Actuator, motor, active suspension, and vehicle

Abstract

An actuator. The actuator comprises: a driving module and a motion conversion assembly. At least part of the driving module is used for being connected to a vehicle body. The motion conversion assembly comprises a rotary motion module and a linear motion module. The linear motion module is at least partially used for being connected to wheels. The driving module is used for driving the rotary motion module to rotate so as to drive the linear motion module to drive the wheels to perform linear motion in the height direction.

Description

Actuators, motors, active suspension, and vehicles

[0001] This application claims priority to Chinese patent application No. 202410680083.7, filed on May 28, 2024; Chinese patent application No. 202410680070.X, filed on May 28, 2024; and Chinese patent application No. 202421201594.8, filed on May 28, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle height adjustment technology, and more particularly to an actuator, a motor, an active suspension, and a vehicle. Background Technology

[0003] An active suspension system is a system that can actively adjust the suspension stiffness, height, and stability according to road conditions and driving needs through its internal transmission mechanism to provide a more comfortable and stable driving experience.

[0004] Active suspension includes actuators, one end of which is connected to the vehicle body and the other end to the wheel. The actuators can drive linear motion to adjust the overall vehicle height according to road conditions and driving status. Summary of the Invention

[0005] This disclosure provides an actuator, an electric motor, an active suspension, and a vehicle to at least partially address the problems existing in the related art.

[0006] To achieve the above objectives, according to a first aspect of this disclosure, an actuator is provided, comprising: a drive module and a motion conversion assembly. At least a portion of the drive module is configured to connect to a vehicle body. The motion conversion assembly includes a rotary motion module and a linear motion module, at least a portion of the linear motion module being configured to connect to a wheel. The drive module is configured to drive the rotary motion module to rotate, thereby causing the linear motion module to drive the wheel in a linear motion in the height direction.

[0007] According to some embodiments of this disclosure, the drive module includes a stator, a rotor, and a motor housing; the motor housing includes a cover, an upper end cover, and a lower end cover. The cover is configured as an axially through sleeve structure. The upper end cover and the lower end cover are detachably connected to opposite ends of the cover.

[0008] According to some embodiments of this disclosure, the actuator further includes a circumferential locking portion, and the upper end cover and the lower end cover are respectively provided with the circumferential locking portion; the upper end cover and the lower end cover are respectively positioned on the cover by their respective corresponding circumferential locking portions.

[0009] According to some embodiments of this disclosure, the circumferential locking portion includes a plurality of housing lugs and a plurality of end cap lugs. The plurality of housing lugs includes a plurality of first lugs protruding radially outward from the upper end of the housing, and a plurality of third lugs protruding radially outward from the lower end of the housing. The plurality of end cap lugs includes a plurality of second lugs protruding radially outward from the edge of the upper end cap, and a plurality of fourth lugs protruding radially outward from the edge of the lower end cap. The plurality of first lugs are respectively aligned with the plurality of second lugs and connected by fasteners; the plurality of third lugs are respectively aligned with the plurality of fourth lugs and connected by fasteners.

[0010] According to some embodiments of this disclosure, a first latch is formed between two adjacent first lugs of the plurality of first lugs; a second latch is formed between two adjacent third lugs of the plurality of third lugs; the circumferential locking portion further includes: a first locking piece and a second locking piece, the first locking piece being disposed between two adjacent second lugs and extending into the first latch in a shape-fitting manner; the second locking piece being disposed between two adjacent fourth lugs and extending into the second latch in a shape-fitting manner.

[0011] According to some embodiments of this disclosure, the first locking tab and the second locking tab are attached to the outer side wall of the housing.

[0012] According to some embodiments of this disclosure, the outer periphery of the upper end cover and the lower end cover respectively has a flange; the flange is located on the outer side of the end of the cover and is arranged around the cover.

[0013] According to some embodiments of this disclosure, the actuator further includes a tower top assembly for mounting to a vehicle body, the upper end cover being fixedly connected to the tower top assembly.

[0014] According to some embodiments of this disclosure, the tower top assembly includes: a tower top shell, a rubber pad, and a central connecting plate. The tower top shell is configured to accommodate at least a portion of the upper end cover. The rubber pad is fixed within the tower top shell. The central connecting plate connects the rubber pad and the upper end cover.

[0015] According to some embodiments of this disclosure, the rubber pad and the middle connecting plate are sequentially sleeved on the upper end cover, the middle connecting plate is detachably connected to the upper end cover, and the middle connecting plate is embedded in the rubber pad.

[0016] According to some embodiments of this disclosure, the upper end cover has an end cover stepped surface, and the middle connecting plate is constrained on the end cover stepped surface.

[0017] According to some embodiments of this disclosure, the tower top shell includes mounting studs for connecting the vehicle body.

[0018] According to some embodiments of this disclosure, the central connecting plate has multiple weight-reducing holes.

[0019] According to some embodiments of this disclosure, the tower top shell and the middle connecting plate are made of aluminum-based alloy.

[0020] According to some embodiments of this disclosure, the tower top shell includes a body and a bottom connecting plate connected to the bottom of the body, the bottom connecting plate having a first through hole that avoids the upper end cover, and a swing gap between the bottom connecting plate and the upper end cover.

[0021] According to some embodiments of this disclosure, the upper cover includes a cover body and a top cover detachably mounted above the cover body. The top cover is fixedly connected to the tower top assembly.

[0022] According to some embodiments of this disclosure, the rotary motion module includes a lead screw shaft extending along the height direction, the lead screw shaft being responsively connected to the drive module; the linear motion module includes a lead screw nut forming a kinematic pair with the lead screw shaft.

[0023] According to some embodiments of this disclosure, the actuator further includes a lower housing detachably connected below the nut, the nut being connected to the wheel via the lower housing.

[0024] According to some embodiments of this disclosure, the actuator further includes a lower housing, and the nut is connected to the wheel through the lower housing, the nut being integrally formed with the lower housing.

[0025] According to some embodiments of this disclosure, the actuator further includes a fork arm configured to connect the lower housing to the wheel.

