Actuator, active suspension and vehicle

Abstract

The invention relates to an actuator, an active suspension and a vehicle. The actuator comprises a driving module; the motion conversion assembly comprises a lead screw shaft and a nut, the lead screw shaft is used for being connected with a wheel, and the driving module is used for driving the nut to rotate so as to drive the lead screw shaft to drive the wheel to do linear motion in the height direction. In the working process, the driving module drives the nut to rotate, the nut drives the lead screw shaft to do linear motion in the height direction, so that the wheels connected to the lead screw shaft are driven to do linear motion in the height direction, and then full-active adjustment of the height of the whole vehicle is achieved. The scheme is simple in structure, high in machinability and convenient to disassemble and assemble; the layout saves more height space, and the control precision is higher. The driving module drives the nut to rotate, and compared with the scheme of driving the lead screw shaft to rotate, the rotational inertia of the system is obviously reduced no matter in an active state or a passive state.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle height adjustment technology, specifically to an actuator, an active suspension, and a vehicle. Background Technology

[0002] An active suspension system is a system that can actively adjust the suspension stiffness, height, and stability according to road conditions and driving needs through its internal transmission mechanism to provide a more comfortable and stable driving experience.

[0003] Active suspension includes actuators, one end of which is connected to the vehicle body and the other end to the wheel. These actuators can drive linear motion to adjust the vehicle height based on road conditions and driving status. In related technologies, actuators typically output linear motion via linear drive, which requires significant vertical space and is not conducive to the placement of adjustment devices on the vehicle. Summary of the Invention

[0004] The purpose of this disclosure is to provide an actuator, an active suspension, and a vehicle to at least partially address the problems existing in the related art.

[0005] To achieve the above objectives, this disclosure provides an actuator, including: a drive module; and a motion conversion component, including a lead screw and a lead nut, wherein the lead screw is used to connect to a wheel, and the drive module is used to drive the lead nut to rotate, so as to drive the lead screw to drive the wheel to perform linear motion in the height direction.

[0006] Optionally, the drive module includes a stator, a rotor, and a motor housing. The stator is constructed as a hollow cylindrical structure and is fixed to the inner wall of the motor housing. The rotor is coaxially mounted on the inner side of the stator and can rotate relative to the stator. The nut is connected to the rotor to follow its rotation.

[0007] Optionally, the rotor is constructed as a hollow cylindrical structure, and the nut is disposed on the inner side of the rotor and connected to the rotor.

[0008] Optionally, the nut includes a main shaft section and two flanges protruding radially from the main shaft section, the flanges being abutted and fixed to the two shaft ends of the rotor.

[0009] Optionally, the rotor includes a first half and a second half, which together surround the outside of the nut.

[0010] Optionally, the first half and the second half are both semicircular structures.

[0011] Optionally, the mating surfaces of the first half and the second half are respectively provided with positioning holes for positioning by inserting pins into them.

[0012] Optionally, the motor housing includes an axially extending cover and an upper end cover and a lower end cover disposed at both ends of the cover, wherein at least one of the upper end cover and the lower end cover is detachably connected to the cover.

[0013] Optionally, the stator and the rotor are aligned in axial height.

[0014] Optionally, the lead screw shaft extends through the motor housing in the height direction.

[0015] Optionally, it also includes a mounting housing, which is disposed above the motor housing and forms a receiving space with the motor housing for accommodating the lead screw shaft.

[0016] Optionally, the top of the mounting housing is provided with mounting studs for connection to the vehicle body.

[0017] Optionally, a limiting pad is provided on the outer end face of the top wall of the motor housing, and the portion of the lead screw shaft located in the receiving space has a radially outward protruding lead screw cap, and the limiting pad is used to axially limit the lead screw cap.

[0018] Optionally, it also includes a fork arm connected to the lead screw shaft and for connecting to the wheel.

[0019] Optionally, the fork arm includes a mounting plate attached to the bottom end of the lead screw shaft, the bottom end of the lead screw shaft having a first threaded hole, and the fork arm being fixed to the lead screw shaft by a fastening bolt passing through the mounting plate and connected to the first threaded hole.

[0020] Optionally, the drive module includes a motor housing, and the actuator further includes a helical spring connected between the motor housing and the fork arm, with the helical spring sleeved on the outside of the lead screw shaft.

[0021] Optionally, it also includes a dust cover that is axially telescopic, one end of which is connected to the fork arm and the other end to the motor housing, and the dust cover is fitted on the outside of the lead screw shaft, and the helical spring is fitted on the outside of the dust cover.

[0022] Optionally, a permanent magnet is embedded at the shaft end of the rotor.

[0023] According to a second aspect of this disclosure, an active suspension is provided, including the aforementioned actuator.

[0024] According to a third aspect of this disclosure, a vehicle is provided, including the aforementioned active suspension.

[0025] Through the above technical solution, during operation, the drive module drives the lead screw nut to rotate, which in turn drives the lead screw shaft to move linearly along the height direction. This, in turn, drives the wheel connected to the lead screw shaft to move linearly along the height direction, thereby achieving fully active adjustment of the vehicle height. This solution has a simple structure, high manufacturability, and is easy to assemble and disassemble. Traditional pure linear drive methods occupy a large height space because both the drive and transmission components are linear motions. The rotary + linear motion transmission method disclosed in this invention saves more height space compared to traditional pure linear transmission methods, and the control accuracy of the rotary + linear motion method is higher under the same process conditions. In addition, by driving the lead screw nut to rotate through the drive module, compared to the solution of driving the lead screw shaft to rotate, the rotational inertia of the system is significantly reduced in both active and passive states.

[0026] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 This is a schematic diagram of an actuator exemplarily shown according to this disclosure;

[0029] Figure 2 yes Figure 1 The cross-sectional view of the actuator is shown;

[0030] Figure 3 yes Figure 2 A magnified view of part A in the middle;

[0031] Figure 4 This is a schematic diagram of another actuator exemplarily shown according to this disclosure;

[0032] Figure 5 yes Figure 4 The cross-sectional view of the actuator is shown;

[0033] Figure 6 yes Figure 5 A magnified view of part B in the middle section;

[0034] Figure 7 This is a front view of a lead screw shaft exemplarily shown according to this disclosure;

[0035] Figure 8 yes Figure 7 The cross-sectional view of the lead screw shaft shown in the figure;

[0036] Figure 9 This is a schematic diagram of a silk mother exemplarily shown according to this disclosure;

[0037] Figure 10 yes Figure 9 The cross-sectional view of the nut shown in the image;

[0038] Figure 11 This is a schematic diagram of another type of silk mother exemplarily shown according to this disclosure;

[0039] Figure 12 yes Figure 11 The cross-sectional view of the nut shown in the image;

[0040] Figure 13 This is a schematic diagram of a driver module exemplarily shown according to this disclosure;

[0041] Figure 14 This is a schematic diagram of a rotor exemplarily shown according to this disclosure;

[0042] Figure 15 yes Figure 14 A top view of the rotor is shown;

[0043] Figure 16 This is a schematic diagram of a first half-body exemplarily shown according to this disclosure;

[0044] Figure 17 This is a schematic diagram of a lower end cap exemplarily shown according to this disclosure;

[0045] Figure 18 yes Figure 17 The cross-sectional view of the lower end cap is shown.

