Actuator structure for actively suspending motor

Abstract

The invention discloses an actuator structure of a motor active suspension, relates to the technical field of active suspension, and aims to solve the technical problems that a current actuator is single in vibration reduction dimension and is difficult to meet the complex vibration reduction requirement under multi-working-condition operation of the motor, and the actuator structure comprises a linear actuating motor mounted at the bottom end of the active suspension. Through the design of the linear actuation motor and the elliptical actuation assembly, the linear actuation motor drives the bottom transmission element, and vertical excitation transmitted to the active suspension by the motor is counteracted in real time; the output end of the elliptical actuating assembly regularly moves in the horizontal plane along an elliptical track to drive the wavy elastic inwards-concave transmission element to achieve horizontal reciprocating translational motion with the self-adaptive waveform outline. Through the design of the linear actuation motor and the elliptical actuation assembly, the transmission element can be driven by forming an elliptical track to offset inclined excitation in the horizontal direction, and reliable vibration reduction support is provided for stable operation of the motor under multiple working conditions.

Description

Technical Field

[0001] This invention relates to the field of active suspension technology, and more specifically, to an actuator structure for active suspension of a motor. Background Technology

[0002] An active motor mounting system for automobiles mainly consists of three parts: the passive mount body, the actuator, and the electronic control unit (ECU). The actuator is the core component for active control and is often directly encapsulated at the bottom of the passive mount, allowing it to function as a passive mount even when the active control system fails. Existing active mount actuators typically employ a composite structure of "passive load-bearing + active control." The passive mount body supports the static weight of the motor, while the actuator provides dynamic compensation force. Vibration signals are detected by an accelerometer, and the ECU calculates the required compensation force in real time and drives the actuator to generate a counterforce to counteract the vibration.

[0003] Existing off-road electric vehicles have motors that vibrate vertically during idling and acceleration; and due to the driving environment, they also generate multi-directional vibrations in the horizontal plane, which often have a certain tilt angle.

[0004] However, existing active suspension actuators suffer from a core deficiency: a single dimension of vibration reduction adjustment. They often only achieve excitation cancellation in one direction, making it difficult to simultaneously reduce the vibration of both the vertical and horizontal excitations transmitted from the motor to the active suspension. Furthermore, for horizontal excitations, existing actuators lack an adaptable structural design that allows them to operate along a regular trajectory, making it difficult to meet the complex vibration reduction requirements under various motor operating conditions. Therefore, we propose an active suspension actuator structure for the motor. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art, adapt to practical needs, and provide an actuator structure for active motor suspension to solve the technical problem that the current actuator has a single vibration reduction dimension and is difficult to match the complex vibration reduction requirements of motors under multiple operating conditions.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an actuator structure for an active motor suspension, comprising a linear actuator motor installed at the bottom end of the active suspension and elliptical actuator components arranged in an equidistant ring within the active suspension; The output end of the linear actuator motor is connected to the transmission element at the bottom of the active suspension to drive it to move linearly in the vertical direction, thereby counteracting the motor excitation in the vertical direction of the active suspension. The output end of the elliptical actuator moves in an elliptical orbit in the horizontal plane. The output end of the elliptical actuator is connected to the wave-shaped elastic concave transmission element on the side of the active suspension to drive it to be pushed out, so as to realize the periodic, adaptive waveform profile reciprocating translational motion in the horizontal direction, thereby counteracting the motor excitation in the horizontal direction of the active suspension.

[0007] Preferably, a plurality of the elliptical actuation components are arranged in a four-part ring structure, and the four-part ring structure is adapted to the cross-shaped slide rail on the active suspension. The four-part ring structure is used to arrange the elliptical actuation components in the four horizontal directions of the active suspension, thereby adapting to the motor excitation transmitted when the active suspension moves in the cross-shaped slide rail.

[0008] Preferably, the elliptical actuation component includes an elliptical transmission structure, which includes a linkage rod and a cam; One end of the linkage rod is connected to the output end of the linear actuator motor, and the other end of the linkage rod is slidably connected to the slide groove on the cam. The cam is rotatably connected to the active suspension. The linkage rod is used to move up and down together with the output end of the linear actuator motor, so that the cam can rotate within the active suspension.

