High-efficiency full-active suspension actuator

Abstract

The invention discloses a high-efficiency full-active suspension actuator which comprises an electric driving mechanism, a motion conversion mechanism and an adjustable damping mechanism, and the output end of the electric driving mechanism is in transmission connection with the vibration output end of the motion conversion mechanism through a power transmission mechanism in a rotating motion mode. The input end of the adjustable damping mechanism is in transmission connection with the power transmission mechanism; active force is provided for vibration reduction of vibration of the motion conversion mechanism through the electric driving mechanism, and passive damping force with controllable damping force is provided for vibration reduction of vibration of the motion conversion mechanism through the adjustable damping mechanism. In the adjustable damping mechanism, a cavity in a damper shell is filled with magnetorheological fluid, a damper rotating shaft is arranged in the cavity of the damper shell, a damping channel is formed in the space between the damper rotating shaft and the damper shell, and a magnet exciting coil is arranged in the damping channel. The method has the advantages that main power and controllable damping force are effectively combined, and the method is suitable for various complex driving working conditions.

Description

Technical Field

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

[0002] In the existing technology, automobile suspension systems mostly use passive or semi-active control methods, which are difficult to respond to complex road conditions in real time, resulting in limited vehicle driving stability and comfort. In addition, each component in the traditional suspension system works independently and lacks coordinated control, which further affects the overall performance of the suspension system. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a high-efficiency fully active suspension actuator that effectively combines active and passive damping mechanisms with controllable damping forces, and can play an excellent vibration reduction role under low-frequency, medium-frequency and high-frequency conditions, thereby improving 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.

[0004] The present invention is achieved through the following technical solutions:

[0005] A high-efficiency fully active suspension actuator comprises an electric drive mechanism and a motion conversion mechanism. The actuator further comprises an adjustable 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. The input end of the adjustable damping mechanism is connected to the power transmission mechanism through a transmission connection.

[0006] 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 adjustable damping mechanism provides controllable passive damping force for vibration reduction of the motion conversion mechanism.

[0007] The adjustable damping mechanism includes a damper housing with a cavity therein, the cavity inside the damper housing is filled with magnetorheological fluid, a vertically extending damper shaft is provided in the cavity inside the damper housing, the damper shaft is rotatably mounted on the damper housing and one end extends out of the damper housing as an input end, a damping channel is formed in the space between the damper shaft and the damper housing, an excitation coil is provided in the damping channel, and the rheological properties of the magnetorheological fluid can be changed by changing the current in the excitation coil, thereby changing the damping force output by the adjustable damping mechanism.

[0008] As a preferred embodiment of the above-mentioned high-efficiency fully active suspension actuator, the adjustable damping mechanism also includes a first winding frame, two magnetizers, and a magnetic isolation ring. The first winding frame is fixed in the inner cavity of the damper housing and is in contact with the side wall of the inner cavity of the damper housing. The magnetic isolation ring and the excitation coil are placed in the annular winding groove of the first winding frame in the form of an inner and outer sleeve. The damper shaft includes a shaft core and a shaft body located outside the shaft core. The shaft core is rotatably installed on the damper housing. A gap is left between the upper and lower ends of the shaft body and the damper housing. Annular grooves are respectively opened at the upper and lower ends of the shaft body. The two magnetizers are respectively fixed on the top wall and the bottom wall of the inner cavity of the damper housing, and the two magnetizers are respectively embedded in the annular grooves at the upper and lower ends of the shaft body. The gap between the outer wall of the annular groove of the shaft body and the magnetizer forms an inner axial damping channel, the gap between the bottom wall of the annular groove of the shaft body and the magnetizer forms an inner radial damping channel, and the gap between the outer wall of the shaft body and the inner wall of the first winding frame forms an outer axial damping channel.

[0009] As a preferred embodiment of the above-mentioned high-efficiency fully active suspension actuator, the adjustable damping mechanism also includes a damper inner cylinder and a damper outer cylinder. The bottom end of the damper outer cylinder is fixed to the damper shaft through an annular bottom plate, the top end of the damper inner cylinder is fixed to the damper outer shell, and the damper inner cylinder is located in an annular space surrounded by the damper outer cylinder and the damper shaft. The excitation coil is fixedly mounted on the damper inner cylinder. A section of the damper shaft located inside the damper outer cylinder is a spiral shaft section. A spiral protrusion is provided on the outer circumferential surface of the spiral shaft section. A spiral channel is formed between the spiral protrusion of the spiral shaft section and the inner side wall of the damper inner cylinder. There are gaps between the damper outer cylinder and the damper outer shell, and between the damper outer cylinder and the damper inner cylinder.

