Actuator, active suspension and vehicle

Abstract

The utility model relates to an actuator, an active suspension and a vehicle, and the actuator comprises a driving module which comprises a stator, a rotor and a motor housing; the motion conversion assembly comprises a lead screw shaft and a nut; and the axial bearing is used for limiting the rotor in the axial direction, 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 linearly move in the height direction. A rotor of the driving module drives a nut to rotate, the nut drives a lead screw shaft to drive a wheel to linearly move in the height direction, and then the height of the whole vehicle is adjusted. The structure is simple, the machinability is high, and disassembly and assembly are convenient; the transmission form of rotation and linear motion is more space-saving, and the control precision is higher; the axial bearing can play a role in limiting the rotor in the axial direction, so that the axial load borne by the rotor is resisted, the displacement of the rotor in the axial direction is avoided, the relative positions of the rotor and the stator in the axial direction are ensured, and the output efficiency of the motor is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of vehicle height adjustment, and in particular to an actuator, an active suspension and a vehicle. Background Art

[0002] The vehicle's active suspension system is a system that can actively adjust the suspension hardness, height and stability according to road conditions and driving requirements to provide a more comfortable and stable driving experience.

[0003] The active suspension includes an actuator, one end of which is connected to the vehicle body and the other end is connected to the wheel. It can drive the output linear motion to adjust the height of the vehicle according to the road conditions and driving state. In the related art, the actuator drives the output linear motion through the motor. However, the vehicle is easily subjected to impact loads in the height direction during driving. This load is easily transmitted to the motor through the suspension, causing the motor rotor to move in the height direction, thereby reducing the motor output efficiency. There are also problems such as unstable motor operation, easy to generate shaking noise, easy to fail, and the motor has a short service life. Utility Model Content

[0004] An object of the present disclosure is to provide an actuator, an active suspension, and a vehicle to at least partially solve the problems existing in the related art.

[0005] In order to achieve the above-mentioned purpose, the present disclosure provides an actuator, comprising: a drive module, including a stator, a rotor and a motor housing; a motion conversion assembly, including a screw shaft and a nut, the screw shaft being used to connect to the wheel; and an axial bearing, fixed in the motor housing, for limiting the rotor in the axial direction, wherein the drive module is used to drive the nut to rotate, so as to drive the screw shaft to drive the wheel to perform linear motion in the height direction.

[0006] Optionally, the nut includes a main shaft segment and a flange platform radially protruding from the main shaft segment, and the flange platform is connected to the shaft end of the rotor.

[0007] Optionally, the main shaft section is provided with a first limiting step, and the axial bearing abuts against the first limiting step.

[0008] Optionally, the motor housing includes an axially penetrating cover shell and an upper end cover and a lower end cover arranged at both ends of the cover shell, wherein at least one of the upper end cover and the lower end cover is detachably connected to the cover shell, and the upper end cover and the lower end cover are penetrated by the screw shaft in the height direction.

[0009] Optionally, a mounting shell is further included, which is arranged above the upper end cover and forms an accommodation space with the upper end cover for accommodating the screw shaft.

[0010] Optionally, the number of the nuts is two, and they are installed at the two axial ends of the rotor. The axial bearing includes a first bearing and a second bearing. The first bearing abuts between the mounting shell and the corresponding first limiting step, or abuts between the upper end cover and the corresponding first limiting step; the second bearing abuts between the lower end cover and the corresponding first limiting step.

[0011] Optionally, the first bearing and the second bearing are thrust bearings.

[0012] Optionally, a radial bearing is further included, which is fixed in the motor housing and is used to carry the nut in the radial direction.

[0013] Optionally, the main shaft section is provided with a second limiting step, and the radial bearing abuts against the second limiting step.

[0014] Optionally, the main shaft section is provided with a first limiting step, and the axial bearing abuts against the first limiting step, wherein one of the first limiting step and the second limiting step is formed by the flange and the main shaft section.

[0015] Optionally, the motor housing includes an axially through-cover and an upper end cover and a lower end cover arranged at both ends of the cover, and the radial bearing includes a third bearing and a fourth bearing, the third bearing abuts between the upper end cover and the corresponding second limit step; the fourth bearing abuts between the lower end cover and the corresponding second limit step.

[0016] Optionally, the third bearing and the fourth bearing are angular contact ball bearings and are installed back to back.

[0017] Optionally, the upper end cover and the lower end cover are respectively multi-step cylindrical structures, which are used to abut against at least two of the stator, the axial bearing and the radial bearing in the axial direction.

[0018] According to a second aspect of the present disclosure, an active suspension is provided, comprising the above-mentioned actuator.

[0019] According to a third aspect of the present disclosure, a vehicle is provided, comprising the above-mentioned active suspension.

[0020] Through the above technical solution, when working, the rotor of the driving module drives the nut to rotate, and the nut drives the screw shaft to move linearly in the height direction, thereby driving the wheel connected to the screw shaft to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. This solution has a simple structure, high processability, and convenient disassembly and assembly; the transmission form of rotation + linear motion saves more space and has higher control accuracy than the traditional pure linear transmission mode; the rotor drives the nut to rotate, and compared with the embodiment of driving the screw shaft to rotate, the rotational inertia of the system is significantly reduced in both active and passive states; the axial bearing can limit the rotor in the axial direction, thereby resisting the axial load on the rotor and avoiding the axial displacement of the rotor, that is, it can ensure the relative position of the rotor and the stator in the axial direction (the stator is fixed to the motor housing), thereby improving the output efficiency of the motor and ensuring the stability of the motor movement.

[0021] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0023] Figure 1 is a schematic diagram of an actuator exemplarily shown according to the present disclosure;

[0024] Figure 2 yes Figure 1 A cross-sectional view of the actuator is shown;

[0025] Figure 3 yes Figure 2 A partial enlarged view of part A;

[0026] Figure 4 is a schematic diagram of another actuator exemplarily shown according to the present disclosure;

[0027] Figure 5 yes Figure 4 A cross-sectional view of the actuator is shown;

[0028] Figure 6 yes Figure 5 A partial enlarged view of part B;

[0029] Figure 7 is a front view of a screw shaft exemplarily shown according to the present disclosure;

[0030] Figure 8 yes Figure 7 A cross-sectional view of the screw shaft shown in FIG.

[0031] Fig. 9 is a schematic diagram of a nut according to an exemplary embodiment of the present disclosure;

[0032] Fig.10 yes Fig. 9 A cross-sectional view of the nut shown in FIG.

[0033] Fig.11 is a schematic diagram of another nut exemplarily shown according to the present disclosure;

[0034] Fig.12 yes Fig.11 A cross-sectional view of the nut shown in FIG.