[0009] Preferably, the elliptical actuation component further includes an elliptical drive structure, which includes a drive link, a slider, a guide rail, and an elliptical drive shaft. One end of the drive linkage is rotatably connected to the slider, and the slider is slidably connected to the guide rail. The guide rail is installed in the active suspension, and the elliptical drive shaft is installed on the drive linkage. The elliptical drive shaft is used to form an elliptical trajectory as the drive linkage rotates.

[0010] Preferably, the elliptical transmission structure further includes an oval gear, which is installed in the active suspension. The input end of the oval gear is connected to the top of the cam, and the output end of the oval gear is connected to the other end of the drive linkage. The oval gear is used to generate periodic variable speed motion during transmission, making the output elliptical trajectory speed irregular, simulating random vibration.

[0011] Preferably, an L-shaped actuator arm is mounted on the elliptical drive shaft, the top end of the actuator arm is rotatably connected to the elliptical drive shaft, and the actuator arm is movably connected to an elliptical groove opened on the active suspension.

[0012] Preferably, the elliptical actuation component further includes a positioning structure, which includes a longitudinal guide frame and a transverse guide groove; A positioning block is installed on the actuator arm. The positioning block is slidably connected in the longitudinal guide frame. The longitudinal guide frame is slidably connected in the transverse guide groove, and the transverse guide groove is opened in the active suspension.

[0013] Preferably, the elliptical actuation component further includes an actuation end, which is a multi-tooth comb-like structure with the comb teeth of the multi-tooth comb-like structure arranged in an interlaced manner. The multi-tooth comb-like structure is used to select the excitation frequency according to the design tooth pitch, so that the generated wave is regular and controllable.

[0014] Preferably, the elliptical actuation component further includes an actuation end, which is a wavy outward convex structure, and the wavy outward convex structure forms a surface contact with the wavy elastic concave transmission element. The wavy outward convex structure is used to cooperate with the irregular speed of the oval gear, thereby buffering the impact force caused by speed fluctuations, so that the elastic plate vibrates regularly.

[0015] Preferably, the bottom transmission element connected to the linear actuator motor and the side transmission element connected to several elliptical actuator components form an active suspension active execution unit. Hydraulic oil is filled between the active execution unit and the transmission component of the active suspension, and the hydraulic oil circulates inside and outside the active suspension.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention utilizes a linear actuation motor and an elliptical actuation component. The output of the linear actuation motor is connected to the transmission element at the bottom of the active suspension, effectively canceling the vertical excitation transmitted from the motor to the active suspension in real time, ensuring the vibration suppression accuracy of the suspension in the vertical direction. The output of the elliptical actuation component moves regularly along an elliptical track in the horizontal plane, connecting to the wave-shaped elastic concave transmission element on the side of the active suspension, driving it to achieve an adaptive waveform profile horizontal reciprocating translational motion. This matches the vibration frequency and trajectory of the motor in the horizontal direction, efficiently canceling the tilting excitation in the horizontal direction. Through the design of the linear actuation motor and the elliptical actuation component, this invention can cancel the tilting excitation in the horizontal direction by forming an elliptical trajectory to drive the transmission element, providing reliable vibration reduction support for the stable operation of the motor under various working conditions.

[0017] 2. This invention utilizes an elliptical actuation component arrangement. The core of the elliptical actuation component adopts a four-part ring structure, which precisely matches the cross-shaped slide rail of the active suspension, forming a horizontal, all-dimensional vibration reduction core. The four-part ring arrangement ensures that the elliptical actuation component corresponds to the four horizontal directions (front-back, left-right) of the active suspension, precisely matching the four-directional horizontal excitation of the motor transmitted by the active suspension as it moves within the cross-shaped slide rail. This ensures that the excitation in each horizontal direction can be specifically canceled. This elliptical actuation component arrangement enables adaptive reciprocating translation in four horizontal directions, comprehensively canceling the motor excitation in each horizontal direction, significantly improving the vibration reduction accuracy and adaptability of the active suspension, and providing reliable vibration reduction support for the stable operation of the motor under multiple operating conditions.