[0046] Explanation of reference numerals in the attached figures

[0047] 1-Connecting hole; 100-Drive module; 110-Stator; 120-Rotor; 121-First half; 122-Second half; 123-Positioning hole; 124-Permanent magnet; 130-Positioning ring; 211-Spring support; 230-Motor housing; 231-Cover; 232-Upper end cover; 233-Lower end cover; 23301-Cover body; 23302-Bottom cover; 2301-Limiting pad; 240-Mounting shell; 310-Lead screw shaft; 3101-Lead screw nut; 314-First threaded hole; 316-Second threaded hole 1. Raceway groove; 319. Working shaft section; 320. Threaded nut; 321. Flange platform; 322. Main shaft section; 3221. First limiting step; 3222. Second limiting step; 323. Second raceway groove; 450. Flanged edge; 511. Mounting stud; 601. Radial bearing; 602. Axial bearing; 610. First bearing; 620. Second bearing; 630. Third bearing; 640. Fourth bearing; 701. Fastening bolt; 710. Fork arm; 711. Mounting plate; 720. Dust cover; 730. Helical spring. Detailed Implementation

[0048] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0049] In this disclosure, unless otherwise stated, directional terms such as "inner" and "outer," "upper" and "lower" may be defined based on the actual direction of use of the relevant components, or they may be based on their own structure. For example, "inner wall" means that the stator is a hollow cylindrical structure and is fixed to the motor housing. "Above" means that the stator is set in the receiving space of the motor housing and fixed to its inner wall. "Above" means that the actuator is set "above" of the motor housing and forms a receiving space with the motor housing to receive the lead screw shaft. Here, "above" means above when the actuator is installed on the vehicle body, that is, the side away from the ground. "Up and down" is based on the height direction perpendicular to the ground.

[0050] In addition, the terms "first," "second," etc., used in this disclosure are for distinguishing one element from another and do not have sequential or importance. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0051] It should be noted that, in this disclosure, the term "connection" can refer to either a direct connection or an indirect connection. Interlocking components can be achieved through appropriate means, such as interference fit, key connection, or connection via external connectors. "Upward movement, downward movement, etc." refers to relative movement.

[0052] All hole features (e.g., threaded holes) used to connect two components in this disclosure are collectively referred to as connecting hole 1 to avoid confusion and redundancy. Features used to mate with connecting hole 1 (e.g., bolts) are collectively referred to as fasteners. No specific type is limited to either of them, as long as they can serve the function of connecting and fastening.

[0053] An active suspension system is a system that actively adjusts the suspension stiffness, height, and stability according to road conditions and driving needs. It is often used in vehicle shock absorbers to actively control the relative height of the wheels and the vehicle body, providing a more comfortable and stable driving experience. Active suspension includes actuators. When the vehicle is running, the actuators receive information from vehicle sensors and control units to adjust the suspension system's operation based on road conditions and driving status, meeting the vehicle's individual needs for different height states. For example, when encountering potholes (wheel bounce), the actuators can actively increase the vehicle's suspension height to ensure the vehicle body remains stable and does not sink with the potholes; when encountering raised sections of road (wheel bounce), the actuators can actively decrease the suspension height to ensure the vehicle body is not lifted, causing bumps.

[0054] Actuators can adjust the suspension through hydraulic, electric, or pneumatic means, and their operation directly affects the performance and effectiveness of the active suspension system. This disclosure mainly focuses on electrically operated actuators based on electromagnetic principles and makes corresponding improvements to their height adjustment function.

[0055] In this disclosure, the actuator may include a motion conversion component and a drive module 100. The motion conversion component may include a lead screw 310 and a lead screw nut 320, and the drive module 100 drives the lead screw nut 320 to rotate. When the drive module 100 drives the lead screw nut 320 to rotate, the lead screw 310 moves linearly along the axial direction (height direction) under the drive of the lead screw nut 320.

[0056] In addition to the modules described above, in some other embodiments, the actuator may also include a rotary support module and a fork arm 710, etc.

[0057] Next, we will further describe the various parts of the actuator. It should be noted that the embodiments described here are not intended to limit the specific parts, but are merely illustrative. Specifically:

[0058] The drive module 100 is mainly used to provide power, such as a rotary motor (electromagnetic drive), and specifically includes a stator 110 and a rotor 120 rotating relative to the stator 110. The stator 110 provides the required excitation magnetic field, and the rotor 120 provides a permanently stable magnetic field, driving the rotor 120 to rotate after the stator 110 is energized. The rotor 120 is coaxially arranged with the stator 110, and the maximum radial dimension of the rotor 120 is smaller than the minimum radial dimension of the stator 110. The rotor 120 is disposed within the radial interior space of the stator 110.

[0059] When the drive module 100 is a rotary motor, the drive module 100 may further include a motor housing 230, in which the stator 110 and rotor 120 can be accommodated. The motor housing 230 may include a cover 231 configured as an axially through sleeve structure, and an upper end cover 232 and a lower end cover 233 for connecting to opposite ends of the cover 231. The upper end cover 232 is used to connect to the vehicle body, and the lower end cover 233 may be configured as an annular shape so that the lead screw shaft 310 can pass through the lower end cover 233.

[0060] The motion conversion component may include at least a rotary motion module and a linear motion module, wherein the rotary motion module can rotate with the rotor 120 and drive the linear motion module to move in a straight line. The rotary motion module and the linear motion module may specifically include the aforementioned lead screw shaft 310 and lead nut 320. To ensure the adjustment accuracy of the vehicle height, this disclosure may use a motion pair (ball screw pair) formed by the lead screw shaft 310 and the ball nut (lead nut 320), wherein the lead screw shaft 310 and the ball nut may be provided with raceway grooves for the movement of the rolling elements. Since the structure and principle of the ball screw pair are well known to those skilled in the art, they will not be described in detail here. Of course, this disclosure is not limited to the ball screw pair; it is merely an illustrative example. The lead nut 320 that mates with the lead screw shaft 310, as mentioned below, can be a ball nut or other lead nut 320. As described above, the lead screw nut 320 can be connected to the rotor 120 and rotate with it. The lead screw shaft 310 converts the rotational motion into linear motion. The linear motion can be achieved by the fork arm 710 driving the wheel to move in a straight line to adjust the overall vehicle height.

[0061] The rotary support module may include multiple bearings, some of which may be used to provide axial movement support for at least one of the rotor 120, the lead screw nut 320 and the lead screw shaft 310; and other bearings may be used to provide radial support and limit the movement of at least one of the rotor 120, the lead screw nut 320 and the lead screw shaft 310.

[0062] The types, quantities, and installation locations of the bearings will be described in detail in the specific embodiments below.

[0063] The fork arm 710 can be located at the bottom end of the actuator near the wheel. Specifically, it can be fixed by the bottom end of the lead screw shaft 310 near the wheel for easy disassembly. This disclosure does not limit the fork arm 710.

[0064] Having understood the basic structure of each module mentioned above, the technical solution of this disclosure will be described in detail below. It should be noted that there are many overlapping technical features among the various embodiments described below. To avoid redundancy, for repeated technical features, except for their unique effects in specific embodiments, their effects, alternative solutions, and specific details will only be described in detail the first time they appear. Technical features mentioned in different embodiments can be combined with each other without contradiction.

