Motor, actuator, active suspension and vehicle

Abstract

The utility model relates to a motor used for an actuator, the actuator, an active suspension and a vehicle, and the motor used for the actuator comprises a motor housing which is at least partially used for being connected with a vehicle body; the stator and the rotor are accommodated in the motor shell; and the axial bearing is fixed on the motor shell and is used for limiting the rotor in the axial direction. According to the technical scheme, 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 (the stator is fixed to the motor shell) can be ensured, the output efficiency of the motor is improved, and the service life of the motor is prolonged. And the motion stability of the motor is ensured.

Description

Technical Field

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

[0002] Linear motors are power devices that can convert rotational motion into linear motion output. They are widely used in scenarios where linear motion is required, such as vehicle suspensions, which can actively adjust the height of the vehicle body. The drive motor includes a stator and a rotor. During operation, it is susceptible to axial impact. For example, in the vehicle suspension mentioned above, the vehicle is susceptible to impact loads in the height direction during driving. This load is easily transmitted to the rotor through the suspension to cause the 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 jitter noise, easy to fail, and the motor has a short service life. Utility Model Content

[0003] An object of the present disclosure is to provide a motor, an actuator, an active suspension, and a vehicle to at least partially solve the problems existing in the related art.

[0004] In order to achieve the above objectives, the present disclosure provides a motor for an actuator, comprising: a motor housing, at least part of which is used to connect to a vehicle body; a stator and a rotor accommodated in the motor housing; and an axial bearing fixed to the motor housing for limiting the rotor in the axial direction.

[0005] Optionally, the motor housing includes an upper end cover and a lower end cover, and the axial bearing includes a first bearing fixed to the upper end cover and a second bearing fixed to the lower end cover.

[0006] Optionally, the first bearing and the second bearing are thrust bearings.

[0007] According to a second aspect of the present disclosure, there is provided an actuator, comprising: the above-mentioned motor; a screw shaft movably connected to the rotor; and a nut forming a kinematic pair with the screw shaft, the nut being used to connect to the wheel.

[0008] Optionally, the rotor is sleeved on the outer circumference of the screw shaft, an adapter sleeve is provided between the rotor and the screw shaft, and the screw shaft is fixedly connected to the rotor via the adapter sleeve.

[0009] Optionally, the adapter sleeve has two radially protruding flanges to respectively abut against the shaft ends of the rotor from both ends and be fixed to the rotor, and the adapter sleeve is keyed to the screw shaft.

[0010] Optionally, the axial bearing includes a first bearing fixed to the upper end cover of the motor housing and a second bearing fixed to the lower end cover of the motor housing, and the first bearing and the second bearing abut against the adapter sleeve for axially supporting the rotor through the adapter sleeve.

[0011] Optionally, the first bearing and the second bearing abut against the corresponding flanges respectively.

[0012] Optionally, it also includes: a radial bearing fixed to the motor housing, used for radially supporting the screw shaft.

[0013] Optionally, the radial bearing includes a third bearing fixed to the upper end cover of the motor housing and a fourth bearing fixed to the lower end cover of the motor housing, and the third bearing and the fourth bearing abut against the screw shaft for radially supporting the screw shaft.

[0014] Optionally, the third bearing and the fourth bearing are angular contact ball bearings and are installed back to back.

[0015] According to a third aspect of the present disclosure, an active suspension is provided, comprising the above-mentioned actuator.

[0016] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising the above-mentioned active suspension.

[0017] Through the above technical solution, the axial bearing can limit the rotor in the axial direction, thereby resisting the axial load on the rotor and preventing the rotor from displacing in the axial direction, that is, ensuring 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.

[0018] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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:

[0020] Figure 1 is a front view of an actuator exemplarily shown according to the present disclosure;

[0021] Figure 2 yes Figure 1 A cross-sectional view of the actuator shown in FIG.

[0022] Figure 3 yes Figure 2 A partial enlarged view of part D in the middle;

[0023] Figure 4 is a front view of another actuator exemplarily shown according to the present disclosure;

[0024] Figure 5 yes Figure 4 A cross-sectional view of the actuator shown in FIG.

[0025] Figure 6 yes Figure 5 A partial enlarged view of part B;

[0026] Figure 7 yes Figure 5 A partial enlarged view of part A;

[0027] Figure 8 is a front view of another actuator exemplarily shown according to the present disclosure;

[0028] Fig. 9 yes Figure 8 A cross-sectional view of the actuator shown in FIG.

[0029] Fig.10 yes Fig. 9 A partial enlarged view of part C in the middle;

[0030] Fig.11 is a front view of another actuator exemplarily shown according to the present disclosure;

[0031] Fig.12 yes Fig.11 A cross-sectional view of the actuator shown in FIG.

[0032] Fig.13 yes Fig.12 A partial enlarged view of the middle G part;

[0033] Fig.14 is a schematic diagram of another actuator exemplarily shown according to the present disclosure;

[0034] Fig.15 yes Fig.14 A cross-sectional view of the actuator shown in FIG.

[0035] Fig.16 yes Fig.15 A partial enlarged view of the brake module of the actuator and its surrounding components shown in FIG.

[0036] Fig.17 is a partial cross-sectional enlarged view of a brake module and surrounding components of another actuator exemplarily shown in the present disclosure;

[0037] Fig.18 is a schematic diagram of a screw shaft exemplarily shown according to the present disclosure;

[0038] Fig.19 is a schematic diagram of another screw shaft exemplarily shown according to the present disclosure;

[0039] Fig. 20 is a schematic diagram of a driving module exemplarily shown according to the present disclosure;

[0040] Fig.21 yes Fig. 20 A cross-sectional view of a drive module shown in FIG.

[0041] Fig. 22 is a schematic diagram of assembling a drive module and an adapter sleeve according to an exemplary embodiment of the present disclosure;

[0042] Fig.23 yes Fig. 22 The assembly cross-sectional view of the drive module and the adapter sleeve shown in FIG.

[0043] Fig.24 is a cross-sectional view of a sensor exemplarily shown according to the present disclosure;

[0044] Fig.25 is a schematic diagram of a rotor exemplarily shown according to the present disclosure;

[0045] Fig.26 yes Fig.25 A top view of the rotor shown in FIG.

[0046] Fig. 27 yes Fig.25 A schematic diagram of a first half of a rotor shown in FIG.

[0047] Fig.28 is a schematic diagram of a first sleeve exemplarily shown according to the present disclosure;

[0048] Fig.29 yes Fig.28 A top view of the first sleeve shown in FIG.

[0049] Fig.30 is a schematic diagram of an upper housing exemplarily shown according to the present disclosure;

[0050] Fig.31 yes Fig.30 A sectional view of the upper housing shown in FIG.

[0051] Fig.32 yes Fig.30 A top view of the upper housing shown in FIG.

[0052] Fig.33 is a schematic diagram of another upper housing exemplarily shown according to the present disclosure;

[0053] Fig.34 is a schematic diagram of a lower housing exemplarily shown according to the present disclosure;

[0054] Fig.35 yes Fig.34 A cross-sectional view of the lower housing shown in FIG.

[0055] Fig.36 is a schematic diagram of a sealing module exemplarily shown according to the present disclosure;

[0056] Fig.37 yes Fig.36 A cross-sectional view of the sealing module shown in FIG.

[0057] Fig.38 is a cross-sectional view of another sealing module exemplarily shown according to the present disclosure;

[0058] Fig.39 yes Fig.38 An assembly cross-sectional view of the sealing module and the upper housing shown in FIG.

[0059] Fig.40 yes Fig.37 An assembly cross-sectional view of the sealing module and the upper housing shown in FIG.

[0060] Fig.41 is a schematic diagram of an upper end cover exemplarily shown according to the present disclosure;

[0061] Fig.42 yes Fig.41 A cross-sectional view of the upper end cover shown in FIG.

[0062] Fig.43 is a schematic diagram of a cover shell exemplarily shown according to the present disclosure;

[0063] Fig.44 is a schematic diagram of a lower end cover exemplarily shown according to the present disclosure;

[0064] Fig.45 yes Fig.44 A cross-sectional view of a lower end cover shown in FIG.

[0065] Fig.46 is a schematic diagram of a lower end cover exemplarily shown in the fundamental disclosure;

[0066] Fig.47 yes Fig.46 A cross-sectional view of the lower end cover shown in FIG.

[0067] Fig.48 is an exploded view of a tower top assembly exemplarily shown according to the present disclosure.

[0068] Description of Reference Numerals

[0069] 1-connecting hole; 100-driving module; 110-stator; 120-rotor; 121-first half body; 122-second half body; 123-positioning hole; 124-permanent magnet; 1501-first spring mounting pad; 1502-second spring mounting pad; 200-housing module; 210-upper housing; 211-spring support; 212-fifth mounting seat; 213-sliding cylinder section; 2131-arc surface; 2132-flat surface; 214-lower end wall; 215-opening; 216-guide shaft section; 217-connecting section; 220-lower housing; 221-connecting shaft; 222-fastening nut; 223-joining section; 224-main body section; 225-flange section; 226-shoulder; 230-motor housing; 231-housing; 232-upper end cover; 2321-first mounting seat; 2322-third mounting seat; 233-lower end cover; 2311-axial limiting feature; 2331-second mounting seat; 2332-fourth mounting seat; 234-top cover; 2341-end cover step surface; 235-cover body; 310-screw shaft; 311-third step surface; 313-first step surface; 314-first threaded hole; 315-second step surface; 316-first rolling groove; 317-external spline; 318-fifth step surface; 319-working shaft section; 320-screw nut; 321-flange; 323-second rolling groove; 400-circumferential stop portion; 401-first circumferential stop portion; 402-second circumferential stop portion; 410-first lug; 420-first bayonet; 430-second lug; 440-first retaining plate; 450-flange; 460-third lug; 470-second bayonet; 480-fourth lug; 490-second retaining plate; 500-tower top assembly; 511-mounting stud; 512-body; 513-bottom connecting plate; 514-first through hole; 520-rubber pad; 530-middle connecting plate; 531-weight-reducing hole; 601-radial bearing; 602-axial bearing; 610-first bearing; 620-second bearing; 630-third bearing; 640-fourth bearing; 710-fork arm; 711-mounting plate; 720-dust cover; 730-helical spring; 740-first nut; 750 -first bolt; 760-anti-rotation groove; 770-piston; 780-second threaded hole; 790-shaft ring; 800-sensor; 810-fixed element; 811-fixed pressure plate; 820-moving element; 821-moving pressure plate; 822-pressing screw; 830-signal processing circuit; 900-adapter sleeve; 901-flange; 902-internal spline; 910-first sleeve; 911-lap platform; 920-second sleeve; 1000-brake module; 1100-fixed unit; 1110-brake fixed component; 1111-accommodating groove; 1120-brake coil; 1130-friction plate; 1140-lower bearing seat; 1200-moving unit; 1210-guide seat; 1220-armature; 1230-leaf spring;1310-first position limiting buffer structure; 1320-second position limiting buffer structure; 1330-first position limiting space; 1340-second position limiting space; 1400-sealing module; 1410-base; 1411-groove; 1412-extension platform; 1420-sealing ring; 1430-guide member. ; DETAILED DESCRIPTION

[0070] 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.

[0071] In the present disclosure, unless otherwise stated, the directional words used, such as "inside, outside", "upper, lower", may be defined based on the direction in which the relevant components are actually used, or may be based on their own structure, for example: used to limit the "upward" displacement of the nut and the lower shell, where "upward" refers to the direction of the side close to the vehicle body when the adjustment device is installed on the whole vehicle, in other words, refers to the direction away from the ground; when the nut drives the lower shell to move "downward", where "downward" refers to the direction of the side close to the wheel when the adjustment device is installed on the whole vehicle, in other words, refers to the direction close to the ground; at least part of the nut can extend from the upper end to the "inside" of the lower shell, where "inside" refers to the internal accommodating space of the lower shell; the guide member, which is sleeved on the outside of the lower shell, means that the lower shell is arranged inside the guide member.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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 sensor 800 and the control unit to meet the personalized needs of the vehicle 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 causes bumps.

[0076] 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.

[0077] In the present disclosure, the actuator may include a housing module 200, a motion conversion assembly, and a drive module 100. The housing module 200 includes an upper housing 210 for connecting to the vehicle body and a lower housing 220 for connecting to the wheel. The motion conversion assembly includes a rotary motion module and a linear motion module, the rotary motion module may include a screw shaft 310, the linear motion module may include a nut 320, and the drive module 100 is used to drive the screw shaft 310 or the nut 320 to rotate. When the drive module 100 drives the screw shaft 310 to rotate, the nut 320 drives the screw shaft 310 to rotate and performs linear motion along the axial direction (height direction) of the screw shaft 310; when the drive module 100 drives the nut 320 to rotate, the screw shaft 310 drives the nut 320 to rotate and performs linear motion along the height direction.

[0078] 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.

[0079] 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:

[0080] 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.

[0081] The housing module 200 is used to provide support, guidance and sealing functions. 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 through sleeve structure, and an upper end cover 232 and a lower end cover 233 for connecting to the opposite end of the cover 231. Among them, the upper end cover 232 is used to connect 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. The upper housing 210 and the lower end cover 233 may be integrally formed or in an assembled relationship, that is, the upper housing 210 may be indirectly connected to the vehicle body through the motor housing 230, and the present disclosure does not limit this.

[0082] Reference Figure 2 and Fig.42 In the embodiment of the present disclosure, the lower end cover 233 and the upper shell 210 can be integrally formed, and the upper end of the lower end cover 233 can extend radially outward to form a flange structure, and the flange structure can be evenly provided with a plurality of connection holes 1 for fastening to the cover shell 231, and two symmetrically arranged positioning holes (not shown in the figure) for precise positioning. The positioning holes can be used to fix the installation angle of the lower end cover 233 and the cover shell 231, and align the connection hole 1 of the lower end cover 233 with the connection hole 1 of the cover shell 231 to facilitate fixed connection. In order to improve the positioning accuracy, the diameter of the positioning hole can be smaller than the diameter of the connection hole 1.

[0083] In addition, when the lower end cover 233 and the upper shell 210 are detachably connected, refer to Figure 5In the embodiment of the present disclosure, the upper end of the upper shell 210 can be connected to the lower end cover 233 by bolts. Specifically, the upper end of the upper shell 210 can be constructed with a flange structure, and the flange structure is provided with a plurality of connection holes 1 along the circumferential direction, and the lower end cover 233 can also be provided with a plurality of connection holes 1 at positions corresponding to the flange structure. With such a design, it is only necessary to pass the bolts through the corresponding two connection holes 1 during installation. When the lower end cover 233 and the upper shell 210 are integrally formed, the upper end portion of the upper shell 210 is used as the lower end cover 233, and the remaining portion is used to accommodate the lower shell 220, the screw shaft 310, the nut 320, etc.

[0084] The present disclosure does not limit the connection method of any two connected parts of the housing module 200 and the motor housing 230 , which will be described in detail below.

[0085] 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, one of the screw shaft 310 and the nut 320 can be connected to the above-mentioned rotor 120 and rotate with it, while the other converts the rotational motion into linear motion. The other one performing linear motion can be connected to the above-mentioned lower shell 220, and then drive the fork arm 710 to move in a straight line through the lower shell 220 to adjust the height of the entire vehicle.

[0086] 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 adapter sleeve 900, the nut 320 and the screw shaft 310; and another part of the bearings can be used to provide radial support and limitation for at least one of the rotor 120, the adapter sleeve 900, the nut 320 and the screw shaft 310.

[0087] The types, quantities and installation positions of the bearings will be described in detail in the specific embodiments below.

[0088] The fork arm 710 can be located at the bottom of the actuator near the wheel, and can be fixed to the bottom of the lower housing 220 near the wheel through the nut 320 for easy disassembly. In addition, the fork arm 710 can also be integrally formed with the lower housing 220 to save costs and increase strength. The present disclosure does not limit the fork arm 710.

[0089] 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.

[0090] Reference Figure 1-Figure 15 The present disclosure exemplarily shows an actuator, including a drive module 100 and a motion conversion assembly, wherein at least a portion of the drive module 100 is used to connect to a vehicle body, and the motion conversion assembly includes a rotational motion module and a linear motion module, and the linear motion module is at least partially used to connect to a wheel, wherein the drive module 100 is used to drive the rotational motion module to rotate so as to drive the linear motion module to drive the wheel to perform linear motion in a height direction.

[0091] Here, it needs to be explained that the linear motion module can be directly connected to the wheel, or indirectly connected via the lower housing, fork arm, etc. mentioned below.