[0035] Fig.13 is a schematic diagram of a driving module exemplarily shown according to the present disclosure;

[0036] Fig.14 is a schematic diagram of a rotor exemplarily shown according to the present disclosure;

[0037] Fig.15 yes Fig.14 A top view of the rotor is shown;

[0038] Fig.16 is a schematic diagram of a first half body exemplarily shown according to the present disclosure;

[0039] Fig.17 is a schematic diagram of a lower end cover exemplarily shown according to the present disclosure;

[0040] Fig.18 yes Fig.17 A cross-sectional view of the lower end cap is shown.

[0041] Description of Reference Numerals

[0042] 1-connection hole; 100-drive module; 110-stator; 120-rotor; 121-first half body; 122-second half body; 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-screw shaft; 3101-screw convex cap; 314-first threaded hole; 316-second A rolling groove; 319-working shaft section; 320-nut; 321-flange; 322-main shaft section; 3221-first limiting step; 3222-second limiting step; 323-second rolling groove; 450-flange; 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 DESCRIPTION

[0043] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0044] In the present disclosure, unless otherwise stated, the directional words used, such as "inside, outside", "up, down", etc., may be defined based on the direction in which the relevant components are actually used, or may be based on the structure itself. For example, the stator is constructed as a hollow cylindrical structure and is fixed to the "inner wall" of the motor housing, which means that the stator is arranged in the accommodation space of the motor housing and fixed to the inner wall surface thereof; the mounting shell is arranged "above" the motor housing and forms an accommodation space with the motor housing for accommodating the screw shaft. The "above" here refers to the top of the actuator when it is installed on the vehicle body for use, that is, the side away from the ground, and "up and down" is based on the height direction perpendicular to the ground.

[0045] In addition, in the present disclosure, the terms "first", "second", etc. are used to distinguish one element from another element, and have no order or importance. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0046] It should be noted that in the present disclosure, the "connection" mentioned may refer to direct connection or indirect connection. The two mutually connected may be realized by appropriate means, such as interference fit, key connection, connection by external connectors, etc. "Up and down movement, upward movement, downward movement, etc." refers to relative movement.

[0047] In order to avoid confusion and redundancy, all hole features (such as threaded holes) used to connect two components in the present invention are collectively referred to as connecting holes 1, and features used to match the connecting holes 1 (such as bolts) are collectively referred to as fasteners, without limiting the specific types of the two, as long as they can play a connecting and fastening role.

[0048] The vehicle active suspension system is a system that can actively adjust the suspension hardness, height and stability according to road conditions and driving requirements. It is often used in vehicle shock absorbers to actively control the relative height of the wheel and body to provide a more comfortable and stable driving experience. The active suspension includes an actuator. When the vehicle is running, the actuator can adjust the working state of the suspension system according to the road conditions and driving status by receiving information from the vehicle sensors and control unit to meet the vehicle's personalized needs for different height states. For example, when encountering potholes (wheels jumping down), the actuator can actively control to increase the vehicle suspension height to ensure that the body is stable and does not sink with the potholes; when encountering raised road conditions (wheels jumping up), the actuator can actively control to lower the suspension height to ensure that the body is not lifted and bumpy.

[0049] The actuator can adjust the suspension by hydraulic, electric or pneumatic means, and the operation of the actuator directly affects the performance and effect of the active suspension system. The present disclosure mainly focuses on the actuator that works electrically using the electromagnetic principle and specifically makes corresponding improvements to its height adjustment function.

[0050] In the present disclosure, the actuator may include a motion conversion assembly and a drive module 100. The motion conversion assembly may include a lead screw shaft 310 and a screw nut 320, and the drive module 100 is used to drive the screw nut 320 to rotate. When the drive module 100 drives the screw nut 320 to rotate, the lead screw shaft 310 moves linearly along the axial direction (height direction) under the drive of the screw nut 320.

[0051] In addition to the modules described above, in some other embodiments, the actuator may also include a rotation support module and a fork arm 710, etc.

[0052] Next, various parts of the actuator are further introduced. It should be noted that the embodiments introduced here do not limit the various parts, but only serve as an exemplary description. Specifically:

[0053] The driving module 100 is mainly used to provide power, for example, it can be a rotating motor (electromagnetic drive), and specifically can include a stator 110 and a rotor 120 that rotates relative to the stator 110. Among them, the stator 110 can be used to provide the required excitation magnetic field, and the rotor 120 can be used to provide a permanent stable magnetic field. After the stator 110 is powered on, the rotor 120 can be driven to rotate. 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 arranged in the radial inner space of the stator 110.

[0054] In the case where the drive module 100 is a rotating motor, the drive module 100 may further include a motor housing 230, and the stator 110 and the rotor 120 may be accommodated in the motor housing 230. The motor housing 230 may include a cover 231 configured as an axially penetrating sleeve structure, and an upper end cover 232 and a lower end cover 233 at opposite ends connected to 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 screw shaft 310 can pass through the lower end cover 233.

[0055] The motion conversion assembly may at least include a rotary motion module and a linear motion module, wherein the rotary motion module may 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 screw shaft 310 and the nut 320. In order to ensure the adjustment accuracy of the height of the whole vehicle, the present disclosure may select a kinematic pair (ball screw pair) formed by the screw shaft 310 and the ball nut (nut 320), wherein the screw shaft 310 and the ball nut may be provided with a spiral raceway groove for the movement of the rolling body. Since the structure and principle of the ball screw pair are well known to those skilled in the art, no further introduction is given here. Of course, the present disclosure is not limited to the ball screw pair, which is only an exemplary description. The nut 320 that cooperates with the screw shaft 310 mentioned below may be a ball nut or other nut 320. As described above, the nut 320 can be connected to the rotor 120 and rotate with it, and the screw shaft 310 converts the rotational motion into linear motion. The one performing the linear motion can drive the wheel to move along the linear motion through the fork arm 710 to adjust the height of the whole vehicle.

[0056] The rotating support module may include multiple bearings, some of which can be used to provide axial movement support for at least one of the rotor 120, the nut 320 and the screw shaft 310; and another part of the bearings can be used to provide radial support and limit positioning for at least one of the rotor 120, the nut 320 and the screw shaft 310.

[0057] The types, quantities and installation positions of the bearings will be described in detail in the specific embodiments below.

[0058] The fork arm 710 may be located at the bottom of the actuator on the side close to the wheel, and may be specifically fixed by one side of the screw shaft 310 close to the bottom of the wheel for easy disassembly. The present disclosure does not limit the fork arm 710.

[0059] After understanding the basic structure of each of the above modules, the technical solution of the present disclosure will be described in detail below. It should be noted that there are many repeated technical features among the multiple embodiments to be described below. In order to avoid redundancy, for the repeated technical features, except for the unique technical effects in the specific embodiments, only the effects, alternative solutions and specific details are described in detail when they appear for the first time. The technical features mentioned in different embodiments can be combined with each other without contradiction.