[0018] 3. This invention utilizes an elliptical actuation component design. The linkage rod of the elliptical transmission structure is fixedly connected to the output end of the linear actuation motor, moving vertically up and down synchronously with the linear actuation motor. The other end of the linkage rod slides into the groove of a cam, which is rotatably mounted inside the active suspension via a rotating connector. When the linear actuation motor drives the linkage rod to move up and down, the end of the linkage rod slides within the cam groove, generating a lateral force that forces the cam to rotate smoothly around its axis of rotation. This successfully and precisely converts the vertical linear motion of the linear actuation motor into the rotational motion of the cam, providing the sole power support for the subsequent trajectory output of the elliptical actuation component. This invention, through the design of the elliptical actuation component and using a linear actuation motor as the power source, eliminates the need for an additional drive motor throughout the process, saving the cost and installation space of an additional motor and simplifying the overall structure of the active suspension.

[0019] 4. This invention incorporates an oval gear within an elliptical transmission structure. Utilizing the non-circular structure of the oval gear, it generates periodic variable-speed motion under cam drive. This causes the output end of the elliptical actuator to form a non-uniform elliptical trajectory in the horizontal plane, achieving dynamic speed adjustment of the elliptical trajectory and accurately simulating the random vibration characteristics of the motor. The variable-speed elliptical trajectory output end of the elliptical actuator engages with a wave-shaped elastic concave transmission element on the side of the active suspension. Under periodic variable-speed motion, this transmission element is pushed out, driving it to achieve an adaptive horizontal reciprocating translational motion with a waveform profile. By leveraging the dynamic characteristics of the variable-speed elliptical trajectory and the buffering and adapting characteristics of the wave-shaped elastic concave structure, it accurately matches and cancels the random excitation of the motor in the horizontal direction, achieving efficient vibration damping of horizontal random vibrations. This invention, by incorporating an oval gear within the elliptical transmission structure and using the variable-speed transmission of the oval gear, solves the problems of incomplete vibration damping and significant residual vibration caused by the uniform speed of the horizontal elliptical actuator trajectory and its difficulty in adapting to the random horizontal excitation of the motor. It achieves accurate and efficient cancellation of all types of motor excitations by the active suspension.

[0020] 5. This invention utilizes the structural design of the actuating end. When a multi-tooth comb-shaped actuating end is used, the staggered design of the comb teeth allows for preset tooth pitch design based on the actual needs of motor vibration reduction. By adapting the tooth pitch to the transmission excitation frequency, precise optimization and control of the excitation frequency can be achieved. This makes the wave-shaped excitation generated during elliptical trajectory transmission regular and controllable, avoiding vibration reduction failure caused by frequency mismatch from the frequency dimension, and ensuring the frequency adaptability and excitation regularity of horizontal vibration reduction. In addition, if a wave-shaped convex actuating end is used, its wave-shaped contour precisely matches the concave contour of the wave-shaped elastic concave transmission element. The two form a full-area surface contact fit, which can effectively bear and buffer the speed impact and force fluctuations brought about by the periodic speed change motion of the oval gear, eliminate the secondary vibration generated by rigid transmission, avoid wear of the transmission structure and vibration reduction interference caused by sudden speed changes, and ensure that the linked elastic plate always maintains a regular vibration state, achieving stable vibration reduction of horizontal random vibration from the force transmission dimension. This invention, through the design of the actuating end, allows the horizontal vibration reduction output of the elliptical drive structure to be adjusted according to specific needs, thereby adapting to different motors to a certain extent and optimizing their vibration reduction effect. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the active suspension structure of the present invention.

[0022] Figure 2 This is a cross-sectional view of the active suspension structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the linear actuator motor and elliptical actuator assembly of the present invention.

[0024] Figure 4 This is a schematic diagram of the elliptical actuation component of the present invention.

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

[0026] Figure 6 This is a schematic diagram of the elliptical driving structure of the present invention.

[0027] Figure 7 This is a schematic diagram of the positioning structure of the present invention.

[0028] Figure 8 This is a schematic diagram of the structure of the multi-tooth comb-shaped actuating end of the present invention.

[0029] Figure 9 This is a schematic diagram of the wavy, outwardly convex actuating end of the present invention.

[0030] Figure 10 This is a schematic diagram of the active execution unit formed by the various transmission elements of the present invention.