[0092] The present disclosure does not limit the specific structure of the driving module 100 , as long as it can be used to drive the rotary motion module to rotate, and it can specifically be a driving motor, etc.

[0093] The present disclosure does not limit the specific structure of the linear motion module and the rotary motion module, as long as they can realize the conversion from rotary motion to linear motion, which may specifically be the screw shaft 310 and the nut 320 mentioned below.

[0094] By using the above technical solution, when working, the driving module 100 drives the rotary motion module to rotate, and the linear motion module can follow the linear motion in the height direction, thereby driving the wheel to move linearly in the height direction, thereby achieving the height adjustment of the whole vehicle. In the traditional pure linear drive mode, since both the driving component and the transmission component are linear motion (occupying a large height space), the rotary + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission mode layout, and the control accuracy of the rotary + linear motion form is higher under the same process conditions.

[0095] Reference Figure 1-Figure 15In the embodiment of the present disclosure, the driving module 100 may include a stator 110, a rotor 120 and a motor housing 230, wherein the motor housing 230 may include: a housing 231, which is configured as an axially penetrating sleeve structure; and an upper end cover 232 and a lower end cover 233, which are respectively detachably connected to the opposite ends of the housing 231. The upper end cover 232 is used to connect the vehicle body, and the rotary motion module can be connected to the rotor 120 to be able to follow the rotation, so that the linear motion module can be driven to drive the wheel to move linearly along the height direction.

[0096] Reference Figure 11-Figure 14 In the embodiment of the present disclosure, the upper end cover 232 and the lower end cover 233 can be positioned on the housing 231 by their respective corresponding circumferential stopper portions 400. By providing the circumferential stopper portions 400, the upper end cover 232 and the lower end cover 233 can be effectively prevented from rotating relative to the housing 231, and the upper end cover 232 and the lower end cover 233 can be positioned quickly during installation.

[0097] The present disclosure does not limit the specific structure of the circumferential locking portion 400. Figure 41-45 In some embodiments, the circumferential stopper 400 may include: a plurality of housing lugs, including a plurality of first lugs 410 protruding radially outward from the upper end of the housing 231 and a plurality of third lugs 460 protruding radially outward from the lower end of the housing 231; a plurality of end cover lugs, including a plurality of second lugs 430 protruding radially outward from the edge of the upper end cover 232 and a plurality of fourth lugs 480 protruding radially outward from the edge of the lower end cover 233. The plurality of first lugs 410 and the plurality of second lugs 430 may be aligned one by one and connected by fasteners, and the plurality of third lugs 460 and the plurality of fourth lugs 480 may be aligned one by one and connected by fasteners.

[0098] Further, refer to Figure 41-45 In some embodiments, a first bayonet 420 may be formed between two adjacent first lugs 410, a second bayonet 470 may be formed between two adjacent third lugs 460, and the circumferential stopper 400 may further include: a first stopper 440, which is disposed between two adjacent second lugs 430 and extends into the first bayonet 420 in a shape-fitting manner; and a second stopper 490, which is disposed between two adjacent fourth lugs 480 and extends into the second bayonet 470 in a shape-fitting manner. The stopper cooperates with the bayonet to further prevent the upper end cover 232 and the lower end cover 233 from rotating relative to the housing 231, and during installation, the stopper is extended into the corresponding bayonet to ensure that the corresponding lugs 410 are aligned, so that they can be quickly connected by fasteners.

[0099] In the embodiment of the present disclosure, the first locking piece 440 and the second locking piece 490 can be attached to the outer wall of the housing 231. With such a design, during installation, the plurality of locking pieces can wrap the housing 231 from the periphery to form a radial limit, so as to facilitate positioning and installation and improve the overall stability of the driving module 100.

[0100] Reference Figure 5 and Figure 7 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 surround the cover 231 from the outer side of the end of the cover 231. With such a design, the cover 231 can be wrapped by the flanges 450 to achieve radial positioning between the two. And such a design can prevent water accumulation, impurities, etc. from entering the interior of the motor housing 230 from the gap between the two, and at the same time, it can prevent static electricity from entering the interior of the motor housing 230 from the outside, thereby protecting the internal components.

[0101] Reference Fig.11 and Fig.12 In an embodiment of the present disclosure, the actuator may further include a tower top assembly 500 for mounting on a vehicle body, and the upper end cover 232 may be fixedly connected to the tower top assembly 500 .

[0102] The present disclosure does not limit the specific structure of the tower top assembly 500. Fig.12 In the illustrated embodiment, the tower top assembly 500 may include: a tower top shell, partially accommodating the upper end cover 232; a rubber pad 520, fixed in the tower top shell; and a middle connecting plate 530, connected between the rubber pad 520 and the upper end cover 232. The top stud of the upper end cover 232 may be coaxially matched with the middle connecting plate 530 of the tower top assembly 500, and fixedly connected by a locking nut (not shown in the figure), thereby achieving a fixed connection between the upper end cover 232 and the tower top assembly 500.

[0103] Reference Fig.48 In the embodiment of the present disclosure, the rubber pad 520 and the middle connecting plate 530 can be sequentially sleeved with the upper end cover 232, the middle connecting plate 530 is detachably connected to the upper end cover 232, and the middle connecting plate 530 can be embedded in the rubber pad 520. Specifically, referring to Fig.12 and Fig.48, the middle part of the tower top shell can be constructed as a through hole, the middle part of the through hole can have a first annular hollow feature with a larger diameter, and the rubber pad 520 can be installed inside the first annular hollow feature. The rubber pad 520 can have a through hole, the middle part of the through hole can have a second annular hollow feature with a larger diameter, the middle connecting plate 530 can be installed inside the second hollow feature, and coaxially cooperate with the top stud of the top cover 234. In the embodiment of the present disclosure, the rubber pad 520 can withstand the axial load transmitted from bottom to top without a large deformation, and at the same time, it can provide a small angle swing of the middle connecting plate 530 to adapt to different impacts on the wheel end and reduce the radial load on the actuator as much as possible.

[0104] Reference Fig.12 In an embodiment of the present disclosure, the upper end cover 232 may have an end cover step surface 2341, and the middle connecting plate 530 may be restricted on the end cover step surface 2341, so that the axial load of the upper end cover 232 is transmitted to the middle connecting plate 530 and further optimized by the rubber pad 520.

[0105] Reference Fig.48 In the embodiment of the present disclosure, the tower top shell may be provided with mounting studs 511 for connecting to the vehicle body. The tower top assembly 500 can be connected to the vehicle body by connecting the mounting studs 511 to the vehicle body. The present disclosure does not limit the number of mounting studs 511. Fig.48 In the illustrated embodiment, the tower top shell may be provided with three mounting studs 511 evenly distributed along the circumference. In addition, in some other embodiments, the number of the mounting studs 511 may be four, five, and the like.

[0106] Reference Fig.48 In order to achieve lightweight, in some embodiments, the middle connecting plate 530 may be provided with a plurality of weight-reducing holes 531 .

[0107] The present disclosure does not limit the material of the tower top. From the perspective of achieving lightweight, the material of the tower top shell and the middle connecting plate 530 can be an aluminum-based alloy, such as 7 series aluminum alloy or high-strength aluminum-magnesium alloy.

[0108] Reference Fig.48 In an embodiment of the present disclosure, the tower top shell may include a main body 512 and a bottom connecting plate 513 connected to the bottom of the main body 512. The bottom connecting plate 513 may have a first through hole 514 for avoiding the upper end cover 232, and a swing gap between the upper end cover 232 to allow the upper end cover 232 to swing slightly in the radial direction to avoid rigid interference.

[0109] Reference Fig.12In the embodiment of the present disclosure, the upper end cover 232 may include a cover body 235 and a top cover 234 detachably mounted on the top of the cover body 235, and the two may be bolted. The top cover 234 may be fixedly connected to the tower top assembly 500. With such a design, when the actuator needs to be installed on the tower top assembly 500, it is only necessary to first install the top cover 234 on the tower top assembly 500, and then connect the cover body 235 with the top cover 234; when the actuator needs to be disassembled, it is only necessary to disassemble the cover body 235 and the top cover 234, without disassembling the tower top assembly 500.

[0110] Specifically, when the rotary motion module is the screw shaft 310, refer to Figure 11-Figure 12 The screw shaft 310 may pass through the cover body 235, the top cover 234 may be fixedly connected to the tower top assembly 500, and a closed space may be formed between the top cover 234 and the cover body 235, and the closed space may be used to install the sensors mentioned below.

[0111] Reference Figure 1-Figure 15 In an embodiment of the present disclosure, the rotary motion module may include a lead screw shaft 310 extending in the height direction, and the lead screw shaft 310 may be movably connected to the drive module 100, such as the rotor 120; the linear motion module may include a nut 320 that forms a kinematic pair with the lead screw shaft 310. The lead screw shaft 310 is driven to rotate by the drive module 100, and then the lead screw shaft 310 can drive the nut 320 to move linearly in the height direction, thereby driving the wheel to move in the height direction. The solution of the present application has a simple structure, high machinability, and is easy to disassemble and assemble. In addition, by cooperating with the lead screw shaft 310 and the nut 320, the parameters such as the thread between the two can be configured so that when the lead screw shaft 310 rotates a larger angle, the nut 320 only achieves fine-tuning in the height direction, thereby improving the accuracy of the actuator.

[0112] Further, in the embodiment of the present disclosure, the actuator may further include a lower housing 220 detachably connected to the lower side of the nut 320, and the nut 320 may be connected to the wheel through the lower housing 220. That is, when the lead screw shaft 310 drives the nut 320 to move linearly in the height direction, the lower housing 220 may move with the nut 320, thereby driving the wheel to move in the height direction.

[0113] In order to enable the nut 320 to drive the lower housing 220 to reciprocate along the axial direction of the screw shaft 310, refer to Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15In the embodiment of the present disclosure, the lower housing 220 can be a hollow structure, and the screw shaft 310 can extend into the lower housing 220 from above. With such a design, when the nut 320 drives the lower housing 220 to move along the axial direction of the screw shaft 310, the screw shaft 310 and the lower housing 220 will not interfere with each other to ensure the movement. During specific operation, the rotating motor is energized, and the rotor 120 rotates around the axis. Since the upper end of the screw shaft 310 of the actuator is transmission-connected to the rotor 120, it can follow the rotor 120 for rotational movement, so that the nut 320 screwed on the screw shaft 310 can move linearly in the height direction. Since the upper end of the lower housing 220 is fixedly connected to the nut 320, the nut 320 can drive the fork arm 710 to move linearly in the height direction through the lower housing 220 to achieve the height adjustment of the whole vehicle.

[0114] How to achieve detachable connection between the nut 320 and the lower housing 220 is not described here in detail, and details can be found in the relevant parts below. In addition to the detachable connection, in some embodiments, the nut 320 can be integrated with the lower housing 220.

[0115] Reference Figure 1-Figure 2 , Figure 4-Figure 5 , Figure 8-Figure 9 , Figure 11-Figure 12 , Fig.15 In an embodiment of the present disclosure, the actuator may further include a fork arm 710 connected to the lower housing 220, and the fork arm 710 is used to connect the lower housing 220 to the wheel.

[0116] The present disclosure does not limit the connection method between the lower housing 220 and the fork arm 710. Figure 34-Figure 35 In the illustrated embodiment, a connecting shaft 221 may protrude downward from the bottom of the lower housing 220, and an outer peripheral surface of the connecting shaft 221 may be provided with an external thread, and the fork arm 710 may have a mounting plate 711 sleeved on the connecting shaft 221, and the mounting plate 711 may be pressed to the lower housing 220 by a fastening nut 222 screwed on the connecting shaft 221. Such a design can facilitate the disassembly and maintenance of the fork arm 710 and the lower housing 220. In addition, the fork arm 710 may also be integrally formed with the lower housing 220 to save costs and increase strength. The present disclosure does not limit the connection method of the fork arm 710 and the lower housing 220.

[0117] Reference Figure 1-Figure 15In the embodiment of the present disclosure, the actuator may further include an upper housing 210 sleeved outside the linear motion module, the driving module 100 may include a motor housing 230 having a lower end cover 233, and the upper housing 210 may be fixedly connected to the lower end cover 233 or the upper housing 210 and the lower end cover 233 may be integrally formed. The upper housing 210 may be provided to seal and protect the motion linear module (such as the nut 320) and guide it in the height direction. The upper housing 210 also has the function of limiting and installing the coil spring mentioned below.

[0118] Reference Figure 8-Figure 9 , Figure 11-Figure 12 In the embodiment of the present disclosure, the actuator may further include a coil spring 730 for providing a supporting force for the vehicle body in the height direction. Specifically, it may be a steel spring, an air spring, etc. 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.

[0119] The present disclosure does not limit the specific installation position of the coil spring 730 . For example, in the case of the aforementioned fork arm 710 , the coil spring 730 may be connected between the upper housing 210 and the fork arm 710 .

[0120] Further, refer to Fig.13 and Fig.33In an embodiment of the present disclosure, the outer periphery of the upper housing 210 may be protrudingly formed with a spring support 211 , such as a middle region. The coil spring 730 may be connected to the bottom of the spring support 211 . Among them, the lower end surface of the spring support 211 can be fixed with a first spring mounting pad 1501, and the upper end of the coil spring 730 can abut against the lower end surface of the spring mounting pad. Similarly, the upper end surface of the fork arm 710 can be fixed with a second spring mounting pad 1502, and the lower end of the coil spring 730 can abut against the upper end surface of the second spring mounting pad 1502 (the coil spring 730 is placed between the upper shell 210 (fixed part) and the fork arm 710 (moving part). In addition, in some other embodiments, the coil spring 730 can also be connected to the lower end surface of the upper shell 210. In this case, the spring support 211 can be set on the lower end surface of the upper shell 210. Alternatively, when the lower end surface of the upper shell 210 is installed with the base 1410 mentioned below, the upper end of the coil spring 730 can abut against the base 1410, and the present disclosure is not limited to this.

[0121] Reference Figure 11-Figure 12 , Fig.15 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 disposed outside the upper housing 210 and sleeved on the linear motion module. One end of the dust cover 720 is connected to the fork arm 710, and the other end is connected to the upper housing 210. The dust cover 720 may be a retractable flexible material, or may be a bellows. By providing the dust cover 720, external dust may be prevented from entering the sealing module, the upper housing 210, the lower housing 220, and the motor housing 230, which will be mentioned below, to achieve dustproof and waterproof effects.

[0122] After understanding the overall structure of the actuator, the details of the actuator will be further introduced below based on different embodiments. In order to avoid redundancy, the repeated parts will be briefly described adaptively. For details, please refer to the relevant parts above.

[0123] Reference Figure 5 and Fig. 9 The present disclosure also exemplarily shows a motor for an actuator, including a motor housing 230 at least partially configured to connect to a vehicle body, a stator 110 and a rotor 120 housed in the motor housing 230, and an axial bearing 602 fixed to the motor housing 230 for axially limiting the rotor 120.

[0124] The motor housing 230 may be directly connected to the vehicle body, or may be indirectly connected to the vehicle body via the aforementioned tower top assembly 500 .

[0125] The present disclosure does not limit the installation position and type of the axial bearing 602. For example, in some embodiments, it can indirectly bear the axial load of the rotor 120 through the adapter sleeve 900 mentioned below. In addition, in some other embodiments, the axial bearing 602 can also be directly carried between the motor housing 230 and the rotor 120. The type of the axial bearing 602 can be the thrust bearing mentioned below, as long as it can play an axial load-bearing role.

[0126] By using the above technical solution, the axial bearing 602 can limit the rotor 120 in the axial direction, thereby resisting the axial load on the rotor 120 and preventing the rotor 120 from axially displacing, that is, ensuring the relative axial position of the rotor 120 and the stator 110 (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.

[0127] Reference Figure 2 and Figure 5 In the embodiment of the present disclosure, the motor housing 230 may include an upper end cover 232 and a lower end cover 233, and the axial bearing 602 may include a first bearing 610 fixed to the upper end cover 232 and a second bearing 620 fixed to the lower end cover 233. In such a design, the fixed part of the first bearing 610 abuts against the upper end cover 232, and the moving part is directly or indirectly supported on the rotor 120, thereby achieving axial support; similarly, the fixed part of the second bearing 620 abuts against the lower end cover 233, and the moving part is directly or indirectly supported on the rotor 120, thereby achieving axial support. A more specific installation method of the first bearing 610 and the second bearing 620 will be introduced below and will not be explained in detail here.

