A highly integrated fully active electromechanical suspension actuator

Abstract

The present invention discloses a highly integrated fully active electromechanical suspension actuator, including an electric drive mechanism, a motion conversion mechanism, and the actuator also includes a basic damping mechanism. The output end of the electric drive mechanism and the vibration output end of the motion conversion mechanism realize the transmission connection of the rotational motion through the power transmission mechanism, and the input end of the basic damping mechanism is connected to the power transmission mechanism; the motion conversion mechanism realizes the mutual conversion between linear motion and rotational motion, the linear motion end of the motion conversion mechanism serves as the vibration input end, and the rotational motion end of the motion conversion mechanism serves as the vibration output end. The electric drive mechanism provides active force for vibration reduction of the motion conversion mechanism, and the basic damping mechanism provides passive damping force for vibration reduction of the motion conversion mechanism. The advantages of the present invention: effectively combining active and passive damping mechanisms, can play an excellent vibration reduction role under low-frequency, medium-frequency and high-frequency working conditions, and improve the smoothness and handling stability of the car.

Description

Technical Field

[0001] The invention relates to the field of automobile electronically controlled suspension systems, and in particular to a highly integrated fully active electromechanical suspension actuator. Background Art

[0002] Traditional vehicle suspension systems are passive systems that include a spring-damper system, where the spring and damper have fixed characteristics. However, given changing road conditions and changing passenger preferences, such fixed characteristics may not be suitable for complex and changing road conditions. Therefore, active suspension systems have gradually developed, in which various suspension characteristics can be controlled by the user or automatically respond according to road conditions.

[0003] At present, the active suspension system has significant advantages in automobile vibration reduction. It can adjust the output force of the main power actuator according to the driving conditions of the car, so as to take into account the smoothness and handling stability of the car. The existing main power actuators mainly include linear motor type, hydraulic type, rotary motor type and other types. Among them, the linear motor type has the simplest structure and the highest energy conversion efficiency, but its disadvantage is that the continuous output force density is low. Hydraulic actuators are usually divided into flow regulation type and pressure regulation type, which require an external power source, so they are large in size and have high energy consumption. Rotary motor actuators usually use mechanisms such as ball screws, gear racks, hydraulic cylinders (hydraulic motors or pumps) to achieve linear and rotary motion conversion and amplify the electric control force of the actuator. However, the rotary motor active suspension system may face problems such as excessive motor power consumption, insufficient response speed and unsatisfactory damping effect under high-frequency excitation.

[0004] In order to alleviate the problem of poor damping effect of rotary motor actuators using ball screws under high-frequency excitation, the patent application publication text with Chinese patent application publication number CN108819643A proposed "an active suspension using a rubber spring coaxial with the main power actuator". The active suspension has a rubber bushing spring coaxially connected in series at the bottom of the main power actuator, forming a two-stage vibration-damping rotary motor active suspension structure. However, since the dynamic deflection of the bushing spring needs to meet the safety threshold of rubber compression, a certain bushing spring compression safety distance must be reserved, resulting in a larger bushing spring, and thus a larger suspension installation space needs to be reserved between the vehicle body and the wheel. In addition, the damping stiffness of the additional rubber bushing spring is fixed and unchanged, and its adaptability to vehicle driving conditions is not ideal.

[0005] In summary, the main defects of the existing technology include: the linear motor actuator has a low continuous output force density; the hydraulic actuator is large in size and has high energy consumption; the rotary motor actuator has poor damping effect when high-frequency input occurs, etc. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a highly integrated fully active electromechanical suspension actuator that effectively combines active and passive damping mechanisms, can play an excellent vibration reduction role under low-frequency, medium-frequency and high-frequency conditions, and improve the smoothness and handling stability of the vehicle. In addition, the energy feedback function of the rotating motor allows the actuator to recover excess energy during operation, thereby improving the overall efficiency of the system and being suitable for various complex driving conditions.

