Transmission device and actuating system

Abstract

The invention provides a transmission device and an actuating system. The transmission device comprises two transmission components and a coupling component arranged between the two transmission components. One of the two transmission components is in transmission connection with the force generating mechanism and is used for receiving the torque output by the force generating mechanism; and the other one is in transmission connection with the force output torsion bar and is used for outputting torque to the force output torsion bar. The coupling component is arranged between the two transmission components and used for achieving force transmission between the two transmission components. The active suspension can be applied to intelligent vehicles or electric vehicles, and the frequency response performance of the active suspension can be improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technologies, and more particularly, to a transmission device and an actuation system. Background Art

[0002] With the rapid development of vehicle technologies, active suspensions are increasingly applied to vehicles. Compared with traditional suspensions, an active force generating mechanism (such as a motor) is configured in an active suspension. Since the suspension is disposed between a wheel and a vehicle's load-bearing structure, for the impact force transmitted from the road surface to the vehicle's load-bearing structure through the wheel, the active suspension can actively respond to the suspension bounce caused by the impact force through the active force generating mechanism, reduce the impact of the impact force on the vehicle's load-bearing structure, and improve riding comfort. In an actual scenario, the impact force of the road surface transmitted by the wheel often involves high-frequency and low-frequency parts. However, the system stiffness in the active suspension is fixed, resulting in limitations in the frequency response ability of the active suspension. Therefore, how to improve the frequency response performance of the active suspension has become a problem to be solved. Summary of the Invention

[0003] This application provides a transmission device and an actuation system that can improve the frequency response performance of an active suspension.

[0004] In a first aspect, a transmission device is provided. The transmission device includes a first transmission member, a second transmission member, and a coupling member. Among them, the first transmission member is in transmission connection with a force generating mechanism and is configured to receive the torque output by the force generating mechanism; the second transmission member is in transmission connection with a force output torsion bar and is configured to output torque to the force output torsion bar; the coupling member is disposed between the first transmission member and the second transmission member and is configured to realize the transmission of force between the first transmission member and the second transmission member.

[0005] Exemplarily, the force generating mechanism and the force output torsion bar may be disposed in an actuation system, and this transmission device is configured to realize the transmission of force between the force generating mechanism and the force output torsion bar. For example, this transmission device may be disposed between the force generating mechanism and the force output torsion bar.

[0006] The force generating mechanism may be an active force generating mechanism (abbreviated as an active force mechanism) or a passive force generating mechanism (abbreviated as a passive force mechanism). The active force generating mechanism may include a motor, a motor and a coupled reduction mechanism, etc., and can actively provide torque to the outside by controlling the actuation of the motor. For the passive force generating mechanism, in some possible implementation manners, torque may be passively provided to the outside through material deformation, etc. Similarly, an actuation system provided with an active force generating mechanism may be abbreviated as an active actuation system, and an actuation system provided with a passive force generating mechanism may be abbreviated as a passive actuation system. This actuation system may output torque to the outside through the force output torsion bar.

[0007] In some possible implementation manners, taking the suspension scenario as an example, in order to cope with the road surface excitation transmitted by the shock absorption spring and the damper in the suspension system, the actuation system can provide a resistance force through the force output torsion bar to cope with the road surface excitation. When an active force generating mechanism is adopted in the suspension scenario, the actuation system can also be referred to as an active suspension actuation system. The above-mentioned actuation system can also be applied to other scenarios, and this application does not limit this.

[0008] Exemplarily, the coupling member in the transmission device can allow the first transmission member and the second transmission member to perform relative movement in the first direction, thereby realizing the decoupling of the movement of the first transmission member and the second transmission member in the first direction. For example, the coupling member can achieve the relative movement between the first transmission member and the second transmission member through attitude change.

[0009] In an actual scenario, the road surface excitation may involve a high-frequency part and a low-frequency part. However, due to the fixed system stiffness, active suspensions often have difficulty effectively balancing the usage requirements under different road surface excitations. In this application, by providing a transmission device between the force generating mechanism and the force output torsion bar, on the one hand, for the first transmission member and the second transmission member in the transmission device, the force transmission between the two can be realized through the coupling member in the transmission device; on the other hand, the movement of the first transmission member and the second transmission member can be decoupled through the coupling member. Thus, the transmission device can meet the usage requirements of the active suspension in different road surface excitation scenarios and can improve the frequency response performance of the active suspension.

[0010] Combined with the first aspect, in some implementation manners of the first aspect, the first transmission member and the second transmission member are coaxially arranged at the first axis, and the second transmission member is arranged in the cavity formed by the first transmission member at the first axis.

[0011] Exemplarily, the transmission device can include an inner skeleton, an outer skeleton, and a coupling mechanism arranged between the inner and outer skeletons. The inner skeleton can be arranged in the cavity formed by the outer skeleton. The inner and outer skeletons can be coaxially arranged along the first axis, and the inner and outer skeletons can rotate relative to each other along the first axis.

[0012] In one embodiment, the force generating mechanism can be in transmission connection with the outer skeleton, and the force output torsion bar can be in transmission connection with the inner skeleton. The force generating mechanism can output torque to the force output torsion bar through the outer skeleton - coupling mechanism - inner skeleton. In this scenario, the outer skeleton can be regarded as the first transmission member, and the inner skeleton can be regarded as the second transmission member. In some possible implementation manners, the force output torsion bar can be coupled to the inner skeleton. For example, the force output torsion bar and the inner skeleton can be the same part.

[0013] In another embodiment, the force generating mechanism may be drivingly connected to the inner frame, and the force output torsion bar may be drivingly connected to the outer frame. For example, the force output torsion bar may be drivingly connected to the outer frame through mechanisms such as a planetary gear mechanism and a flange. In this scenario, the inner frame may be regarded as the first driving member, and the outer frame may be regarded as the second driving member.

[0014] In the present application, by disposing the second driving member in the cavity formed by the first driving member at the first axis, the space occupied by the transmission device can be reduced, and the layout of the transmission device can be simplified.

[0015] Combined with the first aspect, in some implementation manners of the first aspect, the second driving member is provided with a through hole at the first axis, and the through hole is used for drivingly connecting with the force output torsion bar.

[0016] For the convenience of explanation and illustration, the through hole provided by the second driving member at the first axis may be referred to as the first through hole.