[0128] The present disclosure does not limit the types of the first bearing 610 and the second bearing 620. For example, in some embodiments, the first bearing 610 and the second bearing 620 may be thrust bearings. Thrust bearings have a higher load-bearing capacity and a longer service life. In addition, the installation and maintenance of thrust bearings are relatively simple.

[0129] Accordingly, the present disclosure provides an actuator, comprising the above-mentioned motor, a lead screw shaft 310 rotatably connected to the rotor 120, and a nut 320 forming a kinematic pair with the lead screw shaft 310, wherein the nut 320 is used to connect the wheel. With such a design, when the lead screw shaft 310 rotates following the rotor 120, the nut 320 can be driven to drive the wheel to move linearly in the height direction, thereby achieving vehicle height adjustment. Since the actuator has all the beneficial effects of the above-mentioned motor, no further description is given here.

[0130] Further, in order to make the rotor 120 and the screw shaft 310 transmission connected, refer to Figure 1-Figure 15In the embodiment of the present disclosure, the rotor 120 may be sleeved on the outer periphery of the screw shaft 310 , an adapter sleeve 900 may be provided between the rotor 120 and the screw shaft 310 , and the screw shaft 310 may be fixedly connected to the rotor 120 via the adapter sleeve 900 .

[0131] In the embodiment of the present disclosure, the adapter sleeve 900 may have two radially protruding flanges 901, so as to respectively abut against the shaft ends of the rotor 120 from both ends and be fixed to the rotor 120, and the adapter sleeve 900 and the screw shaft 310 may be key-connected. With such a design, when the rotor 120 rotates, the adapter sleeve 900 rotates with it, and can further drive the screw shaft 310 to rotate through the key connection.

[0132] The specific structure of the adapter sleeve 900 and the connection method of the adapter sleeve 900, the screw shaft 310 and the rotor 120 can be found in the relevant part of this article, which will not be repeated here. The following will focus on the "axial bearing 602". Specifically:

[0133] Reference Figure 2-Figure 3 , Figure 5 , Fig. 9 In some embodiments, the axial bearing 602 may include a first bearing 610 fixed to the upper end cover 232 of the motor housing 230 and a second bearing 620 fixed to the lower end cover 233 of the motor housing 230. The first bearing 610 and the second bearing 620 may abut against the adapter sleeve 900 to support the rotor 120 in the axial direction through the adapter sleeve 900. Specifically, Figure 2-Figure 3 , Figure 5 , Fig. 9 In the illustrated embodiment, the upper base of the first bearing 610 can be fixed to the upper end cover 232 by interference fit and be in a stationary state, and the lower base can be fixed to the upper end of the adapter sleeve 900 by interference fit, and the lower base of the second bearing 620 can be fixed to the lower end cover 233 by interference fit and be in a stationary state, and the upper base can be fixed to the lower end of the adapter sleeve 900 by interference fit. With such a design, the first bearing 610 and the second bearing 620 can form axial support for the adapter sleeve 900 from both ends, and allow the adapter sleeve 900 to rotate. Since the adapter sleeve 900 is fixedly connected to the rotor 120, the axial position of the rotor 120 can be indirectly limited.

[0134] Further, refer to Figure 3 In the embodiment of the present disclosure, the first bearing 610 and the second bearing 620 may respectively abut against the corresponding flange 901, thereby providing axial support for the adapter sleeve 900 (directly) and the rotor 120 (indirectly).

[0135] Reference Figure 2In the embodiment of the present disclosure, the upper end cover 232 may be formed with a third mounting seat 2322 capable of radially and axially limiting the first bearing 610, and the lower end cover 233 may be formed with a fourth mounting seat 2332 capable of radially and axially limiting the second bearing 620. The third mounting seat 2322 may be integrally formed with the upper end cover 232, and the fourth mounting seat 2332 may be integrally formed with the lower end cover 233. During installation, the first bearing 610 and the second bearing 620 only need to be respectively embedded in the third mounting seat 2322 and the fourth mounting seat 2332 to achieve axial and radial limiting.

[0136] In addition to the axial bearing 602, in the embodiment of the present disclosure, the actuator may further include a radial bearing 601, which is fixed to the motor housing 230 and is used to radially support the screw shaft 310. Such a design can ensure the rigidity of the screw shaft 310 during rotation, and can prevent the screw shaft 310 from swinging during rotation to a certain extent, thereby improving the stability of the actuator during operation.

[0137] Reference Figure 5 , Fig. 9 , Fig.12 , Fig.15 In some embodiments, the radial bearing 601 may include a third bearing 630 fixed to the upper end cover 232 of the motor housing 230 and a fourth bearing 640 fixed to the lower end cover 233 of the motor housing 230. The third bearing 630 and the fourth bearing 640 may abut against the screw shaft 310 for radially supporting the screw shaft 310.

[0138] Reference Figure 5 , Figure 41-45 In the embodiment of the present disclosure, the upper end cover 232 may be formed with a first mounting seat 2321 capable of radially and axially limiting the third bearing 630, and the lower end cover 233 may be formed with a second mounting seat 2331 capable of radially and axially limiting the fourth bearing 640. The first mounting seat 2321 may be integrally formed with the upper end cover 232, and the second mounting seat 2331 may be integrally formed with the lower end cover 233. During installation, the third bearing 630 may be directly embedded in the first mounting seat 2321, and the fourth bearing 640 may be embedded in the second mounting seat 2331, so as to achieve axial and radial limiting of the third bearing 630 and the fourth bearing 640.

[0139] In addition to limiting the third bearing 630 and the fourth bearing 640 by the first mounting seat 2321 and the second mounting seat 2331, Fig.12 , Fig.15 , Figure 18-19In some other embodiments, the screw shaft 310 may have a third step surface 311 that axially limits the third bearing 630, and / or a fourth step surface (not shown in the figure) that axially limits the fourth bearing 640. During installation, the third bearing 630 and the fourth bearing 640 only need to be respectively abutted against the corresponding step surfaces.

[0140] The present disclosure does not limit the type and arrangement 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 bearing spreads along the direction of the axis of rotation, which can increase its radial and axial support angle rigidity and maximize its anti-deformation ability. Since the screw shaft 310 is fixed integrally with the rotor 120, the radial limit of the rotor 120 can also be achieved.

[0141] The first bearing 610, the second bearing 620, the third bearing 630 and the fourth bearing 640 are used in combination to ensure that the axial and radial positions of the rotor 120 and the adapter sleeve 900 are stable when the rotating motor is working, thereby improving the stability of the motor and the overall suspension movement.

[0142] In addition to the above advantages, due to the wheel end impact on the fork arm 710, the impact can be transmitted to the sensor 800 (installed on the upper end of the screw shaft 310) and the rotor 120 through the lower housing 220, the nut 320 and the screw shaft 310. In the embodiment of the present disclosure, the upper and lower parts of the adapter sleeve 900 can be arranged with a first bearing 610 and a second bearing 620, and the first bearing 610 and the second bearing 620 can be connected to the upper end cover 232 and the lower end cover 233 respectively. Due to the joint action of the first bearing 610 and the second bearing 620, the rotor 120 can be axially limited by the adapter sleeve 900. The third bearing 630 and the fourth bearing 640 can be arranged in the upper end cover 232 and the lower end cover 233 respectively to achieve radial limitation of the screw shaft 310, and can withstand certain axial impacts. With such a design, under the joint action of the above-mentioned axial and radial limiting features, the relative position of the rotor 120 and the stator 110 of the motor can be sufficiently limited. At the same time, the axial impact of the screw shaft 310 can be transmitted to the stator 110 and the motor housing 230 of the motor through the first bearing 610 , the second bearing 620 , the third bearing 630 and the fourth bearing 640 to reduce the impact of the axial impact on the sensor 800 .

[0143] Reference Fig. 9In the embodiment of the present disclosure, the upper side of the adapter sleeve 900 can be connected to the third bearing 630 through the first nut 740, and the lower side can be connected to the fourth bearing 640 through the collar 790, that is, the axial supplementary position limiting of the intermediate connector is achieved through the first nut 740 and the collar. In addition, in some other embodiments, the adapter sleeve 900 can be directly connected to the third bearing 630 and the fourth bearing 640, and the present disclosure does not limit this.

[0144] Reference Figure 1-Figure 15 The present disclosure exemplarily shows an actuator, including a drive module 100, a motion conversion assembly and an adapter sleeve 900, wherein the drive module 100 includes a stator 110 and a rotor 120, at least a portion of the drive module 100 is used to connect with a vehicle body, the motion conversion assembly includes a screw shaft 310 and a nut 320, the nut 320 is used to connect with a wheel, and the adapter sleeve 900 is disposed between the rotor 120 and the screw shaft 310, wherein the rotor 120 can drive the screw shaft 310 to rotate through the adapter sleeve 900, so as to drive the nut 320 to drive the wheel to perform linear motion in the height direction.

[0145] Here, it should be noted that the drive module 100 can be connected to the vehicle body through a motor housing 230 for accommodating the rotor 120 and the stator 110, and the nut 320 can be directly connected to the wheel or indirectly connected to the wheel through the lower housing 220 mentioned in this article.

[0146] The present disclosure does not limit the specific structure of the adapter sleeve 900, as long as it can transmit the rotation of the rotor 120 to the screw shaft 310. The specific structure will be described below. In an embodiment of the present disclosure, the speed transmission ratio of the adapter sleeve 900 can be 1. Such a design can make the speed of the screw shaft 310 the same as the speed of the rotor 120, so as to simplify the calculation complexity of the control strategy. In addition, in some other embodiments, the speed transmission ratio can also be 1.5, 2, etc., which is not limited by the present disclosure.

[0147] By using the above technical solution, when working, the rotor 120 of the drive module 100 drives the screw shaft 310 to rotate through the adapter sleeve 900, and the nut 320 follows to make a linear motion in the height direction, thereby driving the wheel to make a linear motion in the height direction, thereby realizing the full active adjustment of the height of the whole vehicle. The scheme disclosed in the present invention has a simple structure, high processability, and convenient disassembly and assembly. In addition, the transmission form of rotation + linear motion is more space-saving and has higher control accuracy than the traditional pure linear transmission mode. By setting the adapter sleeve 900, the rotation of the rotor 120 can be transmitted to the screw shaft 310. Since the adapter sleeve 900 is arranged between the rotor 120 and the screw shaft 310, it avoids occupying space in the axial direction, increases the axial coupling length, reduces the maximum size requirement for the Z-direction space (height direction), is more conducive to the flattened design of the rotor 120, and can further improve the arrangeability of the adjustment device in the whole vehicle.

[0148] In the embodiments of the present disclosure, referring to Figure 20-23 The rotor 120 may be configured as a hollow annular structure, and the lead screw shaft 310 may coaxially extend into the inner side of the rotor 120 .

[0149] In order to achieve torque transmission between the screw shaft 310 and the adapter sleeve 900, in the embodiment of the present disclosure, the inner periphery of the adapter sleeve 900 and the outer periphery of the screw shaft 310 can be keyed. Figure 18-19 , Figure 28-Figure 29 In the illustrated embodiment, the inner circumference (inner hole wall) of the adapter sleeve 900 may be provided with an internal spline 902, and the outer circumference of the portion of the screw shaft 310 corresponding to the adapter sleeve 900 may be provided with an external spline 317 that cooperates with the internal spline 902. The transmission of torque and speed can be achieved by cooperating with the internal spline 902 and the external spline 317. The use of a spline connection can simplify the motion transmission structure and ensure the reliability of torque and speed transmission. In addition to transmitting the speed and torque, the adapter sleeve 900 also has the function of preventing the constant magnetic field generated by the permanent magnet 124 of the rotor 120 from passing through the screw shaft 310 to ensure electromagnetic performance.

[0150] The present disclosure does not limit the material of the adapter sleeve 900. For example, aluminum alloy, aluminum-magnesium alloy or other high-strength composite materials can be selected to ensure the lightweight design goal of the system, reduce the total mass of the system, and further reduce the rotational inertia of the system.

[0151] The present disclosure does not limit the type and number of the external splines 317 of the screw shaft 310. In the embodiments of the present disclosure, they can be rectangular external splines 317, involute external splines 317, etc. The external splines 317 can be evenly arranged in the circumferential direction of the screw shaft 310, and the number of external splines 317 is not less than 2.

[0152] In order to prevent the adapter sleeve 900 from moving axially relative to the rotor 120 to improve the stability of torque and speed transmission, refer to Figure 22-Figure 23 In the embodiment of the present disclosure, the adapter sleeve 900 may have two radially protruding flanges 901 to respectively abut against the shaft ends of the rotor 120 from both ends. With such a design, the rotor 120 is at least partially clamped between the two flanges 901, so that an axial limit can be formed between the two flanges 901 and the rotor 120.

[0153] The present disclosure does not limit the formation method of the flange 901. For example, the flange 901 can be formed integrally with the adapter sleeve 900. Alternatively, the flange 901 can be assembled with the adapter sleeve 900.

[0154] Reference Figure 22-Figure 23 , Figure 28-Figure 29 In the embodiment of the present disclosure, the flange 901 can be connected to the end of the rotor 120 by a fastener (such as a bolt), so as to ensure that the adapter sleeve 900 can rotate synchronously with the rotor 120. Specifically, the flange 901 can be provided with a plurality of connection holes 1, and the end of the rotor 120 (specifically, the end of the retainer mentioned below) can be provided with a plurality of connection holes 1 corresponding to the aforementioned connection holes 1, and then the adapter sleeve 900 can be fixedly connected to the rotor 120 by bolts, screws, etc. With such a design, when the rotor 120 rotates, the adapter sleeve 900 fixedly connected thereto can follow the synchronous rotation, and then the screw shaft 310 can be driven to follow the rotation through the cooperation of the internal spline 902 and the external spline 317.

[0155] In order to facilitate the disassembly and assembly of the rotor 120 and the adapter sleeve 900, refer to Figure 3 , Figure 22-Figure 23 In the embodiment of the present disclosure, the rotor 120 may be annular, and the adapter sleeve 900 may include a first sleeve 910 and a second sleeve 920 arranged from top to bottom in the height direction, and the first sleeve 910 and the second sleeve 920 respectively have a flange 901 along them. Specifically, the ends of the first sleeve 910 and the second sleeve 920 that are away from each other respectively form the above-mentioned flanges 901, so as to be fixedly connected to the ends of the rotor 120 respectively. During installation, it is only necessary to install the first sleeve 910 and the second sleeve 920 respectively from the two axial ends of the rotor 120; when disassembly is required, it is only necessary to disassemble the first sleeve 910 and the second sleeve 920 from the two axial ends of the rotor 120, and disassembly is convenient and quick.

[0156] When the adapter sleeve 900 includes a first sleeve 910 and a second sleeve 920, refer to Figure 3 , Figure 22-Figure 23, the first sleeve 910 and the second sleeve 920 can abut against each other axially. With such a design, the first sleeve 910 and the second sleeve 920 can support and limit each other in the axial direction, thereby improving the axial force transmission effect of the actuator and the stability of the actuator. In addition, this "compact" installation method can avoid jitter noise when the adjustment device moves.

[0157] Reference Figure 3 , Figure 5 , Figure 18-19 In some embodiments, the portion of the screw shaft 310 located below the second sleeve 920 may have a first step surface 313, and the second sleeve 920 may abut against the first step surface 313 from the upper side, thereby forming an axial downward limit for the second sleeve 920. When the first sleeve 910 and the second sleeve 920 abut against each other, the adapter sleeve 900 as a whole may be limited in the axial downward direction.

[0158] Reference Figure 3 and Fig.19 In the embodiment of the present disclosure, the portion of the screw shaft 310 located above the first sleeve 910 may have an external thread, and the actuator may further include a first nut 740 threaded onto the screw shaft 310, and the first nut 740 may be pressed onto the first sleeve 910 from the upper side, so that the first sleeve 910 may be limited in the axial direction upward by the first nut 740. When the first sleeve 910 and the second sleeve 920 abut against each other, the adapter sleeve 900 may be limited in the axial direction upward as a whole. Specifically, the portion of the screw shaft 310 provided with the external thread may extend out of the adapter sleeve 900, and the screw shaft 310 and the adapter sleeve 900 may be locked by the first nut 740. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the rotor 120 may also be limited in the axial direction.

