Multi-input multi-output actuator and component using the same

Abstract

An exemplary actuator includes a motor, a transmission and a support structure. The motor includes two torque sources, which apply respective input torques to a rotor, which rotates around an axis of rotation in response to a net input torque. The torque sources are arranged so that the input torques are additive, resulting in a vector summed torque output. The torque sources also generate corresponding reaction torques applied to a first stator and a second stator. The transmission couples and constrains the first stator and the second stator so that the rotational motion of one stator causes the reverse rotation of the other stator. Therefore, the reaction torques are subtracted, resulting in a differential torque output. In some applications, the differential torque output is used to actuate a suspension of a vehicle. The actuator is also coupled to the vehicle via the support structure, which also reflects reaction forces or torques to actuate other subsystems (e.g., anti-dive, anti-squat).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority under 35 U.S.C. § 119(e) to U.S. Application No. 62 / 862,786, filed on June 18, 2019, entitled “Multiple-Input Multi-Output Actuator” and U.S. Application No. 62 / 774,813, filed on December 3, 2018, entitled “Multiple-Input Multi-Output Actuator”. Each of these applications is incorporated herein by reference in its entirety for all purposes. Background Art

[0003] Electric motors are used to convert electrical power into mechanical force and / or motion in household appliances, power tools, and motor vehicles. The cost of a typical electric motor depends primarily on the cost of the raw materials used to manufacture the electric motor. For example, the rare earth magnets and copper used in the coils of an electric motor are typically the largest contributors to the overall cost of the motor. In order to reduce the cost of a mechanical system, it is often desirable to use a single motor to power multiple subsystems.

[0004] A common method of driving multiple subsystems with one motor is to use gears and / or switches to control which subsystem is driven by the motor. For example, a gearbox coupled to the motor may have multiple gears, with the output of each gear coupled to a different subsystem. In this way, a single motor can drive two or more subsystems, although there is often a constraint that these subsystems cannot be used simultaneously if the gearbox can only deliver power to only one function at a time.

[0005] Figures 1A to 1C Kinematically equivalent actuator assemblies 100a - 100c are shown that can be used to simultaneously perform two functions in a wheeled vehicle: propulsion and active suspension. Figure 1A The actuator assembly 100a in includes an axial flux motor 120 coupled to a support structure 150. The axial flux motor 120 includes a rotor 121 mounted to a main shaft 124. The rotor 121 rotates in response to a torque input applied by a torque source to a first stator 122 and a second stator 123. The main shaft 124 is coupled to a reference ground 11 (e.g., via a wheel contacting a road). The main shaft 124 is also coupled to the support structure 150. The support structure 150 is directly coupled to the chassis 12, which includes a joint housing 142 mounted on an arm 144a. The joint housing 142 is slidably adjustable relative to the support structure 150. In addition, a spring 152 is coupled to the joint housing 142 and the support structure 150 to provide a restoring force as a suspension.

[0006] The first stator 122 is coupled to the joint housing 142 via a link 145a at a node 146, and the second stator 123 is coupled to the joint housing 142 via a link 145b at a node 147. The links 145a and 145b are coupled to the joint housing 142 at a node 143. To actuate the suspension, a reaction torque is applied to the first stator 122 and / or the second stator 123. This, in turn, results in a force applied to the chassis 12 that causes the motor 120 to translate relative to the chassis 12 along the support structure 150 (e.g., at Figure 1A (move up and down in the middle).

[0007] Figure 1B Another actuator assembly 100b is shown that both propels the vehicle and provides active suspension for the vehicle. Again, the chassis 12 is directly coupled to the axial flux motor 120 via slots 149a and 149b in the arm 144b. The slots 149a and 149b are coupled to pins mounted to the first stator 122 at node 146 and to the second stator 123 at node 147.

[0008] Figure 1C Another actuator assembly 100c is shown that provides propulsion and active suspension. The chassis 12 includes an arm 144c that is coupled to connecting rods 145a and 145b at nodes 148a and 148b, respectively, rather than being coupled to the joint housing 142. The connecting rods 145a and 145b are coupled to the first stator 122 and the second stator 123 at nodes 146 and 147, respectively, as shown in FIG. Summary of the invention

[0009] Figures 1A to 1C The actuator assemblies 100a-100c (collectively referred to as actuator assemblies 100) in the embodiment of the present invention are capable of rotating the rotor 121 and translating the suspension. The actuator assemblies 100 are used primarily due to their simplicity of integration, as the output of the motor 120 is directly coupled to the chassis 12. However, these actuator assemblies 100 have several drawbacks. First, the actuator assemblies 100 cannot reflect the force / torque between the support structure 150 and the chassis 12, because the reaction torque applied to the first stator 122 and the second stator 123 is dissipated by the chassis 12. In other words, the support structure constrains the translational motion of the main shaft 124 relative to the chassis. Neither the first stator 122 nor the second stator 123 can move in a translational manner. Figures 1A to 1C The support structure in the illustrated actuator assembly 100 applies a torque load.

[0010] This prevents the actuator assembly 100 from providing additional outputs. Second, the actuator assemblies 100 are not stand-alone mechanisms; they rely on integration with the chassis 12 to provide the desired actuation. This, in turn, means that the chassis 12 should have certain structural features to enable the actuator assembly 100 to operate properly.

[0011] Therefore, the present disclosure relates to actuators that can reflect force / torque and / or are compatible with a variety of chassis or other reference structures. Example actuators may include a motor, a transmission, and a support structure (suspension). The motor may include one or more torque sources to provide an input torque for actuation. The transmission can couple and constrain the torque source to modify the resulting output force / torque provided by the actuator. For example, the actuator may provide a summed torque output based on the superposition of one or more input torques. The transmission can then couple and constrain the torque source to produce a counter-rotational motion. In this way, the actuator can also provide a differential torque output based on the subtraction of one or more input torques.

[0012] The force / torque output from the actuator can be further divided into various component forces / component torques, which are applied to one or more nodes connecting the actuator to other subsystems. For example, the output force / torque may include a reflected force / torque applied between the support structure of the actuator and the chassis, and the reflected force / torque response is generated in response to an imbalance of the force / torque of other outputs from the actuator. The reflected force / torque can provide another output to actuate the subsystem. For example, the reflected force / torque can be used for anti-dive and / or anti-squat functions in the suspension (e.g., preventing the front of the vehicle from moving downward during forward deceleration and / or preventing the rear of the vehicle from moving downward during forward acceleration).

[0013] In addition, the actuator can also provide mixed outputs of different magnitudes and / or directions based on one or more input torques and / or reaction torques. For example, the transmission can constrain the range of motion and / or motion ratio of one or more torque sources, thereby changing the dependence of the force / torque of each output on the input torque / reaction torque. The actuator can also incorporate a mechanism that creates an asymmetric response between the inputs (e.g., a first torque source moves a second torque source, but the second torque source cannot move the first torque source).

[0014] In one exemplary application, the actuator may be used as part of an active suspension system for a vehicle. The actuator may be part of an actuator assembly that includes a chassis coupled to the actuator via a MacPherson strut and a wheel coupled to a motor in the actuator. The wheel is an unsprung mass and the chassis is a sprung mass. The actuator may include a rocker joint mechanism or a sliding joint mechanism that directly couples the motor and / or transmission to the chassis via a component that is capable of moving the sprung mass relative to the unsprung mass.

[0015] In one example, an actuator for a vehicle includes a support structure connected to a chassis of the vehicle via a suspension, a transmission coupled to the support structure, and a motor coupled to the support structure and the transmission. The motor includes a rotor rotating about a rotation axis, a first stator concentric with the rotation axis, and a second stator concentric with the rotation axis. The first stator applies a first torque to the rotor and the suspension via the transmission. The second stator applies a second torque to the rotor and the suspension and / or the chassis.

[0016] In another example, an actuator assembly for a vehicle includes an axial flux motor having a support structure, a main shaft defining a rotational axis and extending through an opening in a housing, a rotor fixed to the main shaft, a first stator concentric with the rotational axis, and a second stator concentric with the rotational axis. The actuator assembly also includes a suspension rigidly connected to the support structure and compressibly coupled to a chassis of the vehicle, a torsion bar rotatably coupled to the suspension and rotatably coupled to the first stator and the second stator, and a tension-compression member rotatably coupled to the second stator and rotatably coupled to the chassis.

[0017] In one example, a method for actuating at least one of a rotor or a suspension of a vehicle includes the following steps: (1) applying a first torque to the rotor, wherein the rotor is configured to rotate about a rotation axis, (2) applying a second torque to the rotor while applying the first torque, (3) applying a first reaction torque to a first stator in response to applying the first torque, wherein the first stator is configured to rotate about the rotation axis, (4) applying a second reaction torque to a second stator in response to applying the second torque, wherein the second stator is configured to rotate about the rotation axis, wherein the second stator is coupled to the first stator via a transmission, (5) transmitting at least a portion of the first reaction torque from the first stator to the suspension via the transmission, and (6) transmitting at least a portion of the second reaction torque from the second stator to at least one of a suspension or a chassis of the vehicle, wherein the chassis is coupled to the suspension.

