Actuator and vehicle gear shift system

Abstract

The utility model provides a kind of actuator and vehicle gear shifting system belong to vehicle parts technical field, comprising: at least two gear shifting execution unit, each gear shifting execution unit is sequentially arranged and parallelly arranged along first direction;Transmission mechanism is configured to drive execution element linear motion along second direction when driving element output rotary motion;Wherein, first direction is perpendicular to second direction, the execution element of each gear shifting execution unit respectively corresponds the gear shifting operation of different gear group in transmission, and the sum of the working stroke of the execution element of all gear shifting execution unit along second direction constitutes the total working stroke required to cover all gear switching.The utility model has the beneficial effect that: by at least two execution units arranged in different directions, multi-gear switching is completed cooperatively, so that greater equivalent working stroke is realized without increasing even reducing the axial dimension of actuator, and the corresponding gear shifting execution unit is activated as needed by gear grouping strategy, so as to simplify control logic.

Description

Technical Field

[0001] This utility model belongs to the field of vehicle parts technology, and relates to an actuator and a vehicle shifting system. Background Technology

[0002] In a vehicle's gear shifting system, the actuator is a key electromechanical component used to drive the internal shifting mechanism of the transmission to complete gear switching. Its main function is to receive command signals from the vehicle control unit and, typically via a drive mechanism (such as a ball screw), move the shift fork axially to select and engage different gear synchronizers or gear sets. As a crucial component connecting the actuator output to the internal shifting mechanism of the transmission, the shift fork needs to precisely reciprocate between multiple preset gears. To meet the structural requirements of a multi-gear arrangement, the shift fork must have sufficient axial travel to ensure a reasonable spatial interval between gears, avoiding shifting interference or misoperation.

[0003] However, in existing technologies, if there are many gears or a minimum safe distance is required between adjacent gears, the axial travel of the shift fork needs to be increased. This directly leads to an increase in the overall axial length of the actuator, which not only occupies more internal space in the gearbox housing but may also affect the overall vehicle layout. Conversely, if the axial travel of the shift fork is compressed to control the actuator size, the axial distance between adjacent gears will be too tight, making it difficult to meet the design requirements for assembly tolerances and shifting reliability, and easily causing shifting jamming, synchronization failure, or even transmission failure.

[0004] Therefore, how to achieve reliable switching of multiple gears within a limited axial space, while taking into account the compactness, response speed and structural strength of the actuator, has become a key technical challenge in the design of current vehicle gear shift actuators. Utility Model Content

[0005] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing an actuator and a vehicle gear shifting system.

[0006] The objective of this utility model can be achieved through the following technical solution: An actuator, comprising:

[0007] At least two shift execution units, wherein each shift execution unit is arranged sequentially and in parallel along a first direction;

[0008] The shifting execution unit includes a drive element, a transmission mechanism, and an execution element. The drive element and the execution element are linked together through the transmission mechanism. The transmission mechanism is configured to drive the execution element to move linearly along a second direction when the drive element outputs rotational motion.

[0009] Wherein, the first direction is perpendicular to the second direction, the actuating element of each shift execution unit corresponds to the shifting operation of different gear groups in the transmission, and the sum of the working strokes of the actuating elements of all shift execution units along the second direction constitutes the total working stroke required to cover all gear switching.

[0010] Preferably, during any gear shift, at most one of the gear shift execution units is in operation and drives its corresponding execution element to move, while the other gear shift execution units remain stationary.

[0011] Preferably, it also includes a base, on which each of the shifting execution units is mounted; wherein the transmission mechanism is disposed within the base, and the drive element is fixed to the outer wall of the base.

[0012] Preferably, the transmission mechanism includes a lead screw and a nut, the driving element is a motor, the actuating element is a shift fork, the axial direction of the lead screw is consistent with the second direction, the output shaft of the motor is connected to the lead screw, the nut is threadedly connected to the lead screw, and the shift fork is fixedly connected to the nut.