[0026] According to some embodiments of this disclosure, the actuator further includes a connecting shaft connected to the bottom of the lower housing and protruding downward; the outer peripheral surface of the connecting shaft is provided with an external thread; the fork arm includes a mounting plate sleeved on the connecting shaft, the mounting plate being pressed against the lower housing by a fastening nut screwed onto the connecting shaft.

[0027] According to some embodiments of this disclosure, the actuator further includes an upper housing sleeved outside the linear motion module; the drive module includes a motor housing, and the motor housing includes a lower end cover; the upper housing and the lower end cover satisfy one of the following: the upper housing is fixedly connected to the lower end cover; or the upper housing and the lower end cover are integrally formed.

[0028] According to some embodiments of this disclosure, the actuator further includes a helical spring for providing a supporting force to the vehicle body in the height direction.

[0029] According to some embodiments of this disclosure, the actuator further includes an upper housing sleeved outside the linear motion module, and the drive module includes a motor housing with a lower end cover; the upper housing and the lower end cover satisfy one of the following: the upper housing is fixedly connected to the lower end cover; or the upper housing and the lower end cover are integrally formed.

[0030] According to some embodiments of this disclosure, the actuator further includes a fork arm connecting the linear motion module, the fork arm being used to connect a wheel, and the helical spring being connected between the upper housing and the fork arm.

[0031] According to some embodiments of this disclosure, a spring support is also included, which is formed by protruding from the outer periphery of the upper housing; the helical spring is connected to the bottom of the spring support.

[0032] According to some embodiments of this disclosure, the helical spring is connected to the lower end face of the upper housing.

[0033] According to some embodiments of this disclosure, the actuator further includes a dust cover that is retractable along its own axial direction; the dust cover is disposed outside the upper housing and fitted onto the linear motion module; one end of the dust cover is connected to the fork arm, and the other end of the dust cover is connected to the upper housing.

[0034] Through the above technical solution, when the actuator is working, the drive module drives the rotary motion module to rotate, and the linear motion module can follow and move linearly along the height direction, thereby driving the wheels to move linearly along the height direction, thus realizing the adjustment of the overall vehicle height. In the purely linear drive method of related technologies, since both the drive component and the transmission component are linear motion (occupying a large height space), the rotary plus linear motion transmission form of this disclosure saves more height space compared to the purely linear transmission method in related technologies, and the control precision of the rotary plus linear motion form is higher under the same process conditions.

[0035] According to some embodiments of this disclosure, the drive module includes a stator and a rotor; the motion conversion component includes a lead screw and a lead screw nut; the lead screw nut is used to connect to the wheel; the actuator further includes an adapter sleeve disposed between the rotor and the lead screw; the rotor can drive the lead screw to rotate through the adapter sleeve, thereby driving the lead screw nut to drive the wheel to perform linear motion in the height direction.

[0036] According to some embodiments of this disclosure, the rotor is constructed as a hollow annular structure, and the lead screw is coaxially disposed on the inner side of the rotor.

[0037] According to some embodiments of this disclosure, the inner peripheral wall of the adapter sleeve is keyed to the outer peripheral wall of the lead screw shaft.

[0038] According to some embodiments of this disclosure, the adapter bushing has two radially protruding flanges; the two flanges respectively abut against two ends of the rotor.

[0039] According to some embodiments of this disclosure, the flange is connected to the end of the rotor by fasteners.

[0040] According to some embodiments of this disclosure, the rotor is annular, and the adapter bushing includes a first bushing and a second bushing arranged from top to bottom in the height direction, the first bushing and the second bushing respectively having the flange.

[0041] According to some embodiments of this disclosure, the first bushing and the second bushing are axially abutting each other.

[0042] According to some embodiments of this disclosure, the portion of the lead screw shaft located below the second bushing has a first stepped surface, and the second bushing abuts against the first stepped surface from above.

[0043] According to some embodiments of this disclosure, the portion of the lead screw shaft located above the first bushing has external threads, and the actuator further includes a first nut screwed onto the lead screw shaft, the first nut pressing against the first bushing from above.

[0044] According to some embodiments of this disclosure, a first threaded hole is provided at the end face of the lower end of the lead screw shaft, and a first bolt is connected thereto.

[0045] According to some embodiments of this disclosure, the portion of the lead screw shaft located above the first bushing has a second stepped surface; the first bushing has a radially inwardly protruding overlapping platform, which presses against the second stepped surface from above.

[0046] According to some embodiments of this disclosure, the adapter sleeve is a single piece, and the rotor includes a first half and a second half, the first half and the second half together surrounding the outside of the adapter sleeve.

[0047] According to some embodiments of this disclosure, the stator is constructed as a hollow cylindrical structure, with the first half and the second half being semi-circular in structure.

[0048] According to some embodiments of this disclosure, positioning holes are respectively provided on the contacting surfaces of the first half and the second half; the actuator also includes a pin, which is inserted into the positioning holes in the first half and the second half to position the first half and the second half.

[0049] According to some embodiments of this disclosure, the actuator further includes a lower housing located below the nut, the nut being connected to the wheel via the lower housing.

[0050] According to some embodiments of this disclosure, the lower housing and the nut satisfy one of the following: the lower housing is detachably connected to the nut; or the lower housing and the nut are integrally formed.

[0051] Through the above technical solution, during operation, the rotor of the drive module drives the lead screw shaft to rotate via the adapter sleeve, and the lead screw nut follows by moving linearly along the height direction, thereby driving the wheels to move linearly along the height direction, thus achieving fully active adjustment of the vehicle height. The solution disclosed herein has a simple structure, high manufacturability, and is easy to assemble and disassemble. Furthermore, the rotational and linear motion transmission method saves more space and provides higher control precision compared to the purely linear transmission method in related technologies. By setting the adapter sleeve, the rotation of the rotor can be transmitted to the lead screw shaft. Since the adapter sleeve is arranged between the rotor and the lead screw shaft, it avoids occupying space axially, increases the axial coupling length, reduces the maximum size requirement of the Z-axis space (height direction), and is more conducive to the flattening design of the rotor, further improving the arbitrability of the adjustment device within the vehicle.