[0018] All combinations of the foregoing concepts and the additional concepts discussed in more detail below (provided such concepts are not mutually inconsistent) are considered part of the inventive subject matter disclosed herein. In particular, all combinations of the claimed subject matter appearing at the end of this disclosure are considered part of the inventive subject matter disclosed herein. Terms that are explicitly adopted herein and that may also appear in any disclosure incorporated by reference should be given the meaning most consistent with the specific concepts disclosed herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Those skilled in the art will appreciate that the drawings are primarily for illustrative purposes and are not intended to limit the scope of the inventive subject matter described herein. The drawings are not necessarily drawn to scale; in some cases, various aspects of the inventive subject matter disclosed herein may be shown exaggerated or enlarged in the drawings to facilitate understanding of different features. In the drawings, similar reference numerals generally refer to similar features (e.g., functionally similar and / or structurally similar elements).

[0020] Figure 1A A first actuator assembly providing vehicle propulsion and active suspension is shown.

[0021] Figure 1B A second actuator assembly is shown providing vehicle propulsion and active suspension.

[0022] Figure 1C A third actuator assembly is shown providing vehicle propulsion and active suspension.

[0023] Figure 2A An exemplary actuator assembly is shown where the stator is directly coupled to the chassis.

[0024] Figure 2B Another exemplary actuator assembly is shown where the stator is directly coupled to the chassis.

[0025] Figure 3A An inside view of an exemplary actuator having an axial flux motor is shown.

[0026] Figure 3B Shows Figure 3A Rear view of the actuator.

[0027] Figure 3C Shows Figure 3A External view of the actuator.

[0028] Figure 3D Shows Figure 3A Perspective view of the actuator.

[0029] Figure 4A Shown include Figure 3A An inside view of an actuator assembly of an actuator coupled to a MacPherson strut suspension.

[0030] Figure 4B Shows Figure 4A Rear view of the actuator assembly.

[0031] Figure 4C Shows Figure 4A A perspective view of the actuator assembly.

[0032] Figure 5AA perspective view of an exemplary actuator having a Panhard linkage and a differential shaft coaxial with the drive shaft is shown.

[0033] Figure 5B Shows Figure 5A A cross-sectional perspective view of an actuator.

[0034] Figure 5C Shows Figure 5A Rear view of the actuator.

[0035] Figure 5D Shows Figure 5A Inside view of the actuator.

[0036] Figure 5E Shows Figure 5A Schematic cross-section of the actuator.

[0037] Fig. 6A Shown include Figure 5A An actuator is used as an exemplary actuator assembly for a wheel hub motor.

[0038] Figure 6B Shown include Figure 5A Another exemplary actuator assembly of an actuator mounted inboard relative to a vehicle wheel.

[0039] Figure 6C Shown include Figure 5A A side view of another exemplary actuator assembly of an actuator integrated with a swing arm suspension in a wheel assembly.

[0040] Fig. 7A A cross-sectional schematic diagram of an exemplary actuator having a bevel gear transmission is shown.

[0041] Figure 7B A cross-sectional schematic diagram of an exemplary actuator having a double bevel gear transmission is shown.

[0042] Figure 7C A cross-sectional schematic diagram of an exemplary actuator having a planetary gear transmission is shown.

[0043] Fig.7D A schematic cross-sectional view of an exemplary actuator having a bevel gear transmission is shown, wherein the bevel gears are disposed outside of a support structure housing an inner stator and an outer stator.

[0044] Fig. 7E A cross-sectional schematic diagram of an exemplary actuator having a planetary gear transmission is shown, wherein the planetary gears couple an inner stator to a differential shaft on an outer stator.

[0045] Fig. 8A An exemplary actuator having a multi-pulley transmission is shown.

[0046] Figure 8B An exemplary actuator having a single pulley actuated transmission is shown.

[0047] Figure 8C An exemplary actuator having a dual pulley actuation transmission is shown.

[0048] Fig.8D An exemplary actuator with a single pulley, dual belt / cable transmission is shown.

[0049] Fig. 8E A side view of an exemplary actuator having a double helical gear transmission is shown.

[0050] Figure 8F Shows Fig. 8E Top view of the actuator.

[0051] Fig. 9A An exemplary actuator assembly is shown where the transmission is directly coupled to the chassis via a prismatic slip joint.

[0052] Fig. 9B Another exemplary actuator assembly is shown where the transmission is directly coupled to the chassis via a rocker joint.

[0053] Fig. 10A A perspective view of another exemplary actuator is shown where the rocker links and differential shaft are offset from the drive shaft and coaxial with the torsion bar.

[0054] Fig. 10B Shows Fig. 10A A cross-sectional perspective view of an actuator.

[0055] Fig. 10C Shows Fig. 10A Rear view of the actuator.

[0056] Fig. 10D Shows Fig. 10A Inside view of the actuator.

[0057] Fig.10E Shows Fig. 10A Schematic cross-section of the actuator.

[0058] Fig.11A A cross-sectional schematic diagram of an exemplary actuator is shown with a differential shaft mounted to a secondary bevel gear in a transmission.

[0059] Fig. 11B A side view of an exemplary actuator is shown where the dual gear transmission is directly coupled to the chassis.

[0060] Fig. 12A An elevation view of an exemplary actuator assembly including an actuator with a linkage-based transmission is shown.

[0061] Fig. 12B Shows Fig. 12A Top view of the actuator.

[0062] Fig. 12C Shows Fig. 12A Inside view of the actuator. DETAILED DESCRIPTION

[0063] The following is a more detailed description of various concepts and implementations thereof related to actuators (e.g., components of motors, transmissions, and support structures) that provide one or more outputs (e.g., forces, torques) for various subsystems. Specifically, various aspects related to transmissions, motors, couplings between transmissions, supports, motors, and / or reference structures, and actuator assemblies with integrated actuators are described herein. The concepts introduced above and discussed in more detail below can be implemented in a variety of ways. Examples of specific implementations and applications are provided primarily for illustrative purposes to enable those skilled in the art to practice implementations and alternatives that are apparent to those skilled in the art.

[0064] The drawings and example embodiments described below are not intended to limit the scope of the present embodiment to a single embodiment. Other embodiments are possible by interchanging some or all of the described or illustrated elements. In addition, where certain elements of the disclosed example embodiments can be implemented partially or completely using known components, in some cases, only those parts of these known components necessary for understanding the present embodiment are described, and detailed descriptions of other parts of these known components are omitted to avoid confusing the present embodiment.

[0065] In the following discussion, various examples of actuators of the present invention are provided, wherein a given example or set of examples demonstrates one or more specific features of a motor (e.g., rotor, stator), a support structure, and a transmission (e.g., a torsion bar, a linkage, a planetary gear, a bevel gear, a belt, a pulley, a gear train, a track drive system). Features discussed in conjunction with a given example of an actuator including a motor, a housing, and a transmission can be employed in other examples of actuators according to the present disclosure, such that the various features disclosed herein can be easily combined in a given system according to the present disclosure (assuming that these features are not incompatible with each other).

[0066] Typically, an actuator can actuate one or more subsystems based on one or more force / torque inputs. Depending on how the actuator is coupled to other components in the actuator assembly, the outputs of the actuator can be applied selectively (e.g., only one output is applied at a time), or can be applied simultaneously (e.g., one or more outputs are applied simultaneously).

[0067] In some exemplary embodiments, the actuator may include two torque sources, each of which applies a torque input to move a first component (e.g., to rotate a rotor). For each torque input, a reaction torque may be applied to a second component (e.g., a first stator) and a third component (e.g., a second stator) supporting the corresponding torque source. The reaction torque may have the same magnitude as the torque input, but is applied in substantially opposite directions. Therefore, the first component, the second component, and the third component may generally move relative to each other. For example, each of the first component, the second component, and the third component may be constrained to rotate around a common axis, so that each component may rotate relative to each other. The first component, the second component, and the third component may also be constrained by other mechanical loads. Therefore, components may transmit force or torque instead of moving. In this way, the actuator may provide multiple output forces / torques.

[0068] In addition, the force / torque of each output can be divided into additional outputs (e.g., the force can be divided into two separate force components, each of which is used as a different but coupled output). For example, the actuator can be coupled to the chassis at two different nodes. At one node, the force applied by the actuator to the chassis can cause the actuator to translate vertically (e.g., active suspension). At another node, the force applied between the actuator and the chassis can prevent, reduce or resist unwanted horizontal translational motion.

[0069] The actuator disclosed herein may include an electric motor, such as an axial flux motor, a radial flux motor, or a radial-axial flux motor, having at least two torque sources (e.g., brushless direct current (DC) torque sources) of substantially equal size and output power. In an axial flux motor, each torque source can be mounted to a corresponding stator, which can rotate in response to an applied reaction torque. The two stators can share a rotor, which includes permanent magnets that respond to the magnetic field generated by the coils on each stator. The use of a single rotor with two stators can provide additional efficiency for the overall operation of the actuator. However, the motor may include more than one rotor (e.g., it may include at least one rotor per stator).