[0013] Preferably, the shift fork is provided with a connecting hole and a insertion hole, the axis of the connecting hole is perpendicular to the axis of the insertion hole, one end of the insertion hole is located on the surface of the shift fork and the other end communicates with the connecting hole, the nut passes through the connecting hole of the shift fork, and the outer wall surface of the nut contacts and fits with the hole wall of the connecting hole, the nut is provided with a keyway, the insertion hole of the shift fork is aligned with the keyway of the nut, a key block is embedded in the insertion hole of the shift fork, and the key block is keyed to the keyway to fix the shift fork and the nut together.

[0014] Preferably, the base is provided with a locking mechanism, the number of which is the same as the number of shift actuators and they are arranged in a one-to-one correspondence. The locking mechanism includes a fixed base, an elastic element, and a locking pin. The fixed base is mounted on the base, and the locking pin is slidably connected to the fixed base. One end of the elastic element is connected to the fixed base and the other end is connected to the locking pin. The elastic element applies a spring force to the locking pin to make it tend toward the actuator. The surface of the actuator facing the locking pin has at least two locking grooves arranged sequentially and spaced apart along the second direction. The locking pin abuts against the surface of the actuator facing the locking pin. When the actuator reaches a set gear position, the locking pin is inserted into the locking groove to prevent the actuator from disengaging from the gear position.

[0015] Preferably, the base is provided with an interlocking pin that can slide along the first direction. The interlocking pin is located between two adjacent shifting execution units. The execution element has an interlocking groove on one surface facing the interlocking pin. One end of the interlocking pin abuts against the smooth surface of the execution element of one shifting execution unit to allow the execution element to move. The other end of the interlocking pin is inserted into the interlocking groove of the execution element of another shifting execution unit to restrict the movement of the execution element.

[0016] Preferably, the two ends of the interlocking pin are rounded, and the interlocking groove is a V-groove. When the interlocking grooves of two adjacent actuators are aligned with the two ends of the interlocking pin, the interlocking state of the interlocking pin is allowed to switch. When the interlocking state of the interlocking pin switches, the interlocking pin is laterally displaced along a first direction, causing one end to exit the interlocking groove of the actuator that is allowed to move, and causing the other end to insert into the interlocking groove of another actuator.

[0017] Preferably, the base is provided with a circuit board, and the circuit board is provided with Hall effect sensors. The number of Hall effect sensors is the same as the number of actuators and they are arranged in a one-to-one correspondence. Each actuator is provided with a magnetic element. When the actuator reaches the set position, the magnetic element is located in the sensing area of ​​the Hall effect sensor.

[0018] A vehicle gear shifting system includes the actuator.

[0019] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0020] 1. Multi-gear switching is completed by at least two actuators arranged in different directions, thereby achieving a larger equivalent working stroke without increasing or even reducing the axial dimension of the actuator. Furthermore, the gear grouping strategy enables the corresponding gear shifting actuator to be activated as needed, thereby simplifying the control logic.

[0021] 2. Each shifting unit has a small load and sufficient axial working stroke, and can obtain sufficient spacing between adjacent gears. Sufficient gear spacing means that the synchronizer or gear has enough physical space to complete disengagement, synchronization and re-engagement during the shifting process, which directly improves the shifting success rate and transmission smoothness.

[0022] 3. One of the core logics of the actuator control system is that during the gear shifting process, only the actuator element of one gear shifting unit moves. Specifically, each gear shifting operation (such as shifting from 3rd to 4th gear) involves only one target gear, and this gear belongs to a unique gear group. The corresponding gear shifting unit moves after receiving the instruction, while other gear shifting units do not receive the movement instruction. The drive elements of these gear shifting units remain de-energized or in a braking / standby state, and the actuator elements remain stationary in their current position.