[0159] Reference Fig.19 In some embodiments, a first threaded hole 314 may be provided at the end surface of the lower end of the screw shaft 310, and connected with a first bolt 750. With such a design, the first threaded hole 314 at the lower end of the screw shaft 310 is used to connect with the first bolt 750, and then under the joint action of the first nut 740 (screwed at the upper end of the screw shaft 310) and the first bolt 750, it is convenient to apply a suitable torque between the screw shaft 310 and the adapter sleeve 900 to achieve a tightening connection (external force is applied from both ends of the screw shaft 310 to screw the first nut 740 and the first bolt 750, and it is more convenient to apply external force when screwing).

[0160] In addition, in some other embodiments, the first threaded hole 314 at the lower end of the screw shaft 310 can also be used to install the piston 770, and the outer peripheral surface of the portion of the piston 770 extending out of the first threaded hole 314 contacts the inner peripheral surface of the lower housing 220 to slide coaxially. With such a design, when the lower housing 220 performs linear motion in the height direction, the piston 770 can play a guiding role, and can work together with the nut 320 to ensure that the screw shaft 310 has good rigidity during the rotation process. The present disclosure does not limit the connection method between the piston 770 and the screw shaft 310. For example, in some embodiments, the two can also be fixed by welding.

[0161] In order to increase the service life of the piston 770 , in some embodiments, the position of the piston 770 that contacts the inner circumferential surface of the lower shell 220 may be provided with a wear-resistant material, such as a wear-resistant pad.

[0162] Reference Figure 6 , Figure 18-19 In some embodiments, the portion of the screw shaft 310 located above the first sleeve 910 may have a second step surface 315, and the first sleeve 910 may have a radially inwardly protruding overlap platform 911, and the overlap platform 911 may be pressed onto the second step surface 315 from the upper side, thereby achieving axial downward limiting of the first sleeve 910.

[0163] In order to facilitate the disassembly and assembly of the adapter sleeve 900 and the rotor 120, in addition to the above-mentioned configuration of the adapter sleeve 900 as a first sleeve 910 and a second sleeve 920 that are independent of each other, Figure 25-27 In some other embodiments, the adapter sleeve 900 may be an integral structure, and the rotor 120 may include a first half body 121 and a second half body 122, which may surround the outer side of the adapter sleeve 900. With such a design, during installation, it is only necessary to connect the first half body 121 and the second half body 122 from both sides and sleeve them on the outer periphery of the adapter sleeve 900, and during disassembly, it is only necessary to remove them from both sides, which is convenient and simple to operate.

[0164] Reference Figure 25-27 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.

[0165] In order to align and install the first half body 121 and the second half body 122, refer to Fig. 27In 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.

[0166] In order to enable the nut 320 to drive the lower housing 220 to reciprocate along the axial direction of the screw shaft 310, refer to Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15 In an embodiment of the present disclosure, the actuator may further include a lower housing 220 located below the nut 320, and the nut 320 may be connected to the wheel through the lower housing 220. The lower housing 220 may be detachably connected to the nut 320, or may be integrally formed with the nut 320.

[0167] Reference Figure 15-17 The present disclosure provides an actuator, including a driving module 100, a motion conversion assembly and a braking module 1000, wherein at least a portion of the driving module 100 is used to connect with a vehicle body, the motion conversion assembly includes a rotational motion module and a linear motion module, the linear motion module is at least partially used to connect with a wheel, the rotational motion module is used to rotate under the drive of the driving module 100, so as to drive the linear motion module to drive the wheel to perform linear motion in a height direction, and the braking module 1000 is used to limit the rotation of the rotational motion module under preset conditions.

[0168] The present disclosure does not limit the above-mentioned "preset conditions". For example, under the working condition of the highway, the vehicle travels at a relatively high speed. In order to ensure comfort and controllability, the adjustment device should lower the center of gravity of the vehicle and stop at a lower height. At this time, it is necessary to limit the rotation of the rotary motion module through the brake module 1000. The "preset conditions" can be adaptively designed according to actual conditions, and the present disclosure does not limit this.

[0169] By using the above technical solution, when working, the driving module 100 drives the rotary motion module to rotate, and the linear motion module can move linearly in the height direction, thereby driving the wheel to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. In addition, since the driving component and the transmission component of the traditional pure linear driving method are both linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission method, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. By setting the braking module 1000, when the vehicle does not need the adjustment device to work, the braking module 1000 can limit the rotation of the rotary motion module, and the actuator no longer works at this time, thereby reducing the waste of electric energy. There is no need to configure the driving module to have a braking function, which can effectively reduce the volume of the driving module and the complexity of the internal structure.

[0170] The present disclosure does not limit the specific structures of the rotary motion module and the linear motion module. For example, in some embodiments, the rotary motion module may include a lead screw shaft 310 extending in the height direction, and the lead screw shaft 310 may be movably connected to the driving module 100; the linear motion module may include a nut 320 that forms a kinematic pair with the lead screw shaft 310. With such a design, the driving module 100 can realize the linear motion of the nut 320 in the height direction by driving the lead screw shaft 310 to rotate. The solution disclosed in the present disclosure has a simple structure, high processability, and convenient disassembly and assembly.

[0171] The present disclosure does not limit the specific structure of the brake module 1000. The following will take the rotary motion module as the lead screw shaft 310 and the linear motion module as the lead screw nut 320 as an example for detailed description, specifically:

[0172] Reference Figure 15-17 In some embodiments, the actuator may further include a housing module 200 for accommodating the screw shaft 310 and the nut 320. The brake module 1000 may include a fixed unit 1100 fixed to the housing module 200 and a movable unit 1200 operatively connected to the screw shaft 310, and the movable unit 1200 is locked and connected to the fixed unit 1100 under preset conditions to limit the rotation of the screw shaft 310. With such a design, when the vehicle does not need the actuator to work, the brake module 1000 can control the movable unit 1200 to lock with the fixed unit 1100, thereby limiting the rotation of the screw shaft 310. At this time, the actuator no longer works, which can reduce the load of the drive module 100 and reduce energy waste.

[0173] The present disclosure does not describe how the movable unit 1200 and the fixed unit 1100 are locked or unlocked. For example, in the embodiment of the present disclosure, the movable unit 1200 and the fixed unit 1100 can be locked or unlocked by magnetic attraction after power is turned on and disengaged after power is turned off, wherein the disengagement after power is turned off can be achieved by the leaf spring 1230 described below. In addition, in some other embodiments, it can also be achieved by limiting, locking or interference between mechanical structures.

[0174] The present disclosure does not limit the specific structure of the dynamic unit 1200. Fig.16 and Fig.17 In the illustrated embodiment, the moving unit 1200 may include: a guide seat 1210, which is fixedly sleeved on the screw shaft 310, and may be specifically connected to the screw shaft 310 via a spline, and the guide seat 1210 and the screw shaft 310 may be locked axially via a radial locking screw; and an armature 1220, which is connected to the guide seat 1210 via a leaf spring 1230. When the fixed unit 1100 is powered on, the armature 1220 can be adsorbed onto the fixed unit 1100 to be locked, and when the fixed unit 1100 is powered off, the armature 1220 can be separated from the fixed unit 1100 (achieved by the leaf spring 1230).

[0175] Similarly, the present disclosure does not limit the specific structure of the fixed unit 1100. Fig.16 and Fig.17 In the illustrated embodiment, the fixed unit 1100 may include: a brake fixed component 1110 fixed to the housing module 200; a brake coil 1120 mounted on the brake fixed component 1110; and a friction plate 1130 mounted on the brake fixed component 1110. When the brake coil 1120 is powered on, the armature 1220 can be adsorbed onto the friction plate 1130 for friction locking, and when the brake coil 1120 is powered off, the friction plate 1130 is separated from the armature 1220 (reset by the elastic force of the leaf spring 1230).

[0176] In an embodiment of the present disclosure, the leaf spring 1230 and the armature 1220 can be fixed by a first screw, and the leaf spring 1230 and the guide seat 1210 can be fixed by a second screw. The first screw does not protrude from the end surface of the armature 1220 that faces away from the leaf spring 1230 to avoid affecting the abutment between the armature 1220 and the friction plate 1130.

[0177] Among them, the brake coil 1120 can be connected to an external power supply. When the brake coil 1120 is powered off, the brake module 1000 does not work, and the lead screw shaft 310 can rotate freely; when the brake coil 1120 is powered on, the brake module 1000 plays a braking role, the coil generates excitation, and the brake fixed component 1110 can generate electromagnetic attraction with the armature 1220. The armature 1220 and the friction plate 1130 are attracted to prevent it from rotating freely, thereby locking the lead screw shaft 310 through the guide seat 1210, so that the adjustment device is stopped at an arbitrary height. With such a design, compared with the traditional servo motor active suspension with braking function, the layout configuration of the brake module 1000 provided in this application occupies a smaller volume, is easy to disassemble and assemble, is light in weight, has low cost, and consumes less time. In addition, the brake mode working time of the brake module 1000 provided in this application is short, which is conducive to extending the service life of the brake module 1000.

[0178] In the embodiment of the present disclosure, the brake stator 1110 and the armature 1220 can be made of magnetically conductive soft magnetic materials, such as low carbon steel, electromagnetic pure iron, etc. The material of the friction plate 1130 can be composite asbestos with a large friction coefficient.

[0179] Reference Figure 16-17 In the embodiment of the present disclosure, the brake stator component 1110 may be provided with a receiving groove 1111, and the brake coil 1120 and the friction plate 1130 may be respectively embedded in the receiving groove 1111. Such a design can reduce the space occupied by the brake module 1000 and improve space utilization.

[0180] Furthermore, the friction plate 1130 can be located outside the brake coil 1120, and the friction plate 1130 can be flush with the end surface of the brake fixed component 1110. With such a design, when the brake coil 1120 is energized, it can adsorb the armature 1220 onto the friction plate 1130 to frictionally lock the lead screw shaft 310. And the friction plate 1130 is flush with the end surface of the brake fixed component 1110 to avoid the friction plate 1130 occupying additional space. And this arrangement can limit the friction plate 1130 to a certain extent, preventing it from moving under the force of the armature 1220 and causing the brake module 1000 to fail.

[0181] Reference Figure 16-Figure 17 In the embodiment of the present disclosure, the friction plate 1130 and the armature 1220 may be arranged opposite to each other in the axial direction. Thus, when the brake coil 1120 magnetically attracts the armature 1220, the armature 1220 may fit with the friction plate 1130 to limit the armature 1220 from rotating.

[0182] In order to ensure that the armature 1220 can rotate with the guide seat 1210 and the lead screw shaft 310 when the brake coil 1120 is powered off, in the embodiment of the present disclosure, when the brake coil 1120 is powered off, the gap between the friction plate 1130 and the armature 1220 can be 3mm-6mm. For example, it can be 3mm, 5mm, 6mm, etc., and the gap can be achieved by the leaf spring 1230.

[0183] Reference Fig.16 and Fig.17 In an embodiment of the present disclosure, the driving module 100 may include a stator 110, a rotor 120, and a motor housing 230, and the motor housing 230 is used to be connected to the vehicle body. Among them, the housing module 200 may include an upper housing 210 connected to the bottom of the motor housing 230 and a lower housing 220 connected to the nut 320, and the lower housing 220 is used to be connected to the wheel, and the brake fixed component 1110 may be partially clamped between the motor housing 230 and the upper housing 210. With such a design, the motor housing 230 and the upper housing 210 can play a role in limiting and fixing the brake fixed component 1110.

[0184] Further, refer to Figure 16-Figure 17 In the embodiment of the present disclosure, the motor housing 230, the brake stator 1110 and the upper housing 210 can be fixedly connected by fasteners penetrating the three.

[0185] Reference Fig.17 In the embodiment of the present disclosure, the housing module 200 may be provided with a radial bearing 601 for radially bearing the screw shaft 310 and a lower bearing seat 1140 for mounting the radial bearing 601, and the brake and fixed member 1110 may be integrated with the lower bearing seat 1140. Such a design can save axial space, improve space utilization, facilitate center positioning during assembly, and has a simpler structure, is convenient for disassembly and assembly, and is conducive to lightweight.

[0186] In addition, refer to Fig.16 In some other embodiments, the lower bearing seat 1140 and the brake fixed member 1110 can be split. In this case, the lower bearing seat 1140 can be arranged between the brake fixed member 1110 and the motor housing 230. The motor housing 230, the lower bearing seat 1140, the brake fixed member 1110 and the lower end cover 233 can be fixedly connected by fasteners that pass through the four in sequence. By fixing the brake fixed member 1110 below the lower bearing seat 1140, installation is convenient and the strength of the entire system housing can be ensured.

[0187] Reference Fig.16, arranging the brake module 1000 at the lower part (close to the wheel end) of the driving module 100 (rotating motor) can avoid the sensors mentioned below and the wiring of the driving module 100, which is conducive to simplifying the wiring and avoiding cluttered wiring.

[0188] Reference Figure 1-Figure 15 The present disclosure provides an actuator, including a drive module 100 and a motion conversion assembly, wherein at least a portion of the drive module 100 is used to connect to a vehicle body, and the motion conversion assembly includes a screw shaft 310 and a nut 320, and the nut 320 is used to connect to a wheel. The drive module 100 is used to drive the screw shaft 310 to rotate, so as to drive the nut 320 to drive the wheel to perform linear motion in the height direction, and the screw shaft 310 is an integrated shaft component and has multiple joint features adapted to multiple structural components. Here, the integrated shaft component means that each joint feature of the screw shaft 310 is formed on the screw shaft 310, and is not formed by assembly. Specifically, it can be opened later or can be formed integrally with the screw shaft 310.

[0189] The present disclosure does not limit the above-mentioned "engagement features", which may be, for example, structures such as the external spline 317, the first raceway groove 316, the external thread, the internal thread hole, etc., which will be described below. Accordingly, the above-mentioned "structural parts" may be the adapter sleeve 900, the nut 320, the piston 770, etc., and the details of the engagement features and structural parts will be described below.

[0190] In the embodiment of the present disclosure, the nut 320 may be directly connected to the wheel, or may be connected to the wheel through the lower shell 220 .

[0191] By using the above technical solution, when working, the drive module 100 drives the screw shaft 310 to rotate, and the nut 320 follows to make a linear motion in the height direction, thereby driving the wheel to make a linear motion in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. The solution disclosed in the present invention has a simple structure, high processability, and convenient disassembly and assembly. In addition, since the drive component and the transmission component of the traditional pure linear drive method are both linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission method, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. By setting the screw shaft 310 as an integrated shaft, the number of system components can be effectively reduced, the matching relationship of the intermediate transfer can be reduced, the assembly accuracy of the adjustment device can be improved, and the overall reliability of the adjustment device can be improved.

[0192] It should be noted that the specific “structures” referred to by the structural parts and joining features are introduced in detail in the relevant parts of this application. The following is only an illustrative introduction to the relevant structural parts and joining features. For their specific structures, alternative solutions, beneficial effects, etc., please refer to the relevant parts.

[0193] Reference Figure 18-19 In an embodiment of the present disclosure, the plurality of structural members may include a nut 320 , and the plurality of engagement features may include a spiral first rolling groove 316 opened on the screw shaft 310 , and the first rolling groove 316 may allow the nut 320 to slide.

[0194] The present disclosure does not limit the number of the first rolling grooves 316 . For example, in some embodiments, the number of the first rolling grooves 316 may be two and they extend side by side.

[0195] Specifically, when the screw shaft 310 and the nut 320 form a kinematic pair, the inner hole surface of the nut 320 can be provided with a second rolling groove 323, and multiple balls can be arranged in the first rolling groove 316 and the second rolling groove 323. The multiple balls can realize the conversion from rotational motion to linear motion by transmitting friction torque.

[0196] In an embodiment of the present disclosure, the driving module 100 may include a rotor 120 and a stator 110, and the plurality of structural components may include an adapter sleeve 900 fixedly connected to the rotor 120, and the adapter sleeve 900 may be fixedly sleeved on the outer side of the screw shaft 310 to transmit the rotation of the rotor 120 to the screw shaft 310.

[0197] Further, refer to Figure 18-19 The plurality of engagement features may include an external spline 317 disposed on an outer periphery of the screw shaft 310 , and the screw shaft 310 may be key-connected with the adapter sleeve 900 .

[0198] As described above, the adapter sleeve 900 may include a first sleeve 910 and a second sleeve 920 arranged from top to bottom in the height direction.

[0199] Furthermore, the first sleeve 910 and the second sleeve 920 can be axially abutted to form a supporting and limiting effect on each other in the axial direction, thereby improving the axial force transmission effect of the actuator and the stability of the actuator. In addition, this "compact" installation method can avoid jitter noise when the adjustment device moves.