[0007] The present invention is achieved through the following technical solutions:

[0008] A highly integrated fully active electromechanical suspension actuator, comprising an electric drive mechanism and a motion conversion mechanism, the actuator further comprising a basic damping mechanism, the output end of the electric drive mechanism and the vibration output end of the motion conversion mechanism are connected to each other through a power transmission mechanism to realize a rotational motion, and the input end of the basic damping mechanism is connected to the power transmission mechanism through a transmission connection;

[0009] The motion conversion mechanism realizes the mutual conversion between linear motion and rotational motion. The linear motion end of the motion conversion mechanism serves as the vibration input end, and the rotational motion end of the motion conversion mechanism serves as the vibration output end. The electric drive mechanism provides active force for vibration reduction of the motion conversion mechanism, and the basic damping mechanism provides passive damping force for vibration reduction of the motion conversion mechanism.

[0010] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the basic damping mechanism includes a damper housing with a cavity therein, the cavity inside the damper housing is filled with hydraulic oil, the cavity of the damper housing is provided with a damper inner cylinder, the damper inner cylinder divides the cavity in the damper housing into an inner cavity and an outer cavity connected at the upper end or the lower end, the channel connecting the inner cavity and the outer cavity is a connecting channel, a vertically extending damper spiral shaft is provided in the inner cavity, the damper spiral shaft is rotatably mounted on the damper housing and one end extends out of the damper housing as a transmission At the inlet end, a spiral protrusion is provided on the outer circumferential surface of the damper spiral shaft, and a spiral oil path is formed between the spiral protrusion of the damper spiral shaft and the inner wall of the damper inner cylinder. A plurality of damping holes are opened on the damper inner cylinder along the circumferential direction. The damping holes are located on the damper inner cylinder away from the connecting channel. Both ends of the damping holes are respectively connected with the inner cavity and the outer cavity. A one-way valve is provided in some of the damping holes, which drives the damper spiral shaft to rotate through a power transmission mechanism. The flow direction of the hydraulic oil in the internal cavity of the damper housing is controlled by the forward and reverse rotation of the damper spiral shaft.

[0011] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the power transmission mechanism is any one of an external gear mechanism, a sprocket mechanism and a pulley mechanism.

[0012] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the power transmission mechanism is a first external meshing gear mechanism, which includes meshing gear one and gear two, gear one is coaxially fixedly connected to the output end of the electric drive mechanism, gear two is coaxially fixedly connected to the vibration output end of the motion conversion mechanism, and the damper spiral shaft of the basic damping mechanism is coaxially fixedly connected to gear one or gear two.

[0013] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the power transmission mechanism is a second external meshing gear mechanism, which includes gear three, gear four and gear five that are meshed in sequence, gear three is coaxially fixedly connected to the output end of the electric drive mechanism, gear four is coaxially fixedly connected to the damper spiral shaft of the basic damping mechanism, and gear five is coaxially fixedly connected to the vibration output end of the motion conversion mechanism.

[0014] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the power transmission mechanism is a third external meshing gear mechanism, the third external meshing gear mechanism includes meshing gear six and gear seven, one end of the damper screw shaft of the basic damping mechanism is coaxially fixedly connected to gear six, the other end of the damper screw shaft of the basic damping mechanism is coaxially fixedly connected to the output end of the electric drive mechanism, and gear seven is coaxially fixedly connected to the vibration output end of the motion conversion mechanism.

[0015] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the motion conversion mechanism is a ball screw mechanism or a planetary screw mechanism.

[0016] As a preferred solution for the above-mentioned highly integrated fully active electromechanical suspension actuator, the motion conversion mechanism is a ball screw mechanism, which includes a screw outer sleeve and a screw shaft and a ball nut disposed in the screw outer sleeve and threadedly matched with each other. The screw shaft is rotatably supported on the screw outer sleeve, and the vertical movement of the ball nut is limited and guided by a guide groove extending vertically in the screw outer sleeve. The upper end of the ball nut is fixedly connected to a screw shaft sleeve, and the screw shaft sleeve is loosely sleeved outside the screw shaft and extends upward from the screw outer sleeve as a vibration input end of the motion conversion mechanism, and the lower end of the screw shaft extends from below the screw outer sleeve as a vibration output end of the motion conversion mechanism.