[0010] As a preferred solution of the above-mentioned high-efficiency fully active suspension actuator, the power transmission mechanism is any one of an external gear mechanism, a sprocket mechanism and a pulley mechanism.

[0011] As a preferred solution of the above-mentioned high-efficiency fully active suspension actuator, the power transmission mechanism is a first external meshing gear mechanism, which includes gear one, gear two and gear three that are meshed in sequence, gear one is coaxially fixedly connected to the output end of the electric drive mechanism, gear two is coaxially fixedly connected to the input end of the adjustable damping mechanism, and gear three is coaxially fixedly connected to the vibration output end of the motion conversion mechanism.

[0012] As a preferred embodiment of the above-mentioned high-efficiency fully active suspension actuator, the adjustable damping mechanism also includes a second winding frame, which is fixed in the inner cavity of the damper housing and fits against the inner cavity wall of the damper housing, and the excitation coil is fixedly mounted on the outer wall of the second winding frame. An installation cavity 1 for inserting the damper shaft is opened at the top center of the second winding frame, and a section of the damper shaft inserted into the installation cavity 1 is a disc-type shaft section, and at least one layer of discs is provided on the disc-type shaft section. A disc-shaped groove matching each disc is opened on one side wall of the installation cavity of the second winding frame, and a gap is left between each disc and the corresponding disc-shaped groove.

[0013] As a preferred solution of the above-mentioned high-efficiency fully active suspension actuator, the power transmission mechanism is a second external meshing gear mechanism, which includes meshing gear four and gear five, gear four is coaxially fixedly connected to the output end of the electric drive mechanism, and gear five is coaxially fixedly connected to the vibration output end of the motion conversion mechanism and the input end of the adjustable damping mechanism, respectively.

[0014] As a preferred embodiment of the above-mentioned high-efficiency fully active suspension actuator, the power transmission mechanism is a third external meshing gear mechanism, which includes meshing gear six and gear seven, gear seven being coaxially fixedly connected to the vibration output end of the motion conversion mechanism, the adjustable damping mechanism is inverted upside down, one end of the damper shaft of the adjustable damping mechanism is coaxially fixedly connected to gear six, and the other end of the damper shaft of the adjustable damping mechanism is coaxially fixedly connected to the output end of the electric drive mechanism.

[0015] As a preferred embodiment of the above-mentioned high-efficiency fully active suspension actuator, the adjustable damping mechanism also includes a third winding frame, which is fixed in the inner cavity of the damper housing and fits against the inner cavity wall of the damper housing. A mounting cavity 2 for inserting the damper shaft is opened at the center of the top of the third winding frame. A section of the damper shaft inserted into the mounting cavity 2 is a serrated shaft section, and a serrated disk is provided on the serrated shaft section. A plurality of annular tooth grooves are opened on the top and bottom surfaces of the serrated disk. A serrated disk-shaped groove matching the serrated disk is opened on the side wall of the mounting cavity 2 of the third winding frame. A gap is left between the serrated disk and the serrated disk-shaped groove, and the top and bottom surfaces of the serrated disk-shaped groove respectively match the shape of the top and bottom surfaces of the serrated disk. Excitation coils are respectively installed in the annular mounting grooves at the top and bottom ends of the third winding frame.

[0016] As a preferred solution of the above-mentioned high-efficiency fully active suspension actuator, in the adjustable damping mechanism, a permanent magnet is provided in the cavity inside the damper housing or in the damper shaft.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The present invention provides a high-efficiency fully active suspension actuator, which is additionally provided with an adjustable 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 with controllable 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 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 adjustable damping mechanism, so that the suspension system has a fail-safe feature; in addition, the electric drive mechanism adopts a rotating motor suitable for kinetic energy recovery, which integrates controllable main power 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 being suitable for various complex driving conditions.

[0019] 2. The present invention provides a high-efficiency fully active suspension actuator, in which the adjustable damping mechanism adopts the form of an excitation coil combined with a magnetorheological fluid. By adjusting the current in the excitation coil, the damping force in the adjustable damping mechanism can be changed from the minimum to the maximum range, thereby flexibly responding to different road conditions and having extremely high adaptability.