[0200] Reference Figure 3 , Figure 5 , Figure 18-19 In some embodiments, the plurality of engagement features may include a first step surface 313 disposed on the screw shaft 310 and located below the second sleeve 920. The second sleeve 920 may abut against the first step surface 313 from the upper side, thereby forming an axially downward limit for the second sleeve 920. When the first sleeve 910 and the second sleeve 920 abut against each other, an axially downward limit may be formed for the adapter sleeve 900 as a whole.

[0201] Reference Figure 3 and Fig.19 In the embodiment of the present disclosure, a plurality of engagement features may include an external thread formed on the lead screw shaft 310, the external thread being located above the first sleeve 910, and a plurality of structural members may include a first nut 740 threaded onto the lead screw shaft 310, the first nut 740 being pressed onto the first sleeve 910 from the upper side, so that the first sleeve 910 may be limited in the axially upward direction by the first nut 740. When the first sleeve 910 and the second sleeve 920 abut against each other, the adapter sleeve 900 may be limited in the axially upward direction as a whole. Specifically, the portion of the lead screw shaft 310 provided with the external thread may extend out of the adapter sleeve 900, and the lead screw shaft 310 and the adapter sleeve 900 may be locked by the first nut 740. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the rotor 120 may also be limited in the axial direction.

[0202] Reference Fig.19 In some embodiments, the plurality of engagement features may include a first threaded hole 314 opened on the lower end surface of the screw shaft 310 , and the plurality of engagement features may include a first bolt 750 connected to the first threaded hole 314 .

[0203] Reference Figure 6 , Figure 18-19 In some embodiments, the plurality of engagement features may include a second step surface 315 formed on the screw shaft 310. The second step surface 315 may be located above the first sleeve 910. The first sleeve 910 has a radially inwardly protruding overlap platform 911. The overlap platform 911 may be pressed onto the second step surface 315 from the upper side, thereby achieving axial downward limiting of the first sleeve 910.

[0204] Reference Figure 18-19 In the embodiment of the present disclosure, in addition to the external thread, external spline 317 and first threaded hole 314 located at the upper end of the screw shaft 310, the screw shaft 310 may also include a working shaft section 319 and a second threaded hole 780 located at the upper end of the screw shaft 310. The first rolling groove 316 may be provided on the working shaft section 319 (one or two). The first rolling groove 316 is used for the movement of the rolling body, thereby converting the rotational motion of the screw shaft 310 into the linear motion of the nut 320. The second threaded hole 780 located at the upper end of the screw shaft 310 can be used to provide a mounting hole for the sensor 800 (for fixing the dynamic pressure plate 821), which will be described in detail below.

[0205] In the embodiment of the present disclosure, the linear motion space of the nut 320 is the working shaft section 319 of the screw shaft 310, and the working shaft section 319 of the screw shaft 310 needs to be larger than the motion stroke of the nut 320. Here, the motion stroke of the nut 320 refers to the adjustable stroke designed for the adjusting device, that is, the design stroke. Since the nut 320 is fitted on the screw shaft 310, it may encounter an over-limit stroke during its actual driving process. For the protection of the system structure, a certain safety redundancy (greater than the motion stroke of the nut 320) can be reserved for the working shaft section 319 of the screw shaft 310. The present disclosure does not limit the safety redundancy, which can be designed to be not less than the maximum compressible amount of the first limit buffer structure 1310 and the second limit buffer structure 1320 mentioned below. For example, in some embodiments, the ratio of the motion stroke of the nut 320 to the length of the working shaft section 319 can be 0.7 to 0.85.

[0206] Reference Figure 1-Figure 15 , Figure 30-Figure 35 The present disclosure provides an actuator, including: a driving module 100; a motion conversion assembly, including a rotary motion module and a linear motion module, wherein the linear motion module is at least partially used to connect with a wheel, wherein the rotary motion module is driven to rotate by the driving module 100 to drive the linear motion module to drive the wheel to perform linear motion in the height direction; and an upper shell 210, which is used to connect with a vehicle body, and the upper shell 210 has a slide section 213 for the linear motion module to move up and down inside, and the inner circumferential surface of the slide section 213 is a non-circular cross-section, so as to be able to limit the circumferential rotation of the linear motion module. Here, the upper shell 210 can be directly connected to the vehicle body, or indirectly connected to the vehicle body through the driving module 100. Specifically, when the driving module 100 includes a motor housing 230, the upper shell 210 can be indirectly connected to the vehicle body through the motor housing 230.

[0207] The present disclosure does not limit the specific structure of the driving module 100 , for example, it may be the aforementioned rotor 120 , stator 110 and motor housing 230 , as long as it can drive the rotary motion module to drive the linear motion module to move in the height direction.

[0208] The present disclosure does not impose any restrictions on the "non-circular cross-section", which can be any shape except a circle, and the linear motion module has a part that cooperates with it (mutually limited), so that the circumferential rotation of the linear motion module is limited by the "non-circular cross-section". The specific shape of the "non-circular cross-section" will be introduced below and will not be repeated here.

[0209] By using the above-mentioned technical method, when working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module can move linearly in the height direction, thereby driving the wheel to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. In addition, since the drive component and the transmission component of the traditional pure linear drive method are both linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission method, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. Through the cooperation of the slide section 213 and the linear motion module (mutual limitation), the relative rotation between the linear motion module and the upper shell 210 can be effectively controlled to ensure the reliability of the actuator operation.

[0210] This disclosure does not refer to the specific structure of the above-mentioned "non-circular cross section". Fig.32 In the embodiment of the present disclosure, the slide section 213 may include arc surfaces 2131 arranged opposite to each other and a straight surface 2132 connected between the two arc surfaces 2131, and the two arc surfaces 2131 and the two straight surfaces 2132 enclose the non-circular cross section. In addition, in some other embodiments, the "non-circular cross section" may also be formed by four straight surfaces. Or it may be other irregular shapes, as long as it can play a role in limiting mutual rotation.

[0211] In order to allow the linear motion module to form a circumferential motion limit through the non-circular cross section of the upper housing 210, refer to Figure 1-Figure 15 , Figure 30-Figure 35 In the embodiment of the present disclosure, the actuator may further include a lower housing 220 connected to the linear motion module, the linear motion module is connected to the wheel through the lower housing 220, the upper end of the lower housing 220 extends into the slide section 213, and the upper end of the lower housing 220 has a joint section 223 that matches the non-circular cross-sectional shape. With such a design, since the lower housing 220 has the joint section 223 that matches the non-circular cross-sectional shape, the circumferential rotational movement of the lower housing 220 relative to the upper housing 210 can be limited, and since the linear motion module is connected to the lower housing 220, the circumferential rotational movement of the linear motion module relative to the upper housing 210 can be limited at the same time. When the driving module 100 drives the linear motion module to move in the height direction, it can drive the wheel to move in the height direction through the lower housing 220, thereby realizing the adjustment of the vehicle body height.

[0212] Reference Fig.31In the embodiment of the present disclosure, the upper shell 210 may include a lower end wall 214, the lower end wall may have an opening 215 that avoids the lower shell, and the lower end wall 214 may be connected to a guide shaft section 216 extending downward, and the guide shaft section 216 is matched with the main body section 224 of the lower shell 220. Among them, the guide shaft section 216 can be constructed as a hollow thin-walled cylindrical structure, which cooperates with the outer circumference of the main body section 224 of the lower shell 220 to play a guiding role. Specifically, the outer diameter of the main body section 224 of the lower shell 220 can be smaller than the inner diameter of the guide shaft section 216 of the upper shell 210, that is, the outer circumference of the main body section 224 and the guide shaft section 216 of the upper shell 210 can be coaxially gap-matched, so that the main body section 224 can reciprocate and linearly slide in the guide shaft section 216.

[0213] Furthermore, in some embodiments, the inner side of the guide shaft segment 216 can be used to accommodate a guide element, such as a sliding bearing. In this case, there is no need to separately arrange the base 1410 mentioned below, and the guide shaft segment can serve as the base 1410.

[0214] Reference Figure 34-Figure 35 The lower end of the lower shell 220 may be provided with an external threaded connecting shaft 221 for achieving a fastened connection with the fork arm 710, and then achieving a fixed connection with the wheel end, which can directly drive the wheel end to make a corresponding action response.

[0215] Reference Figure 34-Figure 35 In the embodiment of the present disclosure, a flange section 225 may be provided at the upper end of the lower shell 220, and a joint section 223 may be formed on the flange section 225, that is, the outer contour of the flange section 225 matches the inner circumferential surface shape of the slide section 213 to limit the relative rotation of the two.

[0216] Specifically, refer to Figure 30-Figure 35 The flange section 225 may be symmetrically provided with two arc surfaces and symmetrically provided with two straight surfaces. The arc surface 2131 of the slide barrel section 213 may be coaxially clearance-matched with the arc surface of the flange section 225, wherein the outer diameter of the arc surface of the flange section 225 is smaller than the inner diameter of the arc surface 2131 of the slide barrel section 213, and the arc surface of the flange section 225 may perform reciprocating linear motion inside the arc surface 2131 of the slide barrel section 213 to achieve a better guiding function. The flat surface 2132 of the slide section 213 is arranged parallel to the flat surface of the lower shell 220, and the minimum vertical distance between the two flat surfaces that are closer in the two sets of relative flat surfaces needs to be maintained between 0.3mm and 0.5mm during the relative movement, so as to allow a small gap between the two flat surfaces. This can effectively control the relative rotation between the lower shell 220 and the upper shell 210 to ensure the reliability of the actuator operation. At the same time, the two flat surfaces are not allowed to contact each other, so as to reduce the friction resistance between the lower shell 220 and the upper shell 210, thereby reducing the energy loss of the system.

[0217] Reference Figure 1-Figure 15 In the embodiment of the present disclosure, the rotary motion module may include a screw shaft 310 extending in the height direction, and the screw shaft 310 may be movably connected to the driving module 100; the linear motion module may also include a nut 320 constituting a kinematic pair with the screw shaft 310, and the lower housing 220 may be installed below the nut 320. Among them, the screw shaft 310 may be connected to the upper housing 210, the lower housing 220 may be a hollow structure, and the screw shaft 310 may extend into the lower housing 220 from above. During operation, the driving module 100 drives the screw shaft 310 to rotate, and the nut 320 follows to make a linear motion in the height direction, thereby driving the lower housing 220 to make a linear motion in the height direction relative to the upper housing 210, thereby realizing the full active adjustment of the height of the whole vehicle. The scheme disclosed in the present disclosure has a simple structure, high processability, and convenient disassembly and assembly. In addition, the transmission form of rotation + linear motion saves more space and has higher control accuracy than the traditional pure linear transmission mode.

[0218] Reference Figure 2 , Figure 34-Figure 35 In an embodiment of the present disclosure, the nut 320 may have a radially protruding flange 321, and the flange 321 may be connected to the flange section 225 to install the nut 320 to the lower housing 220. The present disclosure does not limit the formation method of the flange section 225, which may be integrally formed with the lower housing 220, or may also be in an assembled relationship. The flange section 225 may be provided with a plurality of connection holes 1, which are adapted to the connection holes 1 on the flange 321 of the nut 320 to fix the lower housing 220 to the nut 320.

[0219] Reference Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15 In the embodiment of the present disclosure, at least part of the nut 320 can extend from the upper end into the inner side of the lower shell 220. With such a design, the part of the nut 320 extending into the inner side of the lower shell 220 can fit with the inner wall surface of the lower shell 220, which can increase the radial limit between the nut 320 and the lower shell 220, and ensure the stability of the cooperation between the two; on the other hand, the nut 320 partially extends downward into the lower shell 220, which can avoid occupying too much axial space on the upper side, thereby increasing the movable range of the nut 320 along the axial direction, that is, increasing the adjustment range of the adjustment device.

[0220] Reference Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15The inner circumferential surface of the lower shell 220 may have a shoulder 226 to support the nut 320 extending into the lower shell 220. The shoulder 226 can limit the downward movement of the nut 320 relative to the lower shell 220, further improving the stability of the cooperation between the nut 320 and the lower shell 220.

[0221] Reference Figure 30-Figure 31 In an embodiment of the present disclosure, the upper housing 210 may further include a connecting section 217 disposed above the slide section 213 , and the top of the connecting section 217 may be a flange for connecting to the motor housing 230 .

[0222] Reference Figure 2-Figure 3 , Figure 5-Figure 6 , Figure 9-10 , Figure 12-13 The present disclosure provides an actuator, including a driving module 100, at least part of which is used to connect with a vehicle body; a motion conversion assembly, including a rotary motion module and a linear motion module, at least part of which is used to connect with a wheel; and a sensor 800, used to detect the rotation information of the rotary motion module, wherein the driving module 100 is used to drive the rotary motion module to rotate, so as to drive the linear motion module to drive the wheel to perform linear motion in the height direction. The present disclosure does not limit the type and specific structure of the sensor 800, as long as it can detect the rotation information of the rotary motion module.

[0223] Here, the above-mentioned "rotation information" can specifically be rotation speed, rotation displacement, etc., so as to achieve accurate control of the Z-axis height of the whole vehicle. The "detection" here can be direct detection or indirect detection. In the case of indirect detection, it can indirectly detect the rotation information of the rotary motion module by detecting the adapter sleeve 900, the rotor 120, etc. mentioned above.

[0224] By using the above technical solution, when working, the driving module 100 drives the rotary motion module to rotate, and the linear motion module follows to move linearly in the height direction, thereby driving the wheel to move linearly in the height direction relative to the vehicle body, thereby realizing full active adjustment of the height of the whole vehicle. In the traditional pure linear drive mode, since both the driving component and the transmission component are linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission mode layout, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. The rotation information of the rotary motion module can be detected by the sensor 800, and the rotation information can be transmitted to the control module of the whole vehicle. The control module can further control the working state of the driving module 100 according to the real-time rotation information of the rotary motion module, thereby realizing precise control of the height of the whole vehicle.

[0225] As described above, in the embodiment of the present disclosure, the rotary motion module may include a lead screw shaft 310 extending in the height direction, and the lead screw shaft 310 may be movably connected to the driving module 100; the linear motion module may include a nut 320 forming a kinematic pair with the lead screw shaft 310. The solution disclosed in the present disclosure has a simple structure, high processability, and convenient assembly and disassembly.

[0226] Reference Figure 3 , Figure 5 , Fig.10 , Fig.24 In an embodiment of the present disclosure, the driving module 100 may include a stator 110, a rotor 120, and a motor housing 230, and the lead screw shaft 310 may be movably connected to the rotor 120, wherein the sensor 800 may include a moving element 820 movably connected to the lead screw shaft 310 and a fixed element 810 fixed in the motor housing 230. In addition, in some other embodiments, the sensor 800 may further include a signal processing circuit 830.

[0227] Further, refer to Figure 3 , Figure 5 , Fig.10 In the embodiment of the present disclosure, the moving element 820 can be fixedly sleeved on the upper end of the screw shaft 310 (clearance fit or transition fit, etc.), the motor housing 230 can include an axially through-cover 231, and an upper end cover 232 and a lower end cover 233 arranged at both ends of the cover 231, and the fixed element 810 can be sleeved on the outer side of the screw shaft 310 at intervals, and the fixed element 810 is fixed to the upper end cover 232. With such a design, when working, the moving element 820 can rotate synchronously with the screw shaft 310, and the fixed element 810 remains stationary, so that the rotation information of the screw shaft 310 can be measured.

[0228] In the embodiment of the present disclosure, in order to enable the moving element 820 to rotate synchronously with the screw shaft 310, the moving element 820 and the screw shaft 310 can be key-connected to enable the moving element 820 to rotate synchronously with the screw shaft 310. Specifically, a limiting groove can be opened on the outer side of the screw shaft 310, and the moving element 820 is provided with a convex key extending into the limiting groove.

[0229] Reference Figure 2In an embodiment of the present disclosure, the upper end 232 may include a cover body 235 and a top cover 234 detachably mounted on the top of the cover body 235, wherein the lead screw shaft 310 may pass through the cover body 235, the cover body 235 may be provided with a fifth mounting seat 212 for fixing the fixed element 810, and the top cover 234 may be covered on the top of the cover body 235 and form a closed space with the cover body 235 to accommodate the moving element 820 and the fixed element 810. The closed space can play a sealing and protective role on the sensor 800 to improve the service life and measurement accuracy of the sensor 800. In order to transmit the detection signal of the sensor 800, the top cover 234 may be provided with an opening 215 for the sensor 800 to output the line.