[0060] Reference Figure 1-Figure 3 The present disclosure exemplarily shows an actuator, including a driving module 100 and a motion conversion assembly, wherein the motion conversion assembly includes a screw shaft 310 and a screw nut 320, and the screw shaft 310 is used to connect with the wheel. The driving module 100 is used to drive the screw nut 320 to rotate, so as to drive the screw shaft 310 to drive the wheel to perform linear motion in the height direction.

[0061] Here, it needs to be explained that, in the embodiment of the present disclosure, the screw shaft 310 can be directly connected to the wheel, or it can be indirectly connected through the fork arm mentioned below.

[0062] The present disclosure does not limit the specific structure of the driving module 100 , as long as it can be used to drive the nut 320 to rotate, and it can specifically be a driving motor or the like.

[0063] By using the above technical solution, when working, the drive module 100 drives the nut 320 to rotate, and the nut 320 drives the screw shaft 310 to move linearly in the height direction, thereby driving the wheel connected to the screw shaft 310 to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. This solution has a simple structure, high processability, and convenient disassembly and assembly; the traditional pure linear drive method is because the drive component and the transmission component are both linear motion (occupying a large height space), and the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission method layout, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. In addition, by driving the nut 320 to rotate through the drive module 100, compared with the solution of driving the screw shaft 310 to rotate, the rotational inertia of the system is significantly reduced in both active and passive states.

[0064] The present disclosure does not limit the specific structure of the driving module 100. Figure 1-Figure 3 , Fig.13In an embodiment of the present 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 on the inner side of the stator 110 and may rotate relative to the stator 110, and the nut 320 may be connected to the rotor 120 to follow the rotation. Since the stator 110, the rotor 120, and the motor housing 230 are arranged in a coaxial nested manner, the space occupied by the drive module 100 in the axial direction may be reduced, which is more conducive to arranging the actuator in the vehicle.

[0065] The present disclosure does not limit how the nut 320 is connected to the rotor 120 in a follow-up manner. For example, the nut 320 can be connected to the rotor 120 by a transmission connection. 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.

[0066] Further, refer to Figure 1-Figure 3 In the embodiment of the present disclosure, the rotor 120 may be constructed as a hollow cylindrical structure, and the nut 320 may be disposed inside the rotor 120 and connected to the rotor 120. With such a 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, and the Z-direction (axial, height) dimension space is further compressed, which is conducive to improving the layoutability in the vehicle.

[0067] Reference Figure 2 , Figure 11-Figure 12 In the embodiment of the present disclosure, the nut 320 may include a main shaft section 322 and two flanges 321 radially protruding from the main shaft section 322, and the flanges 321 may be abutted and fixed to the two shaft ends of the rotor 120. In this case, only one nut 320 is required. Specifically, refer to Figure 11-Figure 16 The flange 321 and the rotor 120 may be provided with connection holes 1 respectively, and the nut 320 and the rotor 120 may be fixedly connected by fasteners passing through the corresponding connection holes 1 in sequence, so as to realize synchronous rotation of the rotor 120 and the nut 320. The present disclosure does not limit the formation position of the flange 321, for example, it may be located near the two ends of the main shaft section 322.

[0068] Since the nut 320 has two radially protruding flanges 321, in order to sleeve the rotor 120 on the outer periphery of the nut 320, refer to Figure 14-16In the embodiment of the present disclosure, the rotor 120 may include a first half body 121 and a second half body 122, and the first half body 121 and the second half body 122 may be together around the outer side of the nut 320. When installing, the first half body 121 and the second half body 122 may be buckled from both sides of the nut 320, and when disassembling, the first half body 121 and the second half body 122 may be removed from both sides in the same way, which is convenient and simple to operate.

[0069] In the embodiment of the present disclosure, the first half body 121 and the second half body 122 can be semicircular structures respectively. Such a design can reduce the difficulty of procurement and assembly process, and there is no need to distinguish between the first half body 121 and the second half body 122.

[0070] In order to quickly align the first half body 121 and the second half body 122, refer to Fig.16 In the embodiment of the present disclosure, the opposing surfaces of the first half body 121 and the second half body 122 may be provided with positioning holes 123 respectively, so as to be positioned by inserting a pin into the two. In addition, in some other embodiments, one of the first half body 121 and the second half body 122 may be provided with a positioning hole 123 on the opposing surface, and the other may be provided with a pin on the opposing surface. During installation, positioning can be achieved by simply inserting the pin into the positioning hole 123.

[0071] Reference Figure 2 In the embodiment of the present disclosure, the motor housing 230 may include an axially through-cover shell 231 and an upper end cover 232 and a lower end cover 233 arranged at both ends of the cover shell 231. Among them, at least one of the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover shell 231. Such a design facilitates the installation of the stator 110 and the rotor 120 in the motor housing 230, and facilitates the opening of the motor housing 230 to inspect the internal structure. In the embodiment of the present disclosure, the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover shell 231, respectively. In addition, in some other embodiments, one of the upper end cover 232 and the lower end cover 233 may be detachably connected to the cover shell 231, and the other may be integrally formed with the cover shell 231.

[0072] Reference Figure 2 In the embodiment of the present disclosure, the axial heights of the stator 110 and the rotor 120 can be aligned. Here, it should be explained that the above-mentioned "axial heights can be aligned" means that in the axial direction, the upper and lower end surfaces of the stator 110 and the rotor 120 are respectively flush. Such a design can better control the magnetic field distribution in the motor, improve the efficiency and performance of the motor, and the uniform magnetic field distribution can reduce the magnetic field loss, contribute to the smooth operation of the motor, reduce vibration and noise, and thus improve the operation stability and life of the motor.

[0073] Reference Figure 2In the embodiment of the present disclosure, the shaft end of the stator 110 can be pressed against the upper end cover 232 or the lower end cover 233 through the positioning ring 130, the outer periphery of the positioning ring 130 and the stator 110 can be respectively fixed to the cover 231, and the two shaft ends of the rotor 120 can be pressed against the corresponding flanges 321. The upper end cover 232 and the lower end cover 233, as well as the flange 321, can limit the stator 110 and the rotor 120 in the axial direction, thereby improving the stability of the motor. In addition, pressing the two ends of the stator 110 against the upper end cover 232 and the lower end cover 233 can prevent the rotor from rotating in the circumferential direction, thereby meeting the requirement that the cylindrical linear motor is relatively stationary in the circumferential direction.

[0074] In addition, in some other embodiments, the positioning ring 130 may be replaced by directly forming a step on the inner wall of the motor housing 230, or the end of the stator 110 may be directly abutted against the upper end cover 232 or the lower end cover 233. The present disclosure does not impose any restrictions on this, as long as the axial length of the stator 110 is relatively consistent with the axial length of the rotor 120, and the upper and lower end surfaces of the stator 110 and the rotor 120 are kept flush during installation.