[0017] In one embodiment, the inner frame may include a first through hole provided along the first axis. The force output torsion bar may be drivingly connected to the inner frame at the first through hole by means of a flat key, a spline, a threaded connection, etc.

[0018] In the present application, by disposing the second driving member in the cavity formed by the first driving member at the first axis and providing a first through hole in the second driving member at the first axis, the driving relationship between the force output torsion bar and the second driving member can be simplified, the space required for arranging the transmission device in the suspension active actuation system can be reduced, and it is beneficial to simplify the layout of the suspension active actuation system on the vehicle.

[0019] Combined with the first aspect, in some implementation manners of the first aspect, when the shape change of the transmission device in the first direction is greater than or equal to the first change amount, it has a first stiffness, and when the shape change of the transmission device in the first direction is less than the first change amount, it has a second stiffness, and the first stiffness is greater than the second stiffness.

[0020] When the deformation of the transmission device in the first direction is small, it has a small stiffness, and when the deformation of the transmission device in the first direction is large, it has a large stiffness. That is to say, the transmission device has a non-linear stiffness in the first direction. For example, the non-linear stiffness of the transmission device can be realized by adopting an elastic member with non-linear stiffness. The stiffness of the transmission device can be determined based on the stiffness of the elastic member.

[0021] For the suspension scenario, in actual working conditions, due to the small amplitude of the shape change of the suspension caused by the high-frequency part of the road surface excitation, while the amplitude of the shape change of the suspension caused by the low-frequency part of the road surface excitation and vehicle turning is often large. In this application, by setting the stiffness of the transmission device in the first direction to be non-linear, for the actuator system and suspension system provided with the transmission device, the system can have non-linear stiffness, which is beneficial to meeting the usage requirements under different road surface excitations.

[0022] Combined with the first aspect, in some implementation manners of the first aspect, the coupling member may include an elastic member. For example, elastic members such as springs and pads made of elastic materials. One or more types of elastic members may be included in the transmission device, and this application does not limit this.

[0023] In some possible implementation manners, the non-linear stiffness of the transmission device can be achieved by elastic members with linear stiffness. For example, the transmission device may be provided with a plurality of elastic members, and the plurality of elastic members may have different linear stiffnesses. Through the cooperation of the stiffnesses of the plurality of elastic members, the non-linear stiffness of the transmission device can be achieved.

[0024] In some possible implementation manners, the non-linear stiffness of the transmission device can be achieved by elastic members with non-linear stiffness.

[0025] In this application, by adopting elastic members such as springs and pads made of elastic materials, the coupling member can be realized in a relatively simple manner, and the design and manufacturing difficulty of the transmission device can be reduced.

[0026] Combined with the first aspect, in some implementation manners of the first aspect, the ratio of the first stiffness to the second stiffness is greater than or equal to the first threshold. Exemplarily, the first threshold may be 8, 10, or may also be 15, 20, etc., and may also be other values.

[0027] In this application, when the ratio of the first stiffness to the second stiffness is greater than or equal to the first threshold, the transmission device can better balance the requirements for coping with road surface excitation in different scenarios, which is beneficial to improving the frequency response performance of the active suspension.

[0028] Combined with the first aspect, in some implementation manners of the first aspect, the first change amount is greater than or equal to the second threshold and less than the third threshold, and the second threshold is less than the third threshold.

[0029] Exemplarily, the second threshold may be 1 cm, 1.5 cm, etc., and the third threshold may be 4.5 cm, 4 cm, etc. In some possible implementation manners, the second threshold and the third threshold may also be other values.

[0030] In this application, by reasonably setting the stiffness transition point of the transmission device, the transmission device can better balance the requirements for dealing with road excitations in different scenarios, which is beneficial to improving the frequency response performance of the active suspension.

[0031] Combined with the first aspect, in some implementation manners of the first aspect, the coupling member may include a hydraulic cylinder. The hydraulic cylinder includes a cylinder body forming a hydraulic chamber and a piston moving in the hydraulic chamber. The piston is disposed on one of the first transmission member and the second transmission member, and the cylinder body is disposed on the other of the first transmission member and the second transmission member. The hydraulic chamber is connected to the liquid storage device through a pressure compensation pipeline, and a control valve is disposed in the pressure compensation pipeline. The control valve is used to control the conduction and disconnection between the hydraulic chamber and the liquid storage device.

[0032] In this application, by controlling the conduction between the hydraulic cylinder and the liquid storage device, the flow of the transmission fluid between the hydraulic cylinder and the liquid storage device can be realized, so that the first transmission member and the second transmission member can move relative to each other, which is beneficial to realizing the vibration reduction of the high-frequency part of the road excitation. When the connection between the hydraulic cylinder and the liquid storage device is disconnected, the force transmission between the first transmission member and the second transmission member can be realized in a hydraulic manner, which is beneficial to realizing the rapid response to the low-frequency part of the road excitation. Thus, the frequency response performance of the active suspension in different road excitation scenarios can be improved.

[0033] Combined with the first aspect, in some implementation manners of the first aspect, a compressible gas sealed by the transmission fluid may be disposed in the liquid storage device. When the transmission device is in the first working mode, the control valve is in the disconnected state; or when the transmission device is in the second working mode, the control valve is in the conducting state.

[0034] Exemplarily, according to perception sensors such as cameras and radars, the road environment in which the vehicle travels can be determined. For example, information such as road flatness can be determined according to the data collected by the sensors. According to the road environment, the working mode of the transmission device can be determined.

[0035] In one embodiment, when the flatness of the road is poor, it can be considered that the road excitation is mainly reflected in the high-frequency part, and the control valve can be controlled to be in the conducting state to achieve better vibration isolation performance. In another embodiment, when the road is relatively flat, it can be considered that the road excitation is mainly the low-frequency part, and the control valve can be controlled to be in the disconnected state to achieve the rapid response of the active force generating mechanism to the road excitation.

[0036] In this application, by controlling the transmission mechanism to be in different working modes in different usage scenarios, it can cooperate with the active suspension's response to road excitations in different scenarios, and can improve the frequency response performance of the active suspension.

[0037] In some possible ways, to prevent the compressible gas from mixing into the transmission fluid, the compressible gas can be disposed in a deformable airbag. The compressible gas and the transmission fluid may not be in direct contact, and the transmission fluid in the liquid storage device compresses the compressible gas by compressing the deformable airbag. In this way, it is possible to prevent the compressible gas from mixing into the transmission fluid in the hydraulic chamber and avoid the interference of the compressible gas on the hydraulic transmission.