[0017] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the electric drive mechanism is a rotating motor suitable for kinetic energy recovery.

[0018] As a preferred solution of the above-mentioned highly integrated fully active electromechanical suspension actuator, the electric drive mechanism is a liquid-cooled motor.

[0019] Compared with the prior art, the present invention has the following advantages:

[0020] 1. The present invention provides a highly integrated fully active electromechanical suspension actuator, which is additionally provided with a basic damping mechanism, and is used in coordination with an electric drive mechanism, effectively combining the main power of the motor and the passive damping force, thereby solving the problem of poor vibration filtering effect of previous active suspension actuators under high-frequency vibration, so that the actuator can play an excellent vibration reduction role under low-frequency, medium-frequency and high-frequency working conditions, thereby improving the driving safety, smoothness and handling stability of the vehicle; at the same time, even when the electric drive mechanism is not working or fails due to a fault, an effective passive damping vibration reduction effect can be achieved through the basic damping mechanism, so that the suspension system has a fail-safe characteristic; in addition, the electric drive mechanism adopts a rotating motor suitable for kinetic energy recovery, which integrates the main power controllable and energy feeding functions, so that the actuator can recover part of the energy in the vibration energy feeding mode, thereby improving the energy utilization efficiency, and is suitable for various complex driving conditions.

[0021] 2. The present invention provides a highly integrated fully active electromechanical suspension actuator, which cleverly integrates the added basic damping mechanism with the electric drive mechanism and the motion conversion mechanism. It has a compact structural layout, solves the problem of excessive overall size of previous active suspension actuators, greatly improves the integration level and reduces the overall size, and is basically the same as the traditional suspension layout requirements for the vehicle chassis.

[0022] 3. The present invention provides a highly integrated fully active electromechanical suspension actuator, in which a basic damping mechanism is provided with a damper spiral shaft with a spiral protrusion, and a spiral oil path is formed between the spiral protrusion of the damper spiral shaft and the inner wall of the damper inner tube. The rotation of the damper spiral shaft can drive the hydraulic oil in the internal cavity of the damper housing to flow, generate damping force, and realize passive damping force control of vibration; and the forward and reverse rotation of the damper spiral shaft can realize the control of the flow direction of the hydraulic oil in the internal cavity of the damper housing, and cooperate with the setting of the one-way valve in some damping holes to realize different damping force sizes under different flow directions to meet the vibration reduction requirements under various working conditions.

[0023] 4. The present invention provides a highly integrated fully active electromechanical suspension actuator, in which the damping force can be adjusted by adjusting the number and position of the one-way valves, the helix angle and pitch of the damper spiral shaft, and selecting one-way valves of different specifications in the basic damping mechanism, so that the damping characteristics of the basic damping mechanism can adapt to different loads and working conditions, thereby greatly improving the adaptability of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural diagram of embodiment 1 of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the basic damping mechanism in the first embodiment of the present invention.

[0026] Figure 3 It is a structural diagram of embodiment 2 of the present invention.

[0027] Figure 4 It is a structural diagram of embodiment 3 of the present invention.

[0028] Figure 5 It is a structural diagram of embodiment 4 of the present invention.

[0029] Figure 6 It is a structural diagram of embodiment 5 of the present invention.

[0030] Figure 7 It is a structural diagram of embodiment 6 of the present invention.

[0031] Figure 8 It is an overall stereogram of the first embodiment of the present invention.

[0032] Fig. 9 It is a partial structural stereogram of the basic damping mechanism in the first embodiment of the present invention.