[0230] In order to facilitate disassembly and assembly, in the embodiment of the present disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0231] Further, in order to fix the moving element 820 to the screw shaft 310, refer to Fig.10 and Fig.19 In the embodiment of the present disclosure, the screw shaft 310 may have a fifth step surface 318 at the axial upper limit of the brake element 820. During installation, it is only necessary to sleeve the moving element 820 on the screw shaft 310 and make it abut against the fifth step surface 318.

[0232] Reference Figure 3 , Figure 6 , Fig.10 In the embodiment of the present disclosure, the fifth mounting seat 212 can limit the positioning element 810 in the axial and radial directions.

[0233] Reference Fig.10 In the embodiment of the present disclosure, the fixed element 810 can be screwed and fixed to the fifth mounting seat 212. Specifically, the fifth mounting seat 212 can be a hole structure formed on the upper surface of the cover body 235, and the fixed element 810 can be coaxially installed in the hole structure of the cover body 235, and specifically, the hole structure can form an internal thread, and the fixed element 810 has an external thread, thereby realizing the threaded connection between the fixed element 810 and the fifth mounting seat 212. Alternatively, in some other embodiments, the fixed connection can also be fixed by interference fit or heat sleeve, and the present disclosure does not limit this. In addition to the method of fixing by the fifth mounting seat 212, in some other embodiments, the fixed element 810 and the cover body 235 can be fixed by bonding, bolting, etc.

[0234] Reference Figure 3 , Figure 6 , Fig.24In some embodiments, the fixed element 810 and the moving element 820 may be spaced apart in the axial direction, and the end surfaces close to each other are parallel, so as to ensure the accuracy of the sensor 800. In some embodiments, the distance between the two end surfaces close to each other may be 1 mm, 1.5 mm, etc.

[0235] In some embodiments, the upper end surface of the moving element 820 can be flush with the upper end surface of the screw shaft 310, so as to avoid the moving element 820 occupying too much axial space. The actuator can also include a clamping member for fixing the moving element 820 to the screw shaft 310. The present disclosure does not limit the clamping member, which can be a plate, a fastener, etc.

[0236] The present disclosure does not limit the type of the sensor 800 , for example, it may be an eddy current sensor 800 , a rotary transformer sensor 800 , etc. During operation, the moving element 820 may rotate along with the lead screw shaft 310 , while the fixed element 810 remains stationary.

[0237] In some embodiments, the fixed element 810 may include a coil winding, and the moving element 820 may include a plurality of first silicon steel sheets, wherein the coil winding may include a sine signal winding, a cosine signal winding, and an excitation winding, the sine signal winding and the cosine signal winding are arranged at different angles, the excitation winding is used to generate a magnetic field, and the plurality of first silicon steel sheets are used to move in the magnetic field to generate electrical signals in the sine signal winding and the cosine signal winding, respectively. Specifically, when the moving element 820 rotates, there are periodic changes in the sine signal winding and the cosine signal winding, and the signal will also change accordingly. The position of the moving element 820 can be determined based on the relationship between the two signals, and then the signal can be transmitted to the control module (for example, through the signal processing element 830), and the adjustment device is controlled to adjust the height of the vehicle to achieve a vibration reduction effect.

[0238] Furthermore, in order to reduce the divergence of the magnetic field generated by the excitation winding and thus increase the strength of the magnetic field at the moving element 820, in some embodiments, the fixed element 810 may also include a plurality of second silicon steel sheets, which may be used to bundle the magnetic field.

[0239] In addition to the specific arrangement structure of the sensor 800 mentioned above, the actuator will be introduced in another arrangement mode of the sensor 800 below. The difference between the sensor 800 mentioned below and the sensor 800 in the aforementioned embodiment is that the positional relationship between the moving element 820 and the fixed element 810 is different. This embodiment mainly improves the problem that the axial impact of the rotary motion module affects the sensor 800. The remaining basic structures and effects of the two embodiments can refer to each other if there is no contradiction. In order to avoid redundancy, the repeated parts are only briefly described below. For specific effects, alternative solutions, etc., please refer to the above. Specifically:

[0240] Reference Fig. 9 and Fig.10 The present disclosure provides an actuator, including a driving module 100 at least partially used to connect with a vehicle body, a motion conversion component and a sensor 800, the motion conversion component includes a rotational motion module and a linear motion module, the linear motion module is at least partially used to connect with a wheel, the rotational motion module is driven by the driving module to drive the linear motion module to drive the wheel to perform linear motion in the height direction, the sensor 800 is used to detect the rotation information of the rotational motion module, wherein the sensor 800 includes a fixed element 810 and a moving element 820 that can move relative to each other, the moving element 820 is fixed to the rotational motion module, and the fixed element 810 is arranged on the outside of the moving element 820 at intervals.

[0241] Similar to the above, the "rotation information" here can specifically be rotation speed, rotation displacement, etc., so as to facilitate accurate control of the Z-axis height of the vehicle. The "detection" here can be direct detection or indirect detection. In the case of indirect detection, the rotation information can be indirectly detected by detecting the adapter sleeve 900, the rotor 120, etc. mentioned above.

[0242] Here, “the fixed element 810 is disposed on the outer side of the movable element 820 at intervals” means that in the radial projection, there is an overlapping portion between the fixed element 810 and the movable element 820 .

[0243] By using the above technical solution, when working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module follows to move linearly in the height direction, thereby driving the wheel to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. In the traditional pure linear drive mode, since both the drive component and the transmission component are linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission mode layout, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. The rotation information of the rotary motion module can be detected by the sensor 800, and the rotation information can be transmitted to the control module of the whole vehicle. The control module can further control the working state of the drive module 100 according to the real-time rotation information of the rotary motion module, thereby realizing precise control of the height of the whole vehicle. By spacing the fixed element 810 on the outside of the moving element 820 (an air gap may be provided between the two), the relative installation position accuracy change between the sensor 800 hardware caused by the slight axial position change of the rotational motion module can be effectively avoided. That is, when an axial impact occurs, the movement of the moving element 820 will not affect the fixed element 810. When the moving element 820 follows the linear motion module in radial displacement, the radial spacing between the fixed element 810 and the moving element 820 remains unchanged, thereby ensuring that the sensor 800 can work normally and facilitating the precise control of the Z-direction (height direction) position.

[0244] Furthermore, in some embodiments, the dimension of the moving element 820 in the height direction may be greater than the dimension of the fixed element 810 in the height direction. With such a design, when the moving element 820 is slightly displaced in the axial direction due to the axial impact during rotation, the normal operation of the sensor 800 can still be ensured, that is, when the moving element 820 is displaced due to the axial impact, since the moving element 820 is relatively thick, even if it is displaced, it is still within the effective range of the moving element 820 (the relative area does not change).

[0245] As described above, in the embodiment of the present disclosure, the driving module 100 may include a stator 110, a rotor 120 and a motor housing 230, and the stator element 810 may be fixed to the motor housing 230. Among them, the rotary motion module may include a screw shaft 310 extending in the height direction, the screw shaft 310 may be movably connected to the rotor 120, and the moving element 820 may be movably connected to the screw shaft 310; the linear motion module may include a nut 320 forming a kinematic pair with the screw shaft 310. The solution disclosed in the present disclosure has a simple structure, high processability, and convenient assembly and disassembly.

[0246] Further, refer to Figure 3 , Figure 5 , Fig.10 In the embodiment of the present disclosure, the moving element 820 can be fixedly sleeved on the upper end of the screw shaft 310 (clearance fit or transition fit, etc.), the motor housing 230 can include an axially penetrating cover 231, and an upper end cover 232 arranged at the upper end of the cover 231, and the fixed element 810 can be fixed to the upper end cover 232. With such a design, when working, the moving element 820 can rotate synchronously with the screw shaft 310, and the fixed element 810 remains stationary, so that the rotation information of the screw shaft 310 can be measured.

[0247] Reference Figure 2 In the embodiment of the present disclosure, the upper end cover 232 may include a cover body 235 and a top cover 234 mounted on the top of the cover body 235, wherein the lead screw shaft 310 may pass through the cover body 235, the cover body 235 may be provided with a fifth mounting seat 212 for fixing the fixed element 810, and the top cover 234 may be covered on the top of the cover body 235 to form a closed space for accommodating the moving element 820 and the fixed element 810. The closed space can provide a sealing protection for the sensor 800 to improve the service life and measurement accuracy of the sensor 800. In order to transmit the detection signal of the sensor 800, the top cover 234 may be provided with an opening 215 for the sensor 800 to output the wire.

[0248] In order to facilitate disassembly and assembly, in the embodiment of the present disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0249] Reference Figure 3 , Figure 6 , Fig.10 In the embodiment of the present disclosure, the fifth mounting seat 212 can limit the positioning element 810 in the axial and radial directions.

[0250] In order to prevent the fixed element 810 from being separated from the cover body 235, refer to Fig.10 In an embodiment of the present disclosure, the fixed element 810 can be axially pressed onto the cover body 235 by a fixed pressure plate 811 .

[0251] In the embodiment of the present disclosure, in order to enable the moving element 820 to rotate synchronously with the screw shaft 310, the moving element 820 and the screw shaft 310 can be key-connected to enable the moving element 820 to rotate synchronously with the screw shaft 310. Specifically, a limiting groove can be opened on the outer side of the screw shaft 310, and the moving element 820 is provided with a convex key extending into the limiting groove.

[0252] In order to fix the moving element 820 to the screw shaft 310, refer to Fig.10 and Fig.19 In the embodiment of the present disclosure, the screw shaft 310 may have a fifth step surface 318 at the axial upper limit of the brake element 820. During installation, it is only necessary to sleeve the moving element 820 on the screw shaft 310 and make it abut against the fifth step surface 318.

[0253] In some embodiments, the side of the moving element 820 close to the vehicle body can be aligned with the end face (upper end face) of the side of the screw shaft 310 close to the vehicle body, so as to avoid the moving element 820 occupying too much axial space. Such a design, on the one hand, facilitates the disassembly and assembly of the moving element 820, especially when the screw shaft 310 extends out of the cover body 235, the moving element 820 can be disassembled and assembled without disassembling the motor housing 230; on the other hand, the moving element 820 does not need to occupy the space inside the motor housing 230, which is conducive to the arrangement of the rotor 120, the rotor, etc. inside the motor housing 230.

[0254] In order to prevent the moving element 820 from moving upward in the axial direction, refer to Fig.10 In the embodiment of the present disclosure, the moving element 820 can be axially pressed on the screw shaft 310 by the moving pressure plate 821. The present disclosure does not limit the moving pressure plate 821, which can be a plate-like structure fixed to the end of the screw shaft 310 by the clamping screw 822 and the second threaded hole 780, as long as it can limit the moving element 820 from moving axially upward.

[0255] Reference Figure 4-Figure 10The present disclosure provides an actuator, including a driving module 100 at least partially used to connect with a vehicle body, a motion conversion component and a first limit buffer structure 1310. The motion conversion component includes a rotary motion module and a linear motion module, the linear motion module is at least partially used to connect with the wheel, the rotary motion module is driven by the driving module 100 to drive the linear motion module to drive the wheel to perform linear motion in the height direction, and the first limit buffer structure 1310 is arranged on the motion trajectory of the linear motion module, and is used to form a limit buffer for the upward jump stroke of the wheel. It needs to be explained here that the upward jump stroke of the wheel refers to the wheel jumping up when encountering a raised road condition. In order to prevent the vehicle body from following the jump, the linear motion module drives the wheel to move upward relative to the vehicle body.

[0256] The present disclosure does not limit the specific structure of the first position-limiting buffer structure 1310. For example, it can be a gasket formed of non-metallic materials such as rubber and polyurethane, or a metal spring formed of metal materials, as long as it is set on the motion trajectory of the linear motion module to directly or indirectly limit the motion. "Directly" means that the linear motion module directly contacts the first position-limiting buffer structure 1310 and forms a buffering position, and "indirectly" means that the linear motion module can contact the first position-limiting buffer structure 1310 through a rotating motion module to form a position-limiting buffer. "Motion trajectory" refers to the displacement trajectory of the linear motion module along the height direction. The trajectory has nothing to do with the contour of the linear motion module itself. It only needs to directly or indirectly squeeze the first position-limiting buffer structure 1310 to form a buffering position when the linear motion module moves to the limit range along the height direction.

[0257] By using the above technical solution, when working, the driving module 100 drives the linear motion module to rotate, and the rotary motion module follows to move linearly in the height direction, thereby driving the wheel to move linearly in the height direction, thereby realizing full active adjustment of the height of the whole vehicle. In addition, since the driving component and the transmission component of the traditional pure linear driving method are both linear motion (occupying a large height space), the rotation + linear motion transmission form disclosed in the present invention saves more height space than the traditional pure linear transmission method, and the control accuracy of the rotation + linear motion form is higher under the same process conditions. By setting the first limit buffer structure 1310, when the linear motion module drives the wheel to move upward, the first limit buffer structure 1310 can play a limit buffer role in its upward movement at a preset position, preventing its excessive upward movement from causing damage to the relevant components of the adjustment device, and can also play a buffering role to avoid rigid collisions between components caused by excessive movement.

[0258] As described above, in an embodiment of the present disclosure, the rotary motion module may include a lead screw shaft 310 extending in the height direction, and the lead screw shaft 310 may be movably connected to the drive module 100; the linear motion module may include a nut 320 forming a kinematic pair with the lead screw shaft 310, wherein the actuator may further include a lower housing 220 connected to the bottom of the nut 320, and the lower housing 220 is used to connect to the wheel. With such a design, the drive module 100 drives the lead screw shaft 310 to rotate, and the nut 320 may follow the movement in the height direction, and then the nut 320 may drive the wheel to move in the height direction through the lower housing 220. The solution disclosed in the present disclosure has a simple structure, high processability, and convenient assembly and disassembly.

[0259] Reference Figure 5 , Fig. 9 , Fig.12 , Fig.15 In the embodiment of the present disclosure, the lower housing 220 may be a hollow structure, the screw shaft 310 extends into the lower housing 220 from above, a first limiting space 1330 may be formed between the lower end surface of the screw shaft 310 and the lower housing 220, and the first limiting buffer structure 1310 may be disposed in the first limiting space 1330. It should be explained that the first limiting space 1330 here changes with the movement of the lower housing 220, and when the lower housing 220 moves to the limit position toward the lower end surface close to the screw shaft 310, the first limiting buffer structure 1310 may play a limiting buffer role.

[0260] The present disclosure does not limit the specific location of the first position limiting buffer structure 1310 in the first position limiting space 1330. Figure 5 , Fig. 9 , Fig.12 , Fig.15 In the illustrated embodiment, the first position-limiting buffer structure 1310 can be arranged inside one end of the lower housing 220 close to the wheel, and can be fixedly connected to the lower housing 220 by screws or adhesive bonding. Alternatively, in some other embodiments, the first position-limiting buffer structure 1310 can also be arranged on the lower end surface of the lead screw shaft 310, and can be fixedly connected to the lead screw shaft 310 by screws or adhesive bonding. With such a design, when the wheel jumps on a raised road, the drive module 100 will drive the nut 320 to drive the lower housing 220 to move upward to reduce the suspension height and avoid the vehicle body from following the jump and causing bumps. At the end of the upward movement of the lower housing 220, the lower end surface of the lower housing 220 will have the risk of rigid collision with the bottom end surface of the lead screw shaft 310, and the first position-limiting buffer structure 1310 can play a buffering role to avoid excessive movement and rigid impact.

[0261] Similarly, refer to Figure 5 , Fig. 9 , Fig.12 , Fig.15 In the embodiment of the present disclosure, a second limiting space 1340 may be formed between the nut 320 and the driving module 100, and the first limiting buffer structure 1310 may be disposed in the second limiting space 1340. Similar to the first limiting space 1330, the second limiting space 1340 also changes with the movement of the nut 320.

[0262] Furthermore, the first position-limiting buffer structure 1310 can be provided at one end of the nut 320 close to the driving module 100; or, the first position-limiting buffer structure 1310 can be provided at one end of the driving module 100 close to the nut 320. When the wheel jumps on a raised road, the driving module 100 will drive the nut 320 to drive the lower housing 220 to move upward to reduce the suspension height and avoid the vehicle body from following the jump and causing bumps. At the end of the upward movement of the lower housing 220, the upper end face of the nut 320 will have the risk of rigid collision with the lower end face of the driving module 100, and the first position-limiting buffer structure 1310 can play a buffering role to avoid rigid impact.