[0038] In some possible implementation manners, the transmission device can be disposed in an active suspension system, and the active suspension system includes the force generating mechanism and the force output torsion bar, and the transmission device is used for drivingly connecting the force generating mechanism and the force generating torsion bar.

[0039] In a second aspect, an actuation system is provided, and the actuation system includes a force generating mechanism, a force output torsion bar, and a transmission device. The force generating mechanism includes a motor provided with a through hole for arranging the force output torsion bar. The force output torsion bar includes a first end and a second end, and the first end and the second end of the force output torsion bar are respectively disposed on two sides of the through hole. The force output torsion bar outputs a torque at the first end to a device drivingly connected to the force output torsion bar, and the force output torsion bar is drivingly connected to the force generating mechanism through the transmission device at the second end.

[0040] For the convenience of explanation and illustration, the through hole on the motor for arranging the force output torsion bar can be referred to as the second through hole; the transmission device for drivingly connecting the force generating mechanism and the force output torsion bar can be referred to as the first transmission device.

[0041] In the present application, by arranging the force output torsion bar in the through hole of the motor, the integration degree of the actuation system composed of the force generating mechanism and the force output torsion bar can be improved, the space required for arranging the actuation system can be reduced, and the arrangement manner of the actuation system can be simplified.

[0042] Combined with the second aspect, in some implementation manners of the second aspect, the motor can have a hollow shaft structure, and the second through hole is formed by the hollow shaft structure.

[0043] In the present application, by adopting a hollow shaft motor, it is beneficial to further save the lateral dimension required for arranging the force generating mechanism, reduce the space required for arranging the force generating mechanism, and simplify the arrangement manner of the corresponding actuation system.

[0044] Combined with the second aspect, in some implementation manners of the second aspect, the actuation system can further include a reduction device. For example, it can include a harmonic reduction mechanism, a planetary gear mechanism, a worm and gear reduction mechanism, a belt pulley reduction mechanism, etc. For example, the motor can drive the first transmission device to move through the reduction device, and then transmit the torque to the force output torsion bar.

[0045] In combination with the second aspect, in some implementations of the second aspect, the first transmission device may include the transmission device in the first aspect and any of its possible implementations.

[0046] In a third aspect, an actuation system is provided, which includes a force generating mechanism, a force output torsion bar, and a transmission device disposed between the force generating mechanism and the force output torsion bar. The transmission device may include the transmission device in the first aspect and any of its possible implementations.

[0047] Exemplarily, the transmission device is disposed between the force generating mechanism and the force output torsion bar, which may indicate that the torque output by the force generating mechanism is transmitted to the force output torsion bar through the transmission device.

[0048] In a fourth aspect, a suspension system is provided, which includes a shock-absorbing spring and a damper, and further includes the transmission device in the first aspect and any of its possible implementations, or further includes the actuation system in the second aspect and any of its possible implementations, or further includes the actuation system in the third aspect and any of its possible implementations.

[0049] In a fifth aspect, a vehicle is provided, which includes an independent suspension system. The independent suspension system includes the transmission device in the first aspect and any of its possible implementations, or includes the actuation system in the second aspect and any of its possible implementations, or includes the actuation system in the third aspect and any of its possible implementations. Description of the Drawings

[0050] Figure 1 is a schematic diagram of an application scenario of an active suspension provided by an embodiment of the present application;

[0051] Figure 2 is a schematic framework diagram of an actuation system provided by an embodiment of the present application;

[0052] Figure 3 is a schematic diagram of a working scenario of a transmission device provided by an embodiment of the present application;

[0053] Figure 4 is a schematic diagram of a transmission device provided by an embodiment of the present application;

[0054] Figure 5 is a schematic diagram of another transmission device provided by an embodiment of the present application;

[0055] Figure 6 is a schematic diagram of a stiffness change curve of a transmission device provided by an embodiment of the present application;

[0056] Figure 7 is a schematic diagram of an actuation system provided by an embodiment of the present application. Detailed implementation manners

[0057] The technical solutions in the present application will be described below in conjunction with the accompanying drawings.

[0058] In the description of the present application, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0059] It should also be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0060] The suspension system may include a plurality of connecting devices disposed between the load-bearing structure of the vehicle and the wheels, capable of transmitting the force and torque between the wheels and the vehicle load-bearing structure, capable of buffering the impact force transmitted from the road surface to the vehicle body through the wheels, and reducing the vibration caused by road excitation.

[0061] Compared with the traditional suspension system, the active suspension includes an electric motor and corresponding deceleration devices and other active actuation parts (which can also be called an active force generation mechanism, simply referred to as an active force generation mechanism). For example, as Figure 1 shown, Figure 1 is a schematic diagram of an application scenario of an active suspension provided by an embodiment of the present application. The vehicle 100 may include a plurality of wheels, such as a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel.

[0062] As Figure 1 shown in (a) of

[0063] In some possible implementation manners, in order to save costs, active suspensions may also be provided only for some of the wheels. For example, active suspensions may be provided only for the left front wheel and the right front wheel respectively. Another example is that active suspensions may be provided only for the rear wheels of the vehicle respectively.

[0064] In a transmission suspension system, a shock-absorbing spring and a damper passively provide resistance to road surface excitation. Compared with a traditional suspension system, an active suspension is provided with an active actuation system (which can be simply referred to as a suspension active actuation system), and this suspension active actuation system can actively provide resistance to road surface excitation. Exemplarily, taking the active suspension 101 as an example, the active suspension 101 may include an actuation system 140, and may also include components such as a shock-absorbing spring, a damper, and a lower cross arm.

[0065] As Figure 1 shown in (b) of [reference], the actuation system 140 may include a force generating mechanism 110 and a force output torsion bar 130. The force generating mechanism 110 may be an active force generating mechanism, which may include a motor 111, and may also include a reduction mechanism 112. The force output torsion bar 130 may include one or more torsion bars, such as torsion bars 131 and 132. A transmission device 120 may also be provided between the force generating mechanism 110 and the force output torsion bar 130, and this transmission device 120 may include transmission components such as torsion bars and linkages. When the active force generating mechanism 110 actuates, the force output by the active force generating mechanism 110 may be transmitted to components such as the lower swing arm through the force output torsion bar 130, alleviating the excitation transmitted from the road surface to the wheel.

