阅读说明：本技术 一种带力控的直线运动机构 (Linear motion mechanism with force control ) 是由 柯锋 鲜麟波 于 2021-03-25 设计创作，主要内容包括：本发明公开了一种带力控的直线运动机构,包括输出转接件、拉压力传感器、伸缩杆、安装法兰、传感器调节螺钉、传感器、滚珠丝杆、壳体、圆柱齿轮、减速机、马达、输入轴、制动器、编码器、锥齿轮、手摇组件、指针组件、驱动器、电缆航插、防旋转滑块,所述拉压力传感器位于伸缩杆的一端,所述输出转接件位于拉压力传感器的一端,所述伸缩杆位于滚珠丝杆的外侧,所述防旋转滑块位于伸缩杆的外侧,所述圆柱齿轮位于滚珠丝杆的另一端。本发明所述的一种带力控的直线运动机构,增加力反馈,可以实时读取直线运动机构的推拉力大小,进而实时调整电机的扭矩达到控制要求,带来更好的使用前景。(The invention discloses a force-controlled linear motion mechanism which comprises an output adapter, a tension and pressure sensor, a telescopic rod, a mounting flange, a sensor adjusting screw, a sensor, a ball screw, a shell, a cylindrical gear, a speed reducer, a motor, an input shaft, a brake, an encoder, a bevel gear, a hand-cranking assembly, a pointer assembly, a driver, a cable navigation plug and an anti-rotation sliding block, wherein the tension and pressure sensor is positioned at one end of the telescopic rod, the output adapter is positioned at one end of the tension and pressure sensor, the telescopic rod is positioned on the outer side of the ball screw, the anti-rotation sliding block is positioned on the outer side of the telescopic rod, and the cylindrical gear is positioned at. According to the linear motion mechanism with the force control function, the force feedback is increased, the push-pull force of the linear motion mechanism can be read in real time, the torque of the motor can be adjusted in real time to meet the control requirement, and a better use prospect is brought.)

1. The utility model provides a take linear motion mechanism of force accuse, including output adaptor (1), draw pressure sensor (2), telescopic link (3), mounting flange (4), sensor adjusting screw (5), sensor (6), ball screw (7), casing (8), cylindrical gear (9), speed reducer (10), motor (11), input shaft (12), stopper (13), encoder (14), bevel gear (15), hand subassembly (16), pointer subassembly (17), driver (18), cable navigation plug (19), prevent rotatory slider (20), its characterized in that: the tension and pressure sensor (2) is positioned at one end of the telescopic rod (3), the output adaptor (1) is positioned at one end of the tension and pressure sensor (2), the telescopic rod (3) is positioned at the outer side of the ball screw (7), the anti-rotation sliding block (20) is positioned at the outer side of the telescopic rod (3), the cylindrical gear (9) is positioned at the other end of the ball screw (7), the speed reducer (10) is positioned at one end of the cylindrical gear (9), the input shaft (12) is positioned at one end of the speed reducer (10), the motor (11) is positioned between the speed reducer (10) and the input shaft (12), the encoder (14) is positioned at one end of the input shaft (12), the brake (13) is positioned between the input shaft (12) and the encoder (14), the cable aerial plug (19) is located at one end of the driver (18), and the mounting flange (4) is located at one end of the shell (8).

2. The force controlled linear motion mechanism of claim 1, further comprising: hand subassembly (16) include hand wheel (21), hand wheel installation axle (22), upper and lower sliding sleeve (23), compression spring (24), rotating sleeve (25), the vice body of bevel gear (26), elastic screw (27), circular arc groove (28), hand wheel (21) are located the upper end of hand wheel installation axle (22), upper and lower sliding sleeve (23) are located the lower extreme of hand wheel installation axle (22), compression spring (24) are located the outer lane of upper and lower sliding sleeve (23), rotating sleeve (25) are located the lower extreme of upper and lower sliding sleeve (23), the vice body of bevel gear (26) are located the inner wall of rotating sleeve (25).

3. The force controlled linear motion mechanism of claim 1, further comprising: pointer subassembly (17) include one-level reduction gear (29), second grade reduction gear (30) and pointer (31), second grade reduction gear (30) are located one side of one-level reduction gear (29), pointer (31) are located the outer wall of second grade reduction gear (30).