[0263] Reference Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15 In the embodiment of the present disclosure, at least part of the nut 320 can extend from the upper end into the inner side of the lower shell 220. With such a design, the part of the nut 320 extending into the inner side of the lower shell 220 can fit with the inner wall surface of the lower shell 220, which can increase the radial limit between the nut 320 and the lower shell 220, and ensure the stability of the cooperation between the two; on the other hand, the nut 320 partially extends downward into the lower shell 220, which can avoid occupying too much axial space on the upper side, thereby increasing the movable range of the nut 320 along the axial direction, that is, increasing the adjustment range of the adjustment device.

[0264] Reference Figure 2 , Figure 5 , Fig. 9 , Fig.12 as well as Fig.15 The inner circumferential surface of the lower shell 220 may have a shoulder 226 to support the nut 320 extending into the lower shell 220. The shoulder 226 can limit the downward movement of the nut 320 relative to the lower shell 220, further improving the stability of the cooperation between the nut 320 and the lower shell 220.

[0265] As described above, in the embodiment of the present disclosure, the actuator may further include an upper housing 210 at least partially sleeved outside the lower housing 220 and the nut 320, the driving module 100 may include a motor housing 230 having a lower end cover 233, and the upper housing 210 may be fixedly connected to the lower end cover 233 or integrally formed with the lower end cover 233. The upper housing 210 may be provided to seal and protect the nut 320 and the lower housing 220 and guide them in the height direction, and the upper housing 210 may also have the functions of limiting and installing the coil spring mentioned below.

[0266] In order to prevent the screw shaft 310 from interfering with the movement of the lower housing 220, refer to Figure 5 and Fig. 9 , Fig.12 , Fig.15 In the embodiment of the present disclosure, the lower housing 220 may be a hollow structure, and the lead screw shaft 310 may extend from above into the lower housing 220. In the embodiment of the present disclosure, in order to extend the lower housing 220 into the upper housing 210, a through hole may be provided at the lower end of the upper housing 210 for the lower housing 220 to extend into.

[0267] In addition to the aforementioned first limiting buffer structure 1310, refer to Figure 4-Figure 10 In an embodiment of the present disclosure, the actuator may further include a second position-limiting buffer structure 1320 for forming a position-limiting buffer for the downward jump stroke of the wheel. It should be explained that the downward jump stroke of the wheel refers to the movement of the wheel jumping down when encountering a pothole road condition. In order to prevent the vehicle body from following the downward jump, the linear motion module drives the wheel to move downward relative to the vehicle body. The present disclosure does not limit the specific structure of the second position-limiting buffer structure 1320. For example, it may be a gasket formed of non-metallic materials such as rubber and polyurethane, or it may be a metal spring formed of metal materials.

[0268] As described above, in an embodiment of the present disclosure, the rotary motion module may include a lead screw shaft 310 extending in the height direction, and the lead screw shaft 310 may be movably connected to the drive module 100; the linear motion module may include a nut 320 that forms a kinematic pair with the lead screw shaft 310, wherein the actuator may also include a lower shell 220 connected to the bottom of the nut 320, and the lower shell 220 is used to connect with the wheel. In this case, when the wheel jumps down when encountering potholes on the road, the drive module 100 will drive the nut 320 to drive the lower shell 220 to move downward to increase the suspension height and avoid the vehicle body from sinking and causing bumps. At the end of the downward movement of the lower shell 220, the nut 320 will have the risk of rigid collision with the bottom end face of the upper shell 210, and the second limit buffer structure 1320 can play a limit buffer role to avoid excessive movement and rigid impact.

[0269] In the embodiment of the present disclosure, the actuator may further include an upper housing 210 at least partially sleeved outside the lower housing 220 and the nut 320, the driving module 100 may include a motor housing 230 having a lower end cover 233, and the upper housing 210 may be fixedly connected to the lower end cover 233 or integrally formed with the lower end cover 233. The upper housing 210 may be provided to seal and protect the nut 320 and the lower housing 220 and guide them in the height direction, and the upper housing 210 may also have the functions of limiting and installing the coil spring mentioned below.

[0270] The present disclosure does not limit the specific structure of the second position limiting buffer structure 1320. Figure 5 and Fig. 9 In the illustrated embodiment, the second position-limiting buffer structure 1320 may be disposed at the bottom of the upper housing 210. In this case, the second position-limiting buffer structure 1320 may be provided with a through hole for the lower housing 220 to pass through. With such a design, when the lower housing 220 and the nut 320 move excessively downward, the lower end surface of the nut 320 may abut against the second position-limiting buffer structure 1320, thereby limiting the continued movement, and the second position-limiting buffer structure 1320 may prevent the nut 320 from directly and rigidly colliding with the upper housing 210, thereby playing a buffering and protective role.

[0271] In addition, in some other embodiments, a flange section 225 may be provided at the upper end of the lower shell 220, and the nut 320 may have a radially protruding flange platform 321. The flange platform 321 and the flange section 225 are connected to install the nut 320 to the lower shell 220. The second limiting buffer structure 1320 may be provided on the lower end surface of the flange section 225 to play a buffering role at the end of the downward movement of the lower shell 210 to avoid excessive movement and rigid impact.

[0272] In order to allow the lower housing 220 to extend into the upper housing 210, refer to Figure 2 In an embodiment of the present disclosure, the upper shell 210 may include a lower end wall 214 , and the lower end wall 214 may have an opening 215 for avoiding the lower shell 220 .

[0273] In order to enable the first position-limiting buffer structure 1310 and the second position-limiting buffer structure 1320 to play a buffering role, in the embodiment of the present disclosure, the first position-limiting buffer structure 1310 and the second position-limiting buffer structure 1320 may respectively have elasticity. With such a design, when the wheel jumps down when encountering potholes on the road, the drive module 100 will drive the nut 320 to drive the lower shell 220 to move downward to increase the suspension height and avoid the vehicle body from sinking and causing bumps. At the end of the downward movement of the lower shell 220, the nut 320 will have the risk of rigidly colliding with the bottom end face of the upper shell 210, and the second limit buffer structure 1320 can play a buffering role to avoid rigid impact; similarly, when the wheel jumps up when encountering bumpy road conditions, the drive module 100 will drive the nut 320 to drive the lower shell 220 to move upward to reduce the suspension height and avoid the vehicle body from following the upward jump and causing bumps. At the end of the upward movement of the lower shell 220, the lower end face inside the lower shell 220 will have the risk of rigidly colliding with the bottom end face of the screw shaft 310, and the first limit buffer structure 1310 can play a buffering role to avoid rigid impact.

[0274] When the first limit buffer structure 1310 and the second limit buffer structure 1320 are elastic, they can be made of the non-metallic materials such as rubber, polyurethane, etc. mentioned above, or they can be made of metal materials such as metal springs, as long as they are elastic and can play a buffering role. Their installation method and installation position can refer to the relevant positions above and will not be repeated here.

[0275] Reference Figure 2 , Figure 5 , Fig. 9 , Figure 36-Figure 40 The present disclosure provides an actuator, including a housing module 200, a driving module 100 and a sealing module 1400. The housing module 200 includes an upper housing 210 for connecting to a vehicle body and a lower housing 220 for connecting to a wheel. The driving module 100 is used to drive the upper housing 210 and the lower housing 220 to move relative to each other in a height direction. The sealing module 1400 is sealed between the upper housing 210 and the lower housing 220.

[0276] In the embodiment of the present disclosure, the upper housing 210 can be indirectly connected to the vehicle body through the motor housing mentioned herein, and the lower housing 220 can be indirectly connected to the wheel through the fork arm mentioned herein. In addition, in some other embodiments, the upper housing 210 can also be directly connected to the vehicle body, and the lower housing 220 can be directly connected to the vehicle.

[0277] The present disclosure does not limit the specific structure of the sealing module 1400, as long as it can be sealed between the upper shell 210 and the lower shell 220, and allow the upper shell 210 and the lower shell 220 to move relative to each other in the height direction (dynamic seal), for example, it can include the base and the sealing ring mentioned below. Or it can also include only the sealing ring, in which case, one of the upper shell 210 and the lower shell 220 needs to be provided with an annular groove for installing the sealing ring.

[0278] The present disclosure does not limit the driving module 100 , for example, it may include the rotor and stator (motor structure) mentioned herein, as long as it can drive the upper housing 210 and the lower housing 220 to move relative to each other in the height direction.

[0279] By using the above technical solution, during operation, the driving module 100 can drive the upper shell 210 and the lower shell 220 to move relative to each other in the height direction, thereby realizing the linear movement of the wheel relative to the vehicle body in the height direction, so as to achieve the adjustment of the vehicle body height. The sealing module 1400 can be used to isolate external media such as water, air, oil, dust, etc. from entering the upper shell 210 and the lower shell 220 through the gap between the upper shell 210 and the lower shell 220, thereby improving the reliability of the adjustment device and increasing its service life.

[0280] The sealing module 1400 will be further introduced below, mainly introducing the main structure of the sealing module 1400 and its positional relationship with other components. For technical effects and alternative solutions, please refer to the relevant parts below.

[0281] As mentioned above, the present disclosure does not limit the specific structure of the sealing module 1400. Fig.37 In the illustrated embodiment, the sealing module 1400 may include: a base 1410, which surrounds the lower housing 220 and is detachably mounted on the outside of the upper housing 210; and a sealing ring 1420, which is clamped between the base 1410 and the lower housing 220. With such a design, when the lower housing 220 moves relative to the upper housing 210 in the height direction, the sealing ring 1420 can play a dynamic sealing role to isolate external water, air, dust, etc. The present disclosure does not limit the type of the sealing ring 1420, and the details can be referred to the relevant parts above.

[0282] Reference Figure 36-Figure 37 In an embodiment of the present disclosure, the actuator may further include a guide member 1430 fixed to the inner wall of the base 1410, and the guide member 1430 may be sleeved on the outer side of the lower shell 220 and in sliding contact with the lower shell 220, wherein the sealing ring 1420 and the guide member 1430 are spaced apart in the axial direction.

[0283] Reference Figure 36-Figure 37In the embodiment of the present disclosure, a groove 1411 for accommodating the sealing ring 1420 may be opened on the inner circumference of the base 1410, and the side wall of the groove 1411 protrudes inward from the inner wall of the base 1410, and the side wall of the groove 1411 is used to axially limit the guide member 1430.

[0284] As described above, the present disclosure does not limit the specific structure of the guide member 1430. For example, in an embodiment of the present disclosure, the guide member 1430 may be a sliding bearing or a linear bearing.

[0285] In order to allow the lower shell 220 to extend into the upper shell 210 , in some embodiments, the upper shell 210 may include a lower end wall 214 , and the lower end wall 214 may have an opening 215 that avoids the lower shell 220 .

[0286] The following will introduce two ways of connecting the base 1410 and the upper shell 210. Fig.40 In an embodiment of the present disclosure, the upper end portion of the base 1410 may have an extension platform 1412 protruding radially outward, and the extension platform 1412 may abut against the lower end wall 214 and be connected to the lower end wall 214 by bolts.

[0287] Reference Figure 38-Figure 39 In some other embodiments, the base 1410 can be inserted into the opening 215 and screwed to the lower end wall 214. For details of these two connection methods, please refer to the relevant parts above.

[0288] Reference Figure 1-Figure 2 , Figure 4-Figure 5 , Figure 8-Figure 9 , Fig.11 Fig.12 , Fig.15 In an embodiment of the present disclosure, the actuator may further include a fork arm 710 for connecting to a wheel, and the fork arm 710 may be detachably connected to the lower portion of the lower housing 220. The present disclosure does not limit the connection method between the fork arm 710 and the lower housing 220, and details may be found in the relevant section below.

[0289] Reference Figure 11-Figure 12 , Fig.15 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 disposed outside the upper housing 210 and sleeved on the lower housing 220. The dust cover 720 may be connected to the fork arm 710 at one end and connected to the upper housing 210 at the other end. For the types, beneficial effects and specific details of the dust cover 720, please refer to the relevant parts below.

[0290] In order to avoid redundancy, the relevant technical features of the sealing module 1400 and other components cooperating with the sealing module 1400 are only briefly introduced, and the specific effects, cooperating relationships and other details can be found in the relevant context.

[0291] Here, in order to facilitate understanding of the structure and effect of the sealing module 1400, the following will specifically introduce the relevant content with reference to the accompanying drawings. Some of the following contents echo the above contents. In the absence of contradiction, all the contents mentioned in the context can be combined with each other. Specifically:

[0292] Reference Figure 2 , Figure 5 , Fig. 9 , Figure 36-Figure 40 In some embodiments, the sealing module 1400 may include: a base 1410, which surrounds the lower housing 220 and is detachably mounted on the outside of the upper housing 210; a guide 1430, which is sleeved on the outside of the lower housing 220 and fixed on the inner wall of the base 1410; and a sealing ring 1420, which is clamped between the base 1410 and the lower housing 220, and the sealing ring 1420 and the guide 1430 are spaced apart in the axial direction. With such a design, on the one hand, the guide 1430 can guide the linear motion of the lower housing 220 along the height direction in the radial direction; on the other hand, the guide 1430 can reduce the sliding friction force of the outer peripheral surface of the lower housing 220 in the axial direction, reduce the load of the screw shaft 310 and the screw nut 320, increase the service life of the adjustment device, and increase the driving comfort of the car. The sealing ring 1420 can be used to isolate water, air, oil, dust and other media outside the system to prevent external impurities from entering the system, destroying lubrication, thereby reducing the system's working reliability and shortening the system's working life. The present disclosure does not limit the sealing ring 1420 and the guide member 1430. The sealing ring 1420 may be an O-ring 1420 or the like, and the guide member 1430 may be a sliding bearing, a linear bearing or the like that can reduce friction.

[0293] Specifically, refer to Figure 37-Figure 38 In some embodiments, the base 1410 can be constructed as a hollow ring, and the upper end of the base 1410 can be coaxially connected to the lower end of the upper shell 210, the guide member 1430 can be interference fixed on the inner side of the base 1410 near the upper end, the lower shell 220 can pass through the guide member 1430 and extend into the upper shell 210, the inner circumferential surface of the guide member 1430 can be coaxially slidably matched with the outer circumferential surface of the lower shell 220, and the following groove 1411 can be provided on the inner side of the base 1410 near the lower end, and the sealing member can be sleeved in the groove 1411.

[0294] Reference Figure 37-Figure 38In the embodiment of the present disclosure, the inner circumference of the base 1410 may be provided with a groove 1411 for accommodating the sealing ring 1420, and the side wall of the groove 1411 may protrude inwardly from the inner wall of the base 1410 to limit the axial position of the guide member 1430. With such a design, during installation, the guide member 1430 is installed in the base 1410 and abuts against the groove 1411 to form an axial limit, which facilitates installation and improves stability during use.

[0295] Since the guide member 1430 will bear part of the radial load during the movement of the lower shell 220, which may cause partial failure of the guide member 1430, the guide member 1430 is a wearing part; at the same time, the sealing ring 1420 may age and fail due to the severity of the actual project and the long service life, so the sealing ring 1420 is also a wearing part. In summary, in the present disclosure, both the guide member 1430 and the sealing ring 1420 need to be regularly inspected and replaced. In order to facilitate subsequent maintenance and replacement, in the embodiment of the present disclosure, the base 1410 and the upper shell 210 can be designed as a non-destructive detachable connection, which is conducive to subsequent maintenance, simple disassembly and assembly process, short working hours, and low maintenance costs. Specifically:

[0296] Reference Fig.40 In some embodiments, the upper shell 210 may include a lower end wall 214, and the lower end wall 214 may have an opening 215 that avoids the lower shell 220. The upper end of the base 1410 may have an extension platform 1412 that protrudes radially outward, and the extension platform 1412 may abut against the lower end wall 214 and may be connected to the lower end wall 214 by bolts. Specifically, the extension platform 1412 may be uniformly provided with a plurality of connection holes 1 along the circumference, and the lower end surface of the upper shell 210 may be uniformly provided with a plurality of connection holes 1 corresponding to the aforementioned connection holes 1 along the circumference. During installation, screws or bolts are screwed into the connection holes 1 on the lower end surface of the upper shell 210 from the side of the base 1410 to achieve a detachable connection between the upper shell 210 and the base 1410.

[0297] In addition, in some other embodiments, reference Figure 37-Figure 39 The upper shell 210 may include a lower end wall 214, and the lower end wall 214 may have an opening 215 that avoids the lower shell 220. The base 1410 may be inserted into the opening 215 and screwed and fixed with the lower end wall 214. Specifically, the inner side of the lower end wall 214 of the upper shell 210 may be provided with an internal thread, and the outer peripheral surface of the base 1410 may be provided with an external thread that matches the aforementioned internal thread. During installation, the base 1410 only needs to be screwed into the internal thread of the upper shell 210 from the bottom side to achieve a fastened and detachable connection between the upper shell 210 and the base 1410.

