Linear actuator with force detecting mechanism

Abstract

This application relates to a linear actuation device with a force detection mechanism, comprising a housing, a transmission mechanism, an elastomer, and a Hall effect sensor. 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 effect sensor 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 undergo relative displacement, which causes the Hall effect sensor to generate an output signal. This reduces the risk of product damage from impacts and allows for real-time monitoring of whether the patient is in bed or out of bed.

Description

Technical Field

[0001] This application relates to a linear actuator technology, and more particularly to a linear actuator with a force detection mechanism. Prior Technology

[0002] 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 angle. 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.

[0003] 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.

[0004] 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. Summary of the Invention

[0005] One objective 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.

[0006] To achieve the above objectives, this application provides a linear actuation device with a force detection mechanism, including a housing, a transmission mechanism, an elastic body, 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 elastic body is disposed between the fixed component and the force-receiving component; the Hall sensor component is disposed between the fixed component and the force-receiving component; wherein, 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.

[0007] 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. Simple Explanation of the Diagram

[0008] Figure 1 is an exploded view of the first embodiment of this application.

[0009] Figure 2 is a schematic diagram of some component combinations in the first embodiment of this application.

[0010] Figure 3 is an exploded view of some components of the first embodiment of this application.

[0011] Figure 4 is a cross-sectional view of a partial component assembly of the first embodiment of this application.

[0012] Figure 5 is a magnified view of a local area of ​​Figure 4.

[0013] Figure 6 is a cross-sectional view of the first embodiment of this application in its usage state.

[0014] Figure 7 is a combined cross-sectional view of the second embodiment of this application.

[0015] Figure 8 is an exploded view of the third embodiment of this application.

[0016] Figure 9 is a combined cross-sectional view of the third embodiment of this application.

[0017] Figure 10 is a combined cross-sectional view of the fourth embodiment of this application.

[0018] Figure 11 is an exploded view of the fifth embodiment of this application.

[0019] Figure 12 is a combined cross-sectional view of the fifth embodiment of this application.

[0020] Figure 13 is a combined cross-sectional view of the sixth embodiment of this application.

[0021] Figure 14 is a schematic diagram of the seventh embodiment of this application.

[0022] Figure 15 is a combined cross-sectional view of the seventh embodiment of this application.

[0023] Figure 16 is an exploded view of the eighth embodiment of this application.

[0024] Figure 17 is an enlarged view of some component combinations in the eighth embodiment of this application.

[0025] Figure 18 is an exploded view of some components of the eighth embodiment of this application.

[0026] Figure 19 is a combined cross-sectional view of the eighth embodiment of this application.

[0027] Figure 20 is an exploded view of the ninth embodiment of this application.

[0028] Figure 21 is a partial component assembly diagram of the ninth embodiment of this application.

[0029] Figure 22 is a combined cross-sectional view of the ninth embodiment of this application.

[0030] Figure 23 is a combined cross-sectional view of the tenth embodiment of this application.

[0031] Figure 24 is an exploded view of the eleventh embodiment of this application.

[0032] Figure 25 is a combined cross-sectional view of the eleventh embodiment of this application.

[0033] Figure 26 is a combined cross-sectional view of the twelfth embodiment of this application.

[0034] Figure 27 is a combined cross-sectional view of the thirteenth embodiment of this application.

[0035] Figure 28 is an exploded view of the fourteenth embodiment of this application.

[0036] Figure 29 is a combined cross-sectional view of the fourteenth embodiment of this application.

[0037] Figure 30 is a cross-sectional view of the fifteenth embodiment of this application.

[0038] Figure 31 is an exploded view of the sixteenth embodiment of this application.

[0039] Figure 32 is a combined cross-sectional view of the sixteenth embodiment of this application.

[0040] Figure 33 is a combined cross-sectional view of the seventeenth embodiment of this application.

[0041] Figure 34 is an exploded view of the eighteenth embodiment of this application.

[0042] Figure 35 is a combined cross-sectional view of the eighteenth embodiment of this application.

[0043] Figure 36 is a combined cross-sectional view of the nineteenth embodiment of this application.

[0044] Figure 37 is an exploded view of the twentieth embodiment of this application.