[0065] Reference Figures 1-3 This disclosure exemplarily illustrates an actuator, including a drive module 100 and a motion conversion component. The motion conversion component includes a lead screw 310 and a lead screw 320, with the lead screw 310 used to connect to a wheel. The drive module 100 drives the lead screw 320 to rotate, thereby causing the lead screw 310 to drive the wheel in a linear motion in the height direction.

[0066] It should be explained here that, in the embodiments disclosed herein, the lead screw shaft 310 can be directly connected to the wheel, or it can be indirectly connected through the fork arm mentioned below.

[0067] This disclosure does not limit the specific structure of the drive module 100, as long as it can be used to drive the nut 320 to rotate, and it can be a drive motor, etc.

[0068] By using the above technical solution, during operation, the drive module 100 drives the lead screw nut 320 to rotate, and the lead screw nut 320 drives the lead screw shaft 310 to move linearly along the height direction, thereby driving the wheel connected to the lead screw shaft 310 to move linearly along the height direction, thus realizing fully active adjustment of the vehicle height. This solution has a simple structure, high manufacturability, and is easy to assemble and disassemble. Traditional pure linear drive methods occupy a large height space because both the drive component and the transmission component are linear motions. The rotary + linear motion transmission form disclosed in this invention saves more height space compared to the traditional pure linear transmission method, and the control accuracy of the rotary + linear motion form is higher under the same process conditions. In addition, by driving the lead screw nut 320 to rotate through the drive module 100, compared with the solution of driving the lead screw shaft 310 to rotate, the rotational inertia of the system is significantly reduced in both active and passive states.

[0069] This disclosure does not limit the specific structure of the driver module 100; refer to... Figures 1-3 , Figure 13 In the embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230. The stator 110 may be constructed as a hollow cylindrical structure and fixed to the inner wall of the motor housing 230. The rotor 120 may be coaxially mounted inside the stator 110 and may rotate relative to the stator 110. A nut 320 may be connected to the rotor 120 to follow its rotation. Because the stator 110, rotor 120, and motor housing 230 are arranged in a coaxial nested manner, the space occupied by the drive module 100 in the axial direction can be reduced, which is more conducive to arranging the actuator in the vehicle.

[0070] This disclosure does not limit how the nut 320 is connected to the rotor 120. For example, it can be connected to the rotor 120 through a connecting element. In addition, in some other embodiments, the nut 320 can also be directly fixedly connected to the rotor 120, as long as the nut 320 can move synchronously with the rotor 120.

[0071] Furthermore, referring to Figures 1-3In the embodiments disclosed herein, the rotor 120 can be constructed as a hollow cylindrical structure, and the nut 320 can be disposed inside the rotor 120 and connected to the rotor 120. With this design, since the rotor 120 and the nut 320 are coaxially nested and connected, the axial lengths of the nut 320 and the rotor 120 are fully coupled, further compressing the Z-axis (axial and height) dimension space, which is beneficial to improving the arrangeability in the whole vehicle.

[0072] Reference Figure 2 , Figures 11-12 In embodiments of this disclosure, the nut 320 may include a main shaft section 322 and two flanges 321 protruding radially from the main shaft section 322. The flanges 321 can abut and be fixed to the two shaft ends of the rotor 120. In this case, only one nut 320 is needed. Specifically, refer to... Figures 11-16 The flange 321 and the rotor 120 can each be provided with a connecting hole 1, and the nut 320 and the rotor 120 can be fixedly connected by fasteners passing through the corresponding connecting holes 1 in sequence, so as to realize the synchronous rotation of the rotor 120 and the nut 320. This disclosure does not limit the formation position of the flange 321, for example, it can be located near both ends of the main shaft section 322.

[0073] Since the nut 320 has two radially protruding flanges 321, in order to fit the rotor 120 onto the outer periphery of the nut 320, refer to Figures 14-16 In the embodiments of this disclosure, the rotor 120 may include a first half 121 and a second half 122, which together surround the outer side of the nut 320. During installation, the first half 121 and the second half 122 are fastened together from both sides of the nut 320, and during disassembly, they are removed from both sides, making the operation convenient and simple.

[0074] In embodiments of this disclosure, the first half 121 and the second half 122 can each be a semicircular structure. This design reduces the difficulty of procurement and assembly processes, eliminating the need to distinguish between the first half 121 and the second half 122.

[0075] In order to quickly align the first half 121 and the second half 122, refer to Figure 16 In the embodiments of this disclosure, the mating surfaces of the first half 121 and the second half 122 may each be provided with positioning holes 123 for positioning by inserting pins into them. Furthermore, in some other embodiments, one of the first half 121 and the second half 122 may have a positioning hole 123 formed on its mating surface, while the other may have a pin formed on its mating surface. During installation, positioning can be achieved simply by inserting the pin into the positioning hole 123.

[0076] Reference Figure 2In embodiments of this disclosure, the motor housing 230 may include an axially extending cover 231 and an upper end cover 232 and a lower end cover 233 disposed at both ends of the cover 231. At least one of the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover 231. This design facilitates the installation of the stator 110 and the rotor 120 within the motor housing 230 and facilitates the opening of the motor housing 230 for internal structural inspection. In embodiments of this disclosure, the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover 231. Furthermore, in some other embodiments, one of the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover 231, while the other may be integrally formed with the cover 231.

[0077] Reference Figure 2 In the embodiments of this disclosure, the axial heights of the stator 110 and the rotor 120 can be aligned. It should be explained that "axial height alignment" means that the upper and lower end faces of the stator 110 and the rotor 120 are flush in the axial direction. This design allows for better control of the magnetic field distribution within the motor, improving motor efficiency and performance. Furthermore, a uniform magnetic field distribution reduces magnetic field losses, contributing to smooth motor operation, reducing vibration and noise, thereby improving the motor's operational stability and lifespan.

[0078] Reference Figure 2 In the embodiments of this disclosure, the shaft end of the stator 110 can abut against the upper end cover 232 or the lower end cover 233 via a positioning ring 130. The positioning ring 130 and the outer periphery of the stator 110 can be respectively fixed to the cover 231, and the two shaft ends of the rotor 120 can abut against the corresponding flange platform 321. The upper end cover 232 and the lower end cover 233, as well as the flange platform 321, can limit the stator 110 and the rotor 120 axially, thereby improving the stability of the motor. In addition, by abutting the two ends of the stator 110 against the upper end cover 232 and the lower end cover 233, the rotor rotation can be prevented in the circumferential direction, satisfying the requirement that the cylindrical linear motor is relatively stationary in the circumferential direction.

[0079] In addition, in some other embodiments, a step can be formed directly on the inner wall of the motor housing 230 to replace the positioning ring 130, or the end of the stator 110 can be directly abutted against the upper end cover 232 or the lower end cover 233. This disclosure does not limit this, as long as the axial length of the stator 110 and the axial length of the rotor 120 are relatively consistent, and the upper and lower end faces of the stator 110 and the rotor 120 are kept flush during installation.