[0075] Reference Figure 1-Figure 3 In the embodiment of the present disclosure, the lead screw shaft 310 can penetrate the motor housing 230 in the height direction. Such a design can ensure that the lead screw shaft 310 has sufficient displacement space in the height direction, thereby ensuring the adjustable range of the adjustment device to meet the needs of different road conditions. In addition, the lead screw shaft 310 penetrates the motor housing 230, increasing the coupling length between the motor and the kinematic pair in the axial direction, which can significantly reduce the maximum axial length of the system assembly and significantly improve the layout of the entire vehicle.

[0076] Reference Figure 2 In the embodiment of the present disclosure, the actuator may further include a mounting shell 240, which may be disposed above the motor housing 230 and enclosed with the motor housing 230 to form an accommodation space for accommodating the lead screw shaft 310. By providing the mounting shell 240, on the one hand, an accommodation space can be provided for the lead screw shaft 310, providing protection and limiting functions, and on the other hand, the lead screw shaft 310 may be connected to the vehicle body through the mounting shell 240. Since the lead screw shaft 310 has a smaller diameter on the side (upper side) close to the vehicle body, it is more convenient to directly use the original tower top installation part on the vehicle body, and directly connect the vehicle body through the mounting shell 240, which is convenient and reliable, and further reduces the modification of the whole vehicle.

[0077] Specifically, refer to Figure 1-Figure 3The mounting shell 240 may be configured as a cylindrical structure, the upper end of which is configured as a closed end surface, on which a plurality of mounting studs for connecting to the vehicle body mentioned below may be evenly distributed. The lower end of the mounting shell 240 may be provided with a flange structure, on which a plurality of connection holes 1 for connecting to the motor housing 230 may be evenly distributed.

[0078] Further, refer to Figure 1-Figure 2 In the embodiment of the present disclosure, the top of the mounting shell 240 may be provided with mounting studs 511 for connecting to the vehicle body. The present disclosure does not limit the number of mounting studs 511, which may be three, five, etc.

[0079] Reference Figure 2-Figure 3 In the embodiment of the present disclosure, a limiting pad 2301 may be provided on the outer end surface of the top wall of the motor housing 230, and the portion of the lead screw shaft 310 located in the accommodation space may have a lead screw convex cap 3101 protruding radially outward, and the limiting pad 2301 may be used to axially limit the lead screw convex cap 3101. With such a design, when the lead screw shaft 310 moves downward, when it moves to the extreme position, the limiting pad 2301 may act as a stopper to avoid direct rigid collision between the lead screw convex cap 3101 and the top wall of the motor housing 230, and the accommodation space is the travel space of the lead screw shaft 310.

[0080] The present disclosure does not limit the material of the limit pad 2301. For example, in some embodiments, it can be elastic, such as a gasket formed of non-metallic materials such as rubber and polyurethane, or a metal spring formed of metal materials, so as to buffer the movement of the screw shaft 310. It can be fixed to the top wall of the motor housing 230 by bonding, screwing, etc. In addition, in some other embodiments, the limit pad 2301 can also be installed on the lower end surface of the screw convex cap 3101, and the present disclosure does not limit this.

[0081] Reference Figure 1-Figure 3 In the embodiment of the present disclosure, the actuator may further include a fork arm 710 connected to the lead screw shaft 310 and used to connect to the wheel. During operation, the rotor 120 of the drive module 100 drives the nut 320 to rotate, and the 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 full active adjustment of the height of the entire vehicle.

[0082] The present disclosure does not limit the connection method between the fork arm 710 and the screw shaft 310, and the structure of the fork arm 710. Figure 1-Figure 3 , Figure 7-Figure 8In the embodiment of the present disclosure, the fork arm 710 may include a mounting plate 711 fixed to the bottom shaft end of the screw shaft 310, and the bottom shaft end of the screw shaft 310 may be provided with a first threaded hole 314. The fork arm 710 may be fixed to the screw shaft 310 by a fastening bolt 701 that penetrates the mounting plate 711 and is connected to the first threaded hole 314. With such a design, the fork arm 710 can be fastened to the screw shaft 310 by fixing the mounting plate 711 to the screw shaft 310, without providing a connection structure on the main body of the fork arm 710, thereby reducing the process difficulty. In addition, the surface-to-surface contact between the mounting plate 711 and the end of the screw shaft 310 can improve the stability of the connection between the two and improve the force transmission performance between the two.

[0083] Reference Figure 1-Figure 2 In an embodiment of the present disclosure, the drive module 100 may include a motor housing 230, and the actuator may further include a coil spring 730 connected between the motor housing 230 and the fork arm 710, and the coil spring 730 may be sleeved on the outside of the lead screw shaft 310. By providing the coil spring 730, it can play a role in supporting the weight of the vehicle body, thereby reducing the active thrust that the adjusting device needs to provide. Specifically, when the adjusting device is in the working zero position (neither raised nor lowered), the coil spring 730 is in a compressed state (bearing the weight of the vehicle body). During the operation of the adjusting device (lowering or lifting), the coil spring 730 is in the second or third compression, and the output thrust of the adjusting device is actually the elastic force generated by overcoming the second deformation of the coil spring 730. If the coil spring 730 is not provided, the entire weight of the vehicle body directly acts on the adjusting device, and the adjusting device is easily damaged and the service life is reduced.

[0084] Reference Figure 1-Figure 2 In the embodiment of the present disclosure, the actuator may further include a dust cover 720 that can be axially retracted, 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, and the dust cover 720 can be sleeved on the outside of the screw shaft 310, and the coil spring 730 can be sleeved on the outside of the dust cover 720. With such a design, the dust cover 720 can prevent dust, water vapor, etc. from entering the motor housing 230 from the gap between the lower end cover 233 and the screw shaft 310, thereby causing damage to the motor structure. The dust cover 720 can be a retractable flexible material, or it can also be a bellows.

[0085] Reference Figure 14-16 In the embodiment of the present disclosure, the shaft end of the rotor 120 may be embedded with a permanent magnet 124 to provide a permanent stable magnetic field. The present disclosure does not limit the number and arrangement of the permanent magnets 124, which can be adaptively designed according to actual needs.

[0086] In the embodiment of the present disclosure, the inner wall of the nut 320 may be provided with a spiral second rolling groove 323 for the rolling body (such as a ball) to move. The working shaft section 319 of the screw shaft 310 is an effective stroke section, and the outer wall of the working shaft section 319 may be provided with a spiral first rolling groove 316 for the ball to roll.

[0087] Reference Figure 4-Figure 6 The present disclosure provides an actuator, including a driving module 100 and a motion conversion assembly, wherein the motion conversion assembly includes a screw shaft 310 and a screw nut 320, wherein the screw shaft 310 is used to connect with a wheel. The driving module 100 is used to drive the screw nut 320 to rotate, so as to drive the screw shaft 310 to drive the wheel to perform linear motion in the height direction, and the screw nut 320 is multiple and is arranged at intervals in the height direction.