4. The force controlled linear motion mechanism of claim 1, further comprising: one end of the motor (11) is connected with one end of the encoder (14) through the input shaft (12) and the brake (13), a bearing is arranged between the motor (11) and the speed reducer (10), the other end of the motor (11) is movably connected with one end of the speed reducer (10) through the bearing, and the speed reducer (10) is connected with the ball screw (7).

5. The force controlled linear motion mechanism of claim 1, further comprising: sensor (6) are installed through sensor adjusting screw (5) in the outside of telescopic link (3), telescopic link (3) with draw and be provided with the installation piece between pressure sensor (2), the one end of telescopic link (3) is passed through the installation piece and is drawn the one end location of pressure sensor (2) and be connected, it is provided with the link to draw between pressure sensor (2) and output adaptor (1), the one end location of drawing pressure sensor (2) is passed through the link and is connected with the one end location of output adaptor (1).

6. The force controlled linear motion mechanism of claim 1, further comprising: an installation clamping seat is arranged between the driver (18) and the cable navigation plug (19), and one side of the driver (18) is connected with one end of the cable navigation plug (19) in a positioning mode through the installation clamping seat.

7. The linear motion mechanism with force control as claimed in claim 2, wherein: the upper end outer wall of the bevel gear auxiliary body (26) is connected with the inner wall of the upper sliding sleeve and the lower sliding sleeve (23) through a rotating bushing (25), a sliding block is arranged between the hand wheel installation shaft (22) and the upper sliding sleeve and the lower sliding sleeve (23), the upper end of the upper sliding sleeve and the lower sliding sleeve (23) is movably connected with the lower end of the hand wheel installation shaft (22) through the sliding block, a rotating shaft is arranged between the hand wheel installation shaft (22) and the hand wheel (21), and the upper end of the hand wheel installation shaft (22) is movably connected with the lower end of the hand wheel (21) through.

8. A force controlled linear motion mechanism according to claim 3, further comprising: be provided with the gear groove between one-level reduction gear (29) and second grade reduction gear (30), the outer wall of one-level reduction gear (29) passes through the gear groove and the outer wall swing joint of second grade reduction gear (30), the outer wall of second grade reduction gear (30) and the outer wall swing joint of pointer (31).

Technical Field

The invention relates to the field of motion mechanisms, in particular to a linear motion mechanism with force control.

Background

The linear motion mechanism is a mechanism which makes a certain point on a member do accurate or approximate linear motion, in the late 17 th century, a mechanical design thought appears before a human can make an accurate sliding rod and a guiding groove, and the aim is to use a combination of a simple and convenient steel sheet, a connecting rod and a hinge to complete the functions of the linear guiding groove and the sliding rod, so that a certain point on the member does accurate or approximate linear motion, because the high-precision sliding rod and the high-precision guiding groove are processed without difficulty, the mechanism is rare, and only has application on instruments and certain machines, but the design thought plays an important inspiring role for the modern bionic mechanical design, the linear motion mechanism is divided into two types of approximate linear motion and accurate linear motion, the linear motion mechanism has respective characteristics, and is applied to different occasions, and the design ideas of the accurate linear motion mechanism are mainly two types: one is that the circular path at the end of the connecting rod is inverted into a straight line by utilizing inversion transformation in geometry, and the function can be completed by a mechanical inverter; the other is that the path is limited at the intersection line of two planes through two nonparallel connecting rod structures, the approximate linear motion mechanism realizes the connection with the degree of freedom of 1 through a plurality of rod pieces, the length of the rod pieces is adjusted to ensure that the motion trail of one point comprises an approximate straight line segment, and the motion characteristics are as follows: 1. the structure is simple, the manufacture is easy, the work is reliable, the transmission distance is long, the transmission load is large, the quick return motion rule can be realized, but the uniform motion or other arbitrary motion rules are not easy to obtain, the transmission is not stable, the impact and vibration are large, 2, the structure is compact, the work is reliable, the adjustment is convenient, the arbitrary motion rule can be obtained, but the dynamic load is large, the transmission efficiency is low, 3, the transmission is stable and has no noise, and the reduction ratio is large; the rotation and the linear movement can be realized, the transmission is stable, free of noise and interchangeable; the sliding screw can be made into a self-locking screw mechanism; the working speed is generally very low and is only suitable for low-power transmission, the allowable range of 4, load and speed is large, the transmission ratio is constant, the overall dimension is small, the work is reliable, and the efficiency is high; the requirements on manufacturing and mounting precision are higher, transmission noise is higher when the precision is low, and no overload protection effect exists; the helical gear mechanism has stable motion and strong bearing capacity, but generates axial force in transmission, a thrust bearing or an angular contact bearing must be installed when the helical gear mechanism is used, the distance between the shaft 5 and the helical gear mechanism is large, the helical gear mechanism works stably without noise, can buffer and absorb vibration, and has an overload protection effect in friction type belt transmission; the structure is simple, the installation requirement is not high, and the overall dimension is large; the friction type belt drives elastic sliding and cannot be used for an indexing system; the friction is easy to generate electricity, and the device is not suitable for inflammable and explosive occasions; the shaft and the bearing are stressed greatly, and the service life of the transmission belt is short.

