to axial force, the elastic body 30D will deform, causing the distance between the mounting plate 220 and the bottom cover 117 to change, and generating an output signal between the first sensor 41 and the second sensor 42.

[0135] Please see Figures 20 to 22 The diagram shown is an exploded view, a partial component assembly view, and an assembled sectional view of the ninth embodiment of this application. The linear actuation device in this embodiment is a lifting column. The fixing component 11E in this embodiment is the outer tube of the lifting column, which has a cover 118. The first sensing element 41 is disposed on the cover 118 and is a magnetic body.

[0136] The transmission mechanism 20 is connected to the housing 10. The transmission mechanism 20 in this embodiment mainly includes a force-bearing component 21E, which is a cylindrical electric push rod. The elastic body 30E is a rubber pad. The fixing component 11E is covered by a cover 118 at one end of the cylindrical electric push rod. The elastic body 30E is clamped between the cover 118 and the force-bearing component 21E. The second sensing element 42 is disposed on the elastic body 30E and is configured corresponding to the first sensing element 41. It is a Hall sensor.

[0137] During operation, when the core of the cylindrical electric actuator is subjected to axial force, the elastic body 30E will deform, causing the distance between the cylindrical electric actuator and the cover 118 to change, and generating an output signal between the first sensor 41 and the second sensor 42.

[0138] Please see Figure 23 The figure shown is a combined cross-sectional view of the tenth embodiment of this application. The linear actuation device in this embodiment is a lifting column, which is substantially the same as the structure of the aforementioned seventh embodiment, except that: the first sensing element 41 is disposed on the base plate 116 and is a Hall sensor; the second sensing element 42 is disposed below the fixing plate 217 and is a magnetic body.

[0139] Please see Figure 24 and Figure 25 The diagram shown is an exploded view and a combined sectional view of the eleventh embodiment of this application. The linear actuation device in this embodiment is a lifting column, which has a structure largely the same as that of the aforementioned tenth embodiment, except that: the elastic body 30F is approximately U-shaped, having a closed end 33 and an open end 34. The open end 34 is connected to the fixing plate 217, and the closed end 33 is disposed on the base plate 116. The first sensing element 41 is disposed on the closed end 33 of the elastic body 30F and is a Hall sensor; the second sensing element 42 is disposed below the fixing plate 217 and is a magnetic element.

[0140] Please see Figure 26 The figure shown is a combined cross-sectional view of the twelfth embodiment of this application. The linear actuation device in this embodiment is a lifting column, which is substantially the same as the structure of the aforementioned eighth embodiment, except that: the first sensing element 41 is disposed on the bottom cover 117 and is a Hall sensor; the second sensing element 42 is disposed below the mounting plate 220 and is a magnetic body.

[0141] Please see Figure 27 The figure shown is a combined cross-sectional view of the thirteenth embodiment of this application. The linear actuation device in this embodiment is a lifting column, which is substantially the same in structure as the aforementioned twelfth embodiment, except that: the first sensing element 41 is disposed above the mounting plate 220 and is a Hall sensor; the second sensing element 42 is disposed below the electric push rod 219 and is a magnetic body.

[0142] Please see Figure 28 and Figure 29 The figure shown is an exploded view and a combined sectional view of the fourteenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the first embodiment described above. The difference is that: the first sensing element 41 is disposed on the motor housing 51 of the drive mechanism 50 and is a Hall sensor; the second sensing element 42 is disposed above the bearing 212 and is a magnetic body.

[0143] Please see Figure 30 The figure shown is a combined cross-sectional view of the fifteenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the fifth embodiment mentioned above. The difference is that: the first sensing element 41 is disposed on the motor housing 51 of the drive mechanism 50 and is a Hall sensor; the second sensing element 42 is disposed above the bearing 212 and is a magnetic body.

[0144] Please see Figure 31 and Figure 32 The figure shown is an exploded view and an assembled sectional view of the sixteenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the fourteenth embodiment mentioned above. The difference is that: the first sensing element 41 is disposed on the motor housing 51 of the drive mechanism 50 and is a Hall sensor; the second sensing element 42 is disposed on the core 211 and is a magnetic body.