[0045] Figure 38 is a combined cross-sectional view of the twentieth embodiment of this application.

[0046] Figure 39 is a combined cross-sectional view of the twenty-first embodiment of this application. Implementation

[0047] The detailed description and technical content of this application are illustrated 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.

[0048] This application provides a linear actuation device with a force detection mechanism. Please refer to Figures 1 to 6, which are exploded views, schematic diagrams of partial component combinations, exploded views of partial components, cross-sectional views of partial component combinations, enlarged view of Figure 4, and cross-sectional view of the usage state of the first embodiment of this application.

[0049] The linear actuator in this embodiment is an electric push rod, which mainly includes a housing 10, a transmission mechanism 20, an elastic body 30, and a Hall sensor component 40.

[0050] The housing 10 of this embodiment mainly includes a fixing component 11 and a buckle 12. The fixing component 11 of this embodiment is a rear support of an electric push rod, which 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, and 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.

[0051] The transmission mechanism 20 is connected to the housing 10. In this embodiment, the transmission mechanism 20 mainly includes a force-bearing component 21. The force-bearing component 21 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 transmission. The locking fastener 214 locks the movement 211 and tightens the bearing 212. The bearing 212 is housed in the aforementioned outer ring 112 and is stopped by the 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.

[0052] The transmission mechanism 20 in this embodiment also includes a worm gear 22, a guide member 23 and a clutch wheel 24. The guide member 23 is sleeved on the movement 211, the worm gear 22 is sleeved on the guide member 23, and the clutch wheel 24 is sleeved between the guide member 23 and the fixed wheel 215, and can move axially along the guide member 23 to engage or disengage with the fixed wheel 215.

[0053] In this embodiment, the elastic body 30 is a slanted disc-shaped spring sheet, which is disposed between the fixed component 11 and the force-receiving component 21. This elastic body 30 has a central hole 31 and a slanted plate 32 formed around the outer periphery of the central hole 31. The central hole 31 is fitted onto the aforementioned inner ring 114, and the area of ​​the slanted plate 32 away from the central hole 31 abuts against the end face of the bearing 212.

[0054] The Hall effect sensing component 40 mainly includes a first sensor 41 and a second sensor 42 corresponding to the first sensor 41. The first sensor 41 is disposed in the recess 113 of the fixing component 11, and the second sensor 42 is disposed on the end face of the mechanism 211 of the force-receiving component 21. The first sensor 41 can be a Hall effect sensor or a magnetic material; the second sensor 42 can also be a Hall effect sensor or a magnetic material. In this embodiment, the first sensor 41 is a magnetic material, and the second sensor 42 is a Hall effect sensor. The magnetic material can be a magnet.

[0055] The linear actuation device in this embodiment further includes a drive mechanism 50, which is connected to the aforementioned transmission mechanism 20 and the 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.

[0056] 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 tension or a thrust applied to the telescopic tube 213.

[0057] 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 on 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 a controller or a 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.

[0058] Please refer to Figure 7, which is a cross-sectional view of the second embodiment of this application. The linear actuator in 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.

[0059] Please refer to Figures 8 and 9, which are exploded views and combined sectional views of the third embodiment of this application. The linear actuator of this embodiment is also an electric actuator, with a structure largely the same as the first embodiment described above. The difference lies in that the force-receiving 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 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 elastic body 30 is deformed through the sleeve 216, causing a change in the distance between the mechanism 211 of the force-receiving component 21A and the boss 111 of the fixed component 11. A signal is generated and output between the first sensor 41 and the second sensor 42 in this embodiment. The first sensor 41 in this embodiment is a magnetic material, and the second sensor 42 is a Hall sensor.

[0060] Please refer to Figure 10, which is a cross-sectional view of the fourth embodiment of this application. The linear actuator in this embodiment is also an electric push rod, and its structure is generally the same as that of the third 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. The first sensing element 41 is disposed on the end face of the aforementioned boss 111.

[0061] Please refer to Figures 11 and 12, which are exploded and combined sectional views 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 aforementioned third embodiment. 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 elastic body 30 is deformed through the sleeve 216, causing a change in 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.

[0062] Please refer to Figure 13, which is a 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.