[0033] Numbers in the figure: 1 electric drive mechanism, 2 motion conversion mechanism, 3 basic damping mechanism, 4 power transmission mechanism, 5 damper housing shell, 6 damper upper end cover, 7 damper inner cylinder, 8 inner cavity, 9 outer cavity, 10 connecting channel, 11 damper spiral shaft, 12 spiral protrusion, 13 damping hole, 14 one-way valve, 15 screw outer sleeve, 16 screw shaft, 17 ball nut, 18 thrust bearing one, 19 screw shaft sleeve, 20 gear one, 21 gear two, 22 rotating motor, 23 thrust bearing two, 24 skeleton oil seal, 25 planetary screw shaft, 26 planetary screw ball nut, 27 flange, 28 annular gap, 29 gear three, 30 gear four, 31 gear five, 32 gear six, 33 gear seven. DETAILED DESCRIPTION

[0034] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0035] See also Figures 1 to 9This embodiment discloses a highly integrated fully active electromechanical suspension actuator, including an electric drive mechanism 1, a motion conversion mechanism 2, and a basic damping mechanism 3. The output end of the electric drive mechanism 1 and the vibration output end of the motion conversion mechanism 2 are connected to each other through a power transmission mechanism 4 to realize a transmission connection of rotational motion, and the input end of the basic damping mechanism 3 is connected to the power transmission mechanism 4. The motion conversion mechanism 2 realizes the mutual conversion between linear motion and rotational motion, the linear motion end of the motion conversion mechanism 2 is used as the vibration input end, and the rotational motion end of the motion conversion mechanism 2 is used as the vibration output end. The electric drive mechanism 1 provides active force for vibration reduction of the motion conversion mechanism 2, and the basic damping mechanism 3 provides passive damping force for vibration reduction of the motion conversion mechanism 2.

[0036] The basic damping mechanism 3 includes a damper housing with a cavity therein, and the damper housing includes a damper housing shell 5 and a damper upper end cover 6 which are fixedly connected to each other, and a cavity is enclosed between the damper housing shell 5 and the damper upper end cover 6. The cavity inside the damper housing is filled with hydraulic oil, and the cavity of the damper housing is provided with a damper inner cylinder 7, and the damper inner cylinder 7 divides the cavity in the damper housing into an inner cavity 8 and an outer cavity 9 which are connected at the upper end or the lower end, and the channel connecting the inner cavity 8 and the outer cavity 9 is a connecting channel 10, and a vertically extending damper spiral shaft 11 is provided in the inner cavity 8, and the damper spiral shaft 11 is rotatably mounted on the damper housing and one end extends out of the damper housing as an input end, and a spiral protrusion 12 is provided on the outer circumferential surface of the damper spiral shaft 11, and the damper spiral shaft 11 is provided with a spiral protrusion 12. A spiral oil path is formed between the spiral protrusion 12 of the swivel shaft 11 and the inner wall of the damper inner cylinder 7. A plurality of damping holes 13 are circumferentially opened on the damper inner cylinder 7. The damping holes 13 are located at a position on the damper inner cylinder 7 away from the connecting channel 10. Both ends of the damping holes 13 are respectively connected to the inner cavity 8 and the outer cavity 9. A one-way valve 14 is provided in some of the damping holes 13. The damper spiral shaft 11 is driven to rotate through the power transmission mechanism 4. The flow direction of the hydraulic oil in the internal cavity of the damper housing is controlled by the forward and reverse rotation of the damper spiral shaft 11.

[0037] The motion conversion mechanism 2 is a ball screw mechanism or a planetary screw mechanism. The electric drive mechanism 1 is a rotary motor 22 or a liquid-cooled motor suitable for kinetic energy recovery. The power transmission mechanism 4 is any one of an external meshing gear mechanism, a sprocket mechanism and a pulley mechanism.