[0066] In an actual scenario, the road surface excitation may include a high-frequency part and a low-frequency part. Under the conditions of transient response and handling stability, it is often necessary for the system stiffness of the active suspension to be relatively large, so that when the force generating mechanism actuates, a rapid response to the low-frequency part of the road surface excitation can be achieved. For the high-frequency excitation of the road surface, it is often necessary for the system stiffness of the active suspension to be relatively small to achieve a better vibration isolation effect and improve ride comfort. However, due to the relatively fixed system stiffness of the transmission mechanism in the active suspension, it is difficult for the active suspension to effectively balance the two requirements of rapid response to the low-frequency part and effective vibration filtering of the high-frequency part.

[0067] Therefore, the embodiment of the present application provides a transmission device, which can be used to realize the transmission of force between the force generating mechanism and the force output torsion bar in the actuation system, and can effectively meet the requirements of the active suspension for coping with the high-frequency part and the low-frequency part of the road surface excitation.

[0068] Exemplarily, Figure 2 is a schematic framework diagram of the system architecture of an actuation system provided by an embodiment of the present application. As Figure 2 shown, the actuation system 200 may include a force generating mechanism 210, a force output torsion bar 230, and a transmission device 220.

[0069] The force generating mechanism 210 can be an active force generating mechanism, such as including a motor, an active actuating part composed of a motor and a reduction mechanism. For example, in a suspension scenario, the force generating mechanism 210 can correspond to the force generating mechanism 110 in the suspension system 101. Again, for example, the reduction mechanism in the force generating mechanism 210 can be a harmonic reduction mechanism, a rack and pinion reduction mechanism, a worm and worm gear reduction mechanism, a planetary gear reduction mechanism, a pulley reduction mechanism, etc. In some possible implementation manners, the force generating mechanism 210 can be a passive force generating mechanism, such as a force generating mechanism that realizes actuation passively through an elastic member, a damping device, etc., that is, a force generating mechanism that passively outputs torque to the outside. Correspondingly, an actuating system provided with an active force generating mechanism can also be called an active actuating system, which can be simply referred to as an active actuation system; an actuating system provided with a passive force generating mechanism can also be called a passive actuating system, which can be simply referred to as a passive actuation system. The actuating system 200 can be an active actuation system, or can also be a passive actuation system. The specific form of the actuating system 200 can be set according to the usage scenario.

[0070] In some possible implementation manners, the force generating mechanism 210 includes a motor, and the motor can be provided with a through hole, and the force output torsion bar 230 can be disposed in the through hole, and both ends of the force output torsion bar 230 can be respectively disposed on both sides of the through hole.

[0071] In one embodiment, the through hole for setting the force output torsion bar can be disposed on the axis of the motor.

[0072] The force output torsion bar 230 can be used to transfer the response of the force generating mechanism 210 to the device connected to the force output torsion bar.

[0073] The transmission device 220 is disposed between the force generating mechanism 210 and the force output torsion bar 230. It can also be said that the transmission device 220 is used for drivingly connecting the force generating mechanism 210 and the force output torsion bar 230. The transmission device 220 can include a first transmission member 221, a second transmission member 222, and a coupling member 223. The first transmission member 221 is used for drivingly connecting with the force generating mechanism 210. The second transmission member 222 is used for drivingly connecting with the force output torsion bar 230. The coupling member 223 is used for being disposed between the first transmission member 221 and the second transmission member 222 and for realizing the transfer of force between the first transmission member 221 and the second transmission member 222.

[0074] Exemplarily, the coupling member 223 may allow relative movement between the first transmission member 221 and the second transmission member 222 in a first direction, and may allow decoupling of the movements of the first transmission member 221 and the second transmission member 222 in the first direction. For example, the coupling member 223 may achieve relative movement between the first transmission member 221 and the second transmission member 222 in the first direction through a change in attitude. Again, for example, the first direction may be the direction of the torque output by the force generating mechanism 210 to the first transmission member 221.

[0075] In one embodiment, in a suspension scenario, the actuation system 200 may include a suspension active actuation system formed by replacing the transmission 120 in the suspension system 101 with a transmission 220.

[0076] In yet another embodiment, the actuation system 200 may be applied to other usage scenarios, which are not limited in the embodiments of the present application.

[0077] In some possible implementation manners, the first transmission member 221 and the second transmission member 222 are coaxially arranged at a first axis, a cavity is formed at the first axis of the first transmission member 221, and part or all of the second transmission member 222 may be arranged in the cavity.

[0078] In one embodiment, the second transmission member 222 is provided with a first through hole at the first axis, and the first through hole is used for driving connection with a force output torsion bar.

[0079] In yet another embodiment, the force output torsion bar 230 may be coupled to the second transmission member 222. For example, the second transmission member 222 and the force output torsion bar 230 may be the same part.

[0080] In some possible implementation manners, the transmission 220 may have a non-linear stiffness in the first direction. When the amount of shape change of the transmission 220 in the first direction is small, it may have a small stiffness, and when the amount of shape change of the transmission 220 in the first direction is large, it may have a large stiffness. For example, when the deformation of the transmission 220 in the first direction is greater than or equal to a first change amount, it has a first stiffness; when the amount of shape change of the transmission 220 in the first direction is less than the first change amount, it has a second stiffness.

[0081] In one embodiment, the ratio of the first stiffness to the second stiffness may be greater than or equal to a first threshold. For example, the first threshold may be 8, 10, or may also be other values, such as 12, 15, etc.

[0082] In another embodiment, the first variation is greater than or equal to the second threshold and less than or equal to the third threshold. For example, the second threshold can be 1 cm, 1.5 cm, or it can also be other values, such as 2 cm, 2.5 cm. For another example, the third threshold can be 4 cm, 4.5 cm, or it can also be other values, such as 3.5 cm, 5 cm, etc.

[0083] Exemplarily, the non-linear stiffness of the transmission device can be achieved by using an elastic member with non-linear stiffness. The stiffness of the transmission device can be determined based on the stiffness of the elastic member.

[0084] In some possible implementation manners, the coupling member 223 can include an elastic member. Such as a spring, a cushion block made of elastic material, etc., thereby simplifying the design and manufacturing difficulty of the transmission device.