[0070] In addition, although the exemplary embodiments described below relate to an actuator integrated in an actuator assembly that rotates a rotor and / or actuates a suspension (e.g., on a vehicle), the actuator of the present invention may also be used in other applications. For example, the actuator may provide other outputs for vehicle operation, including but not limited to ride height adjustment, steering, suspension tuning adjustment, and / or anti-dive / anti-squat. The actuator may also be used to operate other dynamic systems in the vehicle that involve two operating modes (such as seat adjustment). The actuator may be coupled to the chassis using various types of suspensions, including but not limited to MacPherson struts, torque connections to the chassis via a linkage similar to a roll stabilizer, or any other suspension suitable for converting rotational motion into linear motion.

[0071] The benefits of having a single actuator capable of actuating two or more degrees of freedom may also find application in other technologies where space, materials, and / or permissible mass are limited. Such applications include, but are not limited to, outboard steering electric thrusters for water vehicles, thrust vectoring in jet propulsion systems, multi-degree-of-freedom actuation systems for aircraft wings, controllable pitch thruster drives, actuation of various onboard satellite subsystems (e.g., on CubeSats), rotating platforms with additional degrees of operation (e.g., active camera stabilization, trim), stability control of optical systems, actuation of directional and rotating components for medical tools and devices, drilling components, energy harvesting in various motion energy fields, and compact azimuth control of wind turbines.

[0072] For example, the actuator can be used as an in-wheel motor or built into the sprung mass or chassis of the vehicle to adjust the ride height of the vehicle while providing traction. In this case, the actuator can be mounted on a corner of a road vehicle, wherein one of the output ends of the actuator is connected to the wheel or is rotatably connected to the drive shaft of the wheel. The second output end can be connected to a height adjustment mechanism that controls the ride height of the vehicle. Each wheel can have a corresponding actuator and height adjustment mechanism. The height adjustment mechanism may include a lead screw or a ball screw, which, when actuated, moves one end of a spring (e.g., a main suspension spring or a roll stabilizer) that connects the sprung mass and the unsprung mass of the vehicle. Another height adjustment mechanism may include one or a set of gears, which are connected to a torsion spring disposed between the sprung mass and the unsprung mass. In another embodiment, a mechanism can translate the movement of the output shaft to a piston, thereby generating pressure on a load-bearing mechanism such as an airbag or a hydraulic cylinder.

[0073] Actuator with stator directly coupled to chassis

[0074] Figure 2AAn example of an actuator assembly 200a is shown, in which a sliding joint transmission and stator are directly coupled to the chassis 12. As shown, the actuator assembly 200a includes an actuator 210a having a motor 220, a transmission 240a, and a support structure 250. The motor 220 includes a rotor 221, which is mounted to a main shaft 224, and the main shaft 224 defines a rotation axis 13. The main shaft 224 can be mechanically coupled to a reference ground 11 (e.g., a wheel fixed to the main shaft 224 and contacting the road). The motor 220 also includes a first stator 222 and a second stator 223, each of which supports a torque source (not shown) that applies an input torque to the rotor 221. The first stator 222 and the second stator 223 can be mounted coaxially with the main shaft 224 via one or more bearings. Therefore, the first stator 222 and the second stator 223 can rotate relative to the main shaft 224. The spindle 224 may also be coupled to a support structure 250 (e.g., a strut housing of a MacPherson strut). The support structure 250 may be slidably adjustable along a strut 253 rigidly connected to the chassis 12. In some cases, the support structure 250 and the strut 253 may form a prismatic sliding joint. The actuator assembly 200a may also include springs 254a and 254b to provide a restoring force that maintains the support structure 250 in a specific position along the strut 253 when the actuator 210a is under a static load.

[0075] The transmission 240a may include a sliding joint housing 242 that couples the motor 220 to the support structure 250 and reacts the lateral force to the chassis 12 via the support structure 250. As shown, the transmission 240a may include connecting rods 245a and 245b, one end of which is respectively coupled to the first stator 222 at a node 246 and to the second stator 223 at a node 247, and the other end is coupled to the joint housing 242 at a node 243. The connecting rods 245a and 245b may be coupled to the nodes 247, 246, and 243 via pin joints (or ball joints) to allow rotational movement around each node while limiting translational movement. The joint housing 242 may be slidable along the support structure 250. In addition, the second stator 223 may be directly coupled to the chassis 12 via a connecting rod 248a. As shown, the link 248a may also be coupled to the node 247 on the second stator 223 and the chassis 12 via a pin joint. The link 248a may be a rigid or compliant tension-compression member.

[0076] The torque sources coupled to the first stator 222 and the second stator 223 can generate input torques independently of each other. However, the first stator 222 and the second stator 223 can be coupled to each other via the transmission 240a. In addition, the actuator 210a is coupled to other components of the actuator assembly 200a at three locations (i.e., the rotor 221 to the reference ground 11, the support structure 250 to the chassis 12 via the support 253, and the second stator 223 to the chassis 12 via the connecting rod 248a). Therefore, the actuator 210a can provide up to three force / torque outputs for two independent inputs.

[0077] Input torque and reaction torque

[0078] As described above, the actuators described herein can provide multiple outputs to mechanically actuate various subsystems of a system (e.g., a vehicle) (e.g., rotate a wheel, actuate a suspension). Figure 2A 200a, the actuator 210a can provide multiple force and / or torque outputs to (1) rotate the rotor 221 (e.g., rotate a wheel coupled to the rotor for propulsion) and / or (2) translate the actuator 210a relative to the chassis 12 and / or the reference ground 11 by slidingly adjusting the support structure 250 along the struts 253 (e.g., actuating a suspension) and / or compensate for undesirable forces and / or motions in the system based on excess forces between the first stator 222 and the second stator 223 (e.g., provide anti-dive when the vehicle is braking and / or provide anti-squat function when the vehicle is accelerating to improve vehicle stability and / or operator comfort). In this example, the excess force generated by the reaction torque applied to the first stator 222 and the second stator 223 of the actuator 210a can be separated into two force components (e.g., two orthogonal force components) applied in different directions. The magnitude and / or direction of the two force components can be coupled. Additionally, excess force may be applied as a non-zero force via link 248a and / or via support structure 250 at (1) link 248a and (2) strut 253 as separate component forces.

[0079] In one case, a torque source coupled to the first stator 222 may generate an input torque that is applied to the rotor 221 while a torque source coupled to the second stator 223 remains inactive. The input torque may cause the rotor 221 to rotate about the axis of rotation 13 relative to the reference ground 11. When the first stator 222 generates an input torque, a corresponding reaction torque is also generated and applied to the first stator 222. The magnitude of the reaction torque and the input torque may be substantially equal, but the directions in which the torques are applied may be substantially opposite. For example, the input torque applied to the rotor 221 may be in a clockwise direction, while the reaction torque applied to the first stator 222 may be in a counterclockwise direction.

[0080] The reaction torque applied to the first stator 222 may cause the first stator 222 to rotate about the rotation axis 13. However, the movement of the first stator 222 may be constrained by the connecting rod 245a of the transmission 240a, which is coupled to the first stator 222 at the node 246. In other words, at least a portion of the reaction torque applied to the first stator 222 may be transmitted to the transmission 240a via the connecting rod 245a. The portion of the reaction torque transmitted to the transmission 240a may cause the joint housing 242 to slide along the support structure 250 and / or be transmitted to the second stator 223 via the connecting rod 245b.

[0081] If the second stator 223 is separated from the chassis 12, the reaction torque will cause the first stator 222 and the second stator 223 to rotate in opposite directions about the rotation axis 13, while the joint housing 242 in the transmission 240a will slide along the support structure 250. With the link 248a between the second stator 223 and the chassis 12 removed, any forces between the chassis 12 and the actuator 210 will be applied through the suspension via the support structure 250. The stator 222 will inertially accelerate itself and pull the transmission 240a. The support structure 250 will provide the torque coupling required by the transmission 240a to inertially accelerate the stator 223 via the link 245b. The main shaft 224 will react the force from the reference ground plane 11 and the coupled force from the stator inertial load to the support structure, which in turn will be reacted by the suspension.

[0082] However, by coupling the second stator 223 to the chassis 12 via the link 248a, a net force is imparted between the actuator 210a and the chassis 12 that causes the actuator 210a to translate along the support post 253 (ie, toward or away from the reference ground 11). Figure 2A In the view of the actuator assembly 200a shown in FIG, if the reaction torque is applied to the first stator 222 in a clockwise direction about the rotation axis 13, the actuator 210a translates toward the reference ground 11. Conversely, if the reaction torque is applied in a counterclockwise direction about the rotation axis 13, the actuator 210a translates away from the reference ground 11.

[0083] In another case, a torque source coupled to the second stator 223 may generate an input torque that is applied to the rotor 221 while the torque source coupled to the first stator 222 remains inactive. Similar to the previous case, the input torque may cause the rotor 221 to rotate about the rotation axis 13 relative to the reference ground 11. A corresponding reaction torque (similar in magnitude to the input torque but applied in the opposite direction) may also be applied to the second stator 223. However, in this case, the reaction torque may be directly transmitted to the chassis 12 via the connecting rod 248a, rather than indirectly transmitted via the transmission 240a. The reaction torque may initially cause actuation of the transmission 240a and rotation of the first stator 222. However, under steady-state conditions, the reaction torque applied to the second stator 223 may be primarily transmitted to the chassis 12 via the connecting rod 248a. Similar to the previous case, the reaction torque may cause the actuator 210a to translate toward or away from the reference ground 11 based on the translation of the support structure 250 along the pillar 253.