[0088] Here, it needs to be explained that, in the embodiment of the present disclosure, the screw shaft 310 can be directly connected to the wheel, or it can be indirectly connected through the fork arm mentioned below.

[0089] The present disclosure does not limit the specific structure of the driving module 100 , as long as it can be used to drive the nut 320 to rotate, and it can specifically be a driving motor or the like.

[0090] The present disclosure does not limit the number of the nut 320 , which may be two, three, etc.

[0091] By using the above technical solution, when working, the drive module 100 drives the nut 320 to rotate, and the nut 320 drives the screw shaft 310 to move linearly in the height direction, thereby driving the wheel connected to the screw shaft 310 to move linearly in the height direction, thereby realizing the full active adjustment of the height of the whole vehicle. This solution has a simple structure, high processability, and convenient disassembly and assembly; the traditional pure linear drive method is because the drive component and the transmission component are both linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in this disclosure saves more height space than the traditional pure linear transmission method layout, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. In addition, by driving the nut 320 to rotate by the drive module 100, compared with the solution of driving the screw shaft 310 to rotate, the rotation inertia of the system is significantly reduced in both active and passive states. The arrangement of multiple nuts 320 arranged in the height direction can improve the rigidity of the screw shaft 310 during movement.

[0092] The present disclosure does not limit the specific structure of the driving module 100. Figure 4-Figure 6 , Fig.13In an embodiment of the present 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 on the inner side of the stator 110 and may rotate relative to the stator 110, and the nut 320 may be connected to the rotor 120 to follow the rotation. Since the stator 110, the rotor 120, and the motor housing 230 are arranged in a coaxial nested manner, the space occupied by the drive module 100 in the axial direction may be reduced, which is more conducive to arranging the actuator in the vehicle.

[0093] The present disclosure does not limit how the nut 320 is connected to the rotor 120 in a follow-up manner. For example, the nut 320 can be connected to the rotor 120 by a transmission connection. 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.

[0094] Reference Figure 4-Figure 6 In the embodiment of the present disclosure, the number of the nut 320 can be two, and they are installed at the two shaft ends of the rotor 120. Therefore, the screw shaft 310 can be supported at two positions of the screw shaft 310 that are far away from each other, thereby improving the rigidity of the screw shaft 310 during the movement process. And the nut 320 is arranged at the two ends of the rotor 120, which can effectively reduce the radial size of the drive module 100 and significantly improve the layout of the whole vehicle compared to the nut 320 being arranged on the inner side of the rotor 120. In particular, when this arrangement is applied to a "slender motor", the inner space of the rotor 120 is small, and the nut 320 is arranged at both ends to avoid the problem of insufficient installation space. In addition, due to the large axial size of the slender motor, the length of the screw shaft 310 located inside the slender motor is large. Using only one nut 320 for support cannot play a sufficient "restriction" role on the screw shaft 310, and it is easy to have problems such as eccentricity, swinging, and insufficient rigidity.

[0095] Reference Figure 5 , Figure 11-Figure 12 In the embodiment of the present disclosure, the nut 320 may include a main shaft section 322 and a flange 321 radially protruding from the main shaft section 322, and the flange 321 may be connected to the shaft end of the rotor 120. Specifically, referring to Figure 9-10 , Figure 13-Figure 16, the flange 321 and the rotor 120 may be respectively provided with connection holes 1, and the nut 320 and the rotor 120 may be fixedly connected by fasteners passing through the corresponding connection holes 1 in sequence, so as to realize synchronous rotation of the rotor 120 and the nut 320. The flange 321 may be integrally formed with the main shaft section 322 of the nut 320, or may be detachably assembled to the main shaft section 322. The present disclosure does not limit the formation position of the flange 321, which may be formed at a position close to the end of the main shaft section 322, or may be formed at a central position of the main shaft section 322.

[0096] Reference Figure 5-Figure 6 In the embodiment of the present disclosure, the rotor 120 can be sleeved at intervals on the outside of the screw shaft 310, and the main shaft section 322 can partially extend between the rotor 120 and the screw shaft 310. Such a design can increase the coupling length of the motor and the motion conversion component in the axial direction, significantly reduce the maximum axial length of the system assembly, and significantly improve the layout of the vehicle. In addition, the main shaft section 322 is partially extended between the rotor 120 and the screw shaft 310, and the part of the nut 320 extending between the rotor 120 and the screw shaft 310 can fit with the inner wall surface of the rotor 120, thereby improving the stability of the nut 320 and the rotor 120. On the other hand, the nut 320 partially extends downward into the rotor 120 and the screw shaft 310, which can avoid it from occupying too much axial space on the upper side, thereby improving the movable range of the nut 320 along the axial direction, that is, improving the adjustment range of the adjustment device.

[0097] Reference Figure 5 In the embodiment of the present disclosure, the axial heights of the stator 110 and the rotor 120 can be aligned. Here, it should be explained that the above-mentioned "axial heights can be aligned" means that in the axial direction, the upper and lower end surfaces of the stator 110 and the rotor 120 are respectively flush. Such a design can better control the magnetic field distribution in the motor, improve the efficiency and performance of the motor, and the uniform magnetic field distribution can reduce the magnetic field loss, contribute to the smooth operation of the motor, reduce vibration and noise, and thus improve the operation stability and life of the motor.

[0098] Reference Figure 5 In the embodiment of the present 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 321. The upper end cover 232 and the lower end cover 233, as well as the flange 321, can limit the stator 110 and the rotor 120 in the axial direction, 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 can be prevented from rotating in the circumferential direction, meeting the requirement that the cylindrical linear motor is relatively stationary in the circumferential direction.

[0099] Reference Figure 4-Figure 6In the embodiment of the present disclosure, the lead screw shaft 310 can penetrate the motor housing 230 in the height direction. Such a design can ensure that the lead screw shaft 310 has sufficient displacement space in the height direction, thereby ensuring the adjustable range of the adjustment device to meet the needs of different road conditions. In addition, the lead screw shaft 310 penetrates the motor housing 230, increasing the coupling length between the motor and the kinematic pair in the axial direction, which can significantly reduce the maximum axial length of the system assembly and significantly improve the layout of the entire vehicle.

[0100] Reference Figure 5 In the embodiment of the present disclosure, the actuator may further include a mounting shell 240, which may be disposed above the motor housing 230 and enclosed with the motor housing 230 to form an accommodation space for accommodating the lead screw shaft 310. By providing the mounting shell 240, on the one hand, an accommodation space can be provided for the lead screw shaft 310, providing protection and limiting functions, and on the other hand, the lead screw shaft 310 may be connected to the vehicle body through the mounting shell 240. Since the lead screw shaft 310 has a smaller diameter on the side (upper side) close to the vehicle body, it is more convenient to directly use the original tower top installation part on the vehicle body, and directly connect the vehicle body through the mounting shell 240, which is convenient and reliable, and further reduces the modification of the whole vehicle.