[0080] Reference Figures 1-3In the embodiments disclosed herein, the lead screw shaft 310 can penetrate the motor housing 230 in the height direction. This design ensures that the lead screw shaft 310 has sufficient displacement space in the height direction, thereby ensuring the adjustability range of the adjustment device to meet the needs of different road conditions. In addition, the lead screw shaft 310 penetrating the motor housing 230 increases the axial coupling length between the motor and the kinematic pair, which can significantly reduce the maximum axial length of the system assembly and significantly improve the overall vehicle layout.

[0081] Reference Figure 2 In the embodiments disclosed herein, the actuator may further include a mounting housing 240, which may be disposed above the motor housing 230 and together with the motor housing 230 form a receiving space for accommodating the lead screw shaft 310. By providing the mounting housing 240, on the one hand, a receiving space can be provided for the lead screw shaft 310, providing protection and limiting functions; on the other hand, it can be connected to the vehicle body through the mounting housing 240. Since the diameter of the lead screw shaft 310 is smaller on the side (upper side) closer to the vehicle body, it is more convenient to directly use the original top mounting position on the vehicle body. Direct connection to the vehicle body through the mounting housing 240 is convenient and reliable, further reducing modifications to the entire vehicle.

[0082] Specifically, refer to Figures 1-3 The mounting housing 240 can be constructed as a cylindrical structure with a closed end face at its upper end. Multiple mounting studs for connecting to the vehicle body, which will be mentioned below, can be evenly distributed on this closed end face. The lower end of the mounting housing 240 can be provided with a flange structure, on which multiple connection holes 1 for connecting to the motor housing 230 are evenly distributed.

[0083] Furthermore, referring to Figures 1-2 In the embodiments of this disclosure, the top of the mounting housing 240 may be provided with mounting studs 511 for connection to the vehicle body. This disclosure does not limit the number of mounting studs 511, which may specifically be three, five, etc.

[0084] Reference Figures 2-3 In the embodiments of this disclosure, a limiting pad 2301 may be provided on the outer end face of the top wall of the motor housing 230, and the portion of the lead screw shaft 310 located in the accommodating space may have a radially outwardly protruding lead screw cap 3101. The limiting pad 2301 can be used to axially limit the lead screw cap 3101. With this design, when the lead screw shaft 310 moves downward, when it reaches its limit position, the limiting pad 2301 can act as a stop to prevent the lead screw cap 3101 from directly and rigidly impacting the top wall of the motor housing 230. This accommodating space is the travel space of the lead screw shaft 310.

[0085] This disclosure does not limit the material of the limiting pad 2301. For example, in some embodiments, it can be elastic, such as a pad made of non-metallic materials like rubber or polyurethane, or a metal spring made of metallic materials, to buffer the movement of the lead screw shaft 310. It can be fixed to the top wall of the motor housing 230 by means of bonding, screwing, etc. In addition, in some other embodiments, the limiting pad 2301 can also be installed on the lower end face of the lead screw cam 3101, and this disclosure does not limit this.

[0086] Reference Figures 1-3 In embodiments of this disclosure, the actuator may further include a fork arm 710 connected to the lead screw shaft 310 and for connecting to the wheel. During operation, the rotor 120 of the drive module 100 drives the lead screw nut 320 to rotate, and the lead screw nut 320 drives the lead screw shaft 310 to move linearly in the height direction, thereby driving the fork arm 710 connected to the lead screw shaft 310 to move linearly in the height direction. Since the wheel is connected to the fork arm 710, the wheel can follow the fork arm 710 to move linearly in the height direction, thereby realizing fully active adjustment of the vehicle height.

[0087] This disclosure does not limit the connection method between the fork arm 710 and the lead screw shaft 310, nor the structure of the fork arm 710. Refer to... Figures 1-3 , Figures 7-8 In the embodiments disclosed herein, the fork arm 710 may include a mounting plate 711 fixed to the bottom end of the lead screw shaft 310. The bottom end of the lead screw shaft 310 may have a first threaded hole 314. The fork arm 710 can be fixed to the lead screw shaft 310 by a fastening bolt 701 passing through the mounting plate 711 and connected to the first threaded hole 314. This design allows the fork arm 710 to be fastened to the lead screw shaft 310 by fixing the mounting plate 711 to the lead screw shaft 310, eliminating the need for a connection structure in the main body of the fork arm 710 and reducing manufacturing complexity. Furthermore, the surface-to-surface contact between the mounting plate 711 and the lead screw shaft 310 improves the stability of their connection and enhances the force transmission performance between them.

[0088] Reference Figures 1-2In the embodiments of this disclosure, the drive module 100 may include a motor housing 230, and the actuator may also include a helical spring 730 connected between the motor housing 230 and the fork arm 710, with the helical spring 730 sleeved on the outside of the lead screw shaft 310. By providing the helical spring 730, the weight of the vehicle body can be supported, thereby reducing the active thrust required by the adjustment device. Specifically, when the adjustment device is in its zero-position (neither raised nor lowered), the helical spring 730 is in a compressed state (bearing the weight of the vehicle body). During the operation of the adjustment device (lowering or raising), the helical spring 730 is under second or third compression, and the output thrust of the adjustment device is actually overcoming the elastic force generated by the second deformation of the helical spring 730. If the helical spring 730 is not provided, the entire weight of the vehicle body will directly act on the adjustment device, making it prone to damage and reducing its service life.

[0089] Reference Figures 1-2 In embodiments of this disclosure, the actuator may further include an axially extendable dust cover 720. One end of the dust cover 720 is connected to the fork arm 710, and the other end is connected to the motor housing 230. The dust cover 720 can be fitted onto the outside of the lead screw shaft 310, and the helical spring 730 can be fitted onto the outside of the dust cover 720. This design prevents dust, moisture, etc., from entering the motor housing 230 through the gap between the lower end cover 233 and the lead screw shaft 310, thereby preventing damage to the motor structure. The dust cover 720 can be made of a stretchable flexible material or a corrugated tube.

[0090] Reference Figures 14-16 In embodiments of this disclosure, a permanent magnet 124 may be embedded at the shaft end of the rotor 120 to provide a permanently stable magnetic field. This disclosure does not limit the number or arrangement of the permanent magnets 124, and they can be adaptively designed according to actual needs.

[0091] In embodiments of this disclosure, the inner wall of the lead screw nut 320 may be provided with a helical second raceway groove 323 for the movement of rolling elements (such as balls). The working shaft section 319 of the lead screw shaft 310 is the effective stroke section, and a helical first raceway groove 316 may be provided on the outer wall of the working shaft section 319 for the rolling of balls.

[0092] Reference Figures 4-6 This disclosure provides an actuator, including a drive module 100 and a motion conversion component. The motion conversion component includes a lead screw 310 and a lead screw 320, with the lead screw 310 used to connect to a wheel. The drive module 100 drives the lead screw 320 to rotate, thereby driving the lead screw 310 to drive the wheel in a linear motion along the height direction. Multiple lead screws 320 are provided and spaced apart along the height direction.

[0093] It should be explained here that, in the embodiments disclosed herein, the lead screw shaft 310 can be directly connected to the wheel, or it can be indirectly connected through the fork arm mentioned below.

[0094] This disclosure does not limit the specific structure of the drive module 100, as long as it can be used to drive the nut 320 to rotate, and it can be a drive motor, etc.

[0095] This disclosure does not limit the number of silk mothers 320, which can be two, three, etc.