[0020] 3. The present invention provides a high-efficiency fully active suspension actuator, which cleverly integrates the added adjustable 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 layout requirements of traditional suspension for the vehicle chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of embodiment 1 of the present invention.

[0022] Figure 2 It is a structural schematic diagram of the adjustable damping mechanism in the first embodiment of the present invention.

[0023] Figure 3 It is a structural diagram of embodiment 2 of the present invention.

[0024] Figure 4 It is a structural diagram of embodiment 3 of the present invention.

[0025] Figure 5 It is a structural diagram of embodiment 4 of the present invention.

[0026] Figure 6 It is a structural diagram of embodiment 5 of the present invention.

[0027] Numbers in the figure: 1 electric drive mechanism, 2 motion conversion mechanism, 3 adjustable damping mechanism, 4 damper housing, 5 damper shaft, 6 excitation coil, 7 rotating motor, 8 first winding frame, 9 magnetic conductor, 10 magnetic isolation ring, 11 shaft core, 12 shaft body, 13 thrust bearing 1, 14 skeleton oil seal, 15 inner axial damping channel, 16 inner radial damping channel, 17 outer axial damping channel, 18 outer sleeve of screw, 19 screw shaft, 20 ball nut, 21 thrust bearing 2 ,22 screw shaft sleeve,23 gear one,24 gear two,25 gear three,26 damper inner cylinder,27 damper outer cylinder,28 annular bottom plate,29 spiral shaft section,30 spiral protrusion,31 second winding frame,32 disc shaft section,33 disc,34 disc groove,35 gear four,36 gear five,37 gear six,38 gear seven,39 third winding frame,40 serrated shaft section,41 serrated disc,42 annular tooth groove,43 serrated disc groove,44 permanent magnet. DETAILED DESCRIPTION

[0028] 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.

[0029] See also Figures 1 to 6 The present invention discloses a high-efficiency fully active suspension actuator, including an electric drive mechanism 1 and a motion conversion mechanism 2. The actuator also includes an adjustable 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 to realize a transmission connection of rotational motion, and the input end of the adjustable damping mechanism 3 is connected to the power transmission mechanism. 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 serves as a vibration input end, and the rotational motion end of the motion conversion mechanism 2 serves as a vibration output end. The electric drive mechanism 1 provides active power for vibration reduction of the motion conversion mechanism 2, and the adjustable damping mechanism 3 provides a controllable passive damping force for vibration reduction of the motion conversion mechanism 2.

[0030] The adjustable damping mechanism 3 includes a damper housing 4 with a cavity therein, the cavity inside the damper housing 4 is filled with magnetorheological fluid, a damper shaft 5 extending vertically is arranged in the cavity inside the damper housing 4, the damper shaft 5 is rotatably mounted on the damper housing 4 and one end extends out of the damper housing 4 as an input end, a damping channel is formed in the space between the damper shaft 5 and the damper housing 4, an excitation coil 6 is arranged in the damping channel, and the rheological characteristics of the magnetorheological fluid can be changed by changing the current in the excitation coil 6, thereby changing the damping force output by the adjustable damping mechanism 3. The adjustable damping mechanism 3 can form two modes of damping channels, axial and radial, by changing the shape of the damper shaft 5 without increasing the size, thereby increasing the length of the effective damping channel and improving the magnitude of the output damping torque.

[0031] In the adjustable damping mechanism 3, a permanent magnet 44 is provided in the cavity inside the damper housing 4 or in the damper shaft 5. The permanent magnet 44 is provided so that the adjustable damping mechanism 3 always has a basic damping force. When the main power output of the actuator fails, it is ensured that the actuator still has a damping force that can maintain normal driving of the vehicle, thereby improving the safety of the actuator.

[0032] The motion conversion mechanism 2 is a ball screw mechanism or a planetary screw mechanism. When a planetary screw mechanism is used, the lower end of the planetary screw shaft 19 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 22 fixedly connected to the planetary screw ball nut 20 of the planetary screw mechanism serves as the vibration input end of the motion conversion mechanism 2.

[0033] The electric drive mechanism 1 is a rotating electrical machine 7 suitable for kinetic energy recovery.

[0034] The power transmission mechanism is any one of an external gear mechanism, a sprocket mechanism, and a pulley mechanism.