[0101] Specifically, refer to Figure 4-Figure 6 The mounting shell 240 may be configured as a cylindrical structure, the upper end of which is configured as a closed end surface, on which a plurality of mounting studs for connecting to the vehicle body mentioned below may be evenly distributed. The lower end of the mounting shell 240 may be provided with a flange structure, on which a plurality of connection holes 1 for connecting to the motor housing 230 may be evenly distributed.

[0102] Further, refer to Figure 4-Figure 5 In the embodiment of the present disclosure, the top of the mounting shell 240 may be provided with mounting studs 511 for connecting to the vehicle body. The present disclosure does not limit the number of mounting studs 511, which may be three, five, etc.

[0103] Reference Figure 5 and Figure 6 In the embodiment of the present disclosure, the motor housing 230 may include an axially through-cover shell 231 and an upper end cover 232 and a lower end cover 233 arranged at both ends of the cover shell 231. Among them, at least one of the upper end cover 232 and the lower end cover 233 is detachably connected to the cover shell 231. Such a design facilitates the installation of the stator 110 and the rotor 120 in the motor housing 230, and facilitates the opening of the motor housing 230 to inspect the internal structure. In the embodiment of the present disclosure, the upper end cover 232 and the lower end cover 233 can be detachably connected to the cover shell 231, respectively. In addition, in some other embodiments, one of the upper end cover 232 and the lower end cover 233 can be detachably connected to the cover shell 231, and the other can be integrally formed with the cover shell 231.

[0104] Reference Figure 5 In the embodiment of the present disclosure, the lower end cover 233 may include a cover body 23301 and a bottom cover 23302 connected below the cover body 23301, and the cover body 23301 has the same structure as the upper end cover 232. Such a design can reduce the difficulty of procurement and assembly process, and there is no need to distinguish between the upper end cover 232 and the cover body 23301.

[0105] Furthermore, in the embodiment of the present disclosure, the cover body 23301 and the bottom cover 23302 can be configured to be detachably connected, thereby facilitating the disassembly and assembly of related components inside the motor housing 230 .

[0106] In the embodiment of the present disclosure, both the upper end cover 232 and the cover body 23301 can be constructed as Figure 17-Figure 18 The double-step cylindrical structure shown, the structure of the upper end cover 232 and the cover body 23301 are exactly the same, but the arrangement position is different. Here, only the upper end cover 232 is used as an example for description. Specifically: a smaller 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 position of the closed end face for the screw shaft 310 to pass through. A plurality of threaded holes can be evenly distributed on the closed end face for fastening and connecting the mounting shell 240 with the upper end cover 232. A larger opening structure can be provided on the lower end side of the upper end cover 232, and a plurality of connection holes can be evenly distributed near the lower end of the upper end cover 232 for fastening and connecting the upper end cover 232 with the motor housing 230.

[0107] Reference Figure 5-Figure 6 In the embodiment of the present disclosure, the outer peripheries of the upper end cover 232 and the lower end cover 233 may have flanges 450, respectively, and the flanges 450 may surround the cover 231 from the outer side of the end of the cover 231. With such a design, the cover 231 may be wrapped by the flanges 450 to achieve radial positioning between the two. Moreover, such a design may prevent water accumulation, impurities, etc. from entering the interior of the motor housing 230 from the gap between the two, and may also prevent static electricity from entering the interior of the motor housing 230 from the outside, thereby protecting the internal components.

[0108] Reference Figure 4-Figure 6 In the embodiment of the present disclosure, the actuator may further include a fork arm 710 connected to the lead screw shaft 310 and used to connect to the wheel. During operation, the rotor 120 of the drive module 100 drives the nut 320 to rotate, and the 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 full active adjustment of the height of the entire vehicle.

[0109] The present disclosure does not limit the connection method between the fork arm 710 and the screw shaft 310, and the structure of the fork arm 710. Figure 4-Figure 8 In the embodiment of the present disclosure, the fork arm 710 may include a mounting plate 711 fixed to the bottom shaft end of the screw shaft 310, and the bottom shaft end of the screw shaft 310 may be provided with a first threaded hole 314. The fork arm 710 may be fixed to the screw shaft 310 by a fastening bolt 701 that penetrates the mounting plate 711 and is connected to the first threaded hole 314. With such a design, the fork arm 710 can be fastened to the screw shaft 310 by fixing the mounting plate 711 to the screw shaft 310, without providing a connection structure on the main body of the fork arm 710, thereby reducing the process difficulty. In addition, the surface-to-surface contact between the mounting plate 711 and the end of the screw shaft 310 can improve the stability of the connection between the two and improve the force transmission performance between the two.

[0110] Reference Figure 4-Figure 5 In an embodiment of the present disclosure, the drive module 100 may include a motor housing 230, and the actuator may further include a coil spring 730 connected between the motor housing 230 and the fork arm 710, and the coil spring 730 may be sleeved on the outside of the lead screw shaft 310. By providing the coil spring 730, it can play a role in supporting the weight of the vehicle body, thereby reducing the active thrust that the adjusting device needs to provide. Specifically, when the adjusting device is in the working zero position (neither raised nor lowered), the coil spring 730 is in a compressed state (bearing the weight of the vehicle body). During the operation of the adjusting device (lowering or lifting), the coil spring 730 is in the second or third compression, and the output thrust of the adjusting device is actually the elastic force generated by overcoming the second deformation of the coil spring 730. If the coil spring 730 is not provided, the entire weight of the vehicle body directly acts on the adjusting device, and the adjusting device is easily damaged and the service life is reduced.

[0111] Reference Figure 4-Figure 5 In the embodiment of the present disclosure, the actuator may further include a dust cover 720 that can be axially retracted. The dust cover 720 may be connected to the fork arm 710 at one end and connected to the motor housing 230 at the other end. The dust cover 720 may be sleeved on the outside of the lead screw shaft 310, and the coil spring 730 may be sleeved on the outside of the dust cover 720. With such a design, the dust cover 720 may prevent dust, water vapor, etc. from entering the motor housing 230 from the gap between the lower end cover 233 and the lead screw shaft 310, thereby damaging the motor structure. The dust cover 720 may be a retractable flexible material, or may be a bellows.

[0112] Reference Figure 5In the embodiment of the present disclosure, the outer periphery of the motor housing 230 may be protruded to form a spring support 211, and the coil spring 730 may be connected to the bottom of the spring support 211. Here, in the embodiment of the present disclosure, the spring support 211 may be integrally formed with the motor housing 230. In addition, 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.

