A high efficiency fully active suspension actuator

Abstract

The application discloses a high-efficiency full-active suspension actuator, which comprises an electric driving mechanism, a motion conversion mechanism and an adjustable damping mechanism, the output end of the electric driving mechanism is connected with the vibration output end of the motion conversion mechanism through a power transmission mechanism to realize the transmission connection of the rotary motion, and the input end of the adjustable damping mechanism is connected with the power transmission mechanism; the electric driving mechanism provides the active force for the vibration damping of the motion conversion mechanism, and the adjustable damping mechanism provides the passive damping force with controllable damping force for the vibration damping of the motion conversion mechanism; in the adjustable damping mechanism, the cavity in the damper shell is filled with magneto-rheological fluid, the damper shell cavity is provided with a damper rotating shaft, the space between the damper rotating shaft and the damper shell forms a damping channel, and the damping channel is provided with an excitation coil. The application has the advantages that the active force and the controllable damping force are effectively combined, and the application is suitable for various complex driving conditions.

Description

Technical Field

[0001] This invention relates to the field of automotive electronically controlled suspension systems, and more particularly to a high-efficiency fully active suspension actuator. Background Technology

[0002] In existing technologies, automotive suspension systems mostly employ passive or semi-active control methods, which struggle to respond in real-time to complex road condition changes, resulting in limitations on vehicle stability and comfort. Furthermore, the independent operation of components in traditional suspension systems, lacking coordinated control, further impacts the overall performance of the suspension system. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a high-efficiency fully active suspension actuator that effectively combines the passive damping mechanism of active and controllable damping forces. It can play an excellent vibration reduction role under low-frequency, medium-frequency and high-frequency conditions, improve the ride comfort and handling stability of the vehicle. In addition, the energy feeding function of the rotary motor allows the actuator to recover excess energy during operation, improve the overall efficiency of the system, and is suitable for various complex driving conditions.

[0004] This invention is achieved through the following technical solution:

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

[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 serves as the vibration output end. The electric drive mechanism provides the active force for vibration reduction of the motion conversion mechanism, and the adjustable damping mechanism provides the controllable passive damping force for vibration reduction of the motion conversion mechanism.

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

[0008] As a preferred embodiment of the aforementioned high-efficiency fully active suspension actuator, the adjustable damping mechanism further includes a first winding frame, two magnetic conductors, and a magnetic isolation ring. The first winding frame is fixed in the inner cavity of the damper housing and fits against 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 an inner and outer sleeve form. The damper shaft includes a shaft core and a shaft body located around the shaft core. The shaft core is rotatably mounted on the damper housing. There is a gap 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 magnetic conductors are respectively fixed to the top and bottom walls of the inner cavity of the damper housing, and the two magnetic conductors 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 magnetic conductors forms an inner axial damping channel. The gap between the bottom wall of the annular groove of the shaft body and the magnetic conductors forms an inner radial damping channel. 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 aforementioned high-efficiency fully active suspension actuator, the adjustable damping mechanism further includes an inner damper cylinder and an outer damper cylinder. The bottom end of the outer damper cylinder is fixed to the damper shaft via an annular base plate, and the top end of the inner damper cylinder is fixed to the damper outer shell. The inner damper cylinder is located within the annular space formed by the outer damper cylinder and the damper shaft. The excitation coil is fixedly mounted on the inner damper cylinder. The section of the damper shaft located inside the outer damper cylinder is a spiral shaft section. The outer circumferential surface of the spiral shaft section is provided with spiral protrusions. The spiral protrusions of the spiral shaft section and the inner sidewall of the inner damper cylinder form a spiral channel. Gaps are left between the outer damper cylinder and the damper outer shell, and between the outer damper cylinder and the inner damper cylinder.

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

[0011] As a preferred embodiment of the aforementioned 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 meshing sequentially. Gear one is coaxially and fixedly connected to the output end of the electric drive mechanism, gear two is coaxially and fixedly connected to the input end of the adjustable damping mechanism, and gear three is coaxially and fixedly connected to the vibration output end of the motion conversion mechanism.