[0035] When the power transmission mechanism adopts a sprocket mechanism, the power transmission mechanism 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 shaft 5 of the adjustable damping mechanism 3 respectively.

[0036] When the power transmission mechanism adopts a pulley mechanism, the power transmission mechanism includes pulley one, pulley two and a transmission belt. Pulley one and pulley two are connected to each other through the transmission belt, wherein pulley one is coaxially fixedly connected to the output end of the electric drive mechanism 1, and pulley two is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2 and the damper shaft 5 of the adjustable damping mechanism 3 respectively.

[0037] 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.

[0038] Embodiment 1

[0039] See also Figure 1 to Figure 2 , in this embodiment:

[0040] The adjustable damping mechanism 3 also includes a first winding frame 8, two magnetic conductors 9, and a magnetic isolation ring 10. The first winding frame 8 is fixed in the inner cavity of the damper housing 4 and fits against the inner cavity side wall of the damper housing 4. The magnetic isolation ring 10 and the excitation coil 6 are placed in the annular winding groove of the first winding frame 8 in the form of an inner and outer set. The damper shaft 5 includes a shaft core 11 and a shaft body 12 located outside the shaft core 11. The shaft core 11 is rotatably mounted on the damper housing 4 through a thrust bearing 13. The upper end of the shaft core 11 extends out of the damper housing 4 as an input end, and a skeleton oil seal 14 is provided between the upper section of the shaft core 11 and the damper housing 4. The skeleton oil seal 14 is used to seal the magnetorheological fluid in the cavity, so that the magnetorheological fluid will not leak when the damper shaft 5 rotates. There is a gap between the upper and lower ends of the rotating shaft body 12 and the damper housing 4. The upper and lower ends of the rotating shaft body 12 are respectively provided with annular grooves. Two magnetizers 9 are respectively fixed on the top wall and the bottom wall of the inner cavity of the damper housing 4, and the two magnetizers 9 are respectively embedded in the annular grooves at the upper and lower ends of the rotating shaft body 12. The gap between the outer wall of the annular groove of the rotating shaft body 12 and the magnetizer 9 forms an inner axial damping channel 15, the gap between the bottom wall of the annular groove of the rotating shaft body 12 and the magnetizer 9 forms an inner radial damping channel 16, and the gap between the outer wall of the rotating shaft body 12 and the inner wall of the first winding frame 8 forms an outer axial damping channel 17. The magnetic isolation ring 10 is provided to guide the direction of the magnetic lines of force so that the magnetic lines of force vertically pass through the axial damping channel and the radial damping channel to improve the utilization rate of the magnetic field.

[0041] The arrangement of the various mechanisms of the actuator is as follows: the electric drive mechanism 1, the adjustable damping mechanism 3 and the motion conversion mechanism 2 are arranged in sequence and are all located on the same side of the power transmission mechanism. The adjustable damping mechanism 3 is installed upside down.

[0042] The motion conversion mechanism 2 adopts a ball screw mechanism, which includes a screw outer sleeve 18 and a screw shaft 19 and a ball nut 20 placed in the screw outer sleeve 18 and threadedly matched. The bottom of the screw outer sleeve 18 is fixedly connected to the damper housing 4 of the adjustable damping mechanism 3. The lower section of the screw shaft 19 is rotatably supported on the screw outer sleeve 18 through a thrust bearing 21. The vertical movement of the ball nut 20 is limited and guided by a guide groove extending vertically in the screw outer sleeve 18. The upper end of the ball nut 20 is fixedly connected to a screw shaft sleeve 22. The screw shaft sleeve 22 is hollowly sleeved outside the screw shaft 19 and extends upward from the screw outer sleeve 18 as the vibration input end of the motion conversion mechanism 2. The lower end of the screw shaft 19 extends from below the screw outer sleeve 18 as the vibration output end of the motion conversion mechanism 2.

[0043] The power transmission mechanism adopts a first external meshing gear mechanism, which includes gear one 23, gear two 24 and gear three 25 that are meshed in sequence. The rotating motor 7 is installed on the damper housing 4 of the adjustable damping mechanism 3. Gear one 23 is coaxially fixedly connected to the output end of the rotating motor 7, gear two 24 is coaxially fixedly connected to the input end of the adjustable damping mechanism 3, and gear three 25 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2, that is, gear three 25 is coaxially fixedly connected to the lower end of the screw shaft 19.