[0023] 4. Each shift actuator is equipped with an independent locking mechanism to automatically lock the position of the actuator after shifting, preventing it from accidentally disengaging from the current gear due to vibration, reverse force or misoperation.

[0024] 5. The interlocking mechanism is a mechanical safety device to prevent dual gear engagement. Its core function is to allow only one gear shifting unit's actuator (such as a shift fork) to be active at any given time, while forcibly locking the actuators of adjacent units to prevent two gears from engaging simultaneously. Attached Figure Description

[0025] Figure 1 This is an exploded view of the actuator of this utility model.

[0026] Figure 2 This is an isometric view of the actuator of this utility model.

[0027] Figure 3 This is a top view of the actuator of this utility model.

[0028] Figure 4 This is a side view of the actuator of this utility model.

[0029] Figure 5 This is a schematic diagram of the fork, locking mechanism, and interlocking mechanism of this utility model.

[0030] Figure 6 This is a schematic diagram showing the connection relationship between the transmission mechanism and the actuator of this utility model.

[0031] Figure 7 This is an exploded view of the transmission mechanism and actuator of this utility model.

[0032] In the diagram, 100 is the shifting unit; 110 is the motor; 120 is the lead screw; 130 is the nut; 131 is the keyway; 140 is the shift fork; 141 is the connecting hole; 142 is the insertion hole; 143 is the key block; 144 is the locking groove; 145 is the interlocking groove; 200 is the base; 310 is the fixed base; 320 is the elastic element; 330 is the locking pin; and 400 is the interlocking pin. Detailed Implementation

[0033] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0034] like Figures 1 to 7 As shown, an actuator includes:

[0035] At least two shift execution units 100, each shift execution unit 100 is arranged sequentially and in parallel along a first direction;

[0036] The shifting execution unit 100 includes a drive element, a transmission mechanism, and an execution element. The drive element and the execution element are linked together through the transmission mechanism. The transmission mechanism is configured to drive the execution element to move linearly in a second direction when the drive element outputs rotational motion.

[0037] The first direction is perpendicular to the second direction. The actuators of each shift execution unit 100 correspond to the shifting operations of different gear groups in the transmission. The sum of the working strokes of the actuators of all shift execution units 100 along the second direction constitutes the total working stroke required to cover all gear shifts.

[0038] The actuator operates on the principle of multiple shifting execution units 100 sharing the shifting stroke in parallel. This decomposes the entire axial shifting stroke that a traditional single actuator would need to complete into multiple sub-strokes, each undertaken by multiple independently moving and collaboratively working shifting execution units 100. All shifting execution units 100 are arranged in parallel along a first direction (e.g., horizontal), spatially independent of each other. The actuator element (shift fork 140) of each shifting execution unit 100 moves linearly along a second direction (e.g., longitudinal axis) to drive the synchronizer or gears within the transmission. Since the first and second directions are perpendicular, multiple shifting execution units 100 can be arranged side-by-side laterally while moving independently longitudinally, thus achieving reliable multi-gear switching within a limited axial space while maintaining the compactness of the actuator.

[0039] In the example, the actuator contains two shift execution units 100. All gears of the transmission are divided into two gear groups (e.g., N and 1 as one group, and 2, 3 and 4 as another group). Each shift execution unit 100 is specifically responsible for switching all gears within a gear group. Although the axial working stroke of each actuator is short (only needing to cover the maximum distance between adjacent gears within its assigned gear group), the stroke range of all actuators, when superimposed in the second direction, can completely cover the total shift stroke required from the lowest gear to the highest gear.

[0040] During gear shifting, when the vehicle needs to switch to a certain gear, the control system determines the gear group to which the gear belongs and activates only the corresponding shift execution unit 100. The drive element (such as motor 110) of the shift execution unit 100 starts and outputs rotational motion. The rotational motion is converted into linear displacement of the execution element along a second direction through the transmission mechanism. The execution element (such as shift fork 140) pushes the corresponding synchronizer in the transmission to move, completing the engagement of the target gear. The other shift execution units 100 remain stationary and do not participate in this shifting action.