[0084] For the above situation, the magnitude and direction of the force and torque of the output generated by the actuator 210a can be controlled in part by adjusting the magnitude and / or direction of the torque applied by the first stator 222 and the second stator 223 on the rotor 221. However, applying torque only via the first stator 222 or the second stator 223 may cause the output force / torque to occur simultaneously, which may not be desirable. For example, it may be preferred to rotate the wheel coupled to the rotor 221 and the main shaft 224 without causing the actuator 210a to translate relative to the chassis 12. For this situation, the actuator 210a can provide certain outputs by applying torque to the first stator 222 and the second stator 223 at the same time.

[0085] In some cases, the actuator may add input torques and / or reaction torques generated by the torque sources to produce summed and differential torques that selectively control which outputs are provided by the actuator. Figure 2A In the actuator 210a shown in FIG. 2 , an input torque applied in the same direction by the first stator 222 and the second stator 223 causes the rotor 221 to rotate in opposite directions. Therefore, the torque experienced by the rotor 221 can be considered as the vector sum of the applied torques, while ignoring friction and mechanical gain (discussed below). At the same time, the torque experienced by the transmission 240a can be considered as the vector difference of the applied torques, also ignoring friction and mechanical gain. The mechanical gain experienced by the transmission 240a can provide excess force that can be used as an additional output from the actuator 210a (e.g., for anti-dive, anti-squat functions).

[0086] For example, the first stator 222 and the second stator 223 may apply an input torque having the same magnitude and direction. Therefore, the summed torque may have twice the magnitude of the input torque, thereby causing the rotor 221 to rotate about the rotation axis 13. The reaction torque applied to the first stator 222 and the second stator 223 similarly has the same magnitude and is applied in the opposite direction to the input torque. Instead, a reaction force is generated between the support structure 250 and the support column 253 mounted to the chassis 12.

[0087] In another example, the first stator 222 and the second stator 223 can apply input torques of the same magnitude and opposite directions to the rotor 221. In this case, the input torques resist the rotation of the rotor 221 (i.e., the input torques cancel each other out). The resulting reaction torques applied to the first stator 222 and the second stator 223 similarly have the same magnitude, but are applied in opposite directions relative to the axis of rotation 13. Therefore, the reaction torques cause the transmission 240a to actuate and / or a net differential torque output (i.e., the differential torques have constructive interference with the respective reaction torques). This in turn causes the actuator 210a to translate along the strut 253 (actuating the suspension).

[0088] Typically, the first stator 222 and the second stator 223 can provide an input torque having a varying magnitude and direction. Therefore, the relative magnitude of the output force / torque provided by the actuator 210a can change based on the magnitude and / or direction of the input torque and the corresponding reaction torque. In general, adjusting the magnitude and / or direction of one or both input torques in the actuator 210a may cause one or more of the following outputs to occur: (1) rotating the rotor 221, (2) translating the actuator 210a along the support 253, and (3) generating a reaction force between the support structure 250 and the support 253. The relative magnitude and / or direction of one or more of the output forces / torques provided by the actuator 210a can be adjusted in a substantially continuous (or discrete) manner relative to the input torque. For example, a continuous change in the magnitude and / or direction of the input torque results in a continuous change in the output force / torque.

[0089] Mechanical Advantage and Motion Ratio

[0090] In addition, the transmission 240a can provide a mechanical advantage, which can be quantified as a motion ratio that depends on the relative positions of the first stator 222 and the second stator 223. The motion ratio depends on the structure of the motor 220, the transmission 240a, the support structure 250, and the connections between these components and their subcomponents, including the length and shape of the connecting rods and the location of the nodes. Figure 2AFor example, links 245a and 245b in actuator 210a have the same length and are symmetrically coupled to nodes 247 and 246 at similar radial distances from the axis of rotation 13. Thus, rotation of the first stator 222 causes the second stator 223 to rotate at a 1:1 motion ratio.

[0091] In other embodiments, the geometry of the links 245a and 245b and / or the locations of the nodes 247 and 246 can be varied to produce different ratios of motion between the first stator 222 and the second stator 223, thereby changing the dependence of the force / torque of each output from the actuator 210a on the input torque of the first stator 222 and / or the second stator 223. For example, the transmission 240a can be configured such that a reaction torque applied to the first stator 222 produces a greater torque between the actuator 210a and the chassis 12 than a reaction torque applied to the second stator 223 (e.g., the first stator 222 can function in a manner similar to a lower gear in a vehicle transmission that produces greater torque). Alternatively, the reaction torque applied to the second stator 223 can produce a faster actuation rate between the actuator 210a and the chassis 12 than the reaction torque applied to the first stator 222 (e.g., the second stator 223 can act in a manner similar to a higher gear in a vehicle transmission that allows for higher speeds).

[0092] In another example, the range of motion of the first stator 222 and the second stator 223 can be modified so that the output force / torque depends in part on the angular position of the first stator 222 and the second stator 223. For example, a mechanical stop can be incorporated into the actuator 210a, which limits the rotation range of the first stator 222 and the second stator 223. The mechanical stop can define the angular range in which the actuator 210a can produce a differential torque output at a specific node. The mechanical stop can be coupled to the support structure 250. In this way, the geometry of the actuator 210a and its internal and external connections can be selected to adjust the various output forces / torques generated by the actuator 210a.

[0093] The transmission 240a can also generate an asymmetric response between the first stator 222 and the second stator 223. For example, the second stator 223 can rotate in response to a reaction torque applied to the first stator 222, but the first stator 222 can not rotate in response to the reaction torque applied to the second stator 223. For example, this can be achieved by using a ratchet mechanism that only allows the first stator 222 to rotate in one direction (e.g., only clockwise, only counterclockwise), while the second stator 223 rotates freely in one or more directions (e.g., clockwise and counterclockwise). The asymmetric response between the first stator 222 and the second stator 223 can provide another parameter to modify the dependence of the output force / torque on the input torque and / or reaction torque. The motion ratio between the two stators does not have to be constant or linear.

[0094] The stator is connected to the chassis actuator via a rocker joint

[0095] Figure 2B Another exemplary actuator assembly 200b is shown, in which the rocker joint transmission 240b and the stator are directly coupled to the chassis 12. As shown, the actuator assembly 200b is connected to the chassis 12. Figure 2A The actuator assembly 200a of FIG. 1 shares several similarities. Figure 2A As shown, the actuator assembly 200b includes a motor 220, a transmission 240b, and a support structure 250. The motor 220 includes a rotor 221, which is coupled to a main shaft 224 defining an axis of rotation 13. The main shaft 224 is also coupled to the reference ground 11. The motor 220 also includes a first stator 222 and a second stator 223, each of which supports a torque source and is coaxial with the main shaft 224. The main shaft 224 is supported by a support structure 250 (e.g., a strut housing), which can be slidably adjusted along a strut 253 rigidly mounted to the chassis 12. Springs 254a and 254b can be used to provide a restoring force to the actuator 210b.

[0096] In this case, the rocker joint transmission 240b includes a rocker joint arm 244 that rotates about a node 243. As shown, the transmission 240b includes a connecting rod 245a coupled to the first stator 222 at a node 246 via respective pin joints (or ball joints) and a connecting rod 245b coupled to the second stator 223 at a node 247. The connecting rods 245a and 245b are coupled to the rocker joint arm 244, which in turn is coupled to the support structure 250 at the node 243. The rocker joint arm 244 can be coupled to the connecting rods 245a and 245b and the support structure 250 via respective pin joints (or ball joints).

[0097] The second stator 223 is also directly coupled to the chassis 12 via a connecting rod 248b coupled to the second stator 223 at a node 249. Here, the node 249 is not juxtaposed with the node 247. Rather, it is radially offset, for example, using a Figure 2B The length of the link 248b and the (radial) position of the node 249 may be selected to provide a desired motion ratio between the rotation of the second stator 223 and the translation of the support structure 250.

[0098] The actuator assembly 200b can operate in a similar manner to the actuator assembly 200a, wherein the transmission 240a can be considered as an instantaneous linearization of the transmission 240b. The torque sources on the first stator 222 and the second stator 223 can each generate an input torque applied to the rotor 221, thereby causing the rotor 221 to rotate about the rotation axis 13 relative to the reference ground 11. Each torque source can generate a corresponding reaction torque applied to the first stator 222 and the second stator 223. For the second stator 223, the applied reaction torque can be directly transmitted to the chassis 12 via the connecting rod 248b, which in turn can cause the actuator 210b to translate along the support 253 away from or toward the reference ground 11.