[0038] When the power transmission mechanism 4 adopts a sprocket mechanism, the power transmission mechanism 4 includes sprocket one, sprocket two and a chain, and the transmission connection between sprocket one and sprocket two is realized by the chain, wherein sprocket one is coaxially fixedly connected to the output end of the electric drive mechanism 1, and sprocket two is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2 and the damper screw shaft 11 of the basic damping mechanism 3 respectively.

[0039] When the power transmission mechanism 4 adopts a pulley mechanism, the power transmission mechanism 4 includes pulley 1, pulley 2 and a transmission belt. Pulley 1 and pulley 2 are connected through the transmission belt, wherein pulley 1 is coaxially fixedly connected to the output end of the electric drive mechanism 1, and pulley 2 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2 and the damper spiral shaft 11 of the basic damping mechanism 3 respectively.

[0040] The following embodiments are given according to different combinations of several mechanisms, but the protection scope of the present invention is not limited to the following embodiments.

[0041] Embodiment 1

[0042] See also Figure 1 and Figure 2 , in this embodiment:

[0043] The motion conversion mechanism 2 adopts a ball screw mechanism, which includes a screw outer sleeve 15 and a screw shaft 16 and a ball nut 17 placed in the screw outer sleeve 15 and threadedly matched with each other. The bottom of the screw outer sleeve 15 is fixedly connected to the damper housing of the basic damping mechanism 3, and the lower section of the screw shaft 16 is rotatably supported on the screw outer sleeve 15 through a thrust bearing 18. The vertical movement of the ball nut 17 is limited and guided by a guide groove extending vertically in the screw outer sleeve 15. The upper end of the ball nut 17 is fixedly connected to a screw shaft sleeve 19, which is hollowly sleeved outside the screw shaft 16 and extends upward from the screw outer sleeve 15 as the vibration input end of the motion conversion mechanism 2, and the lower end of the screw shaft 16 extends from below the screw outer sleeve 15 as the vibration output end of the motion conversion mechanism 2.

[0044] The power transmission mechanism 4 adopts a first external meshing gear mechanism, which includes a meshing gear 1 20 and a gear 2 21. The rotating motor 22 is fixedly mounted on the damper housing of the basic damping mechanism 3. The gear 1 20 is coaxially fixedly connected to the output end of the rotating motor 22, and the gear 2 21 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2, that is, the gear 2 21 is coaxially fixedly connected to the lower end of the screw shaft 16. The lower end of the damper spiral shaft 11 of the basic damping mechanism 3 is rotatably supported on the damper housing shell 5 through the thrust bearing 2 23. The upper end of the damper spiral shaft 11 of the basic damping mechanism 3 extends out from the damper upper end cover 6 and is coaxially fixedly connected to the gear 2 21. A skeleton oil seal 24 is provided between the upper section of the damper spiral shaft 11 and the damper upper end cover 6. The skeleton oil seal 24 is used to seal the hydraulic oil in the cavity, so that the hydraulic oil will not leak when the damper spiral shaft rotates to pump oil.

[0045] In the basic damping mechanism 3, the cavity inside the damper housing is filled with about 94 ml of hydraulic oil, the top of the inner cavity 8 and the outer cavity 9 are both closed by the damper upper end cover 6, the top of the damper inner cylinder 7 is fixedly installed with the damper upper end cover 6, and a gap is left between the bottom end of the damper inner cylinder 7 and the damper housing shell 5 to form a connecting channel 10. The damping hole 13 is arranged at a position close to the top of the damper inner cylinder 7 and is distributed at intervals along the circumferential direction. The conduction direction of the one-way valve 14 is from the inside to the outside along the radial direction of the damper inner cylinder 7.

[0046] The arrangement of the various mechanisms of the actuator is as follows: the electric drive mechanism 1 and the motion conversion mechanism 2 are located on the same side of the power transmission mechanism 4 , and the basic damping mechanism 3 is located on the other side of the power transmission mechanism 4 .

