A suspension actuation mechanism and an active suspension device

Abstract

A suspension actuating mechanism and an active suspension device, the suspension actuating mechanism is used to control the up and down movement of a wheel, and includes a driving mechanism, an actuating shaft, and a swing arm; the driving mechanism is connected to the actuating shaft to generate torque to drive the actuating shaft to rotate; one end of the swing arm is fixedly connected to the actuating shaft, and the other end is used to connect to the wheel, and when the actuating shaft rotates, the swing arm is driven to rotate around the axis of the actuating shaft, thereby driving the wheel to move up and down. The present invention drives the actuating shaft to rotate through the driving mechanism, drives the swing arm to rotate around the axis of the actuating shaft, and then drives the wheel to move up and down. Because it directly uses the swing arm mechanism to control the vertical position of the wheel, it has a simple structure, high transmission efficiency, and a simple control algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a suspension actuating mechanism and an active suspension device. Background Art

[0002] For driving safety, a car should have good handling stability; for riding comfort, a car should have good ride comfort; however, there is a design contradiction between vehicle handling stability and ride comfort, and conventional passive suspension systems cannot take both into account. Active suspension can solve this problem.

[0003] Currently, there are several types of active suspension: hydraulic, air and electromagnetic. Among them, the electromagnetic type has many advantages. The advantage is that the electromagnetic type is more efficient. If it is connected to the battery in the car, it can meet the demand for energy recovery. The electromagnetic type is divided into rotary motor type and linear motor type. Compared with linear motors, rotary motors are more controllable.

[0004] At present, the electromagnetic suspension of rotating motors is mainly connected by rocker arms and connecting rods. In the entire actuating mechanism, a set of rocker arms and connecting rods need to be added to transmit power. However, because a set of rocker arms and connecting rods are added, the structure is complicated. At the same time, the space in the suspension, especially the swing arm, cannot be fully utilized, and the layout will occupy additional space for other parts. Moreover, through the connecting rod connection, there is a certain nonlinearity of movement, which will cause the complexity of active control.

[0005] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the invention

[0006] The object of the present invention is to provide a suspension actuating mechanism and an active suspension device which do not require a rocker arm and a connecting rod.

[0007] The present invention provides a suspension actuating mechanism for controlling the up and down movement of a wheel, comprising a driving mechanism, an actuating shaft, and a swing arm; the driving mechanism is connected to the actuating shaft to generate torque to drive the actuating shaft to rotate; one end of the swing arm is fixedly connected to the actuating shaft, and the other end is connected to the wheel; when the actuating shaft rotates, the swing arm is driven to rotate around the axis of the actuating shaft, thereby driving the wheel to move up and down.

[0008] Furthermore, it also includes a mounting seat connected to the subframe, the driving mechanism and the actuating shaft are accommodated in the mounting seat, the actuating shaft is rotatably connected to the mounting seat through a bearing, and the swing arm extends out of the mounting seat from one end fixedly connected to the actuating shaft and is connected to the wheel through the other end.

[0009] Furthermore, it also includes front and rear frame fixing seats welded on the sub-frame, and the mounting seat is flexibly connected to the front and rear frame fixing seats through a plurality of bushings.

[0010] Furthermore, an axle joint is provided between the swing arm and the wheel. The axle joint is rotatably connected to the end of the swing arm and fixedly connected to the wheel to keep the wheel in a vertical state.

[0011] Furthermore, an elastic coupling is provided between the driving mechanism and the actuating shaft for buffering the impact of the swing arm on the driving mechanism.

[0012] Furthermore, the elastic coupling has a first torsional rigidity within a preset rotation angle range, and rapidly increases to a second torsional rigidity beyond the preset rotation angle range, wherein the second torsional rigidity is greater than the first torsional rigidity.

[0013] Furthermore, the rotation angle range is -M to +N, where N is greater than M, a rotation angle of - indicates a reverse direction, i.e., the direction in which the driving mechanism drives the wheel to jump upward through the elastic coupling, and a rotation angle of + indicates a forward direction, i.e., the direction in which the elastic coupling is twisted through the swing arm when the wheel moves upward.