[0298] In addition to the above motor, the present disclosure also exemplarily provides another motor, specifically:

[0299] Reference Figure 2-Figure 9 , Fig.12 , Fig.15 The present disclosure exemplarily shows a motor for an actuator, including a stator 110, a rotor 120, a cover 231 and an upper end cover 232, wherein the cover 231 is constructed as an axially through sleeve structure and accommodates the stator 110 and the rotor 120, and the upper end cover 232 is arranged at the upper end portion of the cover 231, and at least a part of the structure of the upper end cover 232 is used for connection with a vehicle body.

[0300] The present disclosure does not limit the connection method between the upper end cover 232 and the cover shell 231 , and the two may be integrally formed, or may be detachably connected.

[0301] In the embodiment of the present disclosure, the upper end cover 232 may be connected to the vehicle body through the aforementioned tower top assembly. In addition, in some other embodiments, the upper end cover 232 may also be directly connected to the vehicle body.

[0302] Reference Fig.43 In some embodiments, in order to prevent the stator 110 from rotating, the inner circumferential wall of the cover shell 231 may be provided with a plurality of anti-rotation grooves 760 spaced apart from each other.

[0303] By using the above technical solution, the through sleeve structure facilitates the installation of the stator 110 and the rotor 120 into the housing 231, and the motor structure is simple. In addition, the upper end cover 232 is used to connect to the vehicle body. Compared with the traditional method of fixing the motor through other connecting parts, the motor provided by the present disclosure has a higher degree of integration with the vehicle body, is easy and quick to install, and saves space.

[0304] In order to prevent the upper end cover 232 from rotating relative to the housing 231, refer to Figure 1-Figure 12 , Fig.14 In the embodiment of the present disclosure, the upper end cover 232 can be positioned on the housing 231 by the first circumferential stopper 401. By providing the first circumferential stopper 401, the upper end cover 232 can be effectively prevented from rotating relative to the housing 231, and has a quick positioning effect during installation.

[0305] The present disclosure does not limit the specific structure of the first circumferential locking portion 401. Figure 41-45 In some embodiments, the first circumferential stopper 401 may include: a plurality of first lugs 410 protruding radially outward from the upper end of the housing 231; and a plurality of second lugs 430 protruding radially outward from the edge of the upper end cover 232. The plurality of first lugs 410 and the plurality of second lugs 430 are aligned one by one and connected by fasteners. Here, as described above, the fasteners may be bolts, and during installation, it is only necessary to align the corresponding first lugs 410 and second lugs 430, and use the fasteners to pass through the first lugs 410 and the second lugs 430 in sequence.

[0306] In the embodiment of the present disclosure, the first lug 410 may be integrally formed with the housing 231, and the second lug 430 may be integrally formed with the upper end cover 232. In some other embodiments, the first circumferential stopper 401 may be a connection hole directly formed on the housing 231 and the upper end cover 232, and fastening and anti-rotation can be achieved by passing fasteners through the connection holes in sequence.

[0307] Further, refer to Figure 41-45 In some embodiments, a first bayonet 420 may be formed between two adjacent first lugs 410, and the first circumferential stopper 401 may further include: a first stopper 440, which is disposed between two adjacent second lugs 430 and extends into the first bayonet 420 in a shape-fitting manner. The first stopper 440 cooperates with the first bayonet 420 to further prevent the upper end cover 232 from rotating relative to the housing 231, and during installation, extending the first stopper 440 into the corresponding first bayonet 420 can ensure that the corresponding first lug 410 and the second lug 430 are aligned, so that they can be quickly connected by fasteners.

[0308] In the embodiment of the present disclosure, the first retaining piece 440 can be attached to the outer wall of the housing 231. With such a design, during installation, the plurality of first retaining pieces 440 can wrap the housing 231 from the periphery to form a radial limit, so as to facilitate positioning and installation and improve the overall stability of the driving module 100.

[0309] In the embodiment of the present disclosure, in order to facilitate the assembly, disassembly and maintenance of the motor, the upper end cover 232 can be detachably connected to the housing 231, for example, by the above-mentioned fasteners. In addition, in some other embodiments, the upper end cover 232 and the housing 231 can also be screwed together by threads.

[0310] In addition to the upper end cover 232, in the embodiment of the present disclosure, the motor may further include a lower end cover 233 disposed at the lower end of the housing 231. The present disclosure does not limit the connection method between the lower end cover 233 and the housing 231, and details are as follows.

[0311] In order to prevent the lower end cover 232 from rotating relative to the housing 231, refer to Figure 11-Figure 12 , Fig.14 In the embodiment of the present disclosure, the lower end cover 233 can be positioned on the housing 231 by the second circumferential stopper 402. By providing the second circumferential stopper 402, the lower end cover 233 can be effectively prevented from rotating relative to the housing 231, and has a quick positioning effect during installation.

[0312] The present disclosure does not limit the specific structure of the second circumferential locking portion 402. Figure 41-45In some embodiments, the second circumferential stopper 402 may further include: a plurality of third lugs 460 protruding radially outward from the lower end of the housing 231; and a plurality of fourth lugs 480 protruding radially outward from the edge of the lower end cover 233. The plurality of third lugs 460 and the plurality of fourth lugs 480 may be aligned one by one and connected by fasteners. Here, as described above, the fasteners may be bolts, and during installation, it is only necessary to align the corresponding third lugs 460 and fourth lugs 480, and use the fasteners to pass through the third lugs 460 and the fourth lugs 480 in sequence.

[0313] In the embodiment of the present disclosure, the third lug 460 may be integrally formed with the housing 231, and the fourth lug 480 may be integrally formed with the lower end cover 233. In some other embodiments, the second circumferential stopper 402 may also be a connecting hole directly formed on the housing 231 and the lower end cover 233, and fastening and anti-rotation may be achieved by passing fasteners through the connecting holes in sequence.

[0314] Further, refer to Figure 41-45 In some embodiments, a second bayonet 470 may be formed between two adjacent third lugs 460, and the second circumferential stopper 402 may further include: a second stopper 490, which is disposed between two adjacent fourth lugs 480 and extends into the second bayonet 470 in a shape-fitting manner. The second stopper 490 cooperates with the second bayonet 470 to further prevent the lower end cover 233 from rotating relative to the housing 231, and during installation, extending the second stopper 490 into the corresponding second bayonet 470 can ensure that the corresponding third lug 460 and fourth lug 480 are aligned, so that they can be quickly connected by fasteners.

[0315] In the embodiment of the present disclosure, the first retaining piece 440 can be attached to the outer wall of the housing 231. With such a design, during installation, the plurality of first retaining pieces 440 can wrap the housing 231 from the periphery to form a radial limit, so as to facilitate positioning and installation and improve the overall stability of the driving module 100.

[0316] In the embodiment of the present disclosure, the second retaining piece 490 can be attached to the outer wall of the housing 231. With such a design, during installation, the plurality of first retaining pieces 440 can wrap the housing 231 from the periphery to form a radial limit, so as to facilitate positioning and installation and improve the overall stability of the driving module 100.

[0317] In the embodiment of the present disclosure, in order to facilitate the assembly, disassembly and maintenance of the motor, the lower end cover 233 can be detachably connected to the housing 231, for example, by the above-mentioned fasteners. In addition, in some other embodiments, the lower end cover 233 and the housing 231 can also be screwed together by threads.

[0318] Reference Figure 5 and Figure 7 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 surround the cover 231 from the outer side of the end of the cover 231. With such a design, the cover 231 can be wrapped by the flanges 450 to achieve radial positioning between the two. And such a design can prevent water accumulation, impurities, etc. from entering the interior of the motor housing 230 from the gap between the two, and at the same time, it can prevent static electricity from entering the interior of the motor housing 230 from the outside, thereby protecting the internal components.

[0319] Reference Fig.12 In an embodiment of the present disclosure, the upper end cover 232 may include a cover body 235 and a top cover 234 detachably mounted above the cover body 235, wherein the top cover 234 may be used to be fixedly connected to the vehicle body. Specifically, the top cover 234 may be connected to the vehicle body through the aforementioned tower top assembly 500. With such a design, when the motor needs to be disassembled from the vehicle body for inspection, the cover body 235 can be separated from the top cover 234, and when installation is required, it is only necessary to connect the cover body 235 to the top cover 234, which is convenient and simple to operate. In addition, a closed space may be formed between the top cover 234 and the cover body 235, and the closed space may be used to install the sensors mentioned above, etc.

[0320] Reference Figure 20-24 In the embodiment of the present disclosure, the stator 110 can be constructed as a hollow cylindrical structure, and the stator 110 can be fixed to the inner wall of the housing 231. The hollow position of the stator 110 can be used to arrange the rotor 120 and the screw shaft 310. Specifically, in the embodiment of the present disclosure, the stator 110 can be fixed to the middle area of ​​the inner circumference of the housing 231, and can be installed by interference fit or shrink fitting. An axial limiting feature 2311 for limiting the installation position of the stator 110 can be provided at a position near the lower end of the inner circumference of the housing 231.

[0321] Further, refer to Figure 20-24 In the embodiment of the present disclosure, the rotor 120 may be constructed as a hollow cylindrical structure, and the rotor 120 may be coaxially mounted on the inner side of the stator 110 and may rotate relative to the stator 110. The specific structure of the rotor 120 and the positional relationship with the stator 110 may be referred to below, and will not be repeated here.

[0322] Further, refer to Figure 20-24 In the embodiment of the present disclosure, the rotor 120 can be constructed as a hollow cylindrical structure, and the rotor 120 is used to drive the screw shaft 310 extending into the inner side of the rotor 120 to rotate, so as to drive the nut 320 connected to the screw shaft 310 to output linear motion, and then drive the wheel to perform linear motion along the height direction through the nut 320.

[0323] In order to facilitate the understanding of the internal structure of the motor, an embodiment is specifically introduced below to assist in understanding the above scheme. Specifically, in some embodiments, the rotor 120 may include a retaining frame and a permanent magnet 124, the retaining frame may be constructed as a hollow cylindrical structure, and the permanent magnet 124 may be evenly fixed and distributed on the outer axial surface of the retaining frame. The stator 110 may include an iron core assembly and a wire assembly, and the wire assembly may be composed of three-phase wires respectively wound on the iron core assembly to form the required three-phase winding. Among them, the rotor 120 can be coaxially arranged on the inner side of the stator 110 in an embedded manner, and the minimum vertical distance between the outer axial surface of the rotor 120 and the inner hole surface of the stator 110 can be 0.5mm~1.0mm, which can ensure that the rotating motor part is compactly structured and can meet the electromagnetic effect generated between the rotor 120 and the stator 110. Since the rotor 120 adopts a hollow structure and the screw shaft 310 extends into the inner side of the rotor 120, the axial coupling length between the rotor 120 and the screw shaft 310 can be significantly increased, the maximum dimension requirement of the adjustment device for the Z-direction space can be reduced, and the deployability of the adjustment device in the vehicle can be further improved.

[0324] Reference Figure 5 and Fig.12 In the embodiment of the present disclosure, the motor may further include a lower end cover 233 disposed at the lower end of the housing 231, the upper end cover 232 may be provided with a first mounting seat 2321, and the lower end cover 233 may be provided with a second mounting seat 2331, and the first mounting seat 2321 and the second mounting seat 2331 may be respectively used to install a radial bearing 601 applied to the screw shaft 310. By providing the radial bearing 601, the screw shaft 310 can be limited in the radial direction, thereby improving the stability of the motor-driven screw shaft 310. The first mounting seat 2321 and the second mounting seat 2331 can limit the radial bearing 601 in the radial direction and the axial direction, respectively. Here, the radial bearing 601 is the third bearing 630 and the fourth bearing 640 mentioned below for radially limiting the screw shaft 310.

[0325] In the embodiment of the present disclosure, the upper end cover 232 may be provided with an installation space for installing a sensor 800, and the sensor 800 is used to detect the rotation information of the lead screw shaft 310. Specifically, the upper end cover 232 may include a cover body 235 and a top cover 234, and a closed space, i.e., an installation space, may be formed between the top cover 234 and the cover body 235. For the "rotation information", please refer to the above, and the explanation will not be repeated here.

[0326] The present disclosure does not limit the specific structure of the sensor 800. Fig.10In the embodiment of the present disclosure, the sensor 800 may include a fixed element 810 and a moving element 820 rotatably connected to the lead screw shaft 310, and the installation space may include a fifth mounting seat 212 formed on the upper end cover 232 for mounting the fixed element 810, and the fifth mounting seat 212 may limit the fixed element 810 in the radial direction and the axial direction. Specifically, the fifth mounting seat 212 may be formed on the cover body 235. The specific structure and principle of the sensor 800 can be referred to the relevant parts above, and will not be repeated here.

[0327] In order to prevent the fixed element 810 from being separated from the upper end cover 232, refer to Fig.10 In an embodiment of the present disclosure, the fixed element 810 can be axially pressed onto the upper end cover 232 by a fixed pressure plate 811 .

[0328] Reference Figure 2 and Figure 3 In the embodiment of the present disclosure, the upper end cover 232 may be provided with a third mounting seat 2322, and the lower end cover 233 may be provided with a fourth mounting seat 2332. The third mounting seat 2322 and the fourth mounting seat 2332 may be used to install an axial bearing 602 capable of bearing an axial load, respectively. Here, the axial bearing 602 is the first bearing 610 and the second bearing 620 mentioned below. The third mounting seat 2322 and the fourth mounting seat 2332 may limit the axial bearing 602 in the radial direction and the axial direction. By providing the axial bearing 602, the rotor 120 may be limited in the axial direction, thereby ensuring the relative position of the rotor 120 and the stator 110 in the axial direction, avoiding axial impact causing the rotor 120 and the stator 110 to be misaligned in the axial direction, thereby reducing the service life and output efficiency of the motor.

[0329] Accordingly, the present disclosure provides an actuator, which may include the above-mentioned motor. Since the actuator has all the beneficial effects of the above-mentioned motor, they will not be described in detail here.

[0330] 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.

[0331] 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.

[0332] 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.

[0333] 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.

[0334] 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. A motor for an actuator, characterized in that: include: a motor housing, at least part of which is configured to be connected to the vehicle body; A stator and a rotor are accommodated in the motor housing; as well as An axial bearing is fixed to the motor housing and is used to limit the rotor in the axial direction.

2. The motor according to claim 1, characterized in that The motor housing comprises an upper end cover and a lower end cover, and the axial bearing comprises a first bearing fixed to the upper end cover and a second bearing fixed to the lower end cover.

3. The motor according to claim 2, characterized in that The first bearing and the second bearing are thrust bearings.

4. An actuator, characterized in that: include: The motor according to any one of claims 1 to 3; A screw shaft, rotatably connected to the rotor; as well as The nut forms a kinematic pair with the lead screw shaft, and the nut is used to connect the wheel.

5. The actuator according to claim 4, characterized in that: The rotor is sleeved on the outer circumference of the screw shaft, an adapter sleeve is arranged between the rotor and the screw shaft, and the screw shaft is fixedly connected to the rotor through the adapter sleeve.

6. The actuator according to claim 5, characterized in that: The adapter sleeve has two radially protruding flanges, which are respectively pressed against the shaft ends of the rotor from both ends and fixed to the rotor. The adapter sleeve is key-connected with the lead screw shaft.

7. The actuator according to claim 6, characterized in that: The axial bearing includes a first bearing fixed to the upper end cover of the motor housing and a second bearing fixed to the lower end cover of the motor housing. The first bearing and the second bearing abut against the adapter sleeve for axially supporting the rotor through the adapter sleeve.

8. The actuator according to claim 7, characterized in that: The first bearing and the second bearing abut against the corresponding flanges, respectively.

9. The actuator according to claim 4, characterized in that: Also includes: A radial bearing is fixed to the motor housing and is used to carry the screw shaft in a radial direction.

10. The actuator according to claim 9, characterized in that: The radial bearing includes a third bearing fixed to the upper end cover of the motor housing and a fourth bearing fixed to the lower end cover of the motor housing. The third bearing and the fourth bearing abut against the screw shaft for radially supporting the screw shaft.

11. The actuator according to claim 10, characterized in that: The third bearing and the fourth bearing are angular contact ball bearings and are installed in a back-to-back manner.

12. An active suspension, characterized in that: An actuator comprising any one of claims 4-11.

13. A vehicle, characterized in that: Comprising the active suspension as claimed in claim 12.

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