[0145] Please see Figure 33 The figure shown is a combined cross-sectional view of the seventeenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the fifteenth embodiment mentioned above. The difference is that: the first sensing element 41 is disposed on the motor housing 51 of the drive mechanism 50 and is a Hall sensor; the second sensing element 42 is disposed on the core 211 and is a magnetic body.

[0146] Please see Figure 34 and Figure 35 The figure shown is an exploded view and an assembled sectional view of the eighteenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the fifteenth embodiment mentioned above. The difference is that: the first sensing element 41 is disposed on the elastic body 30 and is a magnetic body; the second sensing element 42 is disposed on the middle partition plate 2161 of the sleeve 216 and is a Hall sensor.

[0147] Please see Figure 36 The figure shown is a combined cross-sectional view of the nineteenth embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the eighteenth embodiment mentioned above. The difference is that: the first sensing element 41 is disposed on the elastic body 30 and is a magnetic body; the second sensing element 42 is disposed on the fixed part 11 and is a Hall sensor.

[0148] Please see Figure 37 and Figure 38 The figure shown is an exploded view and a combined sectional view of the twentieth embodiment of this application. The linear actuation device in this embodiment is an electric push rod, which is substantially the same in structure as the sixteenth embodiment described above, except that: the first sensing element 41 is disposed on the elastic body 30 and is a magnetic body; the second sensing element 42 is disposed on the bearing 212 and is a Hall sensor.

[0149] Please see Figure 39 The figure shown is a combined cross-sectional view of the twenty-first embodiment of this application. The linear actuator of this embodiment is an electric push rod, which has a structure that is generally the same as that of the twentyth embodiment described above. The difference is that: the first sensing element 41 is disposed on the fixed component 11 and is a Hall sensor; the second sensing element 42 is disposed on the elastic body 30 and is a magnetic body.

[0150] The above description is merely a preferred embodiment of this application and is not intended to limit the patent scope of this application. Other equivalent variations that utilize the patent spirit of this application should all fall within the patent scope of this application.

Claims

1. A linear actuation device with a force detection mechanism, characterized in that, include: The housing includes the fixing components; A transmission mechanism is connected to the housing, and the transmission mechanism includes a force-receiving component; An elastomer is disposed between the fixed component and the force-bearing component; and A Hall effect sensing component is disposed between the fixed component and the force-bearing component; When the force on the transmission mechanism changes, the force-bearing component and the fixed component will generate a relative displacement, and the Hall sensing component will generate an output signal through the displacement.

2. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The Hall sensor assembly includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on the fixed component, and the second sensor is disposed on the force-bearing component.

3. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss, the boss has a recess, the force-bearing component includes a mechanism, the first sensing element is a magnetic body which is disposed in the recess, and the second sensing element is a Hall sensor which is disposed on the end face of the mechanism.

4. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has an inner ring, the force-bearing component includes a bearing, the elastic body is a swashplate with a central hole and an inclined plate formed around the outside of the central hole, the central hole is fitted with the inner ring, and the area of ​​the inclined plate away from the central hole abuts against the bearing.

5. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss, the boss has a recess, the force-bearing component includes a mechanism, the first sensing element is a Hall sensor which is disposed in the recess, and the second sensing element is a magnetic body which is disposed on the end face of the mechanism.

6. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss and a recess. The force-bearing component includes a movement, a bearing, and a sleeve. The movement passes through the bearing, and the sleeve is disposed between the bearing and the elastic body. The first sensing element is a magnetic body, which is disposed in the recess. The second sensing element is a Hall sensor, which is disposed on the end face of the movement.

7. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss, and the force-bearing component includes a movement, a bearing, and a sleeve. The movement passes through the bearing, and the sleeve is disposed between the bearing and the elastic body. The first sensing element is a Hall sensor, which is disposed on the boss, and the second sensing element is a magnetic body, which is disposed on the end face of the movement.

8. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss, and the boss has a recess. The force-bearing component includes a mechanism, a bearing, and a sleeve. The mechanism passes through the bearing. The sleeve is disposed between the bearing and the elastic body and has an intermediate partition. The first sensing element is a magnetic body, which is disposed in the recess. The second sensing element is a Hall sensor, which is disposed in the intermediate partition.

9. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a boss, the force-bearing component includes a bearing and a sleeve, the sleeve is disposed between the bearing and the elastic body and has an intermediate partition, the first sensing element is a Hall sensor disposed on the boss, and the second sensing element is a magnetic body disposed on the intermediate partition.

10. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a base plate, the force-bearing component includes a motor, the first sensing element is a Hall sensor which is disposed on the base plate, and the second sensing element is a magnetic body which is disposed on the motor.

11. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a bottom cover, the force-bearing component includes a mounting plate, the first sensing element is a magnetic body disposed on the bottom cover, and the second sensing element is a Hall sensor disposed on the mounting plate.

12. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a base plate, the force-bearing component includes a fixing plate, the first sensing element is a Hall sensor which is disposed on the base plate, and the second sensing element is a magnetic body which is disposed on the fixing plate.

13. The linear actuation device with a force detection mechanism as described in claim 2, characterized in that, The fixing component has a bottom cover, the force-bearing component includes a mounting plate, the first sensing element is a Hall sensor which is disposed on the bottom cover, and the second sensing element is a magnetic body which is disposed below the mounting plate.

14. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The fixing component has a cover, and the Hall sensing assembly includes a first sensing element and a second sensing element configured corresponding to the first sensing element. The first sensing element is a magnetic body disposed on the cover, and the second sensing element is a Hall sensor disposed on the elastic body.

15. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The fixing component has a base plate, the force-bearing component includes a fixing plate, the elastic body has a closed end and an open end, the open end is connected to the fixing plate, the closed end is disposed on the base plate, the Hall sensing component includes a first sensing element and a second sensing element configured corresponding to the first sensing element, the first sensing element is a Hall sensor, which is disposed on the closed end, and the second sensing element is a magnetic body, which is disposed below the fixing plate.

16. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The force-bearing component includes a mounting plate and an electric push rod. The Hall sensing component includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is a Hall sensor, which is disposed above the mounting plate. The second sensor is a magnetic body, which is disposed below the electric push rod.

17. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, It also includes a drive mechanism having a motor housing, and the Hall sensing component includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on the motor housing, and the second sensor is disposed on the force-bearing component.

18. The linear actuation device with a force detection mechanism as described in claim 17, characterized in that, The force-bearing component includes a bearing, the first sensing element is a Hall sensor which is disposed on the motor housing, and the second sensing element is a magnetic body which is disposed on the bearing.

19. The linear actuation device with a force detection mechanism as described in claim 17, characterized in that, The force-bearing components include a bearing and a sleeve, with the sleeve disposed between the bearing and the elastic body. The first sensing element is a Hall sensor disposed on the motor housing, and the second sensing element is a magnetic body disposed on the bearing.

20. The linear actuation device with a force detection mechanism as described in claim 17, characterized in that, The force-bearing component includes a mechanism, the first sensing element is a Hall sensor which is disposed on the motor housing, and the second sensing element is a magnetic body which is disposed on the mechanism.

21. The linear actuation device with a force detection mechanism as described in claim 20, characterized in that, The force-bearing component also includes a sleeve, which is disposed between the bearing and the elastomer.

22. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The Hall sensor assembly includes a first sensor and a second sensor configured corresponding to the first sensor. The first sensor is disposed on the elastic body, and the second sensor is disposed on the force-bearing component.

23. The linear actuation device with a force detection mechanism as described in claim 22, characterized in that, The force-bearing component includes a bearing and a sleeve. The sleeve is disposed between the bearing and the elastic body and has an intermediate partition. The first sensing element is a magnetic body disposed on the elastic body, and the second sensing element is a Hall sensor disposed on the intermediate partition.

24. The linear actuation device with a force detection mechanism as described in claim 22, characterized in that, The force-bearing component includes a bearing and a sleeve, the sleeve being disposed between the bearing and the elastic body, the first sensing element being a magnetic body disposed on the elastic body, and the second sensing element being a Hall sensor disposed on the fixed component.

25. The linear actuation device with a force detection mechanism as described in claim 22, characterized in that, The force-bearing component includes a bearing, the first sensing element is a Hall sensor disposed on the elastic body, and the second sensing element is a magnetic body disposed on the bearing.

26. The linear actuation device with a force detection mechanism as described in claim 1, characterized in that, The Hall sensing component includes a first sensing element and a second sensing element configured corresponding to the first sensing element. The first sensing element is a Hall sensor, which is disposed on the fixed component, and the second sensing element is a magnetic body, which is disposed on the elastic body.

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