[0044] See also Figure 2 , a certain amount of direct current is loaded to the excitation coil 6, and the generated magnetic lines of force pass through the damper housing 4 and the first winding frame 8, and then vertically pass through the outer axial damping channel 17, the rotating shaft body 12, and the upper inner axial damping channel 15 in turn, and then reach the upper magnetizer 9 and then vertically pass through the upper inner radial damping channel 16, the rotating shaft body 12, and the lower inner radial damping channel 16, and then reach the lower magnetizer 9 and then vertically pass through the lower inner axial damping channel 15, the rotating shaft body 12, and the outer axial damping channel 17, and finally pass through the first winding frame 8 and return to the damper housing 4, forming a closed loop.

[0045] When the ball nut 20 moves up and down, the screw shaft 19 rotates, and the screw shaft 19 is fixedly connected to the gear three 25, and the linear motion of the ball nut 20 along the screw shaft 19 is converted into the rotational motion of the gear three 25. The rotation of the gear three 25 then drives the rotation of the gear two 24, thereby driving the rotation of the damper shaft 5. By adjusting the magnitude of the input current in the excitation coil 6, the magnetic induction intensity at the effective damping channel can be controlled, and a controllable damping torque can be generated to inhibit the rotation of the damper shaft 5 and achieve a vibration reduction effect.

[0046] In the entire actuator, the part of the screw shaft sleeve 22 extending above the screw outer sleeve 18 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 4 of the adjustable damping mechanism 3 is connected to the suspension body of the vehicle.

[0047] When the vehicle vibrates, the body transmits the vibration to the screw shaft sleeve 22 of the ball screw mechanism, driving the screw shaft sleeve 22 to vibrate up and down, and the screw shaft sleeve 22 drives the ball nut 20 fixed with it to vibrate up and down together, and the ball nut 20 drives the screw shaft 19 matched with its thread to rotate, and the bottom end of the screw shaft 19 is connected to the gear three 25 through a flat key, and the linear motion of the ball nut 20 along the screw shaft 19 is converted into the rotational motion of the gear three 25, thereby driving the damper shaft 5 to rotate, and driving the magnetorheological fluid to circulate in the damping channel; at the same time, the excitation coil 6 is energized to generate a damping force, inhibiting the rotational motion of the damper shaft 5, the gear two 24 and the screw shaft 19, thereby inhibiting the up and down vibration of the screw shaft sleeve 22, and then inhibiting the vibration of the vehicle, and realizing passive damping control of the vehicle vibration. And by adjusting the magnitude of the input current in the excitation coil 6, the damping force in the adjustable damping mechanism 3 can be changed from the minimum to the maximum range, so as to flexibly respond to different road conditions and have extremely high adaptability.

[0048] At the same time, the rotating motor 7 can perform active power control on the vehicle vibration as needed. When the rotating motor 7 is started, the rotating motor 7 drives the gear 1 23 to rotate, and the gear 1 23 drives the gear 3 25 to rotate through the gear 2 24, so as to control the up and down movement of the screw shaft sleeve 22, which can realize both active control of the vehicle vibration and active adjustment of the vehicle body posture. When the rotating motor 7 is not started, the rotating gear 3 25 can drive the gear 1 23 to rotate through the gear 2 24, and the gear 1 23 feeds the rotational motion back to the rotating motor 7, realizing the vibration energy feeding function of the rotating motor 7. That is, the rotating motor 7 can control the two modes of active power energy consumption and vibration energy feeding.

[0049] Embodiment 2

[0050] See also Figure 3, the difference between this embodiment and the first embodiment is only that the adjustable damping mechanism 3 is different. The adjustable damping mechanism 3 in this embodiment also includes a damper inner cylinder 26 and a damper outer cylinder 27. The bottom end of the damper outer cylinder 27 is fixed to the damper shaft 5 through an annular bottom plate 28, and the top end of the damper inner cylinder 26 is fixed to the damper housing 4. The damper inner cylinder 26 is located in an annular space surrounded by the damper outer cylinder 27 and the damper shaft 5. The excitation coil 6 is fixedly sleeved on the damper inner cylinder 26. The number of excitation coils 6 on the damper inner cylinder 26 can be selected according to needs. For example, two upper and lower excitation coils 6 can be sleeved on the damper inner cylinder 26. A section of the damper shaft 5 located inside the damper outer cylinder 27 is a spiral shaft section 29, and a spiral protrusion 30 is provided on the outer circumferential surface of the spiral shaft section 29. A spiral channel is formed between the spiral protrusion 30 of the spiral shaft section 29 and the inner wall of the damper inner cylinder 26. Gaps are left between the damper outer cylinder 27 and the damper outer shell 4, and between the damper outer cylinder 27 and the damper inner cylinder 26.