[0031] Explanation of the labels in the diagram: 1. Linear actuator motor; 2. Elliptical actuator assembly; 201. Elliptical transmission structure; 202. Elliptical drive structure; 203. Actuating arm; 204. Positioning structure; 205. Actuating end; 2011, linkage rod; 2012, cam; 2013, oval gear; 2021. Drive link; 2022. Slider; 2023. Guide rail; 2024. Elliptical drive shaft; 2031, Positioning Block; 2041, longitudinal guide frame; 2042, transverse guide groove. Detailed Implementation

[0032] Examples, such as Figures 1 to 10 As shown, the present invention relates to an actuator structure for an active motor suspension, comprising a linear actuator 1 mounted at the bottom of the active suspension and an elliptical actuator assembly 2 arranged in a ring at equal intervals within the active suspension; the output end of the linear actuator 1 is driven to a transmission element at the bottom of the active suspension to drive it to move linearly in the vertical direction, thereby counteracting the motor excitation in the vertical direction of the active suspension; the output end of the elliptical actuator assembly 2 moves in an elliptical orbit in the horizontal plane, and the output end of the elliptical actuator assembly 2 is driven to a wave-shaped elastic concave transmission element on the side of the active suspension to drive it to be pushed out, thereby achieving a periodic, adaptive waveform profile reciprocating translational motion in the horizontal direction, thereby counteracting the motor excitation in the horizontal direction of the active suspension.

[0033] The bottom transmission element connected to the linear actuator 1 and the side transmission element connected to several elliptical actuator components 2 form an active actuator unit of the active suspension. Hydraulic oil is filled between the active actuator unit and the transmission component of the active suspension, and the hydraulic oil circulates inside and outside the active suspension.

[0034] This invention integrates the linear actuator 1 at the bottom of the active suspension with the elliptical actuator 2 arranged in an equidistant ring inside, through the design of the linear actuator 1 and the elliptical actuator 2. This solves the problems of traditional active suspensions that can only reduce vibration in one dimension, have inaccurate horizontal excitation cancellation, and have poor adaptability. It greatly improves the vibration reduction efficiency and stability of the active suspension and perfectly adapts to the vibration suppression requirements of the motor under multiple working conditions.

[0035] The output end of the linear actuator 1 is connected to the transmission element at the bottom of the active suspension, which can drive it to move precisely in a straight line in the vertical direction, thereby canceling the vertical excitation transmitted by the motor to the active suspension in real time and ensuring the vibration suppression accuracy of the suspension in the vertical direction. The elliptical actuator 2, which is arranged in an equidistant ring, moves regularly along an elliptical track in the horizontal plane and is connected to the wave-shaped elastic concave transmission element on the side of the active suspension. During the movement, the actuator periodically pushes out the transmission element, driving it to achieve a horizontal reciprocating translational motion with an adaptive waveform profile. This precisely matches the vibration frequency and trajectory of the motor in the horizontal direction, effectively canceling the tilting excitation in the horizontal direction. The design of the wave-shaped elastic concave structure further improves the transmission adaptability and vibration damping effect.

[0036] When the motor generates compound directional excitation, the linear actuator 1 responds to the vertical vibration in real time, driving the bottom transmission element to adjust linearly; at the same time, the elliptical actuator 2 starts synchronously, and the output end moves along the elliptical track, realizing adaptive translational vibration reduction in the horizontal direction through the wave-shaped transmission element; the synergistic effect of the two achieves full coverage cancellation of the vertical and horizontal dual-dimensional excitation of the motor, avoiding the superposition of residual vibration caused by single-dimensional vibration reduction.

[0037] The present invention, through the design of a linear actuator motor 1 and an elliptical actuator component 2, can offset the horizontal tilting excitation by driving the transmission element through the formation of an elliptical trajectory, thus providing reliable vibration reduction support for the stable operation of the motor under multiple working conditions.

[0038] Specifically, such as Figures 1 to 10 As shown, the four elliptical actuation components 2 of the present invention are arranged in a four-part ring structure, and the four-part ring structure is adapted to the cross-shaped slide rail on the active suspension. The four-part ring structure is used to arrange the elliptical actuation components 2 in the four horizontal directions of the active suspension, so as to be adapted to the motor excitation transmitted when the active suspension moves in the cross-shaped slide rail.