[0041] In this design, each shift actuator 100 has a small load and sufficient axial working stroke, and there is enough spacing between adjacent gears. Sufficient gear spacing means that the synchronizer or gear has enough physical space to complete the disengagement, synchronization and re-engagement actions during the shifting process, which directly improves the shifting success rate and transmission smoothness.

[0042] Furthermore, this multi-shift actuator 100 design can meet more gear design requirements, thereby breaking through the single actuator stroke limit, supporting a high number of gears, and adapting to more complex shifting systems.

[0043] Based on the above implementation method, during any gear shifting process, at most one gear shifting execution unit 100 is in working state and drives its corresponding execution element to move, while the other gear shifting execution units 100 remain stationary.

[0044] One of the core logics of the actuator control system is that during the gear shifting process, only the actuator element of one shifting actuator 100 moves. Specifically, each gear shifting operation (such as shifting from 3rd to 4th gear) involves only one target gear, which belongs to a unique gear group. The corresponding shifting actuator 100 moves after receiving the instruction, while other shifting actuators 100 do not receive the movement instruction. The drive elements of these shifting actuators 100 remain de-energized or in a braking / standby state, and the actuator elements remain stationary in their current positions.

[0045] like Figures 1 to 7 As shown, based on the above embodiment, it also includes a base 200, and each shifting execution unit 100 is installed on the base 200; wherein, the transmission mechanism is disposed inside the base 200, and the driving element is fixed to the outer wall of the base 200.

[0046] Based on the above embodiments, the transmission mechanism includes a lead screw 120 and a nut 130, the driving element is a motor 110, the actuating element is a shift fork 140, the axial direction of the lead screw 120 is consistent with the second direction, the output shaft of the motor 110 is connected to the lead screw 120, the nut 130 is threadedly connected to the lead screw 120, and the shift fork 140 is fixedly connected to the nut 130.

[0047] The lead screws 120 of each transmission mechanism are arranged in parallel along the first direction. The motor 110 serves as the driving element, and its output shaft directly drives the lead screws 120 to rotate. The lead screws 120 are arranged along the second direction. When the lead screws 120 rotate, the nut 130, which is threaded to them, moves linearly along the axial direction of the lead screws 120. The shift fork 140 is fixedly connected to the nut 130, so it moves synchronously with the nut 130, thereby driving the synchronizer in the gearbox to complete the shifting action.

[0048] like Figure 1 , Figures 5 to 7 As shown, based on the above embodiment, the shift fork 140 is provided with a connecting hole 141 and a insertion hole 142. The axis of the connecting hole 141 is perpendicular to the axis of the insertion hole 142. One end of the insertion hole 142 is located on the surface of the shift fork 140 and the other end communicates with the connecting hole 141. The nut 130 passes through the connecting hole 141 of the shift fork 140, and the outer wall surface of the nut 130 contacts and engages with the hole wall of the connecting hole 141. The nut 130 is provided with a keyway 131. The insertion hole 142 of the shift fork 140 is aligned with the keyway 131 of the nut 130. A key block 143 is embedded in the insertion hole 142 of the shift fork 140. The key block 143 is keyed to the keyway 131 to fix the shift fork 140 and the nut 130.

[0049] The connecting hole 141 is used to insert the nut 130, and its axis is along the second direction; the insertion hole 142 is perpendicular to the connecting hole 141, with one end opening on the outer surface of the shift fork 140 and the other end communicating with the inside of the connecting hole 141; a keyway 131 is machined on the surface of the nut 130. During assembly, after the shift fork 140 is put on the nut 130, the shift fork 140 is rotated to align the insertion hole 142 with the keyway 131 on the nut 130, and the key block 143 is inserted from the opening of the insertion hole 142 on the outer surface of the shift fork 140. Part of the key block 143 is embedded in the keyway 131, and the other part remains in the insertion hole 142.