[0096] By using the above technical solution, during operation, the drive module 100 drives the lead screw nut 320 to rotate, and the lead screw nut 320 drives the lead screw shaft 310 to move linearly along the height direction, thereby driving the wheel connected to the lead screw shaft 310 to move linearly along the height direction, thus realizing fully active adjustment of the vehicle height. This solution has a simple structure, high manufacturability, and is easy to assemble and disassemble. Traditional pure linear drive methods occupy a large height space because both the drive component and the transmission component are linear motions. The rotary + linear motion transmission form disclosed in this invention saves more height space compared to the traditional pure linear transmission method, and the control accuracy of the rotary + linear motion form is higher under the same process conditions. In addition, by driving the lead screw nut 320 to rotate through the drive module 100, compared to the scheme of driving the lead screw shaft 310 to rotate, the rotational inertia of the system is significantly reduced in both active and passive states. The arrangement of multiple lead screw nuts 320 along the height direction can improve the rigidity of the lead screw shaft 310 during movement.

[0097] This disclosure does not limit the specific structure of the driver module 100; refer to... Figures 4-6 , Figure 13 In the embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230. The stator 110 may be constructed as a hollow cylindrical structure and fixed to the inner wall of the motor housing 230. The rotor 120 may be coaxially mounted inside the stator 110 and may rotate relative to the stator 110. A nut 320 may be connected to the rotor 120 to follow its rotation. Because the stator 110, rotor 120, and motor housing 230 are arranged in a coaxial nested manner, the space occupied by the drive module 100 in the axial direction can be reduced, which is more conducive to arranging the actuator in the vehicle.

[0098] This disclosure does not limit how the nut 320 is connected to the rotor 120. For example, it can be connected to the rotor 120 through a connecting element. In addition, in some other embodiments, the nut 320 can also be directly fixedly connected to the rotor 120, as long as the nut 320 can move synchronously with the rotor 120.

[0099] Reference Figures 4-6In the embodiments disclosed herein, there can be two lead screw nuts 320, which are installed at the two shaft ends of the rotor 120. This allows for support of the lead screw shaft 310 at two mutually distant positions, thereby improving the rigidity of the lead screw shaft 310 during movement. Furthermore, arranging the lead screw nuts 320 at the two ends of the rotor 120, compared to placing them inside the rotor 120, effectively reduces the radial dimension of the drive module 100, significantly improving the overall vehicle layout. This arrangement is particularly useful when applied to "slender motors," where the space inside the rotor 120 is limited. Placing the lead screw nuts 320 at both ends avoids the problem of insufficient installation space. Moreover, due to the large axial dimension of the slender motor, the length of the lead screw shaft 310 inside the motor is significant. Using only one lead screw nut 320 for support is insufficient to adequately "restrict" the lead screw shaft 310, easily leading to problems such as misalignment, swaying, and insufficient rigidity.

[0100] Reference Figure 5 , Figures 11-12 In embodiments of this disclosure, the nut 320 may include a main shaft section 322 and a flange 321 protruding radially from the main shaft section 322, the flange 321 being connected to the shaft end of the rotor 120. Specifically, refer to... Figures 9-10 , Figures 13-16 The flange 321 and the rotor 120 can each be provided with a connecting hole 1, and the nut 320 and the rotor 120 can be fixedly connected by fasteners passing through the corresponding connecting holes 1 in sequence, so as to realize the synchronous rotation of the rotor 120 and the nut 320. The flange 321 can be integrally formed with the main shaft section 322 of the nut 320, or it can be detachably assembled to the main shaft section 322. This disclosure does not limit the formation position of the flange 321; it can be formed near the end of the main shaft section 322, or it can be formed in the center of the main shaft section 322.

[0101] Reference Figures 5-6 In the embodiments disclosed herein, the rotor 120 can be spaced and sleeved on the outside of the lead screw shaft 310, and the main shaft section 322 can partially extend into the space between the rotor 120 and the lead screw shaft 310. This design increases the axial coupling length between the motor and the motion conversion assembly, significantly reduces the maximum axial length of the system assembly, and significantly improves the overall vehicle layout. Furthermore, by partially extending the main shaft section 322 into the space between the rotor 120 and the lead screw shaft 310, the portion of the lead screw nut 320 extending into the space between the rotor 120 and the lead screw shaft 310 can fit against the inner wall of the rotor 120, thereby improving the stability of the fit between the lead screw nut 320 and the rotor 120. On the other hand, by partially extending the lead screw nut 320 downwards into the rotor 120 and the lead screw shaft 310, it avoids occupying too much axial space on the upper side, thereby increasing the axial range of motion of the lead screw nut 320, i.e., increasing the adjustment range of the adjustment device.

[0102] Reference Figure 5 In the embodiments of this disclosure, the axial heights of the stator 110 and the rotor 120 can be aligned. It should be explained that "axial height alignment" means that the upper and lower end faces of the stator 110 and the rotor 120 are flush in the axial direction. This design allows for better control of the magnetic field distribution within the motor, improving motor efficiency and performance. Furthermore, a uniform magnetic field distribution reduces magnetic field losses, contributing to smooth motor operation, reducing vibration and noise, thereby improving the motor's operational stability and lifespan.

[0103] Reference Figure 5 In the embodiments of this disclosure, the two shaft ends of the stator 110 can respectively abut against the upper end cover 232 and the lower end cover 233, and the two shaft ends of the rotor 120 can respectively abut against the corresponding flange platform 321. The upper end cover 232 and the lower end cover 233, as well as the flange platform 321, can axially limit the stator 110 and the rotor 120, thereby improving the stability of the motor. Furthermore, by abutting the two ends of the stator 110 against the upper end cover 232 and the lower end cover 233, rotation of the rotor can be prevented in the circumferential direction, satisfying the requirement for the cylindrical linear motor to be relatively stationary in the circumferential direction.

[0104] Reference Figures 4-6 In the embodiments disclosed herein, the lead screw shaft 310 can penetrate the motor housing 230 in the height direction. This design ensures that the lead screw shaft 310 has sufficient displacement space in the height direction, thereby ensuring the adjustability range of the adjustment device to meet the needs of different road conditions. In addition, the lead screw shaft 310 penetrating the motor housing 230 increases the axial coupling length between the motor and the kinematic pair, which can significantly reduce the maximum axial length of the system assembly and significantly improve the overall vehicle layout.

[0105] Reference Figure 5 In the embodiments disclosed herein, the actuator may further include a mounting housing 240, which may be disposed above the motor housing 230 and together with the motor housing 230 form a receiving space for accommodating the lead screw shaft 310. By providing the mounting housing 240, on the one hand, a receiving space can be provided for the lead screw shaft 310, providing protection and limiting functions; on the other hand, it can be connected to the vehicle body through the mounting housing 240. Since the diameter of the lead screw shaft 310 is smaller on the side (upper side) closer to the vehicle body, it is more convenient to directly use the original top mounting position on the vehicle body. Direct connection to the vehicle body through the mounting housing 240 is convenient and reliable, further reducing modifications to the entire vehicle.