[0014] Furthermore, an axle joint is provided between the swing arm and the wheel. The axle joint is rotatably connected to the end of the swing arm and fixedly connected to the wheel to keep the wheel in a vertical state.

[0015] Furthermore, it also includes a mounting seat, in which the actuating shaft is fixed via a bearing; and it also includes a plurality of bushings for softly connecting the mounting seat to the front and rear frame fixing seats welded on the sub-frame.

[0016] The present invention also provides an active suspension device, including a detection mechanism, a control mechanism, and a suspension actuating mechanism. The detection mechanism is used to collect user needs, road conditions, and vehicle body status, and provide real-time feedback to the control mechanism. The control mechanism is used to control the suspension actuating mechanism to drive the wheels to respond based on the information collected by the detection mechanism. The suspension actuating mechanism is the suspension actuating mechanism as described above, and the driving mechanism includes a motor.

[0017] Furthermore, the driving mechanism also includes a reduction mechanism connected to the motor, and the motor is an electromagnetic rotating motor. When the electromagnetic rotating motor receives a control voltage from a control mechanism, it generates torque and drives the swing arm to rotate through the reduction mechanism.

[0018] Furthermore, the torque is calculated as follows: when adjusting the vehicle posture in a stationary or uniformly moving state, the torque required by the motor is obtained by the formula T`=K*H*L / (λ*θ*η1*η2), where T` is the motor torque, K is the suspension stiffness, H is the wheel center change height, L is the length of the swing arm, λ is the reduction ratio of the reduction mechanism, θ is the rotation angle of the swing arm, η1 is the efficiency of the reduction mechanism, and η2 is the efficiency of the wheel end rotation.

[0019] Furthermore, the suspension actuating mechanism is correspondingly connected to the front wheels and / or rear wheels, and the suspension actuating mechanism corresponding to the front wheels / rear wheels is provided with a front motor / rear motor. During braking, the control mechanism controls the front motor to apply a downward force of the superimposed suspension spring, and / or the rear motor to apply an upward force to offset the suspension spring.

[0020] Furthermore, during a turn, the control mechanism controls the motor located on the inner side of the turn to apply a force that offsets the upward force of the suspension spring, and / or the motor located on the outer side of the turn to apply a downward force that superimposes the suspension spring.

[0021] Furthermore, when the vehicle encounters an impact road surface, the detection mechanism monitors the steps ahead in advance. When approaching the steps, the control mechanism controls the motor to apply an upward force to offset the suspension spring, so that the wheel is lifted. After leaving the top of the step, the control mechanism controls the motor to apply a downward force of the superimposed suspension spring, so that the wheel is lowered.

[0022] Furthermore, when the vehicle encounters a rough and uneven road surface, the detection mechanism monitors the road spectrum ahead in advance, and the control mechanism adjusts the torque output of the motor according to the ups and downs of the road spectrum.

[0023] Furthermore, after a rapid change of direction or an impact, the control mechanism controls the motor to apply a reverse force in the up and down movement direction of the vehicle body according to the bouncing amplitude of the vehicle body.

[0024] Furthermore, the control mechanism includes an angle sensor, and the rotating part of the angle sensor is fixedly connected to the actuating shaft to feed back the rotation angle of the swing arm for comparison with the angle at which the swing arm needs to rotate, thereby forming a closed-loop control.

[0025] The suspension actuating mechanism and active suspension device provided by the present invention drive the actuating shaft to rotate through a driving mechanism, drive the swing arm to rotate around the axis of the actuating shaft, and then drive the wheel to move up and down. Because it directly uses the swing arm mechanism to control the vertical position of the wheel, it has a simple structure, high transmission efficiency, and a simple control algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic structural diagram of a suspension actuating mechanism according to an embodiment of the present invention.

[0027] Figure 2 for Figure 1 Torque curve diagram of the elastic coupling in the suspension actuation mechanism shown.

[0028] Figure 3 for Figure 2 Schematic diagram of the structure of the elastic coupling and related components shown. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] like Figure 1 As shown, in this embodiment, the suspension actuating mechanism is used to control the up and down movement of the wheel, including a motor 5, a reduction mechanism 6, an actuating shaft 10, a swing arm 9, a bearing 8, an elastic coupling 7, a mounting seat 4, a connecting bushing 3, etc.