[0050] During gear shifting, the nut 130 is driven axially by the lead screw 120, which in turn drives the shift fork 140 to push the synchronizer. The shift fork 140 bears the reaction force from inside the transmission, which is transmitted to the nut 130 through the shift fork 140. This generates a large lateral (shear) load at the interface between the two. If a screw is used to connect the shift fork 140 and the nut 130, it may cause the screw to break. However, the key block 143 has a large cross-sectional area and its shear resistance is far superior to that of a screw.

[0051] like Figures 1 to 7As shown, based on the above embodiment, the base 200 is provided with a locking mechanism. The number of locking mechanisms is the same as that of the shifting execution units 100 and they are arranged in a one-to-one correspondence. The locking mechanism includes a fixed base 310, an elastic element 320 and a locking pin 330. The fixed base 310 is installed on the base 200. The locking pin 330 is slidably connected to the fixed base 310. One end of the elastic element 320 is connected to the fixed base 310 and the other end is connected to the locking pin 330. The elastic element 320 applies a spring force to the locking pin 330 to make it tend towards the execution element. The surface of the execution element facing the locking pin 330 has at least two locking grooves 144 arranged sequentially and spaced apart along the second direction. The locking pin 330 abuts against the surface of the execution element facing the locking pin 330. When the execution element reaches the set gear position, the locking pin 330 is inserted into the locking groove 144 to restrict the execution element from disengaging from the gear position.

[0052] Each shift actuator 100 is equipped with an independent locking mechanism to automatically lock the position of the actuator after shifting, preventing it from accidentally disengaging from the current gear due to vibration, reverse force, or misoperation.

[0053] During gear shifting, the actuator moves along the second direction under the drive of the transmission mechanism. The locking pin 330 remains in contact with the surface of the actuator and slides and rubs against it under its elastic force. When the actuator passes through a non-gear area (such as between two gears), its surface is a smooth plane and does not hinder the movement. When the actuator reaches the target gear, the corresponding locking groove 144 on the actuator moves to a position aligned with the locking pin 330. The elastic element 320 pushes the locking pin 330 to automatically spring into the locking groove 144. The end of the locking pin 330 is embedded in the groove, forming a mechanical limit and preventing the actuator from continuing to move or retract along the second direction. When a gear shift is required, the control system activates the drive element, causing the actuator to move away from the current gear. The edge of the locking groove 144 on the surface of the actuator (designed as a bevel or rounded corner) pushes the locking pin 330. The locking pin 330 overcomes the elastic force of the elastic element 320 and slides backward (compressing the elastic element 320). Once the locking pin 330 completely exits the locking groove 144, the mechanical constraint is released, and the actuator can move freely in the second direction to enter a new shift stroke.

[0054] like Figure 1 , Figures 5 to 7 As shown, based on the above embodiment, the base 200 is provided with an interlocking pin 400 that can slide along a first direction. The interlocking pin 400 is located between two adjacent shifting execution units 100. An interlocking groove 145 is provided on a surface of the execution element facing the interlocking pin 400. One end of the interlocking pin 400 abuts against the smooth surface of the execution element of one shifting execution unit 100 to allow the execution element to move. The other end of the interlocking pin 400 is inserted into the interlocking groove 145 of the execution element of another shifting execution unit 100 to restrict the movement of the execution element.

[0055] The interlock mechanism is a mechanical safety device to prevent two gears from engaging simultaneously. Its core function is to allow only one gear shifting unit 100's actuator (such as shift fork 140) to be active at any given time, while forcibly locking the actuators of adjacent units to prevent two gears from engaging at the same time.