[0085] In some possible implementation manners, the coupling member 223 can include a hydraulic cylinder. The hydraulic cylinder can include a cylinder body forming a hydraulic cavity and a piston capable of moving relative to the cylinder body. One of the cylinder body and the piston can be arranged on the first transmission member 221, and the other of the two can be arranged on the second transmission member 222. The hydraulic cavity can be connected to a liquid storage device through a pressure compensation pipeline, and a control valve can be arranged in the pressure compensation pipeline to control the on and off between the hydraulic cavity and the liquid storage device.

[0086] The following will briefly describe Figures 3 to 5 the structure of the transmission device 220. Figures 3 to 5 The transmission device involved in

[0087] Exemplarily, Figure 3 is a schematic diagram of a working scenario of a transmission device provided by an embodiment of the present application. The transmission device 300 can correspond to the transmission device 220.

[0088] The transmission device 220 can include an outer skeleton 310, an inner skeleton 320, and an elastic member 330 arranged between the inner and outer skeletons. The outer skeleton 310 and the inner skeleton 320 can be coaxially arranged along the axis 302, and the inner skeleton 320 is arranged in the cavity formed by the outer skeleton 310. The outer skeleton 310 and the inner skeleton 320 can rotate relative to each other along the axis 302. The elastic member 330 can realize the force transmission between the outer skeleton 310 and the inner skeleton 320.

[0089] In one embodiment, for the convenience of arranging and installing the elastic member 330, the outer skeleton 310 and the inner skeleton 320 can be respectively provided with radially extending fins, and the elastic member 330 can be fixed between the fins of the inner and outer skeletons, as shown in Figure 3 (a) in. The elastic member 330 can be a cushion block made of elastic material.

[0090] In another embodiment, a plurality of elastic members 330 may be provided between the outer frame 310 and the inner frame 320. For example, as Figure 3 shown, the elastic members 330 provided between the outer frame 310 and the inner frame 320 may include elastic cushion blocks 331 to 336. In some possible implementation manners, more or fewer elastic cushion blocks may be provided between the inner and outer frames, such as 3, 8, etc., and the embodiments of the present application do not limit this.

[0091] In another embodiment, the elastic member 330 may be made of one or more elastic materials. For example, elastic materials such as natural rubber and nitrile rubber. For another example, the elastic cushion blocks 331 to 336 may respectively adopt different elastic materials, so that the transmission device 300 may have a non-linear stiffness. For another example, in the same elastic member 330, a variety of elastic materials may be provided, so that the elastic member 330 may have a non-linear stiffness. In another embodiment, the elastic cushion blocks 331 to 336 may be made of the same elastic material, and by setting the shape of the cushion block, the elastic cushion block may have a linear or non-linear stiffness.

[0092] In some possible implementation manners, a plurality of holes may be provided on the side wall of the outer frame 310, or the outer frame 310 is composed of a plurality of frames, and there are connected nodes among the plurality of frames, thereby reducing the weight of the transmission device. That is to say, a plurality of holes may be provided on the side surface of the cavity formed by the outer frame 310. Correspondingly, the side wall of the inner frame may adopt a similar manner to reduce the weight of the transmission device.

[0093] The following takes the scenario shown in (b) of Figure 3 as an example to briefly introduce the working mode of the transmission device 300.

[0094] As Figure 3 shown in (b) of, the rotating shaft 340 may be in driving connection with the inner frame 320 through a flat key 350. In some possible implementation manners, the rotating shaft 340 may be in driving connection with the inner frame 320 through other manners such as splines. In some possible implementation manners, the rotating shaft 340 may be coupled to the inner frame 320. For example, the rotating shaft 340 may be fixed to the inner frame 320 by means of welding, hinging, threaded connection, etc. When the inner frame 320 rotates, the inner frame 320 and the rotating shaft 340 may be regarded as the same part. For another example, the inner frame 320 and the rotating shaft 340 may be the same part.

[0095] In one embodiment, it is assumed that the rotating shaft 340 can be the output shaft of the main power generating mechanism (or the rotating shaft 340 can be driven by the main power generating mechanism). When the rotating shaft 340 drives the inner skeleton 320 to rotate, the inner skeleton 320 can drive the outer skeleton 310 to rotate by squeezing the elastic pad. The outer skeleton 310 can be connected to the force output torsion bar transmission through a planetary gear mechanism, a flange, etc. In this scenario, the inner skeleton 320 can correspond to the first transmission member 221 of the transmission device 220, and the outer skeleton 310 can correspond to the second transmission member 222.

[0096] In another embodiment, it is assumed that the rotating shaft 340 is a force output torsion bar (or the force output torsion bar is in transmission connection with the rotating shaft 340). When the active force actuating mechanism drives the outer frame 310 to rotate, the outer frame 310 can drive the inner frame 320 to rotate through the elastic member 330. In this scenario, the outer frame 310 can correspond to the first transmission member 221, and the inner frame can correspond to the second transmission member 222.

[0097] For example, Figure 4 Schematic diagram of another transmission device provided in the embodiment of the present application. Figure 4 As shown, the transmission device 400 may include an outer frame 410, an inner frame 420, and an elastic member 430 disposed between the inner and outer frames. The elastic member 430 may include a spring. The transmission device 400 may be understood as an extension or deformation of the transmission devices 200, 300.

[0098] In one embodiment, the transmission device 400 may include a transmission device in which the elastic member 330 in the transmission device 300 is replaced by an elastic member 430 .

[0099] In another embodiment, the multiple springs between the outer frame 410 and the inner frame 420 may have the same elastic properties. For example, along the extension direction of the spring, the inner diameter may be non-uniform so that the spring may have nonlinear stiffness; the inner diameters of the multiple springs may be the same. For another example, the shape of the spring may be a spindle shape, a bell shape, etc.; the shapes of the multiple springs may be the same.

[0100] In yet another embodiment, the plurality of springs between the outer frame 410 and the inner frame 420 may have different elastic properties, so that the transmission device 400 may have nonlinear stiffness.

[0101] In some possible implementations, the outer frame 310, 410, and / or the inner frame 320, 420 may be made of metal.

[0102] For example, Figure 5 Schematic diagram of another transmission device provided in the embodiment of the present application. Figure 5As shown, the transmission device 500 may include an outer frame 510, an inner frame 520, and a hydraulic cylinder 530. The outer frame 510 and the inner frame 520 may correspond to the first transmission member 221 and the second transmission member 222 respectively, and the hydraulic cylinder 530 may correspond to the coupling member 223.