[0106] Specifically, refer to Figures 4-6The mounting housing 240 can be constructed as a cylindrical structure with a closed end face at its upper end. Multiple mounting studs for connecting to the vehicle body, which will be mentioned below, can be evenly distributed on this closed end face. The lower end of the mounting housing 240 can be provided with a flange structure, on which multiple connection holes 1 for connecting to the motor housing 230 are evenly distributed.

[0107] Furthermore, referring to Figures 4-5 In the embodiments of this disclosure, the top of the mounting housing 240 may be provided with mounting studs 511 for connection to the vehicle body. This disclosure does not limit the number of mounting studs 511, which may specifically be three, five, etc.

[0108] Reference Figure 5 and Figure 6 In embodiments of this disclosure, the motor housing 230 may include an axially extending cover 231 and an upper end cover 232 and a lower end cover 233 disposed at both ends of the cover 231. At least one of the upper end cover 232 and the lower end cover 233 is detachably connected to the cover 231. This design facilitates the installation of the stator 110 and the rotor 120 within the motor housing 230 and facilitates the opening of the motor housing 230 for internal structural inspection. In embodiments of this disclosure, the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover 231. Furthermore, in some other embodiments, one of the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover 231, while the other may be integrally formed with the cover 231.

[0109] Reference Figure 5 In the embodiments of this disclosure, the lower cover 233 may include a cover body 23301 and a bottom cover 23302 connected below the cover body 23301. The cover body 23301 has the same structure as the upper cover 232. This design can reduce the difficulty of procurement and assembly processes, eliminating the need to distinguish between the upper cover 232 and the cover body 23301.

[0110] Furthermore, in embodiments of this disclosure, the cover body 23301 and the bottom cover 23302 can be configured to be detachably connected, thereby facilitating the disassembly and assembly of relevant components inside the motor housing 230.

[0111] In this embodiment of the disclosure, both the upper cover 232 and the cover body 23301 can be constructed as follows: Figures 17-18The double-step cylindrical structure shown has an identical structure for the upper end cover 232 and the cover body 23301, differing only in their arrangement. Here, only the upper end cover 232 will be described as an example. Specifically: a small closed end face can be provided on the upper side of the upper end cover 232, and a circular through hole can be provided at the center of the closed end face for the lead screw shaft 310 to pass through. Multiple threaded holes can be evenly distributed on this closed end face for fastening the housing 240 to the upper end cover 232. A larger opening structure can be provided on the lower end side of the upper end cover 232, and multiple connecting holes can be evenly distributed near the lower end of the upper end cover 232 for fastening the upper end cover 232 to the motor housing 230.

[0112] Reference Figures 5-6 In the embodiments disclosed herein, the outer peripheries of the upper end cover 232 and the lower end cover 233 may each have flanges 450, which can surround the outer side of the end of the cover 231. This design allows the flanges 450 to form a wrapping relationship with the cover 231, achieving radial restraint between the two. Furthermore, this design prevents water, impurities, etc., from entering the interior of the motor housing 230 through the gap between the two, while also preventing static electricity from entering the interior of the motor housing 230 from the outside, thus protecting the internal components.

[0113] Reference Figures 4-6 In embodiments of this disclosure, the actuator may further include a fork arm 710 connected to the lead screw shaft 310 and for connecting to the wheel. During operation, the rotor 120 of the drive module 100 drives the lead screw nut 320 to rotate, and the lead screw nut 320 drives the lead screw shaft 310 to move linearly in the height direction, thereby driving the fork arm 710 connected to the lead screw shaft 310 to move linearly in the height direction. Since the wheel is connected to the fork arm 710, the wheel can follow the fork arm 710 to move linearly in the height direction, thereby realizing fully active adjustment of the vehicle height.

[0114] This disclosure does not limit the connection method between the fork arm 710 and the lead screw shaft 310, nor the structure of the fork arm 710. Refer to... Figures 4-8 In the embodiments disclosed herein, the fork arm 710 may include a mounting plate 711 fixed to the bottom end of the lead screw shaft 310. The bottom end of the lead screw shaft 310 may have a first threaded hole 314. The fork arm 710 can be fixed to the lead screw shaft 310 by a fastening bolt 701 passing through the mounting plate 711 and connected to the first threaded hole 314. This design allows the fork arm 710 to be fastened to the lead screw shaft 310 by fixing the mounting plate 711 to the lead screw shaft 310, eliminating the need for a connection structure in the main body of the fork arm 710 and reducing manufacturing complexity. Furthermore, the surface-to-surface contact between the mounting plate 711 and the lead screw shaft 310 improves the stability of their connection and enhances the force transmission performance between them.

[0115] Reference Figures 4-5 In the embodiments of this disclosure, the drive module 100 may include a motor housing 230, and the actuator may also include a helical spring 730 connected between the motor housing 230 and the fork arm 710, with the helical spring 730 sleeved on the outside of the lead screw shaft 310. By providing the helical spring 730, the weight of the vehicle body can be supported, thereby reducing the active thrust required by the adjustment device. Specifically, when the adjustment device is in its zero-position (neither raised nor lowered), the helical spring 730 is in a compressed state (bearing the weight of the vehicle body). During the operation of the adjustment device (lowering or raising), the helical spring 730 is under second or third compression, and the output thrust of the adjustment device is actually overcoming the elastic force generated by the second deformation of the helical spring 730. If the helical spring 730 is not provided, the entire weight of the vehicle body will directly act on the adjustment device, making it prone to damage and reducing its service life.

[0116] Reference Figures 4-5 In embodiments of this disclosure, the actuator may further include an axially extendable dust cover 720. One end of the dust cover 720 is connected to the fork arm 710, and the other end is connected to the motor housing 230. The dust cover 720 can be fitted over the outside of the lead screw shaft 310, and the helical spring 730 can be fitted over the outside of the dust cover 720. This design prevents dust, moisture, etc., from entering the motor housing 230 through the gap between the lower end cover 233 and the lead screw shaft 310, thereby preventing damage to the motor structure. The dust cover 720 can be made of a stretchable flexible material or a corrugated tube.

[0117] Reference Figure 5 In embodiments of this disclosure, a spring support 211 may protrude from the outer periphery of the motor housing 230, and a helical spring 730 may be connected to the bottom of the spring support 211. Here, in embodiments of this disclosure, the spring support 211 may be integrally formed with the motor housing 230. Furthermore, in some other embodiments, the spring support 211 may be detachably connected to the outer periphery of the motor housing 230 by bolts or the like.

[0118] Reference Figures 14-16 In embodiments of this disclosure, a permanent magnet 124 may be embedded at the shaft end of the rotor 120 to provide a permanently stable magnetic field. This disclosure does not limit the number or arrangement of the permanent magnets 124, and they can be adaptively designed according to actual needs.

[0119] Reference Figures 4-6This disclosure provides an actuator, including a drive module 100, a motion conversion component, and an axial bearing 602. The drive module 100 includes a stator 110, a rotor 120, and a motor housing 230. The motion conversion component includes a lead screw 310 and a lead screw nut 320. The lead screw 310 is used to connect to a wheel. The axial bearing 602 is fixed inside the motor housing 230 and is used to restrict the rotor 120 in the axial direction. The drive module 100 is used to drive the lead screw nut 320 to rotate, so as to drive the wheel to perform linear motion in the height direction.