The existing linear motion mechanism has certain defects when in use, most of the existing linear motion mechanisms do not have force feedback, the actual force output size cannot be known, the operation cannot be completed manually by utilizing the power failure, the use of people is not facilitated, certain adverse effects are brought to the use process of people, and therefore the force-controlled linear motion mechanism is provided.

Disclosure of Invention

The invention mainly aims to provide a linear motion mechanism with a force control function, which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

a linear motion mechanism with force control comprises an output adapter, a tension pressure sensor, a telescopic rod, a mounting flange, a sensor adjusting screw, a sensor, a ball screw, a shell, a cylindrical gear, a speed reducer, a motor, an input shaft, a brake, an encoder, a bevel gear, a hand-cranking assembly, a pointer assembly, a driver, a cable aviation plug and an anti-rotation sliding block, wherein the tension pressure sensor is positioned at one end of the telescopic rod, the output adapter is positioned at one end of the tension pressure sensor, the telescopic rod is positioned at the outer side of the ball screw, the anti-rotation sliding block is positioned at the outer side of the telescopic rod, the cylindrical gear is positioned at the other end of the ball screw, the speed reducer is positioned at one end of the cylindrical gear, the input shaft is positioned at one end of the speed reducer, the motor is positioned between the speed reducer and the input shaft, the cable aerial plug is located at one end of the driver, and the mounting flange is located at one end of the shell.

As a preferred technical scheme, the hand-operated assembly comprises a hand wheel, a hand wheel installation shaft, an upper sliding sleeve, a lower sliding sleeve, a compression spring, a rotating bushing, a bevel gear auxiliary body, an elastic screw and an arc groove, wherein the hand wheel is located at the upper end of the hand wheel installation shaft, the upper sliding sleeve and the lower sliding sleeve are located at the lower end of the hand wheel installation shaft, the compression spring is located at the outer ring of the upper sliding sleeve and the lower sliding sleeve, the rotating bushing is located at the lower end of the upper sliding sleeve and the lower sliding sleeve, and the bevel.

As a preferred technical solution, the pointer assembly includes a first-stage reduction gear, a second-stage reduction gear and a pointer, the second-stage reduction gear is located on one side of the first-stage reduction gear, and the pointer is located on an outer wall of the second-stage reduction gear.

As a preferred technical scheme, one end of the motor is connected with one end of the encoder through the input shaft and the brake, a bearing is arranged between the motor and the speed reducer, the other end of the motor is movably connected with one end of the speed reducer through the bearing, and the speed reducer is connected with the ball screw.

As a preferred technical scheme, the sensor is installed in the outside of telescopic link through sensor adjusting screw, the telescopic link with draw and be provided with the installation piece between the pressure sensor, the one end of telescopic link is through installation piece and the one end location connection who draws pressure sensor, draw and be provided with the link between pressure sensor and the output adaptor, the one end location connection who draws pressure sensor passes through the link and the output adaptor.

As a preferred technical scheme, an installation clamping seat is arranged between the driver and the cable aerial plug, and one side of the driver is connected with one end of the cable aerial plug in a positioning manner through the installation clamping seat.

As a preferred technical scheme, the outer wall of the upper end of the bevel gear auxiliary body is connected with the inner walls of the upper and lower sliding sleeves through rotating bushings, a sliding block is arranged between the hand wheel mounting shaft and the upper and lower sliding sleeves, the upper ends of the upper and lower sliding sleeves are movably connected with the lower end of the hand wheel mounting shaft through the sliding block, a rotating shaft is arranged between the hand wheel mounting shaft and the hand wheel, and the upper end of the hand wheel mounting shaft is movably connected with the lower end of the hand wheel through the rotating shaft.