[0031] The mounting seat 4 is the platform of the entire mechanism. Other components are connected by the mounting seat 4, so that the entire suspension actuation mechanism is integrated and modularized, which is convenient for installation and maintenance. The motor 5, the reduction mechanism 6, and the actuation shaft 10 are all accommodated in the mounting seat 4. In other embodiments, the mounting seat 4 may not be provided.

[0032] The motor 5 and the speed reduction mechanism 6 constitute a driving mechanism, which is connected to the mounting seat 4 through a fastener and is the power source of the suspension actuating mechanism. In other embodiments, other driving mechanisms may also be used. In this embodiment, the motor 5 is an electromagnetic rotary motor.

[0033] The actuating shaft 10 is responsible for transmitting the power of the motor to the swing arm 9, so that the wheel 13 jumps up and down. When the motor 5 has the function of absorbing energy, the power of the wheel jumping can be transmitted to the motor 5 to generate electricity. The bearing 8 is used to rotatably connect the actuating shaft 10 to the mounting seat 4. In this embodiment, two bearings 8 are used, and the inner diameter of the bearing 8 is interference fit with the actuating shaft 10, and the outer diameter is interference fit with the inner ring of the mounting seat 4. The actuating shaft 10 is fixed to the mounting seat 4 in a fixed connection manner, so that the actuating shaft 10 is stably fixed. In other embodiments, other methods can also be used to fix the actuating shaft 10 in the mounting seat 4, or the actuating shaft 10 can be fixed to other components.

[0034] The output shaft of the reducer 6 is connected to the elastic coupling 7 by fasteners, and the elastic coupling 7 is also connected to the actuating shaft 10 by fasteners. The elastic coupling 7 can effectively reduce the impact and small vibration transmitted from the wheel end, and protect the motor 5 and the reduction mechanism 6. The elastic coupling 7 can effectively reduce the impact and vibration transmitted from the swing arm 9 by connecting the elastic components thereof, compared with the fixed connection type.

[0035] like Figure 2 , Figure 3 As shown, the elastic coupling 7 has a first torsional rigidity within a preset rotation angle range (-0.3 degrees to 1.3 degrees in this embodiment), and rapidly increases to a second torsional rigidity beyond the preset rotation angle range. The second torsional rigidity is greater than the first torsional rigidity and is close to the full rigidity level. In this way, the elastic coupling 7 is elastic within a smaller preset rotation angle range and will not immediately drive the speed reduction mechanism 6 and the swing arm 9 to rotate. It can not only filter vibrations at smaller angles, but also play a buffering role, thereby increasing the service life of the elastic coupling 7.

[0036] The curves of the elastic coupling 7 for forward and reverse rotation may be quite different because the impact from the wheels is basically from bottom to top, and the impact in the reverse direction is small. This can be achieved by using a special connection method when the elastic coupling 7 is connected to the speed reduction mechanism 6 and the actuating shaft 10, such as Figure 3 As shown, the elastic part of the elastic coupling 7 adjacent to the part connected to the actuating shaft 10 (the position shown by the 45-degree section line) counterclockwise is thicker, while the elastic part of the elastic coupling 7 adjacent to the part connected to the speed reduction mechanism 6 (the position shown by the 135-degree section line) counterclockwise is thinner. In this way, the counterclockwise torsion corresponding to the wheel jumping will be absorbed by the thicker elastic part (with greater elasticity) of the elastic coupling. On the contrary, when the motor applies a counterclockwise torque, the wheel can respond to the jumping more quickly because the thickness and elasticity in the opposite direction are smaller.

[0037] The rotation angle range can be defined as -M to +N, where N is greater than M. A rotation angle of - indicates a reverse direction, i.e., the direction in which the drive mechanism drives the wheel to jump upward through the elastic coupling, and a rotation angle of + indicates a forward direction, i.e., the direction in which the elastic coupling is twisted through the swing arm when the wheel moves upward. Figure 2 As shown, M = 0.3 degrees, N = 1.3 degrees.

[0038] In other embodiments, the elastic coupling 7 may not be provided, or an elastic coupling 7 with other structures may be used.