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

[0013] As a preferred embodiment of the aforementioned 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 and fixedly connected to the output end of the electric drive mechanism, and gear five is coaxially and 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 aforementioned 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 is coaxially and fixedly connected to the vibration output end of the motion conversion mechanism. The adjustable damping mechanism is inverted, with one end of the damper shaft of the adjustable damping mechanism coaxially and fixedly connected to gear six, and the other end of the damper shaft of the adjustable damping mechanism coaxially and fixedly connected to the output end of the electric drive mechanism.

[0015] As a preferred embodiment of the aforementioned high-efficiency fully active suspension actuator, the adjustable damping mechanism further includes a third winding frame. The third winding frame is fixed in the inner cavity of the damper housing and fits against the inner wall of the damper housing. A second mounting cavity for inserting the damper shaft is opened at the center of the top of the third winding frame. The section into which the damper shaft is inserted into the second mounting cavity is a sawtooth shaft section. A sawtooth disk is provided on the sawtooth shaft section. Multiple annular grooves are opened on the top and bottom surfaces of the sawtooth disk. A sawtooth disk-shaped groove that mates with the sawtooth disk is opened on the side wall of the second mounting cavity of the third winding frame. A gap is left between the sawtooth disk and the sawtooth disk-shaped groove, and the top and bottom surfaces of the sawtooth disk-shaped groove match the top and bottom surfaces of the sawtooth disk, respectively. Excitation coils are installed in the annular mounting grooves at the top and bottom of the third winding frame, respectively.

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

[0017] The present invention has the following advantages over the prior art:

[0018] 1. This invention provides a high-efficiency fully active suspension actuator, which incorporates an adjustable damping mechanism that works in conjunction with an electric drive mechanism. This effectively combines the active force of the motor with controllable passive damping force, solving the problem of poor vibration filtering in previous active suspension actuators under high-frequency vibrations. This allows the actuator to perform excellent vibration reduction under low, medium, and high-frequency conditions, improving vehicle driving safety, ride comfort, and handling stability. Furthermore, even when the electric drive mechanism is not working or fails, the adjustable damping mechanism still provides effective passive damping, giving the suspension system fail-safe characteristics. In addition, the electric drive mechanism uses a rotary motor suitable for kinetic energy recovery, integrating controllable active force and energy feeding functions. This allows the actuator to recover some energy in vibration energy feeding mode, improving energy utilization efficiency and making it suitable for various complex driving conditions.

[0019] 2. The present invention provides a high-efficiency fully active suspension actuator, whose adjustable damping mechanism adopts the form of excitation coil combined with magnetorheological fluid. By adjusting the current in the excitation coil, the damping force in the adjustable damping mechanism can be varied from minimum to maximum, 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 ingeniously integrates the added adjustable damping mechanism with the electric drive mechanism and motion conversion mechanism. The structure is compact and solves the problem of the excessively large overall size of previous active suspension actuators. It greatly improves the integration and reduces the overall size, and is basically the same as the layout requirements of traditional suspensions for vehicle chassis. Attached Figure Description

[0021] Figure 1 This is a structural schematic diagram of Embodiment 1 of the present invention.

[0022] Figure 2 This is a schematic diagram of the adjustable damping mechanism in Embodiment 1 of the present invention.

[0023] Figure 3 This is a schematic diagram of the structure of Embodiment 2 of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of Embodiment 3 of the present invention.

[0025] Figure 5 This is a schematic diagram of the structure of Embodiment 4 of the present invention.

[0026] Figure 6 This is a structural schematic diagram of Embodiment 5 of the present invention.