[0051] When the vehicle vibrates and drives the damper shaft 5 to rotate, the magnetorheological fluid will circulate in the damping channel. The magnetorheological fluid in the damper inner tube 26 will flow in a spiral in the spiral channel, so that the magnetorheological fluid works in both shear mode and extrusion mode.

[0052] Embodiment 3

[0053] See also Figure 4 The difference between this embodiment and the first embodiment is that the structure of the adjustable damping mechanism 3, the structure of the power transmission mechanism and the layout of each mechanism are different. In this embodiment:

[0054] The adjustable damping mechanism 3 also includes a second winding frame 31, which is fixed in the inner cavity of the damper housing 4 and fits against the inner cavity wall of the damper housing 4. The excitation coil 6 is fixedly mounted on the outer wall of the second winding frame 31. A mounting cavity 1 for inserting the damper shaft 5 is opened at the top center of the second winding frame 31. A section of the damper shaft 5 inserted into the mounting cavity 1 is a disc-type shaft section 32. The disc-type shaft section 32 is provided with two layers of discs 33. Two layers of disc-shaped grooves 34 matching the two layers of discs 33 are opened on one side wall of the mounting cavity of the second winding frame 31. A gap is left between each disc 33 and the corresponding disc-shaped groove 34. The gap forms a spiral axial and radial damping channel, which can increase the length of the effective damping channel and improve the output damping torque.

[0055] The power transmission mechanism adopts a second external meshing gear mechanism, which includes meshing gear four 35 and gear five 36. Gear four 35 is coaxially fixedly connected to the output end of the rotating motor 7, and gear five 36 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2 and the input end of the adjustable damping mechanism 3 respectively.

[0056] The arrangement of the various mechanisms of the actuator is as follows: the electric drive mechanism 1 and the motion conversion mechanism 2 are arranged side by side and are both located on the same side of the power transmission mechanism, and the adjustable damping mechanism 3 is located on the other side of the power transmission mechanism and is coaxially arranged with the motion conversion mechanism 2.

[0057] Embodiment 4

[0058] See also Figure 5 The difference between this embodiment and the third embodiment is that the structure of the adjustable damping mechanism 3, the structure of the power transmission mechanism and the layout of each mechanism are different. In this embodiment:

[0059] The adjustable damping mechanism 3 is different from the adjustable damping mechanism 3 in the third embodiment only in that a single-layer disc 33 is provided on the disc-type rotating shaft section 32 .

[0060] The power transmission mechanism is a third external meshing gear mechanism, which includes meshing gear six 37 and gear seven 38, gear seven 38 is coaxially fixedly connected to the vibration output end of the motion conversion mechanism 2, and the adjustable damping mechanism 3 is inverted upside down, one end of the damper shaft 5 of the adjustable damping mechanism 3 is coaxially fixedly connected to the gear six 37, and the other end of the damper shaft 5 of the adjustable damping mechanism 3 is coaxially fixedly connected to the output end of the electric drive mechanism 1. In this layout form, the adjustable damping mechanism 3 is arranged between the gear six 37 of the power transmission mechanism and the rotating motor 7, which effectively reduces the overall size of the actuator, so it occupies less suspension space when installed on the vehicle, which is convenient for layout.

[0061] Embodiment 5

[0062] See also Figure 6 The difference between this embodiment and the third embodiment is that the structure of the adjustable damping mechanism 3 is different. In this embodiment:

[0063] The adjustable damping mechanism 3 also includes a third winding frame 39, which is fixed in the inner cavity of the damper housing 4 and fits against the inner cavity wall of the damper housing 4. A mounting cavity 2 for inserting the damper shaft 5 is opened at the center of the top of the third winding frame 39. A section of the damper shaft 5 inserted into the mounting cavity 2 is a serrated shaft section 40. A serrated disk 41 is provided on the serrated shaft section 40. The top and bottom surfaces of the serrated disk 41 are both provided with a plurality of annular tooth grooves 42. A serrated disk-shaped groove 43 matching the serrated disk 41 is opened on the side wall of the mounting cavity 2 of the third winding frame 39. A gap is left between the serrated disk 41 and the serrated disk-shaped groove 43, and the top and bottom surfaces of the serrated disk-shaped groove 43 are respectively consistent with the top and bottom shapes of the serrated disk 41. The excitation coil 6 is respectively installed in the annular mounting grooves at the top and bottom ends of the third winding frame 39.