[0056] Taking adjacent actuators A and B as an example:

[0057] In the initial state, one end of the interlock pin 400 is inserted into the interlock groove 145 of the actuator A, and the other end of the interlock pin 400 abuts against the smooth surface of the actuator B. At this time, the actuator B is allowed to move freely in the second direction. Since one end of the interlock pin 400 is abutted by the smooth surface of the actuator B, the interlock pin 400 cannot exit the interlock groove 145 of the actuator A in the first direction.

[0058] When the actuator B moves to the position where its interlock slot 145 is aligned with the interlock pin 400 (i.e., the aligned position), the interlock pin 400 is allowed to move in the first direction to switch the interlock state. If the actuator A tends to move at this time, the interlock pin 400 will be pushed towards the actuator B. As the actuator A moves gradually, the interlock pin 400 is inserted into the interlock slot 145 of the actuator B. At this time, the actuator B is locked, while the actuator A is allowed to move.

[0059] It should be noted that there is an alignment position between two adjacent actuators. When the two adjacent actuators are in the alignment position, the interlocking slots 145 of the two actuators are respectively aligned with the two ends of the interlocking pin 400. At this time, the interlocking pin 400 can move along the first direction to switch the interlocking state.

[0060] Based on the above implementation, the two ends of the interlocking pin 400 are rounded, and the interlocking groove 145 is a V-shaped groove. When the interlocking grooves 145 of two adjacent actuators are aligned with the two ends of the interlocking pin 400, the interlocking state of the interlocking pin 400 is allowed to switch. When the interlocking state of the interlocking pin 400 is switched, the interlocking pin 400 is laterally displaced along the first direction, so that one end of it exits the interlocking groove 145 of the actuator that is allowed to move, and the other end of it is inserted into the interlocking groove 145 of another actuator.

[0061] like Figures 1 to 4 As shown, based on the above-described embodiment, the base 200 is provided with a circuit board, and the circuit board is provided with Hall effect sensors. The number of Hall effect sensors is the same as that of the actuators and they are arranged in a one-to-one correspondence. Each actuator is provided with a magnetic element. When the actuator reaches the set position, the magnetic element is located in the sensing area of ​​the Hall effect sensor.

[0062] When the shift fork 140 moves to a preset gear position along the second direction (shift axis) under the drive of the transmission mechanism, the magnetic component on it moves synchronously to the sensing area of ​​the corresponding Hall sensor element, thereby determining in real time whether the shift fork 140 is accurately stopped at the target gear position.

[0063] like Figures 1 to 7 As shown, a vehicle gear shifting system includes an actuator. The actuator is connected to the transmission and is used to complete gear shifting. The actuator works in concert with multiple gear shifting execution units 100 to achieve precise and reliable shifting of multiple gears within a limited space. It also integrates position detection, mechanical interlock, and gear locking functions, significantly improving shifting safety, response speed, and system compactness, and is suitable for transmissions with complex structures.

[0064] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0065] Furthermore, in this utility model, the use of terms such as "first," "second," and "a" is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0067] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

Claims

1. An actuator, characterized in that, include: At least two shift execution units (100) are arranged sequentially and in parallel along a first direction; The shifting execution unit (100) includes a drive element, a transmission mechanism, and an execution element. The drive element and the execution element are linked together through the transmission mechanism. The transmission mechanism is configured to drive the execution element to move linearly in a second direction when the drive element outputs rotational motion. Wherein, the first direction is perpendicular to the second direction, the actuating elements of each shift execution unit (100) correspond to the shifting operations of different gear groups in the transmission, and the sum of the working strokes of the actuating elements of all shift execution units (100) along the second direction constitutes the total working stroke required to cover all gear switching.

2. An actuator as described in claim 1, characterized in that: During any gear shift, at most one of the gear shift execution units (100) is in operation and drives its corresponding execution element to move, while the other gear shift execution units (100) remain stationary.

3. An actuator as described in claim 2, characterized in that: It also includes a base (200), and each of the shift execution units (100) is mounted on the base (200); wherein the transmission mechanism is disposed inside the base (200), and the drive element is fixed to the outer wall of the base (200).