[0052] A second aspect of this disclosure provides an electric motor for an actuator, comprising: a stator, a rotor, a housing, and a top cover. The housing is configured as an axially extending sleeve structure and is arranged to receive the stator and the rotor. The top cover is disposed at the upper end of the housing, and at least a portion of the structure of the top cover is for connection to a vehicle body.

[0053] According to some embodiments of this disclosure, the upper cover is positioned on the housing by a first circumferential locking portion.

[0054] According to some embodiments of this disclosure, the first circumferential locking portion includes: a plurality of first lugs and a plurality of second lugs. The plurality of first lugs protrude radially outward from the upper end of the housing. The plurality of second lugs protrude radially outward from the edge of the upper end cover. The plurality of first lugs are respectively aligned with the plurality of second lugs and connected by fasteners.

[0055] According to some embodiments of this disclosure, a first notch is formed between two adjacent first lugs of the plurality of first lugs, and the first circumferential locking portion further includes: a first locking piece, which is disposed between two adjacent second lugs and extends into the first notch in a shape-fitting manner.

[0056] According to some embodiments of this disclosure, the first locking tab is attached to the outer side wall of the housing.

[0057] According to some embodiments of this disclosure, the upper end cover is detachably connected to the housing.

[0058] According to some embodiments of this disclosure, a lower end cap disposed at the lower end of the housing is also included.

[0059] According to some embodiments of this disclosure, the lower end cover is positioned on the housing by a second circumferential locking portion.

[0060] According to some embodiments of this disclosure, the second circumferential locking portion further includes: a plurality of third lugs and a plurality of fourth lugs. The plurality of third lugs protrude radially outward from the lower end of the housing. The plurality of fourth lugs protrude radially outward from the edge of the lower end cover. The plurality of third lugs are respectively aligned with the plurality of fourth lugs and connected by fasteners.

[0061] According to some embodiments of this disclosure, a second latch is formed between two adjacent third lugs of the plurality of third lugs, and the second circumferential locking portion further includes a second locking piece disposed between two adjacent fourth lugs and extending into the second latch in a shape-fitting manner.

[0062] According to some embodiments of this disclosure, the second locking tab is attached to the outer side wall of the housing.

[0063] According to some embodiments of this disclosure, the lower end cap is detachably connected to the housing.

[0064] According to some embodiments of this disclosure, the outer periphery of the upper end cover and the lower end cover respectively has a flange; the flange is located on the outer side of the end of the cover and is arranged around the cover.

[0065] According to some embodiments of this disclosure, the upper cover includes a cover body and a top cover detachably mounted above the cover body; the top cover is used to connect the vehicle body.

[0066] According to some embodiments of this disclosure, the stator is constructed as a hollow cylindrical structure, and the stator is fixed to the inner wall of the housing.

[0067] According to some embodiments of this disclosure, the rotor is constructed as a hollow cylindrical structure; the rotor is coaxially mounted inside the stator and is rotatable relative to the stator.

[0068] According to some embodiments of this disclosure, the rotor is configured as a hollow cylindrical structure; the rotor is used to drive a lead screw shaft extending into the inner side of the rotor to rotate, so as to drive the lead screw nut connected to the lead screw shaft to output linear motion.

[0069] According to some embodiments of this disclosure, the actuator further includes a lower end cover disposed at the lower end of the housing; the upper end cover is provided with a first mounting seat, and the lower end cover is provided with a second mounting seat; the first mounting seat and the second mounting seat are respectively used to mount radial bearings applied to the lead screw shaft.

[0070] According to some embodiments of this disclosure, the upper end cover is provided with a mounting space for mounting a sensor, which is used to detect the rotation information of the lead screw shaft.

[0071] According to some embodiments of this disclosure, the sensor includes a fixed element and a moving element that is responsively connected to the lead screw shaft; a fifth mounting seat formed in the upper end cover is provided in the mounting space for mounting the fixed element, the fifth mounting seat being configured to restrict the fixed element in the radial and axial directions.

[0072] According to some embodiments of this disclosure, the fixed element is pressed against the upper end cover along the axial direction of the upper end cover by a fixed pressure plate.

[0073] According to some embodiments of this disclosure, the upper end cover is provided with a third mounting seat, and the lower end cover is provided with a fourth mounting seat. The third mounting seat and the fourth mounting seat are respectively used to install axial bearings capable of withstanding axial loads.

[0074] The above technical solution facilitates the installation of the stator and rotor into the housing through the through-sleeve structure, resulting in a simple motor structure. Furthermore, by using the upper cover for connection to the vehicle body, compared to related technologies that use other connecting components to fix the motor, the motor provided in this disclosure has a higher degree of integration with the vehicle body, making installation convenient, quick, and space-saving.

[0075] According to a third aspect of this disclosure, an actuator is provided, including the motor described above for the actuator.

[0076] According to a fourth aspect of this disclosure, an active suspension is provided, including the actuator described above.

[0077] According to a fifth aspect of this disclosure, a vehicle is provided, including the aforementioned active suspension.

[0078] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0079] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0080] Figure 1 is a front view of an actuator according to some embodiments of the present disclosure;

[0081] Figure 2 is a cross-sectional view of the actuator shown in Figure 1;

[0082] Figure 3 is a magnified view of part D in Figure 2;

[0083] Figure 4 is a front view of another actuator according to some embodiments of the present disclosure;

[0084] Figure 5 is a cross-sectional view of the actuator shown in Figure 4;

[0085] Figure 6 is a magnified view of part B in Figure 5;

[0086] Figure 7 is a magnified view of part A in Figure 5;

[0087] Figure 8 is a front view of another actuator according to some embodiments of the present disclosure;

[0088] Figure 9 is a cross-sectional view of the actuator shown in Figure 8;

[0089] Figure 10 is a magnified view of part C in Figure 9;

[0090] Figure 11 is a front view of another actuator according to some embodiments of the present disclosure;

[0091] Figure 12 is a cross-sectional view of the actuator shown in Figure 11;

[0092] Figure 13 is a magnified view of part G in Figure 12;

[0093] Figure 14 is a schematic diagram of another actuator according to some embodiments of the present disclosure;