[0063] Please refer to Figures 14 and 15, which are schematic diagrams and cross-sectional views of the seventh embodiment of this application. The linear actuation device in this embodiment is a lifting column. The fixing component 11C in this embodiment is a 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.

[0064] 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 through 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.

[0065] 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.

[0066] Please refer to Figures 16 to 19, which are exploded views, enlarged views of some component combinations, exploded views of some elements, and combined sectional views of the eighth embodiment of this application. The linear actuation device in this embodiment is a lifting column. The fixing component 11D in this embodiment is a tube 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.

[0067] 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 through 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.

[0068] 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. []

[0069] Please refer to Figures 20 to 22, which are exploded views, partial component assembly views, and assembly sectional views 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 an 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. [, , ]

[0070] The transmission mechanism 20 is connected to the housing 10. The transmission mechanism 20 in this embodiment mainly includes a force-receiving component 21E. In this embodiment, the force-receiving component 21E is a cylindrical electric push rod. In this embodiment, the elastic body 30E is a rubber pad. The fixing component 11E is covered by the cover 118 and fits over one end of the cylindrical electric push rod. The elastic body 30E is clamped between the cover 118 and the force-receiving 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.

[0071] 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.

[0072] Please refer to Figure 23, which 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.

[0073] Please refer to Figures 24 and 25, which are exploded views and combined sectional views of the eleventh 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 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 body.

[0074] Please refer to Figure 26, which 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 eighth embodiment mentioned above. The difference is 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.

[0075] Please refer to Figure 27, which 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 as the structure of 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.

[0076] Please refer to Figures 28 and 29, which are exploded views and combined sectional views 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.

[0077] Please refer to Figure 30, which 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.

[0078] Please refer to Figures 31 and 32, which are exploded views and combined sectional views 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 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 on the mechanism 211 and is a magnetic body.

[0079] Please refer to Figure 33, which 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 is substantially the same as the structure of the aforementioned fifteenth embodiment, except that: the first sensing element 41 is disposed on the motor housing 51 of the drive mechanism 50, and it is a Hall sensor; the second sensing element 42 is disposed on the mechanism 211, and it is a magnetic body.

[0080] Please refer to Figures 34 and 35, which are exploded views and combined sectional views of the eighteenth embodiment of this application. The linear actuation device in this embodiment is an electric push rod, which has a structure that is generally the same as that of the aforementioned fifteenth embodiment, 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 middle partition plate 2161 of the sleeve 216 and is a Hall sensor.

[0081] Please refer to Figure 36, which 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.

[0082] Please refer to Figures 37 and 38, which are exploded views and combined sectional views of the twentieth embodiment of this application. The linear actuation device in this embodiment is an electric push rod, which has a structure that is generally the same as that of the sixteenth embodiment described 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 bearing 212 and is a Hall sensor.

[0083] Please refer to Figure 39, which 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.

[0084] 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.

[0085] 10: Shell 11, 11C, 11D, 11E: Fixed components 111: convex platform 112: Outer ring body 113: pit 114: Inner Ring Road 115: Socket 116: Base Plate 117: Bottom Cover 118: Cover 12: Buckle 20: Transmission mechanism 21, 21A, 21B, 21C, 21D, 21E: Load-bearing components 211: Movement 212: Bearing 213: Expansion tube 2131: Nut 214: Locking hardware 215: Fixed wheel 216: Sleeve 2161: Intermediate partition 217: Fixing plate [, , ] 218: Motor [, , ] 219: Electric linear actuator 220: Mounting plate 22: Worm Gear 23: Guide components 24: Clutch Wheel 25: Bolts [, , ] 30, 30C, 30D, 30E, 30F: Elastomers 31: Center Hole 32: Inclined plate 33: Closed end 34: Open end 40: Hall effect sensing components 41: First sensing element 42: Second sensor 50: Drive mechanism 51: Motor housing

Claims

1. A linear actuation device with a force detection mechanism, comprising: A housing includes a fixing component; a transmission mechanism connected to the housing, the transmission mechanism including a force-receiving component; an elastic body disposed between the fixing component and the force-receiving component; and a Hall sensor component disposed between the fixing component and the force-receiving component; wherein, when the force on the transmission mechanism changes, the force-receiving component and the fixing component will generate a relative displacement, and the Hall sensor component will generate an output signal through the displacement.