[0039] One end of the swing arm 9 is fixedly connected to the actuating shaft 10, and the other end is connected to the wheel 13 through a shaft joint 14. The swing arm 9 extends from the mounting seat 4 from the end fixedly connected to the actuating shaft 10, and is connected to the wheel 13 through the other end. The end of the swing arm 9 connected to the actuating shaft 10 is wider than the end connected to the wheel 13 to improve its rigidity. The matching form of the swing arm 9 and the actuating shaft 10 can be a spline or a welding form. The shaft joint 14 is rotatably connected to the end of the swing arm 9 through a connecting ball head, and is fixedly connected to the wheel 13 to keep the wheel 13 in a vertical state.

[0040] The mounting seat 4 is flexibly connected to the front frame fixing seat 2 and the rear frame fixing seat 12 welded on the subframe 1 through four bushings 3. The bushings 3 are pressed into the mounting seat 4, and the bushings 3 are connected to the frame fixing seats 2 and 12 through fasteners. The front and rear frame fixing seats 2 and 12 are welded parts of the subframe. The function of the bushings 3 is to reduce vibration and adjust the handling comfort. The advantage of the four bushings 3 axially along the front and rear directions of the vehicle is that while reducing the longitudinal rigidity, the rigidity in the lateral, vertical and torsional directions is strengthened.

[0041] In this embodiment, the active suspension device includes a detection mechanism, a control mechanism, and a suspension actuation mechanism. The detection mechanism is used to collect user needs, road conditions, and vehicle body status, and provide real-time feedback to the control mechanism. The control mechanism is used to control the suspension actuation mechanism to drive the wheels to respond based on the information collected by the detection mechanism. The suspension actuation mechanism is the suspension actuation mechanism described above.

[0042] The control mechanism includes an angle sensor 11. The angle sensor 11 is located at the other end of the actuating shaft 10 away from the elastic coupling 7. One end of the angle sensor 11 is fixed to the mounting seat 4 by a fastener, and the rotating part in the angle sensor 11 is connected to the actuating shaft 10 by a fastener, which is responsible for accurately feeding back the angle of the swing arm 9 to compare with the angle that the swing arm 9 needs to rotate, so as to form a closed-loop control. In other embodiments, the angle sensor 11 may not be provided.

[0043] The suspension actuating mechanism is connected to the front wheel and / or the rear wheel, and the suspension actuating mechanism corresponding to the front wheel / rear wheel is provided with a front motor / rear motor. In other words, the suspension actuating mechanism can be connected only to the front wheel, or only to the rear wheel, or both to the front and rear wheels. When the suspension actuating mechanism is connected to the front wheel, its motor is called the front motor; when the suspension actuating mechanism is connected to the rear wheel, its motor is called the rear motor. In this embodiment, the suspension actuating mechanism is connected to both the front and rear wheels.

[0044] The working process of the active suspension device is described as follows.

[0045] When the motor 5 receives the control voltage from the control mechanism, torque is generated. After being decelerated by the speed reduction mechanism 6, the output shaft torque increases to 70-90 times that of the original motor 5. The torque of the output shaft is transmitted to the actuating shaft 10 through the elastic coupling 7. Because the actuating shaft 10 is fixedly connected to the swing arm 9, the swing arm 9 will rotate around the axis of the actuating shaft 10 under the action of the torque, thereby driving the shaft joint 14 connected to the swing arm 9 to move up and down, so as to control the wheel 13 to move up and down. When controlling the wheel to jump up, the torque of the motor 5 overcomes the work done by the stiffness of the spring during compression; and when jumping down, the torque of the motor 5 overcomes the work done when lifting the vehicle.

[0046] (1) When adjusting the vehicle's posture when the vehicle is stationary or moving at a constant speed, the motor applies torque to the swing arm to generate a vertical force, which offsets or superimposes the force of the suspension spring, thereby lifting the vehicle.