4. An actuator as described in claim 3, characterized in that: The transmission mechanism includes a lead screw (120) and a nut (130). The driving element is a motor (110), and the actuating element is a shift fork (140). The axial direction of the lead screw (120) is consistent with the second direction. The output shaft of the motor (110) is connected to the lead screw (120). The nut (130) is threadedly connected to the lead screw (120), and the shift fork (140) is fixedly connected to the nut (130).

5. An actuator as described in claim 4, characterized in that: The shift fork (140) is provided with a connecting hole (141) and a insertion hole (142). The axis of the connecting hole (141) is perpendicular to the axis of the insertion hole (142). One end of the insertion hole (142) is located on the surface of the shift fork (140), and the other end communicates with the connecting hole (141). The nut (130) passes through the connecting hole (141) of the shift fork (140), and the outer wall surface of the nut (130) is parallel to the ground surface. The hole wall of the connecting hole (141) is in contact with the nut (130) and the keyway (131) is provided. The insertion hole (142) of the shift fork (140) is aligned with the keyway (131) of the nut (130). A key block (143) is embedded in the insertion hole (142) of the shift fork (140). The key block (143) is keyed to the keyway (131) so that the shift fork (140) and the nut (130) are fixedly connected.

6. An actuator as described in claim 3, characterized in that: The base (200) is provided with a locking mechanism. The number of locking mechanisms is the same as that of the shift execution units (100), and they are arranged in a one-to-one correspondence. The locking mechanism includes a fixed base (310), an elastic element (320), and a locking pin (330). The fixed base (310) is installed on the base (200), and the locking pin (330) is slidably connected to the fixed base (310). One end of the elastic element (320) is connected to the fixed base (310), and the other end is connected to the locking pin (330). Next, the elastic element (320) applies a spring force to the locking pin (330) to make it tend toward the actuating element; the surface of the actuating element facing the locking pin (330) has at least two locking grooves (144) arranged sequentially and spaced apart along the second direction, the locking pin (330) abuts against the surface of the actuating element facing the locking pin (330), and when the actuating element reaches the set position, the locking pin (330) is embedded in the locking groove (144) to restrict the actuating element from disengaging from the position.

7. An actuator as described in claim 3, characterized in that: The base (200) is provided with an interlocking pin (400) that can slide along the first direction. The interlocking pin (400) is located between two adjacent shift execution units (100). The surface of the execution element facing the interlocking pin (400) is provided with an interlocking groove (145). One end of the interlocking pin (400) abuts against the smooth surface of the execution element of one shift execution unit (100) to allow the execution element to move. The other end of the interlocking pin (400) is inserted into the interlocking groove (145) of the execution element of another shift execution unit (100) to restrict the movement of the execution element.

8. An actuator as described in claim 7, characterized in that: The two ends of the interlocking pin (400) are rounded, and the interlocking groove (145) is a V-groove structure. When the interlocking grooves (145) of two adjacent actuators are aligned with the two ends of the interlocking pin (400), the interlocking state of the interlocking pin (400) is allowed to switch. When the interlocking state of the interlocking pin (400) is switched, the interlocking pin (400) is displaced laterally in the first direction, so that one end of it exits the interlocking slot (145) of the actuator that is allowed to move, and the other end of it is inserted into the interlocking slot (145) of another actuator.

9. An actuator as described in claim 3, characterized in that: The base (200) is provided with a circuit board, and the circuit board is provided with Hall effect sensors. The number of Hall effect sensors is the same as that of the actuators and they are arranged in a one-to-one correspondence. Each actuator is provided with a magnetic element. When the actuator reaches the set position, the magnetic element is located in the sensing area of ​​the Hall effect sensor.

10. A vehicle gear shifting system, characterized in that, Includes the actuator as described in any one of claims 1 to 9.

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