[0099] For the first stator 222, the applied reaction torque may be transmitted to the rocker joint arm 244 via the link 245a. This in turn may cause the rocker joint arm 244 to rotate about the node 243 relative to the support structure 250. However, the constraint imposed by the link 248b coupling the second stator 223 to the chassis 12 may instead cause at least a portion of the reaction torque transmitted from the first stator 222 to the transmission 240b to be transmitted to the second stator 223 via the link 245b. This reaction torque may then produce a net force or net torque between the actuator 210b and the chassis 12, causing the actuator 210b to translate along the strut 253 via the support structure 250. A reaction force / torque may also be applied between the support structure 250 and the chassis 12, which may be used as another output (e.g., anti-dive, anti-squat).

[0100] The geometry of the rocker joint arm 244 may be modified to adjust the dependency of each output force / torque on the respective input torque and / or reaction torque generated by the torque sources on the first stator 222 and the second stator 223. For example, the length of the rocker joint arm 244 may affect the range of angular rotation of the first stator 222 and / or the second stator 223. The orientation of the rocker joint arm 244 (which may depend on the respective positions of the nodes 247 and 246 and the lengths of the connecting rods 245a and 245b) may also affect the direction of the reaction force applied to the support structure 250 by the transmission 240b. For example, the rocker joint arm 244 may be an elongated member in which forces are primarily transmitted along the length of the arm (lateral forces are more likely to cause the rocker joint arm 244 to rotate).

[0101] Axial flux motor with Panhard linkage and coaxial drive and differential shafts

[0102] FIG. 3A to FIG. 3D shows that it is kinematically equivalent to Figure 2B 210b of the actuator 310. As shown, the actuator 310 may include an axial flux motor 320. The motor 320 includes a rotor 321 mounted on a main shaft 324. The motor 320 also includes a first stator 322 and a second stator 323, which are coaxially constrained by the main shaft 324 and are disposed on opposite sides of the rotor 321. As shown, the first stator 322 and the second stator 323 may each be coupled to a respective housing, which together form a substantially closed cavity to accommodate the rotor 321 while still allowing rotational motion between the first stator 322 and the second stator 323.

[0103] The first stator 322 and the second stator 323 each include a torque source, which includes one or more magnets disposed on the rotor 321 or a corresponding stator and one or more coils disposed on the rotor 321 or a corresponding stator opposite to the one or more magnets. The current applied to the one or more coils via associated electronic devices (not shown) generates a magnetic field, which in turn interacts with the permanent magnetic field of the one or more magnets, thereby causing the rotor 321 (and / or the stator) to rotate. For this axial flux motor 310, the magnets and coils are mounted on the surfaces of the rotor 321 and the stator, respectively. The motor 320 can also be a radial flux motor (in which one or more magnets and coils are mounted on the periphery (e.g., the outer edge of the rotor 321, the inner edge of the stator surrounding the rotor 321)) or a combined radial-axial flux motor.

[0104] The actuator 310 may include a support structure 350 that provides mechanical support to the motor 320 and the transmission 340. As previously described, the support structure 250 may remain stationary relative to the reference frame of the actuator 310. In other words, the support structure 350 does not move relative to the motor 320 and the transmission 340, but rather moves relative to a reference ground or chassis. As shown, the support structure 350 may allow the main shaft 324 to rotate while constraining other degrees of freedom. The support structure 250 may also define an opening 311 to couple the support structure 350 to a strut housing (see FIG. 4A to FIG. 4C ). As shown, opening 311 can be shaped to allow insertion of the strut housing. One or more fasteners can be used to securely couple the support structure 350 to the strut housing.

[0105] The transmission 340 may include a first arcuate link 345a coupled to the first stator 322 at a node 346 and a second arcuate link 354b coupled to the second stator 323 at a node 347. The links 345a and 345b are coupled to a torsion bar 344 that rotates relative to a support structure 350 along an axis of rotation that passes through the node 343. The torsion bar 344 may be disposed within an opening in the support structure 350 that allows the torsion bar 344 to rotate while constraining the torsion bar's other degrees of freedom. In this example, the support structure 350 constrains the motion of the torsion bar's center of mass to a specific arc relative to the support structure 350.

[0106] picture Figure 2B Like the actuator 210b in FIG. 3 , the actuator 310 in FIG. 3 is configured to produce a summed torque and a differential torque output applied to the rotor 321. These output forces / torques can be used to actuate various subsystems. For example, the summed torque can rotate a drive shaft, which in turn rotates the wheels. And the differential torque can actuate an active suspension system.

[0107] FIG. 4A to FIG. 4C Shows the combination of FIG. 3A to FIG. 3D 310. As shown, the actuator 310 is integrated into a suspension system where the actuator 310 utilizes the summed torque to rotate the wheels 410 coupled to the spindle 324. The differential torque is used to actuate the suspension coupled to the chassis 12.

[0108] FIG. 4A to FIG. 4C A support structure 350 of the actuator 310 is shown coupled to a strut housing 412 via an opening 311. The strut housing 412 is slidably adjustable along a strut 453 coupled to the chassis 12. A spring 454 is disposed along the strut 453 and coupled to the chassis 12 and the support structure 350 to provide a restoring force when the suspension is actuated. The actuator assembly 400 also includes a connecting rod 448 (shown as a tension-compression member or a push rod) that couples the second stator 323 to the chassis 12 at a node 349. As shown, the connecting rod 448 can be coupled to the second stator 323 and the chassis 12 via respective ball joints. The actuator assembly 400 may also include a lower control arm 482 and a tie rod 480, each of which is coupled to the chassis 12 at one end and to the support structure 350 at the other end. The lower control arm 482 and the tie rod 480 may also constrain the kinematic movement of the support structure 350. Thus, the strut housing 412, the strut 453, the lower control arm 482 and the tie rod 480 together form a MacPherson strut suspension.

[0109] The reaction torque applied to the first stator 322 and the second stator 323 can generate excess force, which can be transmitted to the chassis 12 along the link 448 to translate the actuator 310 along the strut 453 via the strut housing 412 and / or prevent compression or extension of the actuator 310 when the vehicle is braked or accelerated, respectively. As described above, a reaction force / torque can be generated between the strut housing 412 and the strut 453, which can provide another output (e.g., reacting to a force component).

[0110] Axial flux motor with rocker linkage and offset drive and differential shafts

[0111] FIG. 5A to FIG. 5E Another exemplary actuator 510 is shown, in which a transmission 540 has a rocker link that constrains the motion of a first stator 522 and a second stator 523 in an axial flux motor 520. Similar to the actuator 310, the transmission 540 includes a torsion bar 544, which is a mechanically rigid component constrained by a support structure 550 to rotate along an axis parallel to the axis of rotation of the main shaft 524. The torsion bar 544 is coupled to the first stator 522 via a link 545a at a node 546, and to the second stator 523 via a link 545b at a node 547. The links 545a and 545b are free to rotate at their respective joints. The support structure 550 can be mounted to a reference frame (e.g., a vehicle chassis) for suspension or load reaction. For this case, the second stator 523 can be coupled to an external subsystem at a node 549 via a differential shaft 562 on the second stator 523. Differential shaft 562 is rotatable about the same axis of rotation as rotor 521 and main shaft 524. Actuator 510 operates in a similar manner as actuator 310, except that differential torque is output via differential shaft 562 rather than as a force through a connecting rod or push rod member (e.g., connecting rod 448).

[0112] Fig. 6A An exemplary actuator assembly 600a is shown incorporating FIG. 5A to FIG. 5EThe actuator 510 is used as a hub motor. As shown, the summed torque applied to the rotor 521 can rotate the wheel 410 mounted to the main shaft 524. The differential torque provided by the differential shaft 562 can be applied to the torque shaft 610. In this way, the actuator 510 does not directly generate a force / torque output to actuate the chassis 12 from the unsprung mass, but instead transmits the differential torque as a pure torque to the chassis 12 via the inner torque shaft 610. The torque transmitted to the torque shaft 610 can be used to actuate other subsystems (for example, actuating the suspension via another mechanism). The actuator assembly 600a also includes a lower A-arm 682, an upper A-arm 684, and a tie rod 680 that form part of the suspension. The A-arms 682 and 684 and the tie rod 680 are connected to the chassis 12 and the support structure 550 (the portion to which the arms 682 and 684 of the support structure 550 and the tie rod 680 are connected is not shown).

[0113] Figure 6B Another exemplary actuator assembly 600b is shown, where the actuator 510 is mounted inside the sprung mass or chassis 12 of the vehicle. As shown, the actuator assembly 600b includes a drive shaft 624 that couples the main shaft 524 of the motor 520 to the wheel 410. Thus, the summed torque applied to the rotor 521 can be used to rotate the wheel 410 via the drive shaft 624. The differential shaft 562 is coupled to the linkage 620, which transmits the differential torque to the actuation member 622, which can be coupled to other subsystems (e.g., actuating a suspension mechanism).