[0027] Numbered components in the diagram: 1. Electric drive mechanism; 2. Motion conversion mechanism; 3. Adjustable damping mechanism; 4. Damper housing; 5. Damper shaft; 6. Excitation coil; 7. Rotary motor; 8. First winding frame; 9. Magnetic conductor; 10. Magnetic isolation ring; 11. Shaft core; 12. Shaft body; 13. Thrust bearing one; 14. Skeleton oil seal; 15. Inner axial damping channel; 16. Inner radial damping channel; 17. Outer axial damping channel; 18. Leadscrew outer sleeve; 19. Leadscrew shaft; 20. Ball nut; 21. Thrust bearing two. 22. Lead screw sleeve; 23. Gear 1; 24. Gear 2; 25. Gear 3; 26. Damper inner cylinder; 27. Damper outer cylinder; 28. Annular base plate; 29. ​​Helical shaft section; 30. Helical protrusion; 31. Second winding frame; 32. Disc shaft section; 33. Disc; 34. Disc groove; 35. Gear 4; 36. Gear 5; 37. Gear 6; 38. Gear 7; 39. Third winding frame; 40. Sawtooth shaft section; 41. Sawtooth disc; 42. Annular tooth groove; 43. Sawtooth disc groove; 44. Permanent magnet. Detailed Implementation

[0028] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0029] See Figures 1 to 6 This invention discloses a high-efficiency fully active suspension actuator, comprising 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 via a power transmission mechanism to achieve rotational motion transmission. 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 the vibration input end, and the rotational motion end serves as the vibration output end. The electric drive mechanism 1 provides active force for vibration damping of the motion conversion mechanism 2, and the adjustable damping mechanism 3 provides controllable passive damping force for vibration damping of the motion conversion mechanism 2.

[0030] The adjustable damping mechanism 3 includes a damper housing 4 with an internal cavity. The cavity inside the damper housing 4 is filled with magnetorheological fluid. A vertically extending damper shaft 5 is located within the cavity of the damper housing 4. The damper shaft 5 is rotatably mounted on the damper housing 4, with one end extending beyond the damper housing 4 as an input end. The space between the damper shaft 5 and the damper housing 4 forms a damping channel. An excitation coil 6 is located within the damping channel. By changing the current in the excitation coil 6, the rheological properties of the magnetorheological fluid can be altered, thereby changing the damping force output by the adjustable damping mechanism 3. Without increasing its size, the adjustable damping mechanism 3 can form both axial and radial damping channels by changing the shape of the damper shaft 5, increasing the length of the effective damping channel and improving 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 ensures that the adjustable damping mechanism 3 always has a basic damping force. When the main power output of the actuator fails, it ensures that the actuator still has a damping force that can maintain the normal driving of the vehicle, thus improving the safety of the actuator.

[0032] The motion conversion mechanism 2 is either 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, which is 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 rotary motor 7 suitable for kinetic energy recovery.

[0034] The power transmission mechanism can be any one of the following: external gear mechanism, sprocket mechanism, and pulley mechanism.

[0035] When the power transmission mechanism adopts a sprocket mechanism, the power transmission mechanism includes sprocket one, sprocket two and chain. The chain realizes the transmission connection between sprocket one and sprocket two. Sprocket one is coaxially and fixedly connected to the output end of electric drive mechanism 1, and sprocket two is coaxially and fixedly connected to the vibration output end of motion conversion mechanism 2 and the damper shaft 5 of adjustable damping mechanism 3.

[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 by the transmission belt. Pulley one is coaxially and fixedly connected to the output end of the electric drive mechanism 1, and pulley two is coaxially and fixedly connected to the vibration output end of the motion conversion mechanism 2 and the damper shaft 5 of the adjustable damping mechanism 3.

[0037] The following are several embodiments based on different combinations of mechanisms, but the scope of protection of the present invention is not limited to the following embodiments.