As a preferred technical scheme, a gear groove is formed between the first-stage reduction gear and the second-stage reduction gear, the outer wall of the first-stage reduction gear is movably connected with the outer wall of the second-stage reduction gear through the gear groove, and the outer wall of the second-stage reduction gear is movably connected with the outer wall of the pointer.

Compared with the prior art, the invention has the following beneficial effects: the linear motion mechanism with force control has increased force feedback, capacity of real-time reading the push-pull force of the linear motion mechanism and real-time regulation of motor torque to the control requirement, one end of the motor with coder to control the rotation speed and angle of the motor, the other end connected to speed reducer to increase its output torque, the speed reducer connected to ball screw, one linear chute inside the casing, and one anti-rotating slide block on the nut of the ball screw for the nut to move linearly while rotating, one sensor in the left end of the telescopic rod to trigger signal and stop motion of the telescopic rod when the sensor senses the contact position, one sensor regulating screw in the left end of the sensor for the worker to regulate the motion stroke of the telescopic rod, one tension-pressure sensor connected to the tail of the telescopic rod, the push-pull force applied to the telescopic rod at the output end can be detected at any time, and after the data is uploaded to the control panel, the control panel can automatically adjust the torque of the motor according to the push-pull force, so that the force control of the linear motion mechanism is realized, and the invention has two working modes: the first mode is an electric working mode, namely a motor drives a speed reducer to rotate; the second is a manual working mode, if the power is off, the motor can not work, the transmission of the ball screw is realized through the hand-operated component, under the electric working mode, the hand-operated component is in a separation state, namely under the thrust of the compression spring, the conical gear keeps an upward state, the conical gear combined with the hand-operated component can not transmit the rotary motion, thus the hand wheel can not rotate along with the hand-operated component under the electric working mode, the safety of the mechanism is greatly improved, under the manual working mode, a worker forcibly presses the hand wheel downwards, the upper sliding sleeve and the lower sliding sleeve are provided with an arc clamping position, when the hand-operated component moves to the lower limit position, the ball at the front end of the elastic screw is just clamped into the arc clamping position, the hand-operated component can not move upwards under the thrust of the compression spring, the meshing state of the conical gear pair is realized, the hand-operated conical gear transmits the rotary motion to the cylindrical gear pair through the conical, then transmit ball and realize linear motion, under manual mode, the sensor is malfunctioning, can't detect whether the telescopic link moves the assigned position, therefore we increase one set of pointer subassembly at the afterbody, makes things convenient for the staff to judge whether to move the target position through the rotation of pointer, and the effect of use is better for traditional mode.

Drawings

Fig. 1 is a schematic overall structure diagram of a linear motion mechanism with force control according to the present invention.

Fig. 2 is a schematic structural diagram of a housing in the linear motion mechanism with force control according to the present invention.

Fig. 3 is a schematic structural diagram of the separation state of the hand cranking assembly in the force-controlled linear motion mechanism.

Fig. 4 is a schematic structural diagram of a hand cranking assembly in a force-controlled linear motion mechanism according to the present invention.

Fig. 5 is a schematic structural diagram of an up-and-down sliding sleeve in the linear motion mechanism with force control of the invention.

Fig. 6 is a schematic structural diagram of a middle finger assembly with a force-controlled linear motion mechanism of the present invention.

In the figure: 1. an output adaptor; 2. a pull pressure sensor; 3. a telescopic rod; 4. installing a flange; 5. a sensor adjustment screw; 6. a sensor; 7. a ball screw; 8. a housing; 9. a cylindrical gear; 10. a speed reducer; 11. a motor; 12. an input shaft; 13. a brake; 14. an encoder; 15. a bevel gear; 16. a hand cranking assembly; 17. a pointer component; 18. a driver; 19. aerial plugging of cables; 20. an anti-rotation slider; 21. a hand wheel; 22. installing a shaft by a hand wheel; 23. an upper and lower sliding sleeve; 24. a compression spring; 25. a rotating bushing; 26. a bevel gear sub-body; 27. an elastic screw; 28. an arc groove; 29. a primary reduction gear; 30. a secondary reduction gear; 31. a pointer.