[0114] Figure 6C Another exemplary actuator assembly 600c is shown, wherein FIG. 3A to FIG. 3D The actuator 310 is incorporated into the swing arm suspension. Swing arm suspensions are commonly used in various types of vehicles, including but not limited to motorcycles, bicycles and scooters. As shown, the actuator 310 can be mounted to a support frame 630, which can have a fork supporting both sides of the wheel 410. The support frame 630 can then be mounted to the chassis 12 via an arm 632 (e.g., a front arm, a rear arm), and the arm 632 is rotatably connected to the support frame 630 and the chassis 12. The arm 632 can constrain the center of mass of the wheel to travel along a curved path (e.g., an arc). The support frame 630 can also be connected to the chassis 12 via a shock absorber 634 to provide a suspension. The shock absorber 634 can be connected to the support frame 630 via a pin joint. The actuator 310 can be connected to the chassis 12 via a rod 636, and the rod 636 is rotatably connected to the chassis 12 and the actuator 310.

[0115] Thus, the rod 636 can be actuated by the actuator 310 (e.g., differential torque) so that the rod 636 causes the support 634 to contract or extend. The transmission 340 can couple the first stator 322 to the second stator 323 via the connecting rods 345a and 345b and the torsion bar 344, thereby allowing the reaction torque to be transmitted from the first stator 322 to the second stator 323 (or vice versa). Thus, the rod 636 can be connected to the first stator 322 or the second stator 323.

[0116] Axial flux motor with bevel gear transmission

[0117] Fig. 7A Another exemplary actuator 710a having a bevel gear transmission 740a is shown. As shown, the actuator 710a may include an axial flux motor 720 in which a rotor 721 is mounted to a main shaft 724. The motor 720 may include a first stator 722a and a second stator 723a, which are disposed on opposite sides of the rotor 721 and are coaxially constrained to rotate about the main shaft 724 via one or more bearings (each bearing is represented by an "X" as a circle). The motor 720 can be supported and surrounded by a support structure 750. The transmission 740a can couple the first stator 722a to the second stator 723a via a bevel gear 748a. The bevel gear 748a can rotate relative to the support structure 750 at a node 743 via one or more bearings. Typically, only one bevel gear 748a may be used; however, Fig. 7A Transmission 740a is shown including two bevel gears 748a to provide additional mechanical support.

[0118] The bevel gear 748a may include one or more gear teeth that mesh with corresponding gear teeth on the first stator 722a at node 746 and on the second stator 723a at node 747. Thus, rotation of the first stator 722a in response to the reaction torque causes the bevel gear 748a to rotate, which in turn causes the second stator 723a to rotate in the opposite direction. In this way, the bevel gear transmission 740a provides counter-rotation between the first stator 722a and the second stator 723a. Thus, the actuator 710a is in a manner similar to that of the first stator 722a. Figure 2B The actuator 210b shown in FIG. 21 is kinematically operated in the same manner. A summing torque may be applied to rotate the rotor 721 and a differential torque may be output at a differential shaft 762 fixed to the second stator 723a. A reaction force / torque may be applied to the support structure 750 via the bevel gear 748a.

[0119] Figure 7BAnother exemplary actuator 710b is shown, which has a transmission 740b with a double bevel gear mechanism. The transmission 740b includes a double bevel gear 748b, which is meshed with the first stator 722b and the second stator 723b via independent bevel gears mounted to the same main shaft 724. Based on the relative size of the bevel gears in the double bevel gear 748b and / or the relative tooth diameter from the main shaft axis 13, the double bevel gear 748b can allow different motion ratios between the first stator 722b and the second stator 723b. For example, the gear coupled to the first stator 722b can be larger than the gear coupled to the second stator 723b, which results in an increase in the torque transmitted between the first stator 722b and the double bevel gear 748b and / or an increase in the speed between the second stator 723b and the double bevel gear 748b.

[0120] Figure 7C Another exemplary actuator 710c is shown having a transmission 740c with a planetary gear mechanism. In this case, the transmission 740c may include planetary gears 748c that rotate about a rotation axis parallel to the rotation axis of the main shaft 724. As shown, the support structure 750 may constrain the other translational and rotational degrees of freedom of the planetary gears 748c. The actuator 710c may be arranged in a manner similar to Fig. 7A Actuator 710a operates in a similar manner.

[0121] Fig.7D Another exemplary actuator 710d is shown, where the transmission 740d includes a bevel gear mechanism housed in a support structure 750 from a motor 720, which is disposed in the support structure 750. In this case, a first stator 722d is mounted to a differential shaft 764 that transmits differential torque. The rotor 721 and the second stator 723d are coaxial with the differential shaft 764. The rotor 721 also includes a drive shaft (main shaft) 724 coupled to a rotor frame 726 that partially surrounds the first stator 722d. The actuator 710d is arranged to be coupled to the first stator 722d. Fig. 7A The actuator 710a of FIG. 1 is operated in a similar manner, wherein the transmission 740d includes a bevel gear 748d meshing with the first stator 722d and the second stator 723d. However, in this case, the second stator 723d transmits the reaction torque to the first stator 722d via the transmission 740d.

[0122] Fig. 7EAnother exemplary actuator 710e is shown, where the transmission 740e includes a planetary gear mechanism, and the first stator 722e outputs a differential torque via a differential shaft 764. The actuator 710e is similar to the actuator 710d, except that the bevel gear 748d is replaced by a planetary gear 748e to couple the first stator 722e and the second stator 723e. As shown, the planetary gear 748e can rotate about an axis parallel to the axis of rotation of the differential shaft 764, and can be otherwise constrained by the support structure 750 along other translational and rotational degrees of freedom.

[0123] Axial flux motor with pulley transmission

[0124] Fig. 8A An exemplary transmission 840a is shown that uses a belt mechanism to transmit reaction torque. As shown, the first stator 822 can be coupled to a pulley 832 mounted to a shaft. The second stator 823 can be coupled to a pulley 831, which is mounted to a shaft that rotates concentrically around the first stator 822 via one or more bearings. Pulleys 831 and 832 can be coupled to a main pulley 830 via belts 836 and 838, respectively. The main pulley 830 can be coupled to and constrained by a support structure 850. Therefore, rotation of the second stator 823 causes the main pulley 830 to rotate via belt 836, which in turn causes the first stator 822 to rotate in the opposite direction via belt 838. In this way, the transmission 840a can provide a transmission with FIG. 2A to FIG. 7E The transmission 840a may also include an idler pulley 834 to guide the belt 838 and / or provide tension to the belt 838.

[0125] Idler pulley 834 may be constrained translationally by support structure 850. In addition, chains and / or cables may replace belts 836 and 838. Belts 836 and 838 may rely on frictional contact with corresponding pulleys to transmit torque. Therefore, the size of belts 836 and 838 and / or the structure of transmission 840a may be adapted to increase the contact area between belts 836 and 838 and corresponding pulleys to reduce slippage. In some cases, belts 836 and 838 may have teeth that mesh with corresponding teeth on the pulleys to further reduce slippage. However, in some cases, it may be preferred that belts 836 and 838 slide in a controlled manner.

[0126] Figure 8BAn exemplary actuator 810b having a single pulley transmission 840b is shown. As shown, the actuator 810b may include a first stator 822 and a second stator 823 that rotate around the same axis of rotation. The transmission 810b may include a belt 843, one end of which is coupled to the first stator 822 at a node 846, and the other end is coupled to the second stator 823 at a node 847. The belt 843 can be guided by a pulley 842 disposed between the first stator 822 and the second stator 823. Therefore, when the first stator 822 rotates, the belt 843 is pulled along the first stator 822. This in turn generates tension along the belt 843, which causes the pulley 842 and the second stator 823 to rotate in response. In particular, the second stator 823 rotates in the opposite direction to the first stator 822. For this design, the length of the belt 843 can be adapted to adjust the angular displacement range of the first stator 822 and the second stator 823.

[0127] Figure 8C An exemplary actuator 810c having a dual pulley transmission 840c is shown. As shown, the transmission 840c may include pulleys 844a and 844b, each for guiding a belt 845. Figure 8B Unlike the belt 843 in the actuator 810b, the belt 845 in the actuator 810c is not fixed to the first stator 822 or the second stator 823. Instead, the belt 845 is wound around the first stator 822, the second stator 823, and the pulleys 844a and 844b in a tensioned state. However, by providing counter-rotational motion between the first stator 822 and the second stator 823, the actuator 810c operates in a similar manner to the actuator 810b. For this design, the length of the belt 845 can be constrained by the size and layout of the first stator 822, the second stator 823, and the pulleys 844a and 844b.

[0128] Fig.8D An exemplary actuator 840d having a single pulley, dual belt transmission 840d is shown. As shown, the transmission 840d may include a cylindrical pulley 846 that rotates about an axis of rotation parallel to the axis of rotation of the first stator 822 and the second stator 823. For this design, the transmission 840d includes a belt 849a that couples the first stator 822 to the pulley 846 and a belt 849b that couples the second stator 823 to the pulley 846. The belt 849a may be twisted to form an additional loop wrapped around the pulley 846 so that the transmission 840d provides counter-rotational motion between the first stator 822 and the second stator 823. In some cases, one or both of the belts 849a and 849b may be fixed to their respective stators to constrain the range of rotation.