[0038] Example 1

[0039] See Figures 1 to 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 side wall of the inner cavity 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 an inner and outer sleeve form. The damper shaft 5 includes a shaft core 11 and a shaft body 12 located around 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 the 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. A gap is left between the upper and lower ends of the rotating shaft 12 and the damper housing 4. Annular grooves are formed at the upper and lower ends of the rotating shaft 12. Two magnetic conductors 9 are fixed to the top and bottom walls of the inner cavity of the damper housing 4, respectively, and are embedded in the annular grooves at the upper and lower ends of the rotating shaft 12. The gap between the outer wall of the annular groove of the rotating shaft 12 and the magnetic conductor 9 forms an inner axial damping channel 15. The gap between the bottom wall of the annular groove of the rotating shaft 12 and the magnetic conductor 9 forms an inner radial damping channel 16. The gap between the outer wall of the rotating shaft 12 and the inner wall of the first winding frame 8 forms an outer axial damping channel 17. A magnetic shielding ring 10 is provided to guide the magnetic field lines, allowing them to pass perpendicularly through the axial and radial damping channels, thereby improving magnetic field utilization.

[0041] The actuator is arranged as follows: the electric drive mechanism 1, the adjustable damping mechanism 3, and the motion conversion mechanism 2 are arranged sequentially and 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 ball screw sleeve 18, a screw shaft 19 and a ball nut 20 that are threadedly fitted inside the screw sleeve 18. The bottom of the screw 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 sleeve 18 by a thrust bearing 21. The vertical movement of the ball nut 20 is limited and guided by a guide groove extending vertically inside the screw 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 loosely fitted outside the screw shaft 19 and extends upward above the screw sleeve 18 as the vibration input end of the motion conversion mechanism 2. The lower end of the screw shaft 19 extends below the screw 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 1 23, gear 24 and gear 3 25 meshing in sequence. The rotary motor 7 is mounted on the damper housing 4 of the adjustable damping mechanism 3. Gear 1 23 is coaxially and fixedly connected to the output end of the rotary motor 7. Gear 24 is coaxially and fixedly connected to the input end of the adjustable damping mechanism 3. Gear 3 25 is coaxially and fixedly connected to the vibration output end of the motion conversion mechanism 2, that is, gear 3 25 is coaxially and fixedly connected to the lower end of the lead screw shaft 19.

[0044] See Figure 2 A certain amount of DC current is applied to the excitation coil 6. The resulting magnetic lines of force pass through the damper housing 4 and the first winding frame 8, and then pass vertically through the outer axial damping channel 17, the rotating shaft 12, and the upper inner axial damping channel 15. After reaching the upper magnetic conductor 9, they pass vertically through the upper inner radial damping channel 16, the rotating shaft 12, and the lower inner radial damping channel 16. After reaching the lower magnetic conductor 9, they pass vertically through the lower inner axial damping channel 15, the rotating shaft 12, and the outer axial damping channel 17. Finally, after passing through the first winding frame 8, they return to the damper housing 4, forming a closed loop.

[0045] When the ball nut 20 moves up and down, the lead screw shaft 19 rotates. The lead screw shaft 19 is fixedly connected to the third gear 25, converting the linear motion of the ball nut 20 along the lead screw shaft 19 into the rotational motion of the third gear 25. The rotation of the third gear 25 then drives the rotation of the second gear 24, thereby causing the damper shaft 5 to rotate. 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, thus generating a controllable damping torque to suppress the rotation of the damper shaft 5 and achieve a vibration reduction effect.

[0046] In the entire actuator, the part of the lead screw sleeve 22 that extends above the lead 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 top of the vehicle; the bottom of the damper housing 4 of the adjustable damping mechanism 3 is connected to the main suspension body of the vehicle.

[0047] When the vehicle vibrates, the body transmits the vibration to the ball screw sleeve 22 of the ball screw mechanism, causing the ball screw sleeve 22 to vibrate up and down. The ball screw sleeve 22, which is fixed to it, vibrates up and down together. The ball screw 20 drives the screw shaft 19, which is threaded to it, to rotate. The bottom end of the screw shaft 19 is connected to the gear 25 via a flat key, converting the linear motion of the ball screw 20 along the screw shaft 19 into the rotational motion of the gear 25. This, in turn, drives the damper shaft 5 to rotate, causing the magnetorheological fluid to circulate in the damping channel. At the same time, the excitation coil 6 is energized, generating a damping force that suppresses the rotational motion of the damper shaft 5, the gear 24, and the screw shaft 19, thereby suppressing the up and down vibration of the ball screw sleeve 22 and thus suppressing the vehicle's vibration, achieving passive damping control of vehicle vibration. Furthermore, by adjusting the input current in the excitation coil 6, the damping force in the adjustable damping mechanism 3 can be varied from minimum to maximum, thus flexibly responding to different road conditions and exhibiting extremely high adaptability.