[0047] Assume the motor torque is T`, and the output torque of the reduction mechanism is T. The efficiency of the reduction mechanism is η1, and the reduction ratio is λ. Then:

[0048] T=T`*η1*λ

[0049] The vertical linear force F on the connecting ball head of the swing arm and the shaft joint is from the motor. The length of the swing arm is L, and the angle of rotation of the swing arm is θ. Then:

[0050] F=T*θ / L

[0051] Among them, F is also the force generated by overcoming the rigidity of the suspension wheel end, the suspension rigidity is K, the wheel center change height is H, and the efficiency of the wheel end rotation is η2, then:

[0052] F=K*H / η2

[0053] Therefore, we can get:

[0054] T`=K*H*L / (λ*θ*η1*η2)

[0055] At this time, in order to adjust the vehicle posture, the torque required by the motor can be obtained according to the formula, and then controlled on the control mechanism.

[0056] (2) During braking, the control mechanism controls the front motor to apply a downward force superimposed on the suspension spring, and the rear motor to apply an upward force offsetting the suspension spring, so as to lift the front of the vehicle and reduce the vehicle's nod angle.

[0057] (3) During acceleration, the control mechanism controls the front motor to apply a force that offsets the upward force of the suspension spring, and the rear motor to apply a downward force that superimposes the suspension spring, so that the front of the vehicle is lifted and the vehicle's nose angle is reduced.

[0058] (4) During the turning process, the control mechanism controls the inner motor of the turning to apply a force that offsets the upward force of the suspension spring, causing the inner body to drop; the control mechanism controls the outer motor of the turning to apply a downward force that superimposes the suspension spring, causing the outer body to rise, thereby reducing the roll or applying a reverse roll.

[0059] (5) When the vehicle encounters an impact road surface, the detection mechanism monitors the step ahead in advance. When approaching the step, the control mechanism controls the motor to apply an upward force to offset the suspension spring, so that the wheel is lifted and the force of the road surface on the wheel is reduced. After leaving the top of the step, the control mechanism controls the motor to apply a downward force superimposed on the suspension spring to lower the wheel and prevent the body from falling. This maintains a smooth transition of the body.

[0060] (6) When the vehicle encounters a rough and uneven road surface, the detection mechanism monitors the road surface ahead in advance, and the control mechanism adjusts the torque output of the motor according to the ups and downs of the road surface, thereby adapting to the bounce of the road surface and maintaining the stability of the vehicle body.

[0061] (7) After a rapid change of direction or impact, the control mechanism applies a reverse force in the up and down movement direction of the vehicle body according to the bouncing amplitude of the vehicle body, thereby achieving a damping effect. This function can recover vibration energy through the control of the output circuit and battery.

[0062] The embodiment of the present invention directly uses the swing arm mechanism to control the vertical position of the wheel, which has a simple structure, high transmission efficiency, and a simple control algorithm. It is applicable to all suspension forms equipped with a swing arm, including McPherson suspension and multi-link suspension. Moreover, the motor of the present invention is not limited to being arranged in front of the swing arm, and can be arranged according to the layout of the whole vehicle, which has high flexibility.

[0063] In this document, the directions or positional relationships indicated by terms such as "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "vertical", and "horizontal" are based on the directions or positional relationships shown in the accompanying drawings and are only for the clarity of expressing the technical solutions and the convenience of description, and therefore should not be understood as limitations of the present invention.

[0064] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0065] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A suspension actuating mechanism for controlling the up and down movement of a wheel, characterized in that: It includes a driving mechanism, an actuating shaft, and a swing arm; the driving mechanism is connected to the actuating shaft to generate torque to drive the actuating shaft to rotate; one end of the swing arm is fixedly connected to the actuating shaft, and the other end is used to connect the wheel, and when the actuating shaft rotates, the swing arm is driven to rotate around the axis of the actuating shaft, thereby driving the wheel to move up and down; an elastic coupling is provided between the driving mechanism and the actuating shaft to buffer the impact transmitted by the swing arm to the driving mechanism, the elastic coupling is connected to the actuating shaft by fasteners, the elastic coupling has a first torsional rigidity within a preset rotation angle range, and quickly increases to a second torsional rigidity when the preset rotation angle range is exceeded, and the second torsional rigidity is greater than the first torsional rigidity.

2. The suspension actuation mechanism according to claim 1, characterized in that: It also includes a mounting seat connected to the subframe, the driving mechanism and the actuating shaft are accommodated in the mounting seat, the actuating shaft is rotatably connected to the mounting seat through a bearing, and the swing arm extends out of the mounting seat from one end fixedly connected to the actuating shaft and is connected to the wheel through the other end.