Detailed Description

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and the detailed description, but those skilled in the art will understand that the following described embodiments are some, not all, of the embodiments of the present invention, and are only used for illustrating the present invention, and should not be construed as limiting the scope of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer. The reagents or instruments used are not indicated by the manufacturer, and are all conventional products available commercially.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1-6, a force-controlled linear motion mechanism includes an output adaptor 1, a tension and pressure sensor 2, a telescopic rod 3, a mounting flange 4, a sensor adjusting screw 5, a sensor 6, a ball screw 7, a housing 8, a cylindrical gear 9, a speed reducer 10, a motor 11, an input shaft 12, a brake 13, an encoder 14, a bevel gear 15, a hand cranking assembly 16, a pointer assembly 17, a driver 18, a cable navigation plug 19, and an anti-rotation slider 20, wherein the tension and pressure sensor 2 is located at one end of the telescopic rod 3, the output adaptor 1 is located at one end of the tension and pressure sensor 2, the telescopic rod 3 is located at the outer side of the ball screw 7, the anti-rotation slider 20 is located at the outer side of the telescopic rod 3, the cylindrical gear 9 is located at the other end of the ball screw 7, the speed reducer 10 is located at one end of the cylindrical gear 9, the input shaft 12 is, an encoder 14 is located at one end of the input shaft 12, a brake 13 is located between the input shaft 12 and the encoder 14, a cable guide 19 is located at one end of the driver 18, and the mounting flange 4 is located at one end of the housing 8.

Further, the hand-operated assembly 16 comprises a hand wheel 21, a hand wheel mounting shaft 22, an up-down sliding sleeve 23, a compression spring 24, a rotating bushing 25, a bevel gear auxiliary body 26, an elastic screw 27 and an arc groove 28, wherein the hand wheel 21 is positioned at the upper end of the hand wheel mounting shaft 22, the up-down sliding sleeve 23 is positioned at the lower end of the hand wheel mounting shaft 22, the compression spring 24 is positioned at the outer ring of the up-down sliding sleeve 23, the rotating bushing 25 is positioned at the lower end of the up-down sliding sleeve 23, the bevel gear auxiliary body 26 is positioned on the inner wall of the rotating bushing 25, the hand-operated assembly 16 is in a separated state, namely, under the thrust of the compression spring 24, the bevel gear 15 is kept in an upward state, and the bevel gear 15 combined with the hand-operated assembly cannot transmit the rotating motion, so that the hand.

Further, the pointer assembly 17 comprises a first-stage reduction gear 29, a second-stage reduction gear 30 and a pointer 31, the second-stage reduction gear 30 is located on one side of the first-stage reduction gear 29, and the pointer 31 is located on the outer wall of the second-stage reduction gear 30, so that the pointer can be observed conveniently and better.

Furthermore, one end of the motor 11 is connected with one end of the encoder 14 through the input shaft 12 and the brake 13, a bearing is arranged between the motor 11 and the speed reducer 10, the other end of the motor 11 is movably connected with one end of the speed reducer 10 through the bearing, the speed reducer 10 is connected with the ball screw 7, the encoder 14 is arranged at one end of the motor 11, the rotating speed and the angle of the motor 11 can be controlled, and the output torque of the motor can be increased as the other end of the motor is connected with the speed reducer 10.

Further, sensor 6 is installed through sensor adjusting screw 5 in the outside of telescopic link 3, telescopic link 3 with draw and be provided with the installation piece between pressure sensor 2, the one end of telescopic link 3 is through the installation piece with draw the one end location connection of pressure sensor 2, it is provided with the link to draw between pressure sensor 2 and the output adaptor 1, the one end of drawing pressure sensor 2 is through the link and be connected with the one end location of output adaptor 1, be provided with sensor 6 at the left end of telescopic link 3, will trigger signal when the sensor 6's of telescopic link 3 motion sense position, 3 stop motion of telescopic link, left end at sensor 6 is provided with sensor adjusting screw 5, make things convenient for the staff to adjust the motion stroke of telescopic link 3 according to different needs.

Furthermore, an installation clamping seat is arranged between the driver 18 and the cable navigation plug 19, and one side of the driver 18 is connected with one end of the cable navigation plug 19 in a positioning mode through the installation clamping seat, so that driving operation is facilitated.