[0047] In the entire actuator, the part of the screw shaft sleeve 19 extending above the screw outer sleeve 15 serves as the vibration input end of the motion conversion mechanism 2, and the vibration input end is connected to the tower top of the vehicle; the bottom of the damper housing of the basic damping mechanism 3 is connected to the suspension body of the vehicle.

[0048] When the vehicle vibrates, the body transmits the vibration to the screw shaft sleeve 19 of the ball screw mechanism, driving the screw shaft sleeve 19 to vibrate up and down, and the screw shaft sleeve 19 drives the ball nut 17 fixed thereto to vibrate up and down, and the ball nut 17 drives the screw shaft 16 matched with its thread to rotate, and the bottom end of the screw shaft 16 is connected to the gear 2 21 through a flat key, and converts the linear motion of the ball nut 17 along the screw shaft 16 into the rotational motion of the gear 2 21, thereby driving the damper spiral shaft 11 to rotate, and the damper spiral shaft 11 promotes the hydraulic oil to flow in the spiral oil channel, so that the hydraulic oil circulates between the inner cavity 8 and the outer cavity 9, generates a damping force, and suppresses the rotational motion of the damper rotating shaft, gear 2 21 and the screw shaft 16, thereby suppressing the up and down vibration of the screw shaft sleeve 19, and then suppressing the vibration of the vehicle, realizing passive damping control of the vehicle vibration.

[0049] When the damper spiral shaft 11 rotates forward, the hydraulic oil rises along the spiral oil passage and passes through the damping hole 13 on the damper inner tube 7 from the inside to the outside. A one-way valve 14 is installed in part of the damping gap. The conduction direction of the one-way valve 14 is from the inside to the outside, so the hydraulic oil can pass through all the damping holes 13 into the outer cavity 9, and the damping force generated by the corresponding basic damping mechanism 3 is small; when the damper spiral shaft 11 is reversed, the hydraulic oil descends along the spiral oil passage, and the hydraulic oil in the inner cavity 8 is squeezed from the connecting channel 10 at the bottom of the damper inner tube 7 to the outer cavity 9, and then the hydraulic oil passes through the damping hole 13 on the damper inner tube 7 from the outside to the inside. Due to the action of the one-way valve 14, the damping hole 13 with the one-way valve 14 is not conductive. At this time, the number of damping holes 13 that the hydraulic oil can pass through is reduced, and the damping force generated by the corresponding basic damping mechanism 3 is large.

[0050] At the same time, the rotating motor 22 can perform active power control on the vehicle vibration as needed. When the rotating motor 22 is started, the rotating motor 22 drives the gear 1 20 to rotate, and the gear 1 20 drives the gear 2 21 meshing with it to rotate, so that the up and down movement of the screw shaft sleeve 19 can be controlled, which can realize the active control of the vehicle vibration and the active adjustment of the vehicle body posture. When the rotating motor 22 is not started, the rotating gear 2 21 can drive the gear 1 20 to rotate, and the gear 1 20 feeds the rotational motion back to the rotating motor 22, realizing the vibration energy feeding function of the rotating motor 22. That is, the rotating motor 22 can control the two modes of active power energy consumption and vibration energy feeding.

[0051] Embodiment 2

[0052] See also Figure 3 The only difference between this embodiment and the first embodiment is that the motion conversion mechanism 2 is different. In this embodiment, the motion conversion mechanism 2 adopts a planetary screw mechanism, and the lower end of the planetary screw shaft 25 of the planetary screw mechanism serves as the vibration output end of the motion conversion mechanism 2, and the upper end of the planetary screw shaft sleeve fixedly connected to the planetary screw ball nut 26 of the planetary screw mechanism serves as the vibration input end of the motion conversion mechanism 2.