3. The suspension actuation mechanism according to claim 2, characterized in that: It also includes front and rear frame fixing seats welded on the auxiliary frame, and the mounting seat is softly connected to the front and rear frame fixing seats through a plurality of bushings.

4. The suspension actuation mechanism according to claim 1, characterized in that: An axle joint is provided between the swing arm and the wheel. The axle joint is rotatably connected to the end of the swing arm and fixedly connected to the wheel so that the wheel remains in a vertical state.

5. The suspension actuation mechanism according to claim 1, characterized in that: The rotation angle range is -M to +N, where N is greater than M. A rotation angle of - indicates a reverse direction, i.e., the direction in which the driving mechanism drives the wheel to jump upward through the elastic coupling, and a rotation angle of + indicates a forward direction, i.e., the direction in which the elastic coupling is twisted through the swing arm when the wheel moves upward.

6. An active suspension device, characterized in that: It includes a detection mechanism, a control mechanism, and a suspension actuation mechanism. The detection mechanism is used to collect user needs, road conditions and vehicle body status, and provide real-time feedback to the control mechanism. The control mechanism is used to control the suspension actuation mechanism to drive the wheels to respond based on the information collected by the detection mechanism. The suspension actuation mechanism is a suspension actuation mechanism as described in any one of claims 1 to 5, and the drive mechanism includes a motor.

7. The active suspension device according to claim 6, characterized in that: The driving mechanism also includes a speed reduction mechanism connected to the motor. The motor is an electromagnetic rotary motor. When the electromagnetic rotary motor receives a control voltage from a control mechanism, it generates torque and drives the swing arm to rotate through the speed reduction mechanism.

8. The active suspension device according to claim 6, characterized in that: The torque is calculated as follows: when adjusting the vehicle posture in a stationary or uniformly moving state, the torque required by the motor is obtained by the formula T`=K*H*L / (λ*θ*η1*η2), where T` is the motor torque, K is the suspension stiffness, H is the wheel center change height, L is the length of the swing arm, λ is the reduction ratio of the reduction mechanism, θ is the rotation angle of the swing arm, η1 is the efficiency of the reduction mechanism, and η2 is the efficiency of the wheel end rotation.

9. The active suspension device according to claim 6, characterized in that: The suspension actuating mechanism is correspondingly connected to the front wheel and / or the rear wheel, and the suspension actuating mechanism corresponding to the front wheel / rear wheel is provided with a front motor / rear motor. During braking, the control mechanism controls the front motor to apply a downward force superimposed on the suspension spring, and / or the rear motor to apply an upward force to offset the suspension spring.

10. The active suspension device according to claim 6, characterized in that: During a turn, the control mechanism controls the motor located on the inner side of the turn to apply an upward force that counteracts the suspension spring, and / or the motor located on the outer side of the turn to apply a downward force that superimposes the suspension spring.

11. The active suspension device according to claim 6, characterized in that: When the vehicle encounters an impact road surface, the detection mechanism monitors the steps ahead in advance. When approaching the steps, the control mechanism controls the motor to apply an upward force to offset the suspension spring to lift the wheel. After leaving the top of the step, the control mechanism controls the motor to apply a downward force superimposed on the suspension spring to lower the wheel.

12. The active suspension device according to claim 6, characterized in that: When the vehicle encounters a rough and uneven road surface, the detection mechanism monitors the road spectrum ahead in advance, and the control mechanism adjusts the torque output of the motor according to the ups and downs of the road spectrum.

13. The active suspension device according to claim 6, characterized in that: After a rapid change of direction or an impact, the control mechanism controls the motor to apply a reverse force in the up and down movement direction of the vehicle body according to the bouncing amplitude of the vehicle body.

14. The active suspension device according to claim 6, characterized in that: The control mechanism includes an angle sensor, and the rotating part of the angle sensor is fixedly connected to the actuating shaft to feed back the rotation angle of the swing arm, so as to compare it with the angle at which the swing arm needs to rotate, thereby forming a closed-loop control.

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