[0039] This invention solves the problems of incomplete horizontal four-way excitation cancellation, poor compatibility with the slide rail, insufficient vibration reduction accuracy, and only single-dimensional vibration reduction by arranging the elliptical actuator components 2 in a four-equal-division ring and precisely matching them with the active suspension cross-shaped slide rail. It significantly improves the vibration reduction efficiency, stability, and adaptability of the active suspension, and perfectly meets the requirements for suppressing vertical and horizontal two-dimensional vibrations of the motor under multiple working conditions.

[0040] The four elliptical actuation components 2 are arranged in a four-part ring structure, and this four-part ring structure is precisely matched with the cross-shaped slide rail of the active suspension itself, forming a horizontal full-dimensional vibration reduction core: the four-part ring arrangement makes the four elliptical actuation components 2 correspond to the four horizontal directions of the active suspension, namely front-back, left-right, and right-right, which are precisely matched with the four horizontal directions of the motor excitation transmitted by the active suspension when it moves in the cross-shaped slide rail, ensuring that the excitation in each horizontal direction can be specifically canceled.

[0041] During operation, when the motor generates combined vertical and horizontal excitation, the linear actuator 1 starts in real time, driving the bottom transmission element to adjust vertically and quickly cancel the vertical excitation. At the same time, the four elliptical actuator components 2, arranged in a four-part ring, respond synchronously. Relying on the guiding effect of the cross-shaped slide rail, their output ends move along the elliptical track. Through the wave-shaped transmission element, the active suspension is driven to achieve adaptive reciprocating translation along the slide rail in four horizontal directions, completely canceling the motor excitation in all horizontal directions. The two work together to achieve full coverage cancellation of the motor's dual-dimensional and all-directional excitation, eliminating the superposition of residual vibrations.

[0042] The present invention, through the arrangement of the elliptical actuation component 2, can achieve adaptive reciprocating translation in four horizontal directions, fully offsetting the motor excitation in each horizontal direction, greatly improving the vibration reduction accuracy and working condition adaptability of the active suspension, and providing reliable vibration reduction support for the stable operation of the motor under multiple working conditions.

[0043] It is worth noting that, such as Figures 4 to 7 As shown, the elliptical actuation assembly 2 of the present invention includes an elliptical transmission structure 201, which includes a linkage rod 2011 and a cam 2012. One end of the linkage rod 2011 is connected to the output end of the linear actuation motor 1, and the other end of the linkage rod 2011 is slidably connected to a groove on the cam 2012. The cam 2012 is rotatably connected to the active suspension. The linkage rod 2011 is used to move up and down together with the output end of the linear actuation motor 1, so that the cam 2012 can rotate within the active suspension.

[0044] The elliptical actuation component 2 also includes an elliptical drive structure 202, which includes a drive link 2021, a slider 2022, a guide rail 2023, and an elliptical drive shaft 2024. One end of the drive link 2021 is rotatably connected to the slider 2022, and the slider 2022 is slidably connected to the guide rail 2023. The guide rail 2023 is installed in the active suspension. The elliptical drive shaft 2024 is installed on the drive link 2021. The elliptical drive shaft 2024 is used to form an elliptical trajectory as the drive link 2021 rotates.

[0045] An L-shaped actuator 203 is mounted on the elliptical drive shaft 2024. The top end of the actuator 203 is rotatably connected to the elliptical drive shaft 2024, and the actuator 203 is movably connected to the elliptical groove opened on the active suspension.

[0046] The elliptical actuator 2 also includes a positioning structure 204, which includes a longitudinal guide frame 2041 and a transverse guide groove 2042. A positioning block 2031 is installed on the actuator arm 203. The positioning block 2031 is slidably connected in the longitudinal guide frame 2041. The longitudinal guide frame 2041 is slidably connected in the transverse guide groove 2042, and the transverse guide groove 2042 is opened in the active suspension.