[0120] This disclosure does not limit the installation position or type of the axial bearing 602. For example, in some embodiments, the axial bearing 602 can abut between the motor housing 230 and the rotor 120. In addition, in other embodiments, the axial bearing 602 can also abut between the nut 320 and the motor housing 230, that is, indirectly abutting the rotor 120 through the nut 320. The type of axial bearing 602 can be a thrust bearing, as mentioned below, as long as it can perform axial load bearing function.

[0121] By using the above technical solution, during operation, the rotor 120 of the drive module 100 drives the lead screw nut 320 to rotate, and the lead screw nut 320 drives the lead screw shaft 310 to move linearly along the height direction, thereby driving the wheel connected to the lead screw shaft 310 to move linearly along the height direction, thus realizing fully active adjustment of the vehicle height. This solution has a simple structure, high machinability, and is easy to assemble and disassemble; the rotation + linear motion transmission form saves more space and has higher control precision compared with the traditional pure linear transmission method; the rotor 120 drives the lead screw nut 320 to rotate, which significantly reduces the rotational inertia of the system in both active and passive states compared with the embodiment that drives the lead screw shaft 310 to rotate; the axial bearing 602 can limit the rotor 120 in the axial direction, thereby resisting the axial load on the rotor 120 and preventing the rotor 120 from being displaced in the axial direction, thus ensuring the relative position of the rotor 120 and the stator 110 in the axial direction (the stator 110 is fixed to the motor housing 230), thereby improving the output efficiency of the motor and ensuring the stability of the motor movement.

[0122] Reference Figure 5 , Figures 11-12 In embodiments of this disclosure, the nut 320 may include a main shaft section 322 and a flange 321 protruding radially from the main shaft section 322, the flange 321 being connected to the shaft end of the rotor 120. Specifically, refer to... Figures 9-10 , Figures 13-16The flange 321 and the rotor 120 can each be provided with a connecting hole 1, and the nut 320 and the rotor 120 can be fixedly connected by fasteners passing through the corresponding connecting holes 1 in sequence, so as to realize the synchronous rotation of the rotor 120 and the nut 320. The flange 321 can be integrally formed with the main shaft section 322 of the nut 320, or it can be detachably assembled to the main shaft section 322. This disclosure does not limit the formation position of the flange 321; it can be formed near the end of the main shaft section 322, or it can be formed in the center of the main shaft section 322.

[0123] Reference Figure 5 In the embodiments of this disclosure, the spindle segment 322 may be provided with a first limiting step 3221, and the axial bearing 602 may abut against the first limiting step 3221 and be limited axially and radially by the first limiting step 3221. In the embodiments of this disclosure, the first limiting step 3221 may be integrally formed with the spindle segment 322. The specific dimensions and positions of the first limiting step 3221 can be adaptively designed according to actual needs. During installation, it is only necessary to sleeve the axial bearing 602 on the outer periphery of the nut 320 and fix it to the corresponding first limiting step 3221. It should be noted that the first limiting step 3221 here includes two mutually perpendicular limiting surfaces, which limit the axial bearing 602 radially and axially, respectively.

[0124] Specifically, in the embodiments of this disclosure, one base of the axial bearing 602 can be sleeved on the nut 320 and installed to the first limiting step 3221, while the other base can be embedded in the inner circumference of the mounting shell 240 or the inner circumference of the motor housing 230 mentioned below, and the limiting is achieved by the stepped structure of the mounting shell 240 or the motor housing 230.

[0125] Reference Figure 5 In embodiments of this disclosure, the motor housing 230 may include an axially extending cover 231 and an upper end cover 232 and a lower end cover 233 disposed at both ends of the cover 231. At least one of the upper end cover 232 and the lower end cover 233 is detachably connected to the cover 231 to facilitate the disassembly and assembly of related structures inside the motor housing 230. The upper end cover 232 and the lower end cover 233 can be penetrated in the height direction by a lead screw shaft 310, ensuring sufficient displacement space for the lead screw shaft 310 in the height direction, thereby ensuring the adjustable range of the adjustment device to meet the needs of different road conditions. Furthermore, the lead screw shaft 310 penetrating the motor housing 230 increases the axial coupling length between the motor and the kinematic pair, significantly reducing the maximum axial length of the system assembly and significantly improving the overall vehicle layout flexibility.

[0126] Reference Figure 5In the embodiments disclosed herein, the actuator may further include a mounting housing 240, which may be disposed above the upper end cover 232 and together with the upper end cover 232 form a receiving space for accommodating the lead screw shaft 310. By providing the mounting housing 240, on the one hand, a receiving space can be provided for the lead screw shaft 310, providing protection and limiting functions; on the other hand, it can be connected to the vehicle body through the mounting housing 240. On the side closer to the vehicle body (upper side), since the diameter of the lead screw shaft 310 is smaller, it is more convenient to directly use the original top mounting position on the vehicle body. Direct connection to the vehicle body through the mounting housing 240 is convenient and reliable, further reducing modifications to the entire vehicle.

[0127] Reference Figure 5 In the embodiments disclosed herein, there can be two lead screw nuts 320, which are installed at the two ends of the rotor 120. This allows them to support the lead screw shaft 310 at two mutually distant positions, thereby improving the rigidity of the lead screw shaft 310 during movement. Furthermore, arranging the lead screw nuts 320 at the two ends of the rotor 120, compared to placing them inside the rotor 120, effectively reduces the radial dimension of the drive module 100, significantly improving the overall vehicle layout. This arrangement is particularly useful when applied to "slender motors," where the space inside the rotor 120 is limited. Placing the lead screw nuts 320 at both ends avoids the problem of insufficient installation space. Moreover, due to the large axial dimension of the slender motor, the length of the lead screw shaft 310 inside the motor is significant. Using only one lead screw nut 320 for support is insufficient to adequately "restrict" the lead screw shaft 310, easily leading to problems such as misalignment, swaying, and insufficient rigidity. The axial bearing 602 may include a first bearing 610 and a second bearing 620. The first bearing 610 may abut between the mounting housing 240 and the corresponding first limiting step 3221, or between the upper end cover 232 and the corresponding first limiting step 3221. The second bearing 620 may abut between the lower end cover 233 and the corresponding first limiting step 3221.

[0128] This disclosure does not limit the types of the first bearing 610 and the second bearing 620. For example, in some instances, the first bearing 610 and the second bearing 620 can be thrust bearings. In fact, this allows the nut 320 and the motor housing 230 to rotate relative to each other while transmitting axial loads. Furthermore, thrust bearings have high load-carrying capacity, long service life, and are relatively simple to install and maintain.

[0129] Reference Figure 5 and Figure 6In embodiments of this disclosure, the actuator may further include a radial bearing 601, which can be fixed within the motor housing 230 to radially support the nut 320. This design ensures the rigidity of the nut 320 during rotation and prevents it from wobbling to a certain extent, thus improving the stability of the actuator during operation. Furthermore, the radial bearing 601 also provides axial load support, although this support is less than that of the axial bearing 602. This disclosure, through the design of the axial bearing 602, provides some protection to the radial bearing 601, preventing it from failing due to excessive axial load.