[0094] Figure 15 is a cross-sectional view of the actuator shown in Figure 14;

[0095] Figure 16 is a partial enlarged view of the brake module of the actuator and its surrounding components shown in Figure 15;

[0096] Figure 17 is a partial enlarged cross-sectional view of the braking module and surrounding components of another actuator according to some embodiments of the present disclosure;

[0097] Figure 18 is a schematic diagram of a lead screw shaft according to some embodiments of the present disclosure;

[0098] Figure 19 is a schematic diagram of another lead screw shaft according to some embodiments of the present disclosure;

[0099] Figure 20 is a schematic diagram of a driving module according to some embodiments of the present disclosure;

[0100] Figure 21 is a cross-sectional view of the drive module shown in Figure 20;

[0101] Figure 22 is a schematic diagram of the assembly of a drive module and an adapter bushing according to some embodiments of the present disclosure;

[0102] Figure 23 is an assembly cross-sectional view of the drive module and the adapter bushing shown in Figure 22;

[0103] Figure 24 is a cross-sectional view of a sensor according to some embodiments of the present disclosure;

[0104] Figure 25 is a schematic diagram of a rotor according to some embodiments of the present disclosure;

[0105] Figure 26 is a top view of the rotor shown in Figure 25;

[0106] Figure 27 is a schematic diagram of the first half of the rotor shown in Figure 25;

[0107] Figure 28 is a schematic diagram of a first bushing according to some embodiments of the present disclosure;

[0108] Figure 29 is a top view of the first bushing shown in Figure 28;

[0109] Figure 30 is a schematic diagram of an upper housing according to some embodiments of the present disclosure;

[0110] Figure 31 is a cross-sectional view of the upper housing shown in Figure 30;

[0111] Figure 32 is a top view of the upper housing shown in Figure 30;

[0112] Figure 33 is a schematic diagram of another upper housing according to some embodiments of the present disclosure;

[0113] Figure 34 is a schematic diagram of a lower housing according to some embodiments of the present disclosure;

[0114] Figure 35 is a cross-sectional view of the lower housing shown in Figure 34;

[0115] Figure 36 is a schematic diagram of a sealing module according to some embodiments of the present disclosure;

[0116] Figure 37 is a cross-sectional view of the sealing module shown in Figure 36;

[0117] Figure 38 is a cross-sectional view of another sealing module according to some embodiments of the present disclosure;

[0118] Figure 39 is an assembly cross-sectional view of the sealing module and the upper housing shown in Figure 38;

[0119] Figure 40 is an assembly cross-sectional view of the sealing module and the upper housing shown in Figure 37;

[0120] Figure 41 is a schematic diagram of an upper cover according to some embodiments of the present disclosure;

[0121] Figure 42 is a cross-sectional view of the upper end cap shown in Figure 41;

[0122] Figure 43 is a schematic diagram of a housing according to some embodiments of the present disclosure;

[0123] Figure 44 is a schematic diagram of a lower end cap according to some embodiments of the present disclosure;

[0124] Figure 45 is a cross-sectional view of a lower end cap shown in Figure 44;

[0125] Figure 46 is a schematic diagram of a lower end cap according to some embodiments of the fundamental disclosure;

[0126] Figure 47 is a cross-sectional view of the lower end cap shown in Figure 46;

[0127] Figure 48 is an exploded view of a tower top assembly according to some embodiments of the present disclosure.

[0128] Figure label:

[0129] 1-Connecting hole; 100-Drive module; 110-Stator; 120-Rotor; 121-First half; 122-Second half; 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 section; 2131-Arc surface; 2132-Straight surface; 214-Lower end wall; 215-Opening; 216-Guide shaft section; 217-Connecting section; 220-Lower housing; 221-Connecting shaft; 222-Fasting nut; 223-Joint section; 224-Main body section; 225-Flange section; 226-Shoulder; 230-Motor housing; 231-Cover; 232-Upper end cover; 2321-First mounting base; 2322-Third mounting base; 233-Lower end cover; 2311-Axial limiting feature; 2331-Second mounting base; 2332-Fourth mounting base; 234-Top cover; 2341-End cover stepped surface; 235-Cover body; 310-Lead screw shaft; 311-Third stepped surface; 313-First stepped surface; 314-First threaded hole; 315-Second stepped surface; 316-First raceway groove; 317-External spline; 318-Fifth stepped surface; 319-Working shaft section; 320-Threaded nut; 321-Flange; 323-Second raceway groove; 400-Circumferential locking part; 401-First circumferential locking part; 402-Second circumferential locking part; 410-First lug; 420-First bayonet; 430-Second lug; 440-First locking piece; 450-Flanged edge; 460-Third lug; 470-Second bayonet; 480-Fourth lug; 490-Second locking piece; 500-Tower top assembly; 511-Mounting stud; 512-Body; 513-Bottom connecting plate; 514-First through hole; 520-Rubber pad; 530-Intermediate connecting plate; 531-Weight reduction 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- Collar; 800- Sensor; 810- Fixed element; 811- Fixed pressure plate; 820- Moving element; 821- Moving pressure plate; 822- Clamping screw; 830- Signal processing circuit; 900- Adapter sleeve; 901- Flange; 902- Internal spline; 910- First sleeve; 911- Overlapping platform; 920- Second sleeve; 1000- Braking module; 1100- Fixed unit; 1110- Braking fixed component; 1111- Receiving groove; 1120- Braking coil; 1130- Friction plate; 1140- Lower bearing seat; 1200- Moving unit; 1210- Guide seat; 1220- Armature; 1230- Leaf spring;1310 - First limiting buffer structure; 1320 - Second limiting buffer structure; 1330 - First limiting space; 1340 - Second limiting space; 1400 - Sealing module; 1410 - Base; 1411 - Groove; 1412 - Extension platform; 1420 - Sealing ring; 1430 - Guide component. Detailed Implementation

[0130] The following detailed description of some embodiments of this disclosure is provided in conjunction with the accompanying drawings. It should be understood that the embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure.