[0064] In this embodiment, the sawtooth shaft section 40 of the damper shaft 5 is designed as a sawtooth disk 41, which can effectively increase the contact area between the sawtooth disk 41 and the magnetorheological fluid, and effectively increase the output torque.

[0065] 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 high-efficiency fully active suspension actuator, comprising an electric drive mechanism (1) and a motion conversion mechanism (2), characterized in that: The actuator further comprises an adjustable damping mechanism (3), wherein the output end of the electric drive mechanism (1) and the vibration output end of the motion conversion mechanism (2) are connected in transmission to achieve rotational motion via a power transmission mechanism, and the input end of the adjustable damping mechanism (3) is connected in transmission to the power transmission mechanism; 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) serves as a vibration input end, and the rotational motion end of the motion conversion mechanism (2) serves as a vibration output end. The electric drive mechanism (1) provides active force for vibration reduction of the motion conversion mechanism (2), and the adjustable damping mechanism (3) provides controllable passive damping force for vibration reduction of the motion conversion mechanism (2). The adjustable damping mechanism (3) comprises a damper housing (4) with a cavity therein, the cavity inside the damper housing (4) being filled with magnetorheological fluid, a damper shaft (5) extending vertically being provided in the cavity inside the damper housing (4), the damper shaft (5) being rotatably mounted on the damper housing (4) and having one end extending out of the damper housing (4) as an input end, the space between the damper shaft (5) and the damper housing (4) forming a damping channel, an excitation coil (6) being provided in the damping channel, the rheological characteristics of the magnetorheological fluid being changed by changing the current in the excitation coil (6), thereby changing the damping force output by the adjustable damping mechanism (3).

2. A high-efficiency fully active suspension actuator as claimed in claim 1, characterized in that: The adjustable damping mechanism (3) further comprises a first winding frame (8), two magnetic conductors (9), and a magnetic isolation ring (10); the first winding frame (8) is fixed in the inner cavity of the damper housing (4) and is in contact with the inner cavity side wall of the damper housing (4); the magnetic isolation ring (10) and the excitation coil (6) are arranged in an annular winding groove of the first winding frame (8) in the form of an inner and outer sleeve; the damper shaft (5) comprises a shaft core (11) and a shaft body (12) located outside the shaft core (11); the shaft core (11) is rotatably mounted on the damper housing (4); a gap is left between the upper and lower ends of the shaft body (12) and the damper housing (4); The upper and lower ends of the rotating shaft body (12) are respectively provided with annular grooves, and two magnetizers (9) are respectively fixed on the top wall and the bottom wall of the inner cavity of the damper housing (4), and the two magnetizers (9) are respectively embedded in the annular grooves at the upper and lower ends of the rotating shaft body (12), the gap between the outer wall of the annular groove of the rotating shaft body (12) and the magnetizer (9) forms an inner axial damping channel (15), the gap between the bottom wall of the annular groove of the rotating shaft body (12) and the magnetizer (9) forms an inner radial damping channel (16), and the gap between the outer wall of the rotating shaft body (12) and the inner wall of the first winding frame (8) forms an outer axial damping channel (17).

3. A high-efficiency fully active suspension actuator as claimed in claim 1, characterized in that: The adjustable damping mechanism (3) further comprises a damper inner cylinder (26) and a damper outer cylinder (27); the bottom end of the damper outer cylinder (27) is fixed to the damper rotating shaft (5) via an annular bottom plate (28); the top end of the damper inner cylinder (26) is fixed to the damper outer shell (4); the damper inner cylinder (26) is located in an annular space enclosed by the damper outer cylinder (27) and the damper rotating shaft (5); and the excitation coil (6) is fixedly sleeved on the damper inner cylinder (26). The damper shaft (5) has a spiral shaft section (29) located inside the damper outer cylinder (27). The outer circumferential surface of the spiral shaft section (29) is provided with a spiral protrusion (30). A spiral channel is formed between the spiral protrusion (30) of the spiral shaft section (29) and the inner side wall of the damper inner cylinder (26). Gaps are left between the damper outer cylinder (27) and the damper housing (4), and between the damper outer cylinder (27) and the damper inner cylinder (26).