[0047] This invention achieves full-process drive by designing an elliptical actuation component 2 and relying on the existing linear actuation motor 1 at the bottom of the active suspension. Through the precise linkage of various structures inside the elliptical actuation component 2, the vertical linear motion of the linear actuation motor 1 is transformed into a horizontal elliptical trajectory motion, which works in synergy with the vertical vibration reduction motion of the linear actuation motor 1. This simplifies the overall structure, reduces manufacturing costs, and achieves precise cancellation of horizontal excitation, further improving the dual-dimensional vibration reduction system and avoiding the problems of additional motor configuration and complex structure required for horizontal vibration reduction.

[0048] In the elliptical transmission structure 201, one end of the linkage rod 2011 is fixedly connected to the output end of the linear actuator motor 1, and moves vertically up and down synchronously with the linear actuator motor 1. The other end of the linkage rod 2011 slides into the groove of the cam 2012, which is rotatably mounted inside the active suspension via a rotating connector. When the linear actuator motor 1 drives the linkage rod 2011 to move up and down, the end of the linkage rod 2011 slides in the groove of the cam 2012 and generates a lateral force, forcing the cam 2012 to rotate smoothly around the rotation axis. This successfully and accurately converts the vertical linear motion of the linear actuator motor 1 into the rotational motion of the cam 2012, providing the sole power support for the subsequent trajectory output of the elliptical actuator assembly 2.

[0049] The elliptical drive structure 202, as the output mechanism for the elliptical trajectory, is powered entirely by the rotational power transmitted from the linear actuator motor 1 to the cam 2012. It can achieve elliptical trajectory output without the need for an additional motor. One end of the drive link 2021 in the elliptical drive structure 202 is rotatably connected to the slider 2022, which is slidably mounted on the guide rail 2023 fixed to the inner wall of the active suspension, allowing for flexible translation along the guide rail 2023. The other end of the drive link 2021 is fixedly connected to the elliptical drive shaft 2024. When the cam 2012 rotates under the power transmitted from the linear actuator motor 1, the protruding part on the edge of the cam 2012 periodically squeezes and pushes the drive link 2021, causing the slider 2022 to slide back and forth along the guide rail 2023. This, in turn, drives the elliptical drive shaft 2024 to perform a combined rotational and translational motion, ultimately causing the output end of the elliptical drive shaft 2024 to form a regular and precise elliptical motion trajectory in the horizontal plane, meeting the vibration suppression requirements of the motor in the horizontal direction.

[0050] The present invention uses the design of the elliptical actuation component 2 and the linear actuation motor 1 as the power source, eliminating the need for an additional drive motor throughout the process, thus saving the cost and installation space of an additional motor and simplifying the overall structure of the active suspension.

[0051] Furthermore, such as Figure 5 As shown, the elliptical actuation component 2 of the present invention also includes an oval gear 2013, which is installed in the active suspension. The input end of the oval gear 2013 is connected to the top of the cam 2012, and the output end of the oval gear 2013 is connected to the other end of the drive linkage 2021. The oval gear 2013 is used to generate periodic speed-changing motion during transmission, so that the speed of the output elliptical trajectory is irregular, simulating random vibration.

[0052] This invention incorporates an oval gear 2013 within an elliptical transmission structure 201. It integrates a bottom-mounted linear actuator 1, equidistantly arranged elliptical actuator components 2, and the matching oval gear 2013 transmission structure. Combined with a side-mounted wave-shaped elastic concave transmission element, it constructs a dual-dimensional collaborative active vibration reduction system: vertical constant-speed precise vibration reduction + horizontal variable-speed elliptical trajectory adaptive random vibration reduction. Through the periodic variable-speed transmission design of the oval gear 2013, it achieves precise cancellation of the vertical and horizontal excitations of the motor under all operating conditions, significantly improving the vibration reduction adaptability and damping efficiency of the active suspension.