[0130] Reference Figure 5 In the embodiments of this disclosure, the spindle segment 322 may be provided with a second limiting step 3222, and the radial bearing 601 may abut against the second limiting step 3222 and be limited axially and radially by the second limiting step 3222. Similar to the first limiting step 3221, in the embodiments of this disclosure, the second limiting step 3222 may be integrally formed with the spindle segment 322. The specific dimensions and positions of the second limiting step 3222 can be adaptively designed according to actual needs. During installation, the radial bearing 601 only needs to be sleeved on the outer periphery of the nut 320 and fixed to the corresponding second limiting step 3222. It should be noted that the second limiting step 3222 here includes two mutually perpendicular limiting surfaces, which limit the radial bearing 601 radially and axially, respectively.

[0131] In embodiments of this disclosure, one of the first limiting step 3221 and the second limiting step 3222 can be formed jointly by the flange 321 and the main shaft section 322. For example, in Figure 5 In the illustrated embodiment, the second limiting step 3222 is formed by the circumferential surface of the main shaft section 322 and the axial surface of the flange 321. This design allows the first limiting step 3221 or the second limiting step 3222 to be formed using the structure of the nut 320 itself, eliminating the need for additional step surfaces, reducing the manufacturing process steps of the nut 320, and improving its durability.

[0132] Reference Figure 5 In the embodiments of this disclosure, the motor housing 230 includes an axially extending cover 231 and an upper end cover 232 and a lower end cover 233 disposed at both ends of the cover 231. The radial bearing 601 may include a third bearing 630 and a fourth bearing 640. The third bearing 630 may abut between the upper end cover 232 and the corresponding second limiting step 3222, and the fourth bearing 640 may abut between the lower end cover 233 and the corresponding second limiting step 3222.

[0133] Specifically, refer to Figure 5The inner ring of the radial bearing 601 can be fitted onto the second limiting step 3222, and the outer ring can abut against the inner side of the upper end cover 232 or the lower end cover 233.

[0134] This disclosure does not limit the types and installation methods of the third bearing 630 and the fourth bearing 640. For example, in the embodiments of this disclosure, the third bearing 630 and the fourth bearing 640 can be angular contact ball bearings and are installed back to back. With this design, the contact angle line of the angular contact ball bearing can spread along the axis of rotation, which can increase its radial and axial support angle rigidity and maximize its resistance to deformation.

[0135] This disclosure does not limit the types and installation methods of the third bearing 630 and the fourth bearing 640. For example, in the embodiments of this disclosure, the third bearing 630 and the fourth bearing 640 can be angular contact ball bearings and are installed back to back. With this design, the contact angle line of the angular contact ball bearing can spread along the axis of rotation, which can increase its radial and axial support angle rigidity and maximize its resistance to deformation.

[0136] Reference Figures 17-18 In embodiments of this disclosure, the upper end cover 232 and the lower end cover 233 can each be a multi-step cylindrical structure, used to axially abut against at least two of the stator 110, the axial bearing 602, and the radial bearing 602. For example, in Figure 5 In the illustrated embodiment, the upper end cover 232 and the lower end cover 233 can simultaneously abut against the stator 110 and the radial bearing 601. Furthermore, in some other embodiments, the upper end cover 232 and the lower end cover 233 can simultaneously abut against the stator 110 and the axial bearing 602. This design allows for axial restraint of at least two of the stator 110, the axial bearing 602, and the radial bearing 601 via the upper end cover 232 and the lower end cover 233, effectively simplifying the assembly process, eliminating the need for excessive restraining components, and simplifying the device structure.

[0137] According to another aspect of this disclosure, an active suspension is provided, including the aforementioned actuator, which, since the active suspension has all the beneficial effects of the aforementioned actuator, will not be described in detail here.

[0138] According to another aspect of this disclosure, a vehicle is provided that includes the aforementioned active suspension, since the vehicle has all the beneficial effects of the aforementioned active suspension, which will not be repeated here.

[0139] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0140] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0141] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. An actuator, characterized in that, include: Driver module; as well as The motion conversion assembly includes a lead screw and a lead nut, the lead screw being used for connection to a wheel. The drive module is used to drive the lead screw to rotate, thereby driving the wheel to move linearly in the height direction.

2. The actuator according to claim 1, characterized in that, The drive module includes a stator, a rotor, and a motor housing. The stator is a hollow cylindrical structure and is fixed to the inner wall of the motor housing. The rotor is coaxially mounted on the inner side of the stator and can rotate relative to the stator. The nut is connected to the rotor to follow its rotation.

3. The actuator according to claim 2, characterized in that, The rotor is constructed as a hollow cylindrical structure, and the nut is disposed on the inner side of the rotor and connected to the rotor.

4. The actuator according to claim 3, characterized in that, The nut includes a main shaft section and two flanges that protrude radially from the main shaft section, the flanges being fixed to the two shaft ends of the rotor.

5. The actuator according to claim 4, characterized in that, The rotor includes a first half and a second half, which together surround the outside of the nut.

6. The actuator according to claim 5, characterized in that, The first half and the second half are both semicircular structures.

7. The actuator according to claim 6, characterized in that, The surfaces of the first half and the second half that meet each other are provided with positioning holes, so as to be positioned by inserting pins into them.

8. The actuator according to claim 2, characterized in that, The motor housing includes an axially extending cover and an upper end cover and a lower end cover disposed at both ends of the cover, wherein at least one of the upper end cover and the lower end cover is detachably connected to the cover.

9. The actuator according to claim 2, characterized in that, The stator and the rotor are aligned in axial height.

10. The actuator according to claim 2, characterized in that, The lead screw shaft extends through the motor housing in the height direction.

11. The actuator according to claim 10, characterized in that, It also includes a mounting housing, which is disposed above the motor housing and together with the motor housing forms a receiving space for accommodating the lead screw shaft.

12. The actuator according to claim 11, characterized in that, The top of the mounting housing is provided with mounting studs for connecting to the vehicle body.

13. The actuator according to claim 11, characterized in that, A limiting pad is provided on the outer end face of the top wall of the motor housing, and the portion of the lead screw shaft located in the accommodating space has a radially outward protruding lead screw cap. The limiting pad is used to axially limit the lead screw cap.

14. The actuator according to claim 1, characterized in that, It also includes a fork arm connected to the lead screw shaft and used for connecting to the wheel.

15. The actuator according to claim 14, characterized in that, The fork arm includes a mounting plate that is attached to the bottom end of the lead screw shaft. The bottom end of the lead screw shaft has a first threaded hole. The fork arm is fixed to the lead screw shaft by a fastening bolt that passes through the mounting plate and is connected to the first threaded hole.

16. The actuator according to claim 14, characterized in that, The drive module includes a motor housing, and the actuator also includes a helical spring connected between the motor housing and the fork arm, with the helical spring sleeved on the outside of the lead screw shaft.

17. The actuator according to claim 16, characterized in that, It also includes a dust cover that can extend and retract axially, one end of which is connected to the fork arm and the other end to the motor housing, and the dust cover is fitted on the outside of the lead screw shaft, and the helical spring is fitted on the outside of the dust cover.

18. The actuator according to claim 2, characterized in that, A permanent magnet is embedded in the shaft end of the rotor.

19. An active suspension, characterized in that, The actuator includes any one of claims 1-18.

20. A vehicle, characterized in that, Includes the active suspension as described in claim 19.

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