Two-stage electric cylinder integrated with two-dimensional force sensor

The invention discloses a two-stage electric cylinder integrated with a two-dimensional force sensor. The two-stage electric cylinder comprises a bearing seat module, a servo motor, a planetary reducer, a lead screw nut pair, a thrust tapered roller bearing, a locking nut, a hollow lead screw nut pair, a locking nut, a thrust tapered roller bearing, an outer sleeve, a middle sleeve, a spherical hinge support lug, an inner sleeve, a transition seat and a lower support lug. The bearing seat module is of a sleeve flange structure and is a main force bearing structure of the electric cylinder, a planetary reducer and an outer sleeve are installed on the bearing seat module, the bearing seat module is connected with the lead screw nut pair through a bearing, meanwhile, a two-dimensional force sensor is integrated in the bearing seat module, and the bearing seat module comprises a bearing seat, a strain gauge, a strain gauge and an outgoing line sealing gland. According to the invention, the two-dimensional force s