[0113] Reference Figure 14-16 In the embodiment of the present disclosure, the shaft end of the rotor 120 may be embedded with a permanent magnet 124 to provide a permanent stable magnetic field. The present disclosure does not limit the number and arrangement of the permanent magnets 124, which can be adaptively designed according to actual needs.

[0114] Reference Figure 4-Figure 6 The present disclosure provides an actuator, including a drive module 100, a motion conversion assembly and an axial bearing 602. The drive module 100 includes a stator 110, a rotor 120 and a motor housing 230. The motion conversion assembly includes a screw shaft 310 and a nut 320. The screw shaft 310 is used to connect with the wheel. The axial bearing 602 is fixed in the motor housing 230 and is used to limit the rotor 120 in the axial direction. The drive module 100 is used to drive the nut 320 to rotate, so as to drive the screw shaft 310 to drive the wheel to perform linear motion in the height direction.

[0115] The present disclosure does not limit the installation position and type of the axial bearing 602. For example, in some embodiments, the axial bearing 602 may abut between the motor housing 230 and the rotor 120. In addition, in some other embodiments, the axial bearing 602 may abut between the nut 320 and the motor housing 230, that is, indirectly abut the rotor 120 through the nut 320. The type of the axial bearing 602 may be the thrust bearing mentioned below, as long as it can play an axial bearing role.

[0116] By using the above technical solution, when working, the rotor 120 of the drive module 100 drives the nut 320 to rotate, and the nut 320 drives the screw shaft 310 to move linearly in the height direction, thereby driving the wheel connected to the screw shaft 310 to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. This solution has a simple structure, high processability, and convenient disassembly and assembly; the transmission form of rotation + linear motion is more space-saving and has higher control accuracy than the traditional pure linear transmission mode; the rotor 120 drives the nut 320 to rotate, and compared with the embodiment of driving the screw shaft 310 to rotate, the rotational inertia of the system is significantly reduced in both active and passive states; the axial bearing 602 can limit the rotor 120 in the axial direction, thereby resisting the axial load on the rotor 120 and avoiding the axial displacement of the rotor 120, that is, 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.

[0117] Reference Figure 5 , Figure 11-Figure 12 In the embodiment of the present disclosure, the nut 320 may include a main shaft section 322 and a flange 321 radially protruding from the main shaft section 322, and the flange 321 may be connected to the shaft end of the rotor 120. Specifically, referring to Figure 9-10 , Figure 13-Figure 16 , the flange 321 and the rotor 120 may be respectively provided with connection holes 1, and the nut 320 and the rotor 120 may be fixedly connected by fasteners passing through the corresponding connection holes 1 in sequence, so as to realize synchronous rotation of the rotor 120 and the nut 320. The flange 321 may be integrally formed with the main shaft section 322 of the nut 320, or may be detachably assembled to the main shaft section 322. The present disclosure does not limit the formation position of the flange 321, which may be formed at a position close to the end of the main shaft section 322, or may be formed at a central position of the main shaft section 322.

[0118] Reference Figure 5 In the embodiment of the present disclosure, the main shaft section 322 may be provided with a first limiting step 3221, and the axial bearing 602 may abut against the first limiting step 3221. And it is limited in the axial and radial directions by the first limiting step 3221. In the embodiment of the present disclosure, the first limiting step 3221 may be integrally formed with the main shaft section 322, and the specific size, position, etc. of the first limiting step 3221 may 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, and the two limiting surfaces respectively limit the axial bearing 602 in the radial and axial directions.

[0119] Specifically, in an embodiment of the present disclosure, one base of the axial bearing 602 can be sleeved on the nut 320 and installed to the first limiting step 3221, and the other base thereof can be embedded in the inner periphery of the mounting shell 240 or the inner periphery of the motor housing 230 mentioned below, and the limiting is achieved through the stepped structure of the mounting shell 240 or the motor housing 230.

[0120] Reference Figure 5 In the embodiment of the present disclosure, the motor housing 230 may include an axially penetrated cover 231 and an upper end cover 232 and a lower end cover 233 arranged at both ends of the cover 231. Among them, 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 the relevant structures inside the motor housing 230. The upper end cover 232 and the lower end cover 233 can be penetrated by the screw shaft 310 in the height direction, which can ensure that the screw shaft 310 has sufficient displacement space in the height direction, thereby ensuring the adjustable range of the adjustment device to meet the needs of different road conditions. In addition, the screw shaft 310 penetrates the motor housing 230, increases the axial coupling length between the motor and the kinematic pair, can significantly reduce the maximum axial length of the system assembly, and significantly improve the layout of the whole vehicle.

[0121] Reference Figure 5 In the embodiment of the present disclosure, the actuator may further include a mounting shell 240, which may be disposed above the upper end cover 232 and enclosed with the upper end cover 232 to form an accommodation space for accommodating the lead screw shaft 310. By providing the mounting shell 240, on the one hand, an accommodation space can be provided for the lead screw shaft 310, providing protection and limiting functions, and on the other hand, the mounting shell 240 can be connected to the vehicle body. On the side close to the vehicle body (upper side), since the lead screw shaft 310 has a smaller diameter, it is more conducive to directly using the original tower top installation part on the vehicle body, and directly connecting the vehicle body through the mounting shell 240 is convenient and reliable, further reducing the modification of the whole vehicle.

[0122] Reference Figure 5In the embodiment of the present disclosure, the number of the nut 320 can be two, and they are installed at the two shaft ends of the rotor 120, so that the screw shaft 310 can be supported at two positions of the screw shaft 310 that are far away from each other, thereby improving the rigidity of the screw shaft 310 during the movement process. And the nut 320 is arranged at the two ends of the rotor 120, which can effectively reduce the radial size of the drive module 100 and significantly improve the layout of the whole vehicle compared to the nut 320 being arranged on the inner side of the rotor 120. In particular, when this arrangement is applied to a "slender motor", the inner space of the rotor 120 is small, and the nut 320 is arranged at both ends to avoid the problem of insufficient installation space. In addition, due to the large axial size of the slender motor, the length of the screw shaft 310 located inside the slender motor is large. Using only one nut 320 for support cannot play a sufficient "restriction" role on the screw shaft 310, and it is easy to have problems such as eccentricity, swinging, 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 shell 240 and the corresponding first limiting step 3221, or abut 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.

[0123] The present disclosure does not limit the types of the first bearing 610 and the second bearing 620. For example, in some examples, the first bearing 610 and the second bearing 620 may be thrust bearings. In fact, the nut 320 and the motor housing 230 can be allowed to rotate relative to each other while transmitting the axial load. In addition, the thrust bearing has a high load-bearing capacity, a long service life, and is relatively simple to install and maintain.