[0053] This invention adds an oval gear 2013 to the elliptical actuation component 2 and completes the transmission chain design of cam 2012-oval gear 2013-drive linkage 2021. The input end of the oval gear 2013 is connected to the top of the cam 2012, and the output end is linked to the other end of the drive linkage 2021. Utilizing the non-circular structural characteristics of the oval gear 2013, it generates periodic variable speed motion under the drive of the cam 2012, causing the output end of the elliptical actuation component 2 to form a non-uniform elliptical trajectory in the horizontal plane, realizing dynamic speed adjustment of the elliptical trajectory and accurately simulating the random vibration characteristics of the motor. The variable speed elliptical trajectory output end of the elliptical actuation component 2 is connected to the wave-shaped elastic concave transmission element on the active suspension side. Under the periodic variable speed motion, the transmission element is pushed out, driving it to achieve a horizontal reciprocating translational motion with an adaptive waveform profile. By utilizing the dynamic characteristics of the variable speed elliptical trajectory and the buffering and adapting characteristics of the wave-shaped elastic concave structure, the random excitation of the motor in the horizontal direction is accurately matched and canceled, achieving efficient vibration damping of horizontal random vibration.

[0054] This invention solves the problems of incomplete vibration reduction and obvious residual vibration caused by the uniform speed of the horizontal elliptical motion trajectory, which is difficult to adapt to the random horizontal excitation of the motor, by setting an oval gear 2013 in the elliptical transmission structure 201 and using the speed change transmission of the oval gear 2013. This invention achieves accurate and efficient cancellation of all types of motor excitation by active suspension.

[0055] Furthermore, such as Figures 8 to 9 As shown, the elliptical actuation component 2 of the present invention also includes an actuation end 205, which is a multi-tooth comb-like structure with the comb teeth of the multi-tooth comb-like structure arranged in an alternating manner. The multi-tooth comb-like structure is used to select the excitation frequency according to the design tooth pitch, so that the generated wave is regular and controllable.

[0056] The elliptical actuator 2 also includes an actuator end 205, which is a wavy convex structure. The wavy convex structure forms a surface contact with the wavy elastic concave transmission element. The wavy convex structure is used to cooperate with the irregular speed of the oval gear 2013, thereby buffering the impact force caused by speed fluctuations and making the elastic plate vibrate regularly.

[0057] This invention utilizes the structural design of the actuating end 205. When a multi-tooth comb-shaped actuating end 205 is adopted, the staggered comb teeth design allows for the preset tooth pitch based on the actual needs of motor vibration reduction. By adapting the tooth pitch to the transmission excitation frequency, precise optimization and control of the excitation frequency can be achieved. This makes the wave-shaped excitation rules generated during elliptical trajectory transmission controllable, avoiding vibration reduction failure caused by frequency mismatch from the frequency dimension, and ensuring the frequency adaptability and excitation regularity of horizontal vibration reduction.

[0058] In addition, if a wave-shaped convex actuating end 205 is used, its wave-shaped profile is precisely matched with the concave profile of the wave-shaped elastic concave transmission element. The two form a full-area surface contact fit, which can effectively bear and buffer the speed impact and force fluctuation brought about by the periodic speed change motion of the oval gear 2013, eliminate the secondary vibration generated by rigid transmission, avoid the wear of transmission structure and vibration damping interference caused by sudden speed change, and ensure that the elastic plate linked with it always maintains a regular vibration state, so as to achieve smooth vibration damping of horizontal random vibration from the force transmission dimension.

[0059] The present invention, through the design of the actuating end 205, allows the horizontal vibration reduction output of the elliptical drive structure 202 to be adjusted according to specific needs, thereby adapting to different motors to a certain extent and optimizing its vibration reduction effect.

[0060] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. An actuator structure for active suspension of an electric machine, characterized by The invention relates to a linear motor (1) installed at the bottom of the active suspension and an elliptical actuator assembly (2) arranged in the active suspension in an equidistant ring shape. The output end of the linear motor (1) is drivingly connected to the transmission element at the bottom of the active suspension, for driving the linear movement of the active suspension in the vertical direction, to offset the motor excitation in the vertical direction of the active suspension. The output end of the elliptical actuator assembly (2) moves in an elliptical orbit in the horizontal plane, and the output end of the elliptical actuator assembly (2) is drivingly connected to the wavy elastic concave transmission element at the side of the active suspension, for driving the elliptical actuator assembly (2) to be pushed out and realize the periodic and adaptive wave-shaped reciprocating translation movement in the horizontal direction, to offset the motor excitation in the horizontal direction of the active suspension.