[0129] Fig. 8E and Figure 8F Several views of an exemplary actuator 810e having a dual helical gear transmission 840e are shown. As shown, the transmission 840e may include helical gears 860 and 862 that rotate relative to the support structure 850. The helical gears 860 and 862 may mesh, thereby causing counter-rotational motion between the gears 860 and 862. The first stator 822 may be coupled to the helical gear 860 via a belt 866, which is guided by a pulley mounted to the helical gear 860. Similarly, the second stator 823 may be coupled to the helical gear 862 via a belt 868, which is guided by a pulley mounted to the helical gear 862. Therefore, when the first stator 822 rotates, the belt 866 is pulled, which generates tension, which causes the helical gear 860 to rotate. This in turn causes the helical gear 862 and the second stator 823 to rotate in opposite directions via the belt 868. The belt 866 and the belt 868 may each be kept taut via an idler pulley 864. Idler gear 864 may be constrained by support structure 850 to rotate about an axis parallel to bevel gears 860 and 862 .

[0130] Example actuator with transmission coupled to chassis

[0131] Fig. 9A An actuator assembly 900a having a sliding joint transmission 940a is shown, wherein the transmission 940a is directly coupled to the chassis 12. As shown, the actuator assembly 900a includes an actuator 910a having a motor 920, a transmission 940a, and a support structure 950. As previously described, the motor 920 includes a rotor 921 mounted to a main shaft 924, which defines an axis of rotation 13. The main shaft 924 can be mechanically coupled to a reference ground 11 (e.g., via a wheel on a road). The motor 920 also includes a first stator 922 and a second stator 923, each of which supports a torque source (not shown) to apply torque to the rotor 921. The first stator 922 and the second stator 923 can be coaxially constrained to the main shaft 924 via one or more bearings. The main shaft 924 can also be coupled to the support structure 950. The support structure 950 may be slidably adjustable along struts 953 that are rigidly connected to the chassis 12. As previously described, the actuator assembly 900a may include springs 954a and 954b to provide a restoring force for the actuator 910a.

[0132] The transmission 940a can also be coupled to the first stator 922 and the second stator 923 in a manner similar to the previous embodiment. The transmission 940a may include a connecting rod 945a, which connects the first stator 922 at the node 946 to the joint housing 942 at the node 943; and a connecting rod 945b, which connects the second stator 923 at the node 2204 to the joint housing 942. The connecting rods 945a and 945b can be connected to the stator and the joint housing 942 via a pin joint (or a ball joint). In this embodiment, the transmission 940a is directly coupled to the chassis 12 at the node 949 via the connecting rod 948, which changes the transmission mode of the reaction torque in the actuator 910a. For example, when the reaction torque is applied to the first stator 922, at least a portion of the reaction torque is transmitted to the joint housing 942 via the connecting rod 945a. This in turn causes the joint housing 942 to slide along the support structure 950. However, since the joint housing 942 is directly coupled to the chassis 12, the reaction torque is primarily transmitted from the transmission 940a to the chassis 12 (rather than to the second stator 923). The reaction torque applied to the second stator 923 provides similar behavior. Since the second stator 923 does not receive the reaction torque from the first stator 922, the first stator 922 and the second stator 923 can be loaded in a symmetrical manner when similar reaction torques are applied from the respective torque sources.

[0133] However, the actuator 910a can be operated in a manner similar to the previous embodiment. The input torque can be expressed as a vector summed torque applied to the rotor 921. The transmission 940a causes reverse rotation between the first stator 922 and the second stator 923, so the reaction torque can be expressed as a differential torque output. The differential torque can generate a force between the transmission 940a and the chassis 12 along the connecting rod 948, which causes the actuator 910a to translate along the pillar 953. In addition, the differential torque can generate a reaction force / torque between the support structure 950 and the pillar 953 of the actuator 910a, which can be used as an additional output (e.g., for anti-dive, anti-squat).

[0134] Fig. 9B Another exemplary actuator assembly 900b is shown, where a transmission 940b includes a rocker joint and is directly coupled to the chassis 12. Similar to the actuator 210b, the transmission 940b may include a rocker joint arm 944 coupled to the links 945a and 945b and a node 943 on the support structure 950. Additionally, the rocker joint arm 944 may also be directly coupled to the chassis 12 at a node 949 via a link 948. However, the transmission 940b may operate in a similar manner to the actuator 210b, and the actuator assembly 900b may transfer torque in a similar manner to the actuator 910a.

[0135] FIG. 10A to FIG. 10E Several views of an exemplary actuator 1010 with a transmission 1040 having a Panhard linkage that also provides a differential torque output are shown. Actuator 1010 is kinematically similar to actuator 910b and therefore operates in a similar manner. (Unless otherwise specified, reference numerals having the same ending number are kinematically equivalent, e.g., Fig. 9B The rotor 921 in is kinematically equivalent to Fig.10E ) As shown in the figure, the transmission 1010c includes connecting rods 1045a and 1045b connected to the torsion bar 1044. In this case, the differential shaft 1062 is directly connected to the torsion bar. Therefore, the reaction torque applied to the first stator 1022 and the second stator 1023 can be transmitted as an output through the torsion bar.

[0136] Fig.11A Another exemplary actuator 1110a is shown, in which the transmission 1140a has a bevel gear mechanism that directly outputs differential torque. The actuator 1110 is also kinematically similar to Fig. 9B actuator 910b, and thus operates in a similar manner. (Again, unless otherwise specified, reference numerals having the same ending numeral are kinematically equivalent.) Transmission 1140b includes a bevel gear 1148a that meshes with the first stator 1122 and the second stator 1123 to produce counter-rotational motion between the first stator 1122 and the second stator 1123. However, in this case, bevel gear 1148a includes an auxiliary gear that meshes with a secondary bevel gear 1148b supporting the differential shaft 2350. In this way, rotation of the first stator 1122 and / or the second stator 1123 causes bevel gear 1148a to rotate, which in turn causes secondary bevel gear 1148b to rotate, thereby outputting a differential torque at node 1149.

[0137] Fig. 11BAnother exemplary actuator 1110b is shown in which a dual gear transmission 1140b is coupled to the chassis 12. As shown, the transmission 1140b may include a first gear 1160 meshed with the first stator 1122 and a second gear 1162 meshed with the second stator 1123. The first gear 1160 and the second gear 1162 may also be meshed together to produce counter-rotational motion between the first stator 1122 and the second stator 1123. The first gear 1160 and the second gear 1162 may be supported by a support structure 1150. In addition, the second gear 1162 may be coupled to the chassis 12 via a linkage 1148c. Therefore, the reaction torque transmitted to the first gear 1160 and / or the second gear 1162 may then be transmitted to the chassis 12 via the linkage 1148c to generate an actuation force that causes the actuator 1110b to translate relative to the chassis 12. The actuator 1110b is also kinematically similar to Fig. 9B Actuator 910b in.

[0138] FIG. 12A to FIG. 12C Several views of an exemplary actuator assembly 1200 are shown that outputs translational motion and / or force rather than differential torque. In this case, the actuator 1210 is kinematically equivalent to Fig. 9A 910a in the actuator 1210. The actuator 1210 may include a transmission 1240 that constrains the first stator 1222 and the second stator 1223 to rotate in opposite directions. The transmission 1240 may include a sliding joint 1274 that is coupled to the chassis 12 via a linkage 1272. The sliding joint 1274 may be slidably adjustable along a post 1270 coupled to the support structure 1250. The sliding joint 1274 may also be mounted on an arm 1276 that is slidably adjustable relative to the support structure 1250 along an axis that is substantially orthogonal to the axis along which the sliding joint 1274 moves relative to the post 1270. In this manner, the post 1270 and the arm 1276 constrain the actuator 1210 to translate (rather than rotate) relative to the chassis 12.

[0139] exist FIG. 8A to FIG. 8F The transmission depicted in FIG. 1 can be easily incorporated into an actuator where the transmission is directly coupled to the chassis 12. This can be accomplished in part by adding a differential shaft to one of the components in the transmission. For example, the differential shaft can be located at FIG. 8A to FIG. 8F The transmission is shown to be directly coupled to the chassis 12 .

[0140] in conclusion

[0141] All parameters, dimensions, materials, and configurations described herein are exemplary only, and actual parameters, dimensions, materials, and / or configurations will depend on the specific application or applications for which the teachings of the present invention are used. It should be understood that the foregoing embodiments are presented primarily by way of example, and that within the scope of the appended claims and their equivalents, embodiments of the present invention may be practiced in a manner other than as specifically described and claimed. Inventive embodiments of the present disclosure relate to each individual feature, system, article, material, kit, and / or method described herein.

[0142] In addition, any combination of two or more such features, systems, articles, materials, kits and / or methods is included within the scope of the invention disclosed herein, as long as these features, systems, articles, materials, kits and / or methods are not mutually inconsistent. Other substitutions, modifications, changes and deletions may also be made to the design, working conditions and arrangement of the corresponding elements of the exemplary embodiments without departing from the scope of the present disclosure. The use of numerical ranges does not exclude equivalents beyond the range that perform the same function in the same manner to produce the same results.