[0103] The hydraulic cylinder 530 may include a cylinder block 532 and a piston 531 that form a hydraulic chamber. One of the cylinder block 532 and the piston 531 may be disposed on the outer frame 510, and the other of the two may be disposed on the inner frame 520. For example, the cylinder block 532 of the hydraulic cylinder may be fixedly installed on the outer frame 510, and the piston 531 may be drivingly connected to the inner frame 520 through a connecting device such as a connecting rod. Again, for example, the cylinder block 532 may be relatively fixedly disposed with the inner frame 520, and the piston 531 may be drivingly connected to the outer frame 510 through a connecting rod. By adjusting the pressure of the transmission fluid in the hydraulic chamber, the relative positional relationship between the piston 531 and the cylinder block 532 can be adjusted, thereby adjusting the relative position between the outer frame 510 and the inner frame 520. The hydraulic cylinder 530 may be connected to the liquid storage device 550 through a pressure compensation pipeline 560. A control valve 540 may be provided in the pressure compensation pipeline 560. By opening and closing the control valve 540, the communication between the hydraulic chamber and the liquid storage device 550 can be achieved.

[0104] In one embodiment, the liquid in the hydraulic cylinder 530 can be replenished from the liquid storage device 550 through the pressure compensation pipeline 560; it can also flow back to the liquid storage device 550 through the pressure compensation pipeline 560.

[0105] In another embodiment, the hydraulic cylinder 530 may be connected to the liquid storage device 550 through an outlet pipeline. The fluid flowing out of the hydraulic cylinder 550 can flow to the liquid storage device 550 through the outlet pipeline. That is to say, for the hydraulic cylinder 530, the inlet pipeline and the outlet pipeline can be independent of each other. The pressure compensation pipeline can be used as the inlet pipeline of the hydraulic cylinder 530. Relatively, a control valve may also be provided in the outlet pipeline to achieve the control of the opening and closing of the outlet pipeline.

[0106] Exemplarily, the pressure compensation pipeline 560 may include a pipeline device independent of the inner and outer frames, and / or a flow channel provided in the outer frame 510 and the inner frame 520.

[0107] In some possible implementation manners, a transmission fluid and a compressible gas may be provided in the liquid storage device 550. The compressible gas may be sealed in the liquid storage device 550. For example, there is a first interface between the compressible gas and the transmission fluid, and the pressure can be transmitted between the two through the first interface. The transmission fluid can seal the compressible gas through the first interface. For another example, in order to avoid the mixing of the compressible gas and the transmission fluid due to factors such as vibration, a gas storage member (such as an airbag) is provided in the liquid storage device 550, and the compressible gas can be arranged in the deformable airbag, and the transmission fluid can transmit pressure with the compressible gas through the airbag wall of the airbag.

[0108] In one embodiment, in the scenario where the control valve 540 is disconnected, the torque between the inner and outer skeletons can be transmitted through the transmission fluid between the cylinder block 532 and the piston 531 of the hydraulic cylinder 530. In this scenario, when the driving force generating mechanism acts, the transmission device 530 can achieve a fast response to the low-frequency part of the road surface excitation.

[0109] In another embodiment, in the scenario where the control valve 540 is conducted, the transmission fluid can freely flow between the hydraulic chamber of the hydraulic cylinder 530 and the liquid storage device 550 through the pressure compensation pipeline 560. The transmission fluid in the liquid storage device 550 will increase or decrease with the relative movement between the inner and outer skeletons. Correspondingly, the compressible gas in the liquid storage device 550 will be compressed or expanded. In this scenario, by the compression and expansion of the compressible fluid in the liquid storage device 550, the vibration filtering of the high-frequency part of the road surface excitation can be achieved.

[0110] In the embodiments of the present application, by controlling the conduction and disconnection of the control valve, the conduction and disconnection between the hydraulic cylinder and the liquid storage device can be achieved, and the transmission requirements for the transmission device in different scenarios can be met.

[0111] Exemplarily, taking the suspension scenario as an example, perception sensors such as cameras and radars can be provided in the vehicle. The road environment where the vehicle is located can be determined according to the data collected by the perception sensors, and the working mode of the transmission device can be determined according to the road environment. For example, when the flatness of the road is poor, it can be considered that the road surface excitation in this scenario is mainly the high-frequency part, and the control valve 540 can be controlled to be in the conduction state. For another example, when the road is relatively flat, it can be considered that the road surface excitation is mainly the low-frequency part. In this scenario, it is necessary to control the driving force generating mechanism to act. In order to achieve a fast response to the road surface excitation, the control valve 540 can be controlled to be in the disconnected state.

[0112] In some possible implementation manners, the cross-section of the piston in the hydraulic cylinder can be circular to reduce the possibility of liquid leakage from the hydraulic chamber. For example, the piston can be cylindrical.

[0113] Exemplarily,Figure 6 This is a schematic diagram of the stiffness change curve of a transmission device provided by an embodiment of the present application. As Figure 6 shown, when the deformation in the first direction is small, the transmission device can have a small stiffness, and when the deformation in the first direction is large, the transmission device can have a large stiffness.

[0114] In one embodiment, taking the Figure 3 transmission device 300 shown as an example, when the inner and outer skeletons move relative to each other, the elastic member 330 will deform, resulting in a change in the relative distance between the inner and outer skeletons. In this scenario, the first direction can be understood as the direction in which the relative distance between the inner and outer skeletons changes. For example, as Figure 6 shown, when the shape change of the transmission device 300 is less than the change amount 1 (denoted as x1), the corresponding stiffness of the transmission device 300 can be stiffness 1 (denoted as k1). Another example is that when the shape change of the transmission device 300 is greater than or equal to the change amount 1, the corresponding stiffness of the transmission device 300 can be stiffness 2 (denoted as k2), and stiffness 1 can be less than stiffness 2. Another example is that stiffness 2 can be calculated based on the change amount 1 and the change amount 2 (denoted as x2), and the change amount 2 can be any value greater than the change amount 1. For another example, in order to calculate the first stiffness more accurately, the difference between the change amount 2 and the change amount 1 can be greater than or equal to a preset threshold.

[0115] In one embodiment, the change amount 1 can be greater than or equal to 1 cm and less than 4 cm.

[0116] In another embodiment, the change amount 1 can be greater than or equal to 1.5 cm and less than 3.5 cm. The change amount 1 can correspond to the first change amount involved in the system 200.