[0048] Meanwhile, the rotary motor 7 can actively control vehicle vibration as needed. When the rotary motor 7 is started, it drives gear 23 to rotate, which in turn drives gear 25 to rotate via gear 24. This controls the up-and-down movement of the lead screw sleeve 22, enabling both active control of vehicle vibration and active adjustment of the vehicle's posture. When the rotary motor 7 is not started, the rotating gear 25 drives gear 23 to rotate via gear 24. Gear 23 then feeds its rotational motion back to the rotary motor 7, thus realizing the vibration energy feeding function of the rotary motor 7. In other words, the rotary motor 7 can perform both active power consumption and vibration energy feeding control modes.

[0049] Example 2

[0050] See Figure 3The only difference between this embodiment and Embodiment 1 is the adjustable damping mechanism 3. In this embodiment, the adjustable damping mechanism 3 further includes an inner damper cylinder 26 and an outer damper cylinder 27. The bottom end of the outer damper cylinder 27 is fixed to the damper shaft 5 via an annular base plate 28. The top end of the inner damper cylinder 26 is fixed to the damper outer shell 4, and the inner damper cylinder 26 is located within the annular space formed by the outer damper cylinder 27 and the damper shaft 5. The excitation coil 6 is fixedly mounted on the inner damper cylinder 26. The number of excitation coils 6 on the inner damper cylinder 26 can be selected as needed; for example, two excitation coils 6 can be mounted on the inner damper cylinder 26, one above the other. The section of the damper shaft 5 located inside the outer cylinder 27 of the damper is a spiral shaft section 29. The outer circumferential surface of the spiral shaft section 29 is provided with a spiral protrusion 30. The spiral protrusion 30 of the spiral shaft section 29 and the inner side wall of the inner cylinder 26 of the damper form a spiral channel. There are gaps between the outer cylinder 27 of the damper and the outer shell 4 of the damper, and between the outer cylinder 27 of the damper and the inner cylinder 26 of the damper.

[0051] When the vehicle vibrates, it causes the damper shaft 5 to rotate, which in turn causes the magnetorheological fluid to circulate in the damping channel. The magnetorheological fluid in the inner cylinder 26 of the damper will flow spirally in the spiral channel, so that the magnetorheological fluid can work in both shear mode and extrusion mode.

[0052] Example 3

[0053] See Figure 4 The difference between this embodiment and Embodiment 1 lies in the structure of the adjustable damping mechanism 3, the structure of the power transmission mechanism, and the layout of each mechanism. 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 wall of the damper housing 4. The excitation coil 6 is fixedly mounted on the outer wall of the second winding frame 31. The top center of the second winding frame 31 has a mounting cavity for the damper shaft 5 to be inserted. The section of the damper shaft 5 inserted into the mounting cavity is a disc-shaped shaft section 32. The disc-shaped shaft section 32 is provided with two layers of discs 33. Two layers of disc-shaped grooves 34 that cooperate with 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. This 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 4 35 and gear 5 36. Gear 4 35 is coaxially and fixedly connected to the output end of the rotary motor 7, and gear 5 36 is coaxially and 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 actuator is arranged 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, while the adjustable damping mechanism 3 is located on the other side of the power transmission mechanism and is arranged coaxially with the motion conversion mechanism 2.