[0131] In some embodiments of this disclosure, unless otherwise stated, directional terms such as "inner" and "outer," "upper" and "lower" may be defined based on the actual direction of use of the relevant components, or they may be based on their own structure. For example, "upper" refers to the direction towards the side closer to the vehicle body when the adjusting device is installed on the vehicle, in other words, the direction away from the ground when the nut drives the lower housing to move "downward," which refers to the direction towards the side closer to the wheel when the adjusting device is installed on the vehicle, in other words, the direction closer to the ground when the nut drives the lower housing to move "downward." At least a portion of the nut may extend from its upper end into the "inner side" of the lower housing, where "inner side" refers to the internal accommodating space of the lower housing. "Guide, sleeved on the outer side of the lower housing" means that the lower housing is disposed inside the guide.

[0132] In addition, in some embodiments of this disclosure, the terms "first," "second," etc., are used to distinguish one element from another and do not have sequential or importance. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0133] It should be noted that in some embodiments of this disclosure, the term "connection" can refer to a direct connection or an indirect connection. The two components that are interlocked can be connected in an appropriate manner, such as interference fit, key connection, or connection via an external connector. "Upward movement, downward movement, etc." refers to relative movement.

[0134] In some embodiments of this disclosure, all hole features (e.g., threaded holes) used to connect two components are uniformly referred to as connecting hole 1 to avoid confusion and redundancy. Features used to mate with connecting hole 1 (e.g., bolts) are collectively referred to as fasteners. There is no limitation on the types of fasteners, as long as they can serve the function of connection and fastening.

[0135] An active suspension system is a system that can actively adjust the suspension stiffness, height, and stability according to road conditions and driving needs. Active suspension systems are often used in vehicle shock absorbers to actively control the relative height between the wheels and the vehicle body, providing a more comfortable and stable driving experience.

[0136] Active suspension includes actuators. When the vehicle is running, the actuators can receive information from the vehicle's sensors 800 and control unit to adjust the operating state of the suspension system according to road conditions and driving status, so as to meet the vehicle's personalized needs for different height states.

[0137] For example, when encountering potholes (wheels bouncing down), the actuator can actively control the increase of the vehicle's suspension height to ensure that the vehicle body remains stable and does not sink with the potholes; when encountering bumps (wheels bouncing up), the actuator can actively control the decrease of the suspension height to ensure that the vehicle body is not lifted up and causes bumps.

[0138] Actuators can adjust the suspension through hydraulic, electric, or pneumatic means, and their operation directly affects the performance and effectiveness of the active suspension system. In related technologies, actuators typically output linear motion via linear drive, which requires a significant amount of vertical space and is not conducive to the placement of the adjustment device on the vehicle. Some embodiments of this disclosure mainly focus on electrically operated actuators based on electromagnetic principles, and make corresponding improvements to their height adjustment function.

[0139] In some embodiments of this disclosure, as shown in Figures 1 and 2, the actuator may include a housing module 200, a motion conversion component, and a drive module 100.

[0140] For example, as shown in Figure 1, the housing module 200 includes an upper housing 210 for connecting to the vehicle body and a lower housing 220 for connecting to the wheels. As shown in Figure 2, the motion conversion assembly includes a rotary motion module and a linear motion module. The rotary motion module may include a lead screw 310, and the linear motion module may include a lead screw 320. The drive module 100 is used to drive the lead screw 310 or the lead screw 320 to rotate.

[0141] When the drive module 100 drives the lead screw shaft 310 to rotate, the lead screw nut 320 moves linearly along the axial direction (height direction) of the lead screw shaft 310 under the drive of the lead screw shaft 310; when the drive module 100 drives the lead screw nut 320 to rotate, the lead screw shaft 310 moves linearly along the height direction under the drive of the lead screw nut 320.

[0142] In addition to the modules described above, in some embodiments, as shown in Figure 2, the actuator may also include a rotary support module and a fork arm 710, etc.

[0143] Next, we will further introduce the various parts of the actuator. It should be noted that the embodiments described here are not intended to limit the various parts, but are only for illustrative purposes.

[0144] For example, as shown in Figure 2, the drive module 100 is mainly used to provide power. The drive module 100 can be a rotary motor (electromagnetic drive). The drive module 100 can include a stator 110 and a rotor 120 that rotates relative to the stator 110.

[0145] For example, the stator 110 can be used to provide the required excitation magnetic field, and the rotor 120 can be used to provide a permanently stable magnetic field, which can drive the rotor 120 to rotate after the stator 110 is energized. The rotor 120 is arranged coaxially with the stator 110, and the maximum radial dimension of the rotor 120 is smaller than the minimum radial dimension of the stator 110. The rotor 120 is disposed in the radial internal space of the stator 110.

[0146] The housing module 200 provides support, guidance, and sealing. In the case where the drive module 100 is a rotary motor, the drive module 100 may also include, for example, a motor housing 230, in which the stator 110 and the rotor 120 can be housed.

[0147] The motor housing 230 may include a cover 231, an upper end cover 232, and a lower end cover 233. The cover 231 is constructed as an axially extending sleeve structure. The upper end cover 232 and the lower end cover 233 are used to connect to opposite ends of the cover 231.

[0148] For example, the upper end cover 232 is used to connect to the vehicle body, and the lower end cover 233 can be constructed in a ring shape so that the lead screw shaft 310 can pass through the lower end cover 233. The upper housing 210 and the lower end cover 233 can be integrally formed or assembled, that is, the upper housing 210 can be indirectly connected to the vehicle body through the motor housing 230, and this disclosure does not limit this.

[0149] Referring to Figures 2 and 42, in some embodiments of this disclosure, the lower end cover 233 and the upper housing 210 can be integrally formed, and the upper end of the lower end cover 233 can extend radially outward to form a flange structure.

[0150] The flange structure can be evenly provided with multiple connection holes 1 for fastening to the cover 231. The flange structure also has two symmetrically arranged positioning ports for precise positioning. These two positioning ports can fix the installation angle of the lower end cover 233 and the cover 231, and align the connection holes 1 of the lower end cover 233 with the connection holes 1 of the cover 231 for easy fixing. For example, to improve positioning accuracy, the diameter of the positioning port can be smaller than the diameter of the connection hole 1.