4. A high-efficiency fully active suspension actuator as claimed in claim 2 or 3, characterized in that: The power transmission mechanism is any one of an external gear mechanism, a sprocket mechanism and a pulley mechanism.

5. A high-efficiency fully active suspension actuator as claimed in claim 4, characterized in that: The power transmission mechanism is a first external meshing gear mechanism, which comprises a gear 1 (23), a gear 2 (24) and a gear 3 (25) meshing in sequence, wherein the gear 1 (23) is coaxially fixedly connected to the output end of the electric drive mechanism (1), the gear 2 (24) is coaxially fixedly connected to the input end of the adjustable damping mechanism (3), and the gear 3 (25) is coaxially fixedly connected to the vibration output end of the motion conversion mechanism (2).

6. A high-efficiency fully active suspension actuator as claimed in claim 1, characterized in that: The adjustable damping mechanism (3) further comprises a second winding frame (31), the second winding frame (31) being fixed in the inner cavity of the damper housing (4) and being in contact with the inner cavity wall of the damper housing (4), the excitation coil (6) being fixedly mounted on the outer wall of the second winding frame (31), a mounting cavity (1) for inserting the damper shaft (5) being provided at the top center of the second winding frame (31), a section of the damper shaft (5) inserted into the mounting cavity (1) being a disc-shaped shaft section (32), at least one layer of discs (33) being provided on the disc-shaped shaft section (32), a disc-shaped groove (34) matching with each disc (33) being provided on one side wall of the mounting cavity of the second winding frame (31), a gap being left between each disc (33) and the corresponding disc-shaped groove (34).

7. A high-efficiency fully active suspension actuator as claimed in claim 6, characterized in that: The power transmission mechanism is a second external meshing gear mechanism, which comprises a meshing gear four (35) and a gear five (36), wherein the gear four (35) is coaxially fixedly connected to the output end of the electric drive mechanism (1), and the gear five (36) is coaxially fixedly connected to the vibration output end of the motion conversion mechanism (2) and the input end of the adjustable damping mechanism (3).

8. A high-efficiency fully active suspension actuator as claimed in claim 6, characterized in that: The power transmission mechanism is a third external meshing gear mechanism, the third external meshing gear mechanism comprises a meshing gear six (37) and a gear seven (38), the gear seven (38) is coaxially fixedly connected to the vibration output end of the motion conversion mechanism (2), the adjustable damping mechanism (3) is upside down, one end of the damper rotating shaft (5) of the adjustable damping mechanism (3) is coaxially fixedly connected to the gear six (37), and the other end of the damper rotating shaft (5) of the adjustable damping mechanism (3) is coaxially fixedly connected to the output end of the electric drive mechanism (1).

9. A high-efficiency fully active suspension actuator as claimed in claim 1, characterized in that: The adjustable damping mechanism (3) further comprises a third winding frame (39), the third winding frame (39) being fixed in the inner cavity of the damper housing (4) and being in contact with the inner cavity wall of the damper housing (4), a second mounting cavity for inserting the damper rotating shaft (5) being opened at the top center of the third winding frame (39), a section of the damper rotating shaft (5) inserted into the second mounting cavity being a sawtooth rotating shaft section (40), a sawtooth disk (41) being provided on the sawtooth rotating shaft section (40), and a sawtooth disk (41) having a plurality of inner cavities. A plurality of annular tooth grooves (42) are formed on the top and bottom surfaces, and sawtooth disc-shaped grooves (43) matching with the sawtooth disc (41) are formed on the two side walls of the installation cavity of the third winding frame (39), a gap is left between the sawtooth disc (41) and the sawtooth disc-shaped grooves (43), and the top and bottom surfaces of the sawtooth disc-shaped grooves (43) are respectively consistent with the top and bottom surfaces of the sawtooth disc (41), and the excitation coils (6) are respectively installed in the annular installation grooves at the top and bottom ends of the third winding frame (39).

10. The high-efficiency fully active suspension actuator according to claim 1, characterized in that: In the adjustable damping mechanism (3), a permanent magnet (44) is provided in a cavity inside the damper housing (4) or in the damper rotating shaft (5).

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