Furthermore, the outer wall of the upper end of the bevel gear auxiliary body 26 is connected with the inner wall of the upper and lower sliding sleeves 23 through a rotating bushing 25, a sliding block is arranged between the hand wheel mounting shaft 22 and the upper and lower sliding sleeves 23, the upper end of the upper and lower sliding sleeves 23 is movably connected with the lower end of the hand wheel mounting shaft 22 through the sliding block, a rotating shaft is arranged between the hand wheel mounting shaft 22 and the hand wheel 21, the upper end of the hand wheel mounting shaft 22 is movably connected with the lower end of the hand wheel 21 through the rotating shaft, an arc clamping position is formed in the upper and lower sliding sleeves 23, when the upper and lower sliding sleeves move to the lower limit position, a ball at the front end of the elastic screw 27 is just clamped into the arc clamping position, it is ensured that the hand.

Furthermore, a gear groove is formed between the first-stage reduction gear 29 and the second-stage reduction gear 30, the outer wall of the first-stage reduction gear 29 is movably connected with the outer wall of the second-stage reduction gear 30 through the gear groove, and the outer wall of the second-stage reduction gear 30 is movably connected with the outer wall of the pointer 31, so that gear driving is facilitated.

The working principle is as follows: the invention comprises an output adaptor 1, a tension and pressure sensor 2, an expansion link 3, a mounting flange 4, a sensor adjusting screw 5, a sensor 6, a ball screw 7, a shell 8, a cylindrical gear 9, a speed reducer 10, a motor 11, an input shaft 12, a brake 13, an encoder 14, a bevel gear 15, a hand cranking component 16, a pointer component 17, a driver 18, a cable aviation plug 19, an anti-rotation slider 20, a hand wheel 21, a hand wheel mounting shaft 22, an up-down sliding sleeve 23, a compression spring 24, a rotating bush 25, a bevel gear auxiliary body 26, an elastic screw 27, an arc groove 28, a primary reduction gear 29, a secondary reduction gear 30 and a pointer 31, wherein one end of the motor 11 is provided with the encoder 14 which can control the rotating speed and the angle of the motor 11, the other end is connected with the speed reducer 10 which can increase the output torque, the speed reducer 10 is connected with the ball screw, the anti-rotation sliding block 20 is installed on a nut of a ball screw, the nut can only do linear motion when the screw rotates, a sensor 6 is arranged at the left end of a telescopic rod 3, a signal can be triggered when the sensor 6 moves to the touch position of the telescopic rod 3, the telescopic rod 3 stops moving, a sensor adjusting screw 5 is arranged at the left end of the sensor 6, a worker can conveniently adjust the motion stroke of the telescopic rod 3 according to different requirements, a tension and pressure sensor 2 is connected to the tail of the telescopic rod 3, the size of push-pull force borne by the telescopic rod 3 at the output end can be detected at any time, and after data are uploaded to a control board, the control board can automatically adjust the torque of a motor correspondingly according to the size of the push-pull force, so that the force control of a linear motion mechanism is realized: the first mode is an electric working mode, namely, the motor 11 drives the speed reducer 10 to rotate; the second is a manual working mode, if the power is off, the motor 11 cannot work, the transmission of the ball screw is realized through the hand cranking component 16, in the electric working mode, the hand cranking component 16 is in a separated state, that is, under the thrust of the compression spring 24, the bevel gear 15 keeps an upward state, the bevel gear 15 combined with the bevel gear 15 cannot transmit the rotation motion, thus the hand wheel 21 cannot rotate along with the electric working mode, the safety of the mechanism is greatly improved, in the manual working mode, a worker forcibly presses the hand wheel 21 downwards, the up-and-down sliding sleeve 23 is provided with an arc clamping position, when the hand wheel moves to the lower limit position, the ball at the front end of the elastic screw 27 is clamped into the arc clamping position, the hand cranking component cannot move upwards under the thrust of the compression spring 24, the meshing state of the bevel gear auxiliary body 26 is realized, the hand cranking bevel gear 15 transmits the rotation motion to the cylindrical gear 9 through the bevel gear auxiliary body 26, then transmit ball and realize rectilinear motion, under manual mode, sensor 6 is malfunctioning, can't detect telescopic link 3 and move to the assigned position, therefore we increase a set of pointer subassembly 17 at the afterbody, make things convenient for the staff to judge through the rotation of pointer whether move in place.

It is noted that, herein, relational terms such as first and second (a, b, etc.) and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.