[0151] Furthermore, when the lower end cover 233 and the upper housing 210 are detachably connected, referring to FIG5, in some embodiments of this disclosure, the upper end of the upper housing 210 can be connected to the lower end cover 233 by bolts.

[0152] For example, the upper end of the upper housing 210 can be constructed with a flange structure, and the flange structure has multiple connection holes 1 along the circumference. The lower end cover 233 also has multiple connection holes 1 at the corresponding positions of the flange structure. In this way, when installing the lower end cover 233 and the upper housing 210, it is only necessary to pass bolts through the corresponding two connection holes 1.

[0153] When the lower end cover 233 and the upper housing 210 are integrally formed, the upper part of the upper housing 210 is used as the lower end cover 233, and the remaining part is used to accommodate the lower housing 220, the lead screw shaft 310 and the lead screw nut 320, etc.

[0154] This disclosure does not restrict the connection method of any two connected parts in the housing module 200 and the motor housing 230, which will be described below.

[0155] The motion conversion assembly may include at least a rotary motion module and a linear motion module. For example, 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 include the aforementioned lead screw 310 and lead nut 320.

[0156] In some embodiments of this disclosure, to ensure the adjustment accuracy of the overall vehicle height, a kinematic pair (ball screw pair) formed by a lead screw shaft 310 and a ball nut (lead screw nut 320) can be selected. For example, the lead screw shaft 310 and the ball nut can be provided with raceway grooves for the movement of the rolling elements. Since the structure and principle of the ball screw pair are well known to those skilled in the art, they will not be described in detail here.

[0157] Of course, in some embodiments of this disclosure, the motion conversion assembly is not limited to ball screw pairs. The nut 320 that mates with the screw shaft 310, as mentioned below, can also be a ball nut or other types of nut.

[0158] As described above, one of the lead screw shaft 310 and the lead screw nut 320 can be connected to the rotor 120 and rotate with it, while the other converts the rotational motion into linear motion. The other one that performs the linear motion can be connected to the lower housing 220, thereby driving the fork arm 710 to move in a straight line through the lower housing 220 to adjust the overall vehicle height.

[0159] The rotary support module may include multiple bearings. For example, some of the bearings may be used to provide axial movement support for at least one of the rotor 120, the adapter sleeve 900, the lead screw nut 320, and the lead screw shaft 310. Other bearings may be used to provide radial support and restraint for at least one of the rotor 120, the adapter sleeve 900, the lead screw nut 320, and the lead screw shaft 310.

[0160] The types, quantities, and installation locations of the bearings will be described in detail in some of the embodiments below.

[0161] The fork arm 710 can be located at the bottom end of the actuator near the wheel, for example, by means of a nut 320 to the bottom end of the lower housing 220 near the wheel, facilitating disassembly. Alternatively, the fork arm 710 can be integrally formed with the lower housing 220, saving costs and increasing strength. This disclosure does not limit the formation method of the fork arm 710.

[0162] Having understood the basic structure of the above modules, the technical solutions in some embodiments of this disclosure will be described in detail below. It should be noted that there are many overlapping technical features among the multiple embodiments described below. To avoid redundancy, for repeated technical features, their effects, alternative solutions, and details will only be described in detail the first time they appear. The technical features mentioned in different embodiments can be combined with each other without contradiction.

[0163] Referring to Figures 1 and 2, the actuator in some embodiments of this disclosure includes a drive module 100 and a motion conversion assembly. At least a portion of the drive module 100 is used to connect to the vehicle body, and the motion conversion assembly includes a rotary motion module and a linear motion module. The linear motion module is at least partially used to connect to the wheels. For example, the drive module 100 is used to drive the rotary motion module to rotate, thereby causing the linear motion module to drive the wheels to perform linear motion in the height direction.

[0164] Here, it needs to be explained that the linear motion module can be directly connected to the wheel, or indirectly connected through the lower housing, fork arm, etc., which will be mentioned below.

[0165] This disclosure does not limit the structure of the drive module 100, as long as the drive module 100 can be used to drive the rotary motion module to rotate. For example, the drive module 100 can be a drive motor, etc.

[0166] This disclosure does not impose any restrictions on the 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. For example, the linear motion module and the rotary motion module can be the lead screw 310 and lead nut 320 mentioned below.

[0167] By using the above technical solution, during operation, the drive module 100 drives the rotary motion module to rotate, and the linear motion module can follow and move in a straight line along the height direction, thereby driving the wheels to move in a straight line along the height direction, and thus realizing the adjustment of the overall vehicle height.

[0168] In the purely linear drive method of the related technology, since both the drive component and the transmission component are linear motions (occupying a large height space), the rotation plus linear motion transmission form in some embodiments of this disclosure saves more height space than the purely linear transmission method in the related technology, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions.

[0169] Referring to Figures 1 and 2, in some embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230.

[0170] For example, the motor housing 230 may include a cover 231, an upper end cover 232, and a lower end cover 233. The cover 231 is constructed as an axially through sleeve structure. The upper end cover 232 and the lower end cover 233 are detachably connected to opposite ends of the cover 231. For example, the upper end cover 232 is used to connect to the vehicle body, and the rotary motion module can be connected to the rotor 120 to rotate with the rotor 120, thereby driving the linear motion module to drive the wheels to move linearly along the height direction.

[0171] Referring to Figures 12 and 13, in some embodiments of this disclosure, the upper end cover 232 and the lower end cover 233 can be positioned on the cover 231 by their respective corresponding circumferential locking portions 400. By providing the circumferential locking portions 400, the upper end cover 232 and the lower end cover 233 can be effectively prevented from rotating relative to the cover 231, and they also have a quick positioning function during installation.

[0172] This disclosure does not limit the structure of the circumferential locking portion 400. Referring to Figures 41, 43, and 44, the circumferential locking portion 400 may include a plurality of housing lugs and a plurality of end cap lugs. The plurality of housing lugs include 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. The plurality of end cap lugs include a plurality of second lugs 430 protruding radially outward from the edge of the upper end cap 232 and a plurality of fourth lugs 480 protruding radially outward from the edge of the lower end cap 233.