[0057] Example 4

[0058] See Figure 5 The difference between this embodiment and Embodiment 3 lies in the structure of the adjustable damping mechanism 3, the structure of the power transmission mechanism, and the layout of each mechanism. In this embodiment:

[0059] The only difference between the adjustable damping mechanism 3 and the adjustable damping mechanism 3 in Embodiment 3 is 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 and fixedly connected to the vibration output end of the motion conversion mechanism 2. The adjustable damping mechanism 3 is inverted, with one end of the damper shaft 5 of the adjustable damping mechanism 3 coaxially and fixedly connected to gear six 37, and the other end of the damper shaft 5 of the adjustable damping mechanism 3 coaxially and fixedly connected to the output end of the electric drive mechanism 1. This layout, placing the adjustable damping mechanism 3 between gear six 37 and the rotary motor 7 in the power transmission mechanism, effectively reduces the overall size of the actuator, thus occupying less suspension space when installed on a vehicle and facilitating its placement.

[0061] Example 5

[0062] See Figure 6 The only difference between this embodiment and Embodiment 3 is the structure of the adjustable damping mechanism 3. 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 wall of the damper housing 4. The top center of the third winding frame 39 has a second mounting cavity for the damper shaft 5 to be inserted. The section of the damper shaft 5 inserted into the second mounting cavity is a sawtooth shaft section 40. A sawtooth disk 41 is provided on the sawtooth shaft section 40. The top and bottom surfaces of the sawtooth disk 41 are provided with multiple annular grooves 42. The side wall of the second mounting cavity of the third winding frame 39 has a sawtooth disk-shaped groove 43 that matches the sawtooth disk 41. There is a gap between the sawtooth disk 41 and the sawtooth disk-shaped groove 43. The top and bottom surfaces of the sawtooth disk-shaped groove 43 match the top and bottom surfaces of the sawtooth disk 41, respectively. Excitation coils 6 are installed in the annular mounting grooves at the top and bottom of the third winding frame 39, respectively.

[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 merely 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 within the protection scope of the present invention.

Claims

1. A high-efficiency fully active suspension actuator, comprising an electric drive mechanism (1), a motion conversion mechanism (2), characterized in that: The actuator further comprises an adjustable damping mechanism (3), the output end of the electric driving mechanism (1) is connected with the vibration output end of the motion conversion mechanism (2) through a power transmission mechanism to realize transmission of rotary motion, and the input end of the adjustable damping mechanism (3) is connected with the power transmission mechanism through transmission; The motion conversion mechanism (2) realizes mutual conversion between linear motion and rotary motion, the linear motion end of the motion conversion mechanism (2) serves as a vibration input end, the rotary motion end of the motion conversion mechanism (2) serves as a vibration output end, the electric driving mechanism (1) provides active damping force for damping vibration of the motion conversion mechanism (2), and the adjustable damping mechanism (3) provides controllable passive damping force for damping vibration of the motion conversion mechanism (2). The adjustable damping mechanism (3) comprises a damper housing (4) provided with an inner cavity, the inner cavity of the damper housing (4) is filled with magnetorheological fluid, the damper housing (4) is provided with a vertically extending damper rotating shaft (5) in the inner cavity, the damper rotating shaft (5) is rotatably installed on the damper housing (4) and extends out of the damper housing (4) at one end to serve as an input end, a space between the damper rotating shaft (5) and the damper housing (4) forms a damping channel, the damping channel is provided with an excitation coil (6), the rheological properties of the magnetorheological fluid can be changed by changing the current in the excitation coil (6), and then the damping force output by the adjustable damping mechanism (3) can be changed.