2. An actuator structure for active suspension of an electric machine according to claim 1, characterized in that A plurality of the elliptical actuator assemblies (2) are arranged in a quarter ring structure, and the quarter ring structure is adapted to the cross-shaped slide rail on the active suspension, for arranging the elliptical actuator assemblies (2) in the horizontal four directions of the active suspension, to adapt to the motor excitation conducted when the active suspension moves in the cross-shaped slide rail.

3. An actuator structure for active suspension of an electric machine according to claim 1, characterized in that The elliptical actuator assembly (2) comprises an elliptical transmission structure (201), and the elliptical transmission structure (201) comprises a linkage rod (2011) and a cam (2012). One end of the linkage rod (2011) is connected to the output end of the linear motor (1), and the other end of the linkage rod (2011) is slidingly connected in the sliding groove on the cam (2012), and the cam (2012) is rotatably connected in the active suspension. The linkage rod (2011) is used for moving up and down with the output end of the linear motor (1), so that the cam (2012) can rotate in the active suspension.

4. An actuator structure for active suspension of an electric machine according to claim 3, characterized in that The elliptical actuator assembly (2) further comprises an elliptical drive structure (202), and the elliptical drive structure (202) comprises a drive link (2021), a sliding block (2022), a guide rail (2023) and an elliptical drive shaft (2024). One end of the drive link (2021) is rotatably connected to the sliding block (2022), and the sliding block (2022) is slidingly connected to the guide rail (2023), and the guide rail (2023) is installed in the active suspension, and the elliptical drive shaft (2024) is installed on the drive link (2021). The elliptical drive shaft (2024) is used for forming an elliptical orbit with the rotation of the drive link (2021).

5. An actuator structure for active suspension of an electric machine according to claim 4, characterized in that The elliptical transmission structure (201) further comprises an oval gear (2013), and the oval gear (2013) is installed in the active suspension, and the input end of the oval gear (2013) is connected to the top end of the cam (2012), and the output end of the oval gear (2013) is connected to the other end of the drive link (2021). The oval gear (2013) is used for generating a periodic variable motion during transmission, so that the speed of the output elliptical orbit is irregular, and random vibration is simulated.

6. An actuator structure for active suspension of an electric machine according to claim 4, characterized in that The L-shaped actuating arm (203) is installed on the elliptical driving shaft (2024), the top end of the actuating arm (203) is rotationally connected to the elliptical driving shaft (2024), and the actuating arm (203) is movably connected to the elliptical groove formed in the main suspension.

7. An actuator structure for active suspension of an electric machine according to claim 6, characterized in that The elliptical actuating assembly (2) further comprises a positioning structure (204), and the positioning structure (204) comprises a longitudinal guide frame (2041) and a transverse guide groove (2042). The actuating arm (203) is provided with a positioning block (2031), the positioning block (2031) is slidably connected to the longitudinal guide frame (2041), the longitudinal guide frame (2041) is slidably connected to the transverse guide groove (2042), and the transverse guide groove (2042) is formed in the main suspension.

8. An actuator structure for active suspension of an electric machine according to claim 7, characterized in that The elliptical actuating assembly (2) further comprises an actuating end head (205), the actuating end head (205) is a multi-tooth comb structure, the comb teeth of the multi-tooth comb structure are staggered, and the multi-tooth comb structure is used for generating regular and controllable waves according to a designed tooth pitch and preferably an excitation frequency.

9. An active motor suspension actuator structure according to claim 7, wherein The elliptical actuating assembly (2) further comprises an actuating end head (205), the actuating end head (205) is a wave-shaped convex structure, and the wave-shaped convex structure is in surface contact with the wave-shaped elastic concave transmission element, the wave-shaped convex structure is used for matching the irregular speed of the oval gear (2013), thereby buffering the impact force caused by the speed fluctuation, and making the elastic plate vibrate regularly.

10. An actuator structure for active suspension of an electric machine according to claim 1, characterized in that The bottom transmission element connected with the linear actuating motor (1) and the side transmission element connected with the plurality of elliptical actuating assemblies (2) form a main actuating unit of the main suspension, hydraulic oil is filled between the main actuating unit and the transmission element of the main suspension, and the hydraulic oil flows in and out of the main suspension in a circulating manner.

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