[0173] For example, a plurality of first lugs 410 and a plurality of second lugs 430 can be aligned, and any one of the plurality of first lugs 410 is connected to an aligned second lug 430 by a fastener; a plurality of third lugs 460 and a plurality of fourth lugs 480 can be aligned, and any one of the plurality of third lugs 460 is connected to an aligned fourth lug 480 by a fastener.

[0174] Referring to Figures 41-45, in some embodiments, a first notch 420 can be formed between two adjacent first lugs 410 of a plurality of first lugs 410, and a second notch 470 can be formed between two adjacent third lugs 460 of a plurality of third lugs 460.

[0175] The circumferential locking portion 400 may further include a first locking piece 440 and a second locking piece 490. The shape of the first locking piece 440 matches the inner contour of the first latch 420 and is disposed in the first latch 420. The shape of the second locking piece 490 matches the inner contour of the second latch 470 and is disposed in the second latch 470.

[0176] By engaging the locking tabs with the bayonet slots, the upper cover 232 and the lower cover 233 can be further prevented from rotating relative to the housing 231. Furthermore, during installation, inserting the locking tabs into the corresponding bayonet slots can ensure the alignment between the corresponding lugs, which can then be quickly connected using fasteners.

[0177] In some embodiments of this disclosure, the first locking tab 440 and the second locking tab 490 can be fitted to the outer side wall of the housing 231. This design allows multiple locking tabs to wrap around the housing 231 from the outer periphery during installation, forming radial restraints to facilitate positioning and installation and improve the overall stability of the drive module 100.

[0178] Referring to Figures 5 and 7, in some embodiments of this disclosure, the outer periphery of the upper end cover 232 and the lower end cover 233 may each have a flange 450, which is located on the outer side of the end of the cover 231 and is disposed around the cover 231.

[0179] This design allows the flange 450 to wrap around the cover 231, achieving radial restraint between the two. Furthermore, this design prevents water and impurities from entering the motor housing 230 through the gap between them, while also blocking static electricity from entering the motor housing 230 from the outside, thus protecting the components inside the motor housing 230.

[0180] Referring to Figures 11 and 12, in some embodiments of this disclosure, the actuator may further include a tower top assembly 500 for mounting to a vehicle body, and an upper end cover 232 may be fixedly connected to the tower top assembly 500.

[0181] This disclosure does not limit the structure of the top assembly 500. For example, as shown in FIG12, the top assembly 500 may include a top shell, a rubber pad 520, and a central connecting plate 530. The top shell is configured to accommodate a portion of the upper end cap 232. The rubber pad 520 is fixed within the top shell. The central connecting plate 530 connects the rubber pad 520 and the upper end cap 232.

[0182] For example, the top stud of the upper end cover 232 can be coaxially engaged with the middle connecting plate 530 of the tower top assembly 500 and fixedly connected by a locking nut, thereby achieving a fixed connection between the upper end cover 232 and the tower top assembly 500.

[0183] Referring to FIG48, in some embodiments of this disclosure, the rubber pad 520 and the middle connecting plate 530 can be sequentially fitted 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.

[0184] For example, referring to Figures 12 and 48, the center of the tower top shell can be constructed as a through hole, and the center of the through hole can have a first annular hollow feature with a larger diameter. A rubber pad 520 can be installed inside the first annular hollow feature. The rubber pad 520 can also have a through hole, and the center of the through hole can have a second annular hollow feature with a larger diameter. A central connecting plate 530 can be installed inside the second hollow feature and coaxially engages with the top stud of the top cover 234. In some embodiments of this disclosure, the rubber pad 520 can withstand axial loads transmitted from bottom to top without significant deformation, and can also provide a small-angle swing for the central connecting plate 530 to adapt to different impacts at the wheel end, minimizing the radial load on the actuator.

[0185] Referring to FIG12, in some embodiments of this disclosure, the upper end cover 232 may have an end cover stepped surface 2341, and the middle connecting plate 530 may be constrained on the end cover stepped surface 2341, thereby transferring the axial load of the upper end cover 232 to the middle connecting plate 530, and further optimized by the rubber pad 520.

[0186] Referring to FIG48, in some embodiments of this disclosure, the top shell may be provided with mounting studs 511 for connecting to the vehicle body. The connection between the top shell assembly 500 and the vehicle body is achieved by connecting the mounting studs 511 to the vehicle body.

[0187] This disclosure does not limit the number of mounting studs 511. For example, in Figure 48, the tower top shell may be provided with three mounting studs 511 evenly distributed circumferentially. In addition, in some embodiments, the tower top shell may be provided with four, five, or other mounting studs 511.

[0188] Referring to Figure 48, in order to achieve weight reduction, in some embodiments, the central connecting plate 530 may be provided with multiple weight reduction holes 531.

[0189] This disclosure does not impose any restrictions on the material of the tower top. From the perspective of achieving lightweighting, the material of the tower top shell and the middle connecting plate 530 can be aluminum-based alloy, such as 7-series aluminum alloy or high-strength aluminum-magnesium alloy.

[0190] Referring to FIG48, in some embodiments of this disclosure, the tower top shell may include a body 512 and a bottom connecting plate 513 connected to the bottom of the body 512. The bottom connecting plate 513 may have a first through hole 514 that avoids the upper end cover 232 and has a swing gap with the upper end cover 232 to allow the upper end cover 232 to swing slightly in the radial direction and avoid rigid interference.

[0191] Referring to FIG12, in some embodiments of this disclosure, the upper cover 232 may include a cover body 235 and a top cover 234 detachably mounted above the cover body 235, the cover body 235 and the top cover 234 being connected by bolts.

[0192] For example, the top cover 234 can be fixedly connected to the tower top assembly 500. With this design, when the actuator needs to be installed onto the tower top assembly 500, simply install the top cover 234 onto the tower top assembly 500 first, and then connect the cover body 235 to the top cover 234. When the actuator needs to be disassembled, simply detach the cover body 235 from the top cover 234; there is no need to disassemble the tower top assembly 500.