2. The linear actuation device with a force detection mechanism as described in claim 1, wherein the Hall sensing component includes a first sensor and a second sensor disposed corresponding to the first sensor, the first sensor being disposed on the fixed component and the second sensor being disposed on the force-receiving component.

3. The linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss with a recess, the force-receiving 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.

4. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has an inner ring, the force-receiving component includes a bearing, the elastomer is a swashplate having a central hole and an inclined plate formed around the outside of the central hole, the central hole fitting the inner ring, and the region of the inclined plate away from the central hole abutting the bearing.

5. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss with a recess, the force-receiving 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.

6. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss with a recess, the force-receiving 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.

7. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss, the force-receiving 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.

8. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss with a recess, the force-receiving 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.

9. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a boss, the force-receiving 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. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a base plate, the force-receiving 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.

11. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a bottom cover, the force-receiving 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. A linear actuation device with a force detection mechanism as described in claim 2, wherein the fixed component has a base plate, the force-receiving component includes a fixed 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 fixed plate.

13. A linear actuator with a force detection mechanism as described in claim 2, wherein the fixed component has a bottom cover, the force-receiving 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.

14. A linear actuation device with a force detection mechanism as described in claim 1, wherein the fixed component has a cover, the Hall sensing assembly includes a first sensor and a second sensor disposed corresponding to the first sensor, the first sensor being a magnetic body disposed on the cover, and the second sensor being a Hall sensor disposed on the elastic body.

15. A linear actuation device with a force detection mechanism as described in claim 1, wherein the fixed component has a base plate, the force-receiving component includes a fixed plate, the elastomer has a closed end and an open end, the open end is connected to the fixed plate, the closed end is disposed on the base plate, the Hall sensing component includes a first sensor and a second sensor corresponding to the first sensor, the first sensor is a Hall sensor disposed on the closed end, and the second sensor is a magnetic body disposed below the fixed plate.

16. A linear actuation device with a force detection mechanism as described in claim 1, wherein the force-receiving component includes a mounting plate and an electric actuator, the Hall sensing assembly includes a first sensor and a second sensor corresponding to the first sensor, the first sensor being a Hall sensor disposed above the mounting plate, and the second sensor being a magnetic body disposed below the electric actuator.

17. The linear actuation device with a force detection mechanism as described in claim 1, further comprising a drive mechanism having a motor housing, the Hall sensing component including a first sensor and a second sensor disposed corresponding to the first sensor, the first sensor being disposed on the motor housing and the second sensor being disposed on the force-receiving component.

18. A linear actuation device with a force detection mechanism as described in claim 17, wherein the force-receiving 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 body disposed on the bearing.

19. A linear actuator with a force detection mechanism as described in claim 17, wherein the force-receiving component includes a bearing and a 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. A linear actuation device with a force detection mechanism as described in claim 17, wherein the force-receiving component includes a mechanism, 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 mechanism.

21. The linear actuator with a force detection mechanism as described in claim 20, wherein the force-receiving component further includes a sleeve and a bearing, the sleeve being disposed between the bearing and the elastomer.

22. A linear actuation device with a force detection mechanism as described in claim 1, wherein the Hall sensing component includes a first sensor and a second sensor disposed corresponding to the first sensor, the first sensor being disposed on the elastic body and the second sensor being disposed on the force-bearing component.

23. A linear actuation device with a force detection mechanism as described in claim 22, wherein the force-receiving component includes a bearing and a sleeve disposed between the bearing and the elastic body and having an intermediate spacer, 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 spacer.

24. A linear actuation device with a force detection mechanism as described in claim 22, wherein the force-receiving component includes a bearing and a sleeve disposed between the bearing and the elastic body, 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 fixed component.

25. A linear actuation device with a force detection mechanism as described in claim 22, wherein the force-receiving 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. A linear actuation device with a force detection mechanism as described in claim 1, wherein the Hall sensing component includes a first sensor and a second sensor disposed corresponding to the first sensor, the first sensor being a Hall sensor disposed on the fixed member, and the second sensor being a magnetic body disposed on the elastic body.

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