[0053] Embodiment 3

[0054] See also Figure 4 The difference between this embodiment and the second embodiment is only that the structure of the basic damping mechanism 3 is different. The structural difference of the basic damping mechanism 3 in this embodiment is:

[0055] The bottom end of the damper inner tube 7 is open and is provided with a flange 27 extending outward. The flange 27 at the bottom of the damper inner tube 7 is sealed and fixedly installed with the inner wall of the damper outer shell 5. A gap is left between the top of the damper inner tube 7 and the damper outer shell 5. An annular gap 28 is opened at the top of the damper inner tube 7 to form a connecting channel 10. The damping holes 13 are arranged on the flange 27 at the bottom end of the damper inner tube 7 and are distributed at intervals along the circumferential direction. The conduction direction of the one-way valve 14 is one-way conduction from bottom to top along the flange 27.

[0056] Embodiment 4

[0057] See also Figure 5 The difference between this embodiment and the second embodiment lies in that the layout of the various mechanisms of the actuator is different and the structure of the power transmission mechanism 4 is different.

[0058] In this embodiment, the layout of the various mechanisms of the actuator is as follows: the electric drive mechanism 1, the basic damping mechanism 3, and the motion conversion mechanism 2 are located on the same side of the power transmission mechanism 4 and arranged in sequence, and the basic damping mechanism 3 is inverted as a whole. This arrangement is more compact and saves space occupied in the vertical direction of the entire actuator.

[0059] The power transmission mechanism 4 adopts a second external meshing gear mechanism, which includes gear three 29, gear four 30 and gear five 31 that are meshed in sequence. Gear three 29 is coaxially fixedly connected to the output end of the electric drive mechanism 1, gear four 30 is coaxially fixedly connected to the damper screw shaft 11 of the basic damping mechanism 3, and gear five 31 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2.

[0060] Embodiment 5

[0061] See also Figure 6 The difference between this embodiment and the second embodiment is that the connection positions of the basic damping mechanism 3 and the power transmission mechanism 4 are different. In this embodiment:

[0062] The upper end of the damper spiral shaft 11 of the basic damping mechanism 3 extends above the damper upper end cover 6 and is coaxially fixedly connected to the gear 1 20 .

[0063] Embodiment 6

[0064] See also Figure 7 The difference between this embodiment and the fifth embodiment is that the layout of the various mechanisms of the actuator is different and the structure of the power transmission mechanism 4 is different. In this embodiment:

[0065] The electric drive mechanism 1 , the basic damping mechanism 3 , and the motion conversion mechanism 2 are located on the same side of the power transmission mechanism 4 , and the electric drive mechanism 1 and the basic damping mechanism 3 are coaxially arranged.

[0066] The power transmission mechanism 4 is a third external meshing gear mechanism, which includes meshing gear six 32 and gear seven 33. One end of the damper screw shaft 11 of the basic damping mechanism 3 is coaxially fixedly connected to the gear six 32, and the other end of the damper screw shaft 11 of the basic damping mechanism 3 is coaxially fixedly connected to the output end of the electric drive mechanism 1. Gear seven 33 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2.

[0067] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A highly integrated fully active electromechanical suspension actuator, comprising an electric drive mechanism and a motion conversion mechanism, characterized in that: The actuator further comprises a basic damping mechanism, the output end of the electric drive mechanism and the vibration output end of the motion conversion mechanism are connected to each other through a power transmission mechanism to realize a transmission connection of rotational motion, and the input end of the basic damping mechanism is connected to the power transmission mechanism through a transmission connection; The motion conversion mechanism realizes the mutual conversion between linear motion and rotational motion. The linear motion end of the motion conversion mechanism serves as the vibration input end, and the rotational motion end of the motion conversion mechanism serves as the vibration output end. The electric drive mechanism provides active force for vibration reduction of the motion conversion mechanism, and the basic damping mechanism provides passive damping force for vibration reduction of the motion conversion mechanism. The basic damping mechanism includes a damper housing with a cavity therein, the cavity inside the damper housing is filled with hydraulic oil, the cavity of the damper housing is provided with a damper inner cylinder, the damper inner cylinder divides the cavity in the damper housing into an inner cavity and an outer cavity connected at the upper end or the lower end, the channel connecting the inner cavity and the outer cavity is a connecting channel, a vertically extending damper spiral shaft is provided in the inner cavity, the damper spiral shaft is rotatably mounted on the damper housing and one end extends out of the damper housing as an input end, a spiral protrusion is provided on the outer circumferential surface of the damper spiral shaft, a spiral oil path is formed between the spiral protrusion of the damper spiral shaft and the inner side wall of the damper inner cylinder, a plurality of damping holes are opened circumferentially on the damper inner cylinder, and both ends of the damping holes are respectively connected with the inner cavity and the outer cavity.