[0117] In another embodiment, the ratio of stiffness 2 to stiffness 1 can be greater than or equal to a first threshold. For example, the first threshold can be 8, 10, 20, etc., or it can be other values. For example, the first threshold can be determined according to the deformation range of the transmission device 300.

[0118] In some possible implementation manners, when the change amount of the deformation of the transmission device 300 is greater than or equal to the change amount 2, the corresponding stiffness of the transmission device 300 can be stiffness 3, and stiffness 3 can be greater than stiffness 2. That is to say, the transmission device 300 can satisfy a more complex stiffness change curve.

[0119] In some possible implementation manners, Figure 6 the shown stiffness change curve can also be understood as the stiffness change curve of the elastic member in the transmission device.

[0120] For a suspension scenario, in actual working conditions, due to the small amplitude of the shape change of the suspension caused by the high-frequency part of the road surface excitation, while the amplitude of the shape change of the suspension caused by the low-frequency part of the road surface excitation and vehicle turning is often large. In the embodiments of the present application, when the deformation of the transmission device in the first direction is small, it has a small stiffness, so that the actuator system, suspension system, etc. provided with the transmission device can have a small stiffness, which is beneficial to effectively filtering the high-frequency vibration. When the deformation of the transmission device in the first direction is large, it has a large stiffness, so that the actuator system provided with the transmission device can have a large stiffness. This is beneficial to the rapid response of the force generating mechanism to the road surface excitation. Through the above method, it is beneficial to meet the usage requirements under different road surface excitations and can better balance the usage requirements of the actuator system and suspension system in different usage scenarios.

[0121] The above combination Figures 3 to 6 The form of the coupling member shown above is only an example for illustration. The coupling member 223 can also have other shapes, so that it can decouple the movements of the first transmission member 221 and the second transmission member 222 in the first direction, allowing them to achieve relative movement in the first direction.

[0122] Exemplarily, Figure 7 FIG. is a schematic diagram of an actuator system provided by an embodiment of the present application. The actuator system 600 can be understood as an extension or deformation of the system 200.

[0123] As Figure 7 shown, the system 600 can include a torsion bar 610, a transmission device 620, a motor 630, and a reduction mechanism 640. The motor 630 and the reduction mechanism 640 can form a main power generating mechanism. The transmission device 620 can correspond to the transmission devices 220, 300, 400, or 500. The torsion bar 610 can correspond to the force output torsion bars 130, 230.

[0124] The motor 630 can be provided with a through hole, and the torsion bar 610 can be disposed in the through hole. Both ends of the torsion bar 610 can be located on both sides of the through hole respectively. The torsion bar 610 can be fixed to the motor 630 through a bearing 636.

[0125] Exemplarily, the motor 630 can include a rotor 631, a stator 632, an outer housing 633, and can also include an inner housing 634 and a bearing 635 between the inner and outer housings. The rotor 631 and the stator 632 can be respectively disposed in the inner housing 635 and the outer housing 633. When the motor 630 works, the rotor 631 and the stator 632 can rotate relative to each other. Correspondingly, the outer housing 633 and the inner housing 634 can rotate relative to each other. In some possible implementation manners, the inner housing 634 can be coupled to the rotor 631. That is to say, the inner housing 635 can be formed by a part of the rotor 631.

[0126] In some possible implementation manners, the motor 630 may have a hollow shaft structure, and the through hole for arranging the torsion bar 610 may be constituted by the hollow shaft structure. For example, as Figure 7 shown, the through hole may be formed by the inner housing 634. When the inner housing 634 is coupled to the rotor 631, the through hole may be arranged on the rotor 631. The torsion bar 610 may pass through the motor 630 through the through hole.

[0127] The reduction mechanism 640 may include an input member 641, an output member 643, and a transmission member 642 disposed therebetween. For example, taking the reduction device 640 as a harmonic reducer, the input member 641 may include a wave generator in the harmonic reducer, the output member 643 may include a steel wheel in the harmonic reducer, and the transmission member 642 may include a flexible gear in the harmonic reducer. The reduction mechanism 640 may be provided with a through hole, and the torsion bar 610 may pass through the reduction device 640 through the through hole. A bearing may be arranged between the reduction device 640 and the torsion bar 610.

[0128] In some possible implementation manners, the reduction mechanism 640 may be other reduction mechanisms, such as a planetary gear reduction mechanism, a pulley reduction mechanism, etc. The embodiments of the present application do not limit the specific form of the reduction mechanism.

[0129] As Figure 7 shown, the motor 630 may be drivingly connected to the reduction mechanism 640 through a transmission member 650. For example, the input member 641 of the reduction mechanism 640 may be fixedly arranged with the motor 630 through a bolt, and when the motor works, the input member 641 is driven to rotate through the bolt. Similarly, the reduction mechanism 640 may be drivingly connected to the transmission device 620 through a transmission member 660.

[0130] The torsion bar 610 may include a first end and a second end. The first end of the torsion bar 610 may be used to output torque to the device connected to the active suspension system. The torsion bar 610 may be drivingly connected to the transmission device 620 at its second end, for example, drivingly connected to the transmission device 620 at the second end through a flat key 625.

[0131] Hereinafter, taking the transmission device 620 corresponding to the transmission device 300 as an example, the working mode of the suspension system 600 will be briefly introduced. In the transmission device 620, the outer frame 621 may correspond to the outer frame 310 of the transmission device 300, and the inner frame 622 may correspond to the inner frame 320 of the transmission device 300. The elastic member in the transmission device 620 is Figure 7 not shown.

[0132] Exemplarily, when the motor 630 is working, the input member 641 of the reduction mechanism 640 is driven to rotate through the transmission member 650. In the reduction mechanism 640, the input member 641 drives the output member 643 to move through the transmission member 642. Further, the outer frame 621 of the transmission device is driven to rotate through the transmission member 660. In the transmission device 620, the outer frame 621 drives the inner frame 622 to rotate through the elastic member. Further, the torsion bar 610 is driven to rotate through the flat key 625.

[0133] In some possible implementations, in a suspension scenario, the torsion bar 610 may correspond to the torsion bar 130 .

[0134] Combination of the above Figure 7 The relative positional relationship between the force generating mechanism, the transmission device and the force output torsion bar in the actuation system is briefly introduced. The actuation system may also be in other forms, so that the transmission device 220 can achieve the decoupling of the motion between the force generating mechanism and the force output torsion bar.