[0143] Moreover, various inventive concepts may be embodied as one or more methods, of which at least one example has been provided. In some cases, the actions performed as part of a method may be sequenced in different ways. Thus, in some inventive embodiments, the individual actions of a given method may be performed in an order different from the order specifically shown, which may include performing some actions simultaneously (even if such actions are shown as sequential actions in illustrative embodiments).

[0144] All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety.

[0145] All definitions, as defined and used herein, should be understood to have the same meaning as dictionary definitions, definitions in documents incorporated by reference, and / or ordinary meanings of the defined terms.

[0146] Unless expressly indicated to the contrary, the indefinite articles "a" and "an" as used herein in the specification and claims should be understood to mean "at least one".

[0147] The phrase "and / or" as used herein in the specification and claims should be understood to mean "one or both" of the elements so combined, i.e., the elements are present in combination in some cases and separately in other cases. Multiple elements listed with "and / or" should be interpreted in the same manner, i.e., "one or more" of the elements so combined. Other elements may optionally be present in addition to the elements specifically identified by the "and / or" clause, whether those specifically identified elements are related or unrelated. Thus, as a non-limiting example, a reference to "A and / or B", when used in conjunction with open language such as "comprising", may refer to only A (optionally including elements other than B) in one embodiment; to only B (optionally including elements other than A) in another embodiment; to both A and B (optionally including other elements) in yet another embodiment; and so on.

[0148] As used herein in the specification and claims, "or" shall be understood to have the same meaning as "and / or" as defined above. For example, when separating items in a list, "or" or "and / or" shall be interpreted as being inclusive, i.e., including at least one, but also including more than one of the multiple elements or listed elements, and optionally including other unlisted items. Only explicit indication of the opposite term, such as "only one ..." or "exactly one ...", or when used in the claims, "consisting of ..." will refer to including only one of the multiple elements or listed elements. Generally, the term "or" as used herein, when preceded by an exclusive term such as "either", "one of", "only one of them", or "exactly one of them", shall only be interpreted as indicating an exclusive selection (i.e., "one or the other but not both"). When used in the claims, "consisting essentially of ..." shall have the ordinary meaning used in the field of patent law.

[0149] As used herein in the specification and claims, when referring to a list of one or more elements, the phrase "at least one" should be understood to refer to at least one element selected from any one or more of the listed elements, but does not necessarily include at least one of each and every element specifically listed in the listed elements, and does not exclude any combination of elements in the listed elements. This definition also allows that other elements may optionally be present in addition to the elements specifically identified in the list of elements referred to by the phrase "at least one", whether those specifically identified elements are related or unrelated. Thus, as a non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B", or equivalently "at least one of A and / or B") may refer to at least one, optionally including more than one A, without B (and optionally including elements other than B) in one embodiment; may refer to at least one, optionally including more than one B, without A (and optionally including elements other than A) in another embodiment; may refer to at least one, optionally including more than one B, without A (and optionally including elements other than A) in yet another embodiment; may refer to at least one, optionally including more than one A, and at least one, optionally including more than one B (and optionally including other elements); and so on.

[0150] In the claims and the foregoing specification, all transitional phrases such as "comprises," "comprising," "carrying," "having," "containing," "involving," "having," "consisting of," etc. shall be understood as open-ended, i.e., meaning including but not limited to. Only the transitional phrases "consisting of" and "consisting essentially of" shall be closed or semi-closed transitional phrases, respectively, as provided in Section 2111.03 of the U.S. Patent Office Manual of Patent Examining Procedures.

Claims

1. An actuator for a vehicle, the actuator comprising: a support structure configured to be slidably coupled to a support post rigidly coupled to a chassis of the vehicle; a transmission coupled to the support structure; a motor coupled to the support structure and the transmission, the motor comprising: a spindle defining an axis of rotation; a rotor that rotates about the rotation axis; a first stator rotatably coupled to the main shaft and concentric with the rotation axis to apply a first torque to the rotor, the first torque causing a first reaction torque to be applied to the first stator; and a second stator rotatably coupled to the main shaft and concentric with the rotation axis to apply a second torque to the rotor, the second torque causing a second reaction torque to be applied to the second stator; and a connecting rod rotatably coupled directly to the second stator and configured to be coupled directly to a chassis of the vehicle, Therein, the first reaction torque and the second reaction torque generate redundant forces, which are applied as separate force components to A) the connecting rod and B) the strut via the support structure. 2 . The actuator of claim 1 , wherein the support structure is configured to reflect a torque proportional to a vector sum of the first torque and the second torque.

3. The actuator of claim 1, wherein the support structure and the motor are permitted to travel along a translation axis, and the transmission comprises: a first connecting rod connecting the first stator to the transmission at a first point offset from the translation axis; as well as A second connecting rod connects the second stator to the transmission at a second point offset from the translation axis.

4. The actuator of claim 3, wherein the first point and the second point are asymmetrically disposed about the rotation axis to provide a mechanical advantage. 5 . The actuator of claim 3 , wherein the transmission includes a torsion bar coupled to the first link and the second link to twist about an axis parallel to the rotation axis.

6. The actuator according to claim 5, further comprising: A differential output end is coaxial with the rotation axis to output a torque proportional to a difference between the first torque and the second torque.

7. The actuator according to claim 5, further comprising: A differential output end is parallel to the rotation axis to output a torque proportional to a difference between the first torque and the second torque.

8. The actuator of claim 1, wherein the transmission comprises: At least one bevel gear meshes with at least one of the first stator or the second stator to rotate the first stator in response to rotation of the second stator.

9. The actuator of claim 8, wherein the at least one bevel gear includes a first bevel gear and a second bevel gear, the first bevel gear and the second bevel gear each meshing with the first stator and the second stator to cause the first stator to rotate in the opposite direction in response to rotation of the second stator.

10. The actuator of claim 8, wherein the at least one bevel gear comprises a first bevel gear meshed with the first stator and a second bevel gear meshed with the second stator and having a different radius than the first bevel gear to provide a mechanical advantage.

11. The actuator of claim 1 , wherein the transmission comprises: At least one planetary gear meshes with at least one of the first stator or the second stator to rotate the first stator in response to rotation of the second stator.

12. The actuator of claim 1, wherein the motor is at least one of an axial flux motor or a radial flux motor.

13. The actuator of claim 1, wherein the second stator transmits at least a portion of the second reaction torque to the strut via the transmission.

14. An actuator assembly for a vehicle, the actuator assembly comprising: An axial flux motor comprising: a support structure; a main shaft defining a first rotation axis; a rotor fixed to the main shaft; a first stator concentric with the first rotation axis to apply a first torque to the rotor, the first torque causing a first reaction torque to be applied to the first stator; and a second stator concentric with the first rotation axis to apply a second torque to the rotor, the second torque causing a second reaction torque to be applied to the second stator; a suspension rigidly connected to the support structure and compressibly coupled to a chassis of the vehicle; a torsion bar rotatably coupled to the suspension and rotatably coupled to the first stator and the second stator, the torsion bar rotatable about a second rotational axis offset from the first rotational axis; and a connecting rod rotatably coupled to the second stator and rotatably coupled to the chassis, Therein, the first reaction torque and the second reaction torque generate redundant forces, which are applied as separate force components to A) the connecting rod and B) the suspension via the support structure.

15. A method of operating the brakes of a vehicle, the method comprising: applying a first torque to a rotor, the rotor being configured to rotate about a rotation axis; applying a second torque to the rotor while applying the first torque; In response to applying the first torque, applying a first reaction torque to a first stator configured to rotate about the rotation axis; In response to applying the second torque, applying a second reaction torque to a second stator configured to rotate about the rotation axis, the second stator being coupled to the first stator via a transmission; as well as When the first torque and the second torque are applied in opposite directions: transmitting, via the transmission, at least a portion of the first reaction torque from the first stator to a support structure slidably movable relative to a chassis of the vehicle along a strut rigidly connected to the chassis of the vehicle; as well as At least a portion of the second reaction torque is transmitted directly from the second stator to the chassis via a connecting rod rotatably directly coupled to the second stator and the chassis.

16. The method according to claim 15, further comprising: In response to applying the first torque and the second torque, the rotor rotates about an axis of rotation.

17. The method of claim 15, wherein: The support structure is slidably movable along a translation axis, and Transmitting at least a portion of the first reaction torque includes transmitting the at least a portion of the first reaction torque from the first stator to a first connecting rod connecting the first stator to the transmission at a first point offset from the translation axis.

18. The method of claim 17, wherein transmitting the at least a portion of the second reaction torque comprises transmitting the at least a portion of the second reaction torque from the second stator to a second connecting rod connecting the second stator to the transmission at a second point offset from the translation axis.

19. The method of claim 18, wherein the first point and the second point are arranged asymmetrically about the rotation axis, and the method further comprises: A mechanical gain is generated based on the first reaction torque and the second reaction torque.

20. The actuator assembly of claim 14, wherein the axial flux motor is permitted to travel along a translation axis, and the actuator assembly further comprises: a first link coupled to the torsion bar and the first stator at a first point offset from the translation axis; as well as A second link is coupled to the torsion bar and the second stator at a second point offset from the translation axis.

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