2. A highly integrated fully active electromechanical suspension actuator as claimed in claim 1, characterized in that: A one-way valve is provided in some damping holes, which drives the damper spiral shaft to rotate through a power transmission mechanism. The flow direction of the hydraulic oil in the internal cavity of the damper housing is controlled by the forward and reverse rotation of the damper spiral shaft.

3. A highly integrated fully active electromechanical suspension actuator as claimed in claim 1, characterized in that: The power transmission mechanism is any one of an external gear mechanism, a sprocket mechanism and a pulley mechanism.

4. A highly integrated fully active electromechanical suspension actuator as claimed in claim 3, characterized in that: The power transmission mechanism is a first external meshing gear mechanism, which includes meshing gear 1 and gear 2, gear 1 is coaxially fixedly connected to the output end of the electric drive mechanism, gear 2 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism, and the damper spiral shaft of the basic damping mechanism is coaxially fixedly connected to gear 1 or gear 2.

5. A highly integrated fully active electromechanical suspension actuator as claimed in claim 3, characterized in that: The power transmission mechanism is a second external meshing gear mechanism, which includes gear three, gear four and gear five that are meshed in sequence. Gear three is coaxially fixedly connected to the output end of the electric drive mechanism, gear four is coaxially fixedly connected to the damper spiral shaft of the basic damping mechanism, and gear five is coaxially fixedly connected to the vibration output end of the motion conversion mechanism.

6. A highly integrated fully active electromechanical suspension actuator as claimed in claim 3, characterized in that: The power transmission mechanism is a third external meshing gear mechanism, which includes meshing gear six and gear seven. One end of the damper screw shaft of the basic damping mechanism is coaxially fixedly connected to gear six, and the other end of the damper screw shaft of the basic damping mechanism is coaxially fixedly connected to the output end of the electric drive mechanism. Gear seven is coaxially fixedly connected to the vibration output end of the motion conversion mechanism.

7. A highly integrated fully active electromechanical suspension actuator as claimed in claim 1, characterized in that: The motion conversion mechanism is a ball screw mechanism or a planetary screw mechanism.

8. A highly integrated fully active electromechanical suspension actuator as claimed in claim 7, characterized in that: The motion conversion mechanism is a ball screw mechanism, which includes a screw outer sleeve and a screw shaft and a ball nut placed in the screw outer sleeve and threadedly matched with each other. The screw shaft is rotatably supported on the screw outer sleeve, and the vertical movement of the ball nut is limited and guided by a guide groove extending vertically in the screw outer sleeve. The upper end of the ball nut is fixedly connected to a screw shaft sleeve, and the screw shaft sleeve is loosely sleeved outside the screw shaft and extends upward from the screw outer sleeve as a vibration input end of the motion conversion mechanism, and the lower end of the screw shaft extends from below the screw outer sleeve as a vibration output end of the motion conversion mechanism.

9. A highly integrated fully active electromechanical suspension actuator as claimed in claim 1, characterized in that: The electric drive mechanism is a rotating motor suitable for kinetic energy recovery.

10. The highly integrated fully active electromechanical suspension actuator according to claim 1, characterized in that: The electric drive mechanism is a liquid-cooled motor.

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