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 bobbin (8), two magnetic conductors (9) and a magnetic shielding ring (10), the first bobbin (8) is fixed in the inner cavity of the damper housing (4) and is attached to the side wall of the inner cavity of the damper housing (4), the magnetic shielding ring (10) and the excitation coil (6) are in the form of inner and outer packaging in the annular winding groove of the first bobbin (8), the damper rotating shaft (5) comprises a rotating shaft core (11) and a rotating shaft body (12) located at the periphery of the rotating shaft core (11), the rotating shaft core (11) is rotatably installed on the damper housing (4), gaps are left between the upper and lower ends of the rotating shaft body (12) and the damper housing (4), annular grooves are respectively formed in the upper and lower ends of the rotating shaft body (12), the two magnetic conductors (9) are respectively fixed on the top wall and the bottom wall of the inner cavity of the damper housing (4) and are respectively embedded into the annular grooves in the upper and lower ends of the rotating shaft body (12), the gap between the outer side wall of the annular groove of the rotating shaft body (12) and the magnetic conductor (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 magnetic conductor (9) forms an inner radial damping channel (16), and the gap between the outer side wall of the rotating shaft body (12) and the inner side wall of the first bobbin (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 on the damper rotating shaft (5) through an annular bottom plate (28), the top end of the damper inner cylinder (26) is fixed on the damper shell (4), and the damper inner cylinder (26) is located in the annular space surrounded by the damper outer cylinder (27) and the damper rotating shaft (5), the excitation coil (6) is fixedly sleeved on the damper inner cylinder (26), and the damper rotating shaft (5) is a spiral rotating shaft segment (29) inside the damper outer cylinder (27), the outer circumferential surface of the spiral rotating shaft segment (29) is provided with a spiral protrusion (30), and the spiral protrusion (30) of the spiral rotating shaft segment (29) and the inner side wall of the damper inner cylinder (26) surround a spiral channel, and gaps are left between the damper outer cylinder (27) and the damper shell (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 chain wheel mechanism and a belt wheel 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 gear mechanism, the first external gear mechanism comprises gear one (23), gear two (24) and gear three (25) which are sequentially engaged, gear one (23) is coaxially and fixedly connected with the output end of the electric driving mechanism (1), gear two (24) is coaxially and fixedly connected with the input end of the adjustable damping mechanism (3), and gear three (25) is coaxially and fixedly connected with the vibration output end of the motion conversion mechanism (2).

6. A high efficiency fully active suspension actuator as claimed in claim 1, characterized by: The adjustable damping mechanism (3) further comprises a second bobbin (31), the second bobbin (31) is fixed in the inner cavity of the damper shell (4) and is attached to the inner cavity wall surface of the damper shell (4), the excitation coil (6) is fixedly sleeved on the outer side wall of the second bobbin (31), a mounting cavity one is formed in the top center of the second bobbin (31) for inserting the damper rotating shaft (5), a disc type rotating shaft segment (32) is formed in the section of the damper rotating shaft (5) inserted into the mounting cavity one, at least one layer of disc (33) is arranged on the disc type rotating shaft segment (32), disc-shaped grooves (34) are formed in the side wall of the mounting cavity one of the second bobbin (31) and matched with the discs (33), and gaps are left between the discs (33) and the corresponding disc-shaped grooves (34).

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

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

9. A high efficiency fully active suspension actuator as in claim 1, wherein: The adjustable damping mechanism (3) further comprises a third bobbin (39) fixed in the inner cavity of the damper housing (4) and attached to the inner cavity wall of the damper housing (4), a mounting cavity two for inserting the damper shaft (5) is formed in the top center of the third bobbin (39), the inserted section of the damper shaft (5) is a zigzag shaft section (40), the zigzag shaft section (40) is provided with a zigzag disc (41), the top surface and the bottom surface of the zigzag disc (41) are both provided with a plurality of annular tooth grooves (42), a zigzag disc-shaped groove (43) matched with the zigzag disc (41) is formed in the side wall of the mounting cavity two of the third bobbin (39), a gap is left between the zigzag disc (41) and the zigzag disc-shaped groove (43), the top surface and the bottom surface of the zigzag disc-shaped groove (43) are respectively matched with the top surface and the bottom surface of the zigzag disc (41) in shape, and the annular mounting grooves at the top end and the bottom end of the third bobbin (39) are respectively provided with excitation coils (6).

10. A high efficiency fully active suspension actuator as claimed in claim 1, characterized by: In the adjustable damping mechanism (3), a permanent magnet (44) is arranged in the cavity inside the damper housing (4) or in the damper shaft (5).

Images