[0124] Reference Figure 5 and Figure 6 In an embodiment of the present disclosure, the actuator may further include a radial bearing 601, which may be fixed in the motor housing 230 and used to carry the nut 320 in the radial direction. Such a design can ensure the rigidity of the nut 320 during rotation, and can prevent the nut 320 from swinging during rotation to a certain extent, thereby improving the stability of the actuator during operation. In addition, the radial bearing 601 may also play a role in axially supporting the load, which is smaller than the axial bearing 602. The present disclosure can play a certain protective role on the radial bearing 601 by designing the axial bearing 602, thereby preventing it from failing due to a large axial load.

[0125] Reference Figure 5In the embodiment of the present disclosure, the main shaft section 322 may be provided with a second limiting step 3222, and the radial bearing 601 may abut against the second limiting step 3222. And it is limited in the axial and radial directions by the second limiting step 3222. Similar to the first limiting step 3221, in the embodiment of the present disclosure, the second limiting step 3222 may be integrally formed with the main shaft section 322, and the specific size, position, etc. of the second limiting step 3222 may be adaptively designed according to actual needs. During installation, it is only necessary to sleeve the radial bearing 601 on the outer periphery of the nut 320 and fix it to the corresponding second limiting step 3222. It should be noted that the second limiting step 3222 here includes two mutually perpendicular limiting surfaces, and the two limiting surfaces respectively limit the radial bearing 601 in the radial and axial directions.

[0126] In the embodiment of the present disclosure, one of the first limiting step 3221 and the second limiting step 3222 can be formed by the flange 321 and the main shaft section 322. 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. With such a design, the first limiting step 3221 or the second limiting step 3222 can be formed by utilizing the structure of the nut 320 itself, without the need to open too many additional step surfaces, thereby reducing the process steps of the nut 320 production and improving its use strength.

[0127] Reference Figure 5 In the embodiment of the present disclosure, the motor housing 230 includes an axially through-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.

[0128] Specifically, refer to Figure 5 The inner ring of the radial bearing 601 can be sleeved on 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 .

[0129] The present disclosure does not limit the type and installation method of the third bearing 630 and the fourth bearing 640. For example, in the embodiment of the present disclosure, the third bearing 630 and the fourth bearing 640 can be angular contact ball bearings and installed back to back. With such a design, the contact angle line of the angular contact ball bearing can be spread along the direction of the rotation axis, which can increase the radial and axial support angle rigidity and maximize the anti-deformation ability.

[0130] The present disclosure does not limit the type and installation method of the third bearing 630 and the fourth bearing 640. For example, in the embodiment of the present disclosure, the third bearing 630 and the fourth bearing 640 can be angular contact ball bearings and installed back to back. With such a design, the contact angle line of the angular contact ball bearing can be spread along the direction of the rotation axis, which can increase the radial and axial support angle rigidity and maximize the anti-deformation ability.

[0131] Reference Figure 17-Figure 18 In the embodiment of the present disclosure, the upper end cover 232 and the lower end cover 233 may be multi-step cylindrical structures, respectively, for abutting against at least two of the stator 110, the axial bearing 602, and the radial bearing 602 in the axial direction. 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. In addition, 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. With such a design, the upper end cover 232 and the lower end cover 233 can form an axial limit for at least two of the stator 110, the axial bearing 602, and the radial bearing 601, effectively simplifying the assembly process, eliminating the need to set too many limiters, and simplifying the device structure.

[0132] According to another aspect of the present disclosure, an active suspension is provided, comprising the above-mentioned actuator. Since the active suspension has all the beneficial effects of the above-mentioned actuator, they are not described in detail here.

[0133] According to another aspect of the present disclosure, a vehicle is provided, comprising the above-mentioned active suspension. Since the vehicle has all the beneficial effects of the above-mentioned active suspension, they are not described in detail here.

[0134] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0135] 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, the present disclosure will not further describe various possible combinations.

[0136] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An actuator, characterized in that: include: A drive module, including a stator, a rotor and a motor housing; A motion conversion assembly, comprising a screw shaft and a nut, wherein the screw shaft is used to connect with the wheel; as well as An axial bearing, fixed in the motor housing, for limiting the rotor in the axial direction, Wherein, the driving module is used to drive the nut to rotate, so as to drive the screw shaft to drive the wheel to perform linear motion in the height direction.

2. The actuator according to claim 1, characterized in that: The nut comprises a main shaft section and a flange protruding radially from the main shaft section, and the flange is connected to the shaft end of the rotor.

3. The actuator according to claim 2, characterized in that: The main shaft section is provided with a first limiting step, and the axial bearing abuts against the first limiting step.

4. The actuator according to claim 3, characterized in that: The motor housing includes an axially penetrating cover shell and an upper end cover and a lower end cover arranged at both ends of the cover shell, wherein at least one of the upper end cover and the lower end cover is detachably connected to the cover shell, and the upper end cover and the lower end cover are penetrated by the screw shaft in the height direction.

5. The actuator according to claim 4, characterized in that: It also includes a mounting shell, which is arranged above the upper end cover and forms an accommodation space with the upper end cover for accommodating the lead screw shaft.

6. The actuator according to claim 5, characterized in that: The number of the nut is two and they are installed at two shaft ends of the rotor. The axial bearing includes a first bearing and a second bearing, the first bearing abuts between the mounting shell and the corresponding first limiting step, or abuts between the upper end cover and the corresponding first limiting step; the second bearing abuts between the lower end cover and the corresponding first limiting step.

7. The actuator according to claim 6, characterized in that: The first bearing and the second bearing are thrust bearings.

8. The actuator according to claim 2, characterized in that: It also includes a radial bearing, which is fixed in the motor housing and is used to carry the nut in the radial direction.

9. The actuator according to claim 8, characterized in that: The main shaft section is provided with a second limiting step, and the radial bearing abuts against the second limiting step.

10. The actuator according to claim 9, characterized in that: The main shaft section is provided with a first limiting step, and the axial bearing abuts against the first limiting step. Wherein, one of the first limiting step and the second limiting step is formed by the flange platform and the main shaft section.

11. The actuator according to claim 10, characterized in that: The motor housing includes an axially penetrating casing and an upper end cover and a lower end cover arranged at both ends of the casing. The radial bearing includes a third bearing and a fourth bearing. The third bearing abuts between the upper end cover and the corresponding second limiting step; the fourth bearing abuts between the lower end cover and the corresponding second limiting step.

12. The actuator according to claim 11, characterized in that: The third bearing and the fourth bearing are angular contact ball bearings and are installed in a back-to-back manner.

13. The actuator according to claim 11, characterized in that The upper end cover and the lower end cover are respectively multi-step cylindrical structures, and are used to abut against at least two of the stator, the axial bearing, and the radial bearing in the axial direction.

14. An active suspension, characterized in that: An actuator comprising any one of claims 1-13.

15. A vehicle, characterized in that: Comprising the active suspension as claimed in claim 14.

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