[0135] The embodiment of the present application also provides an actuation system, which may include a force generating mechanism, a force output torsion bar and a transmission device. The force generating mechanism includes a motor provided with a through hole, the through hole is used to set the force output torsion bar, the force output torsion bar includes a first end and a second end, and the first end and the second end of the force output torsion bar are respectively arranged on both sides of the through hole. The force output torsion bar outputs torque to a device connected to it at the first end, and the force output torsion bar is connected to the force generating mechanism through the transmission device at the second end.

[0136] In one embodiment, Figure 7 The actuation system and its deformation or variant can be understood as an example of the above-mentioned actuation system. For example, the transmission device 620 can be replaced by other transmission devices (such as flanges, gear mechanisms, etc.) to transmit and connect the torsion bar 610 and the reduction mechanism 640, thereby forming a deformation of the actuation system 600 that can be used as an example of the above-mentioned actuation system.

[0137] The embodiment of the present application also provides a suspension system, which includes a vibration reduction spring and a damper, and also includes: Figures 2 to 7 The transmission device shown in Figure 2 or Figure 7 The actuation system shown.

[0138] The embodiment of the present application further provides a vehicle, the vehicle includes an independent suspension, the independent suspension may include: Figures 2 to 7 The transmission device shown in any one of the items, or including Figure 2 or Figure 7 The actuation system shown.

[0139] The vehicle in this application can be a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger vehicles, motorcycles, flying vehicles, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawn mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of this application do not make specific limitations on the type of vehicle. For example, the vehicle in this application can include pure electric vehicles (pure electric vehicle / battery electric vehicle, pure EV / battery EV), hybrid electric vehicles (hybrid electric vehicle, HEV), range extended electric vehicles (range extended electric vehicle, REEV), plug-in hybrid electric vehicles (plug-in hybrid electric vehicle, PHEV), or new energy vehicles (new energy vehicle, NEV), etc.

[0140] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments, and are not intended to limit this application. As used in the specification and appended claims of this application, the singular forms "a", "an", "the", "above-mentioned", "said", and "this" are also intended to include expressions such as "one or more", unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, "at least one" and "one or more" mean one, two, or more than two. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist; for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0141] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0142] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be described in detail here.

[0143] In several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0144] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0145] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0146] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories, random access memories, magnetic disks, or optical discs that can store program codes.

[0147] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claimed rights.

Claims

1. A transmission device, characterized in that, The transmission device includes a first transmission member, a second transmission member, and a coupling member. The first transmission member is in transmission connection with the force generating mechanism and is configured to receive the torque output by the force generating mechanism. The second transmission member is in transmission connection with the force output torsion bar and is configured to output torque to the force output torsion bar. The coupling member is disposed between the first transmission member and the second transmission member and is configured to realize the transmission of force between the first transmission member and the second transmission member.

2. The transmission device according to claim 1, characterized in that, The first transmission member and the second transmission member are coaxially arranged at a first axis, and the second transmission member is disposed in a cavity formed by the first transmission member at the first axis.

3. The transmission device according to claim 2, wherein The second transmission member is provided with a through hole at the first axis, and the through hole is configured to be in transmission connection with the force output torsion bar.

4. The transmission device according to any one of claims 1 to 3, characterized in that The transmission device has a first stiffness when the shape change in a first direction is greater than or equal to a first change amount, and the transmission device has a second stiffness when the shape change in the first direction is less than the first change amount, and the first stiffness is greater than the second stiffness.

5. The transmission device according to claim 4, wherein The coupling member includes an elastic member.

6. The transmission device according to claim 4 or 5, characterized in that, The ratio of the first stiffness to the second stiffness is greater than or equal to a first threshold value.

7. The transmission device according to any one of claims 4 to 6, characterized in that, The first change amount is greater than or equal to a second threshold value and less than a third threshold value, and the second threshold value is less than the third threshold value.

8. The transmission device according to any one of claims 1 to 3, characterized in that, The coupling member includes a hydraulic cylinder, the hydraulic cylinder includes a cylinder body forming a hydraulic chamber and a piston moving in the hydraulic chamber, the piston is disposed on one of the first transmission member and the second transmission member, the cylinder body is disposed on the other of the first transmission member and the second transmission member, the hydraulic chamber is connected to a liquid storage device through a pressure compensation pipeline, and a control valve is disposed in the pressure compensation pipeline, and the control valve is configured to control the on-off between the hydraulic chamber and the liquid storage device.

9. The transmission device according to claim 8, characterized in that, The liquid storage device is provided with a sealed compressible gas. When the transmission device is in a first working mode, the control valve is in an off state; or When the transmission device is in a second working mode, the control valve is in an on state.

10. The transmission device according to any one of claims 1 to 9, characterized in that, The transmission device is disposed in a suspension active actuation system, the suspension active actuation system includes the force generating mechanism and the force output torsion bar, and the transmission device is configured to transmit and connect the force generating mechanism and the force output torsion bar.

11. An actuation system, characterized in that, The actuation system includes a force generating mechanism, a force output torsion bar, and a transmission device. The force generating mechanism includes a motor provided with a through hole, and the through hole is configured to be provided with a force output torsion bar. The force output torsion bar includes a first end and a second end, the first end and the second end of the force output torsion bar are disposed on both sides of the through hole, the force output torsion bar outputs a moment at the first end to a device in transmission connection with the force output torsion bar, and the force output torsion bar is in transmission connection with the force generating mechanism through the transmission device at the second end.

12. The system according to claim 11, wherein The motor has a hollow shaft structure, and the through hole is formed by the hollow shaft structure.

13. The system according to claim 11 or 12, characterized in that, The actuation system further includes a reduction device.

14. The system according to any one of claims 11 to 13, characterized in that, The transmission device includes the transmission device according to any one of claims 1 to 10.

15. An actuation system, characterized in that, The actuation system includes a force generating mechanism, a force output torsion bar, and a transmission device for drivingly connecting the force generating mechanism and the force output torsion bar, and the transmission device includes the transmission device according to any one of claims 1 to 10.

16. A vehicle, characterized in that, The vehicle is provided with an independent suspension system, and the independent suspension system includes the transmission device according to any one of claims 1-10, or includes the actuation system according to any one of claims 11-14, or includes the actuation system according to claim 15.

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