[0193] For example, when the rotary motion module is a lead screw 310, referring to Figure 12, the lead screw 310 can pass through the cover body 235, and the top cover 234 can be fixedly connected to the tower top assembly 500. A closed space can be formed between the top cover 234 and the cover body 235, and this closed space can be used to install sensors, etc., which will be mentioned below.

[0194] Referring to Figures 2 and 5, in some embodiments of this disclosure, the rotary motion module may include a lead screw 310 extending along the height direction, which may be responsively connected to the drive module 100, such as a rotor 120. The linear motion module may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. The drive module 100 drives the lead screw 310 to rotate, thereby driving the lead screw nut 320 to move linearly along the height direction, thus driving the wheel to move along the height direction.

[0195] The solutions provided by some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble. Furthermore, by cooperating with the lead screw shaft 310 and the lead nut 320, parameters such as the thread between them can be configured so that when the lead screw shaft 310 rotates at a large angle, the lead nut 320 only performs fine adjustments in the height direction, thereby improving the accuracy of the actuator.

[0196] In some embodiments of this disclosure, referring to Figures 2, 4, and 5, the actuator may further include a lower housing 220 detachably connected to the lower part of the lead screw nut 320, through which the lead screw nut 320 can be connected to the wheel. That is, when the lead screw shaft 310 drives the lead screw nut 320 to move linearly in the height direction, the lower housing 220 can follow the movement of the lead screw nut 320, thereby driving the wheel to move in the height direction.

[0197] In order to enable the lead screw nut 320 to drive the lower housing 220 to reciprocate linearly along the axial direction of the lead screw shaft 310, referring to Figures 2, 5, 9, 12 and 15, in some embodiments of this disclosure, the lower housing 220 can be a hollow structure, and the lead screw shaft 310 can extend into the lower housing 220 from above.

[0198] With this design, the housing 220 moves axially along the lead screw shaft 310 under the drive of the lead screw nut 320, and the lead screw shaft 310 and the lower housing 220 will not interfere with each other, so as to ensure that the movement can proceed.

[0199] When the actuator is working, the rotary motor is energized, and the rotor 120 rotates around its own axis. Since the upper end of the actuator's lead screw shaft 310 is connected to the rotor 120, it can rotate with the rotor 120, allowing the lead screw nut 320 screwed onto the lead screw shaft 310 to move linearly along the height direction. Because the upper end of the lower housing 220 is fixedly connected to the lead screw nut 320, the lead screw nut 320 can drive the fork arm 710 to move linearly along the height direction through the lower housing 220, thereby achieving overall vehicle height adjustment.

[0200] The method by which the nut 320 and the lower housing 220 are detachably connected will not be discussed in detail here; please refer to the relevant sections below. Besides the detachable connection method, in some embodiments, the nut 320 can be integrally formed with the lower housing 220.

[0201] Referring to Figures 1, 2, 4, and 5, in some embodiments of this disclosure, the actuator may further include a fork arm 710 connected to the lower housing 220, the fork arm 710 being used to connect the lower housing 220 to the wheel.

[0202] This disclosure does not limit the connection method between the lower housing 220 and the fork arm 710. For example, in Figures 34-35, the bottom of the lower housing 220 may have a connecting shaft 221 protruding downward (e.g., towards a direction away from the upper housing 210), the outer peripheral surface of the connecting shaft 221 may be provided with external threads, and the fork arm 710 may have a mounting plate 711 sleeved on the connecting shaft 221. The mounting plate 711 can be pressed against the lower housing 220 by tightening a fastening nut 222 on the connecting shaft 221.

[0203] This design facilitates the disassembly and maintenance of the fork arm 710 and the lower housing 220. Furthermore, the fork arm 710 can be integrally molded with the lower housing 220, saving costs and increasing strength. This disclosure does not limit the connection method between the fork arm 710 and the lower housing 220.

[0204] Referring to Figures 2 and 5, in some embodiments of this disclosure, the actuator may further include an upper housing 210 sleeved outside the linear motion module, and the drive module 100 may include a motor housing 230 having a lower end cover 233. 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.

[0205] By providing the upper housing 210, the linear motion module (e.g., nut 320) can be sealed and protected, and guided along the height direction. Furthermore, the upper housing 210 also serves to limit movement and accommodate the helical spring, which will be discussed later.

[0206] Referring to Figures 8, 9, 11, and 12, in some embodiments of this disclosure, the actuator may further include a helical spring 730 for providing support force to the vehicle body in the height direction. The helical spring 730 may be, for example, a steel spring, an air spring, etc.

[0207] By setting up the coil spring 730, the weight of the vehicle body can be supported, thereby reducing the active thrust required by the adjustment device.

[0208] For example, when the adjustment device is in its zero position (neither raised nor lowered), the coil spring 730 is in its first compression state (bearing the weight of the vehicle body). During the operation of the adjustment device (lowering or raising), the coil spring 730 is in its second or third compression state. The output thrust of the adjustment device is actually overcoming the elastic force generated by the second deformation of the coil spring 730 (such as the deformation when in the second compression state). In this situation, if the coil spring 730 is not installed, the entire weight of the vehicle body will act directly on the adjustment device, making it prone to damage and reducing its service life.

[0209] This disclosure does not limit the installation position of the helical spring 730. For example, when the actuator has the aforementioned fork arm 710, the helical spring 730 can be connected between the upper housing 210 and the fork arm 710.

[0210] Referring to Figures 9, 12, and 33, in some embodiments of this disclosure, the outer periphery of the upper housing 210 may protrude to form a spring support 211. For example, a central region of the outer periphery of the upper housing 210 may protrude to form the spring support 211. A helical spring 730 may be attached to the bottom of the spring support 211.

[0211] For example, a first spring mounting pad 1501 can be fixed to the lower end face of the spring support 211, and the upper end of the coil spring 730 can abut against the lower end face of the first spring mounting pad 1501. Similarly, a second spring mounting pad 1502 can be fixed to the upper end face of the fork arm 710, and the lower end of the coil spring 730 can abut against the upper end face of the second spring mounting pad 1502. In this way, the coil spring 730 can be placed between the upper housing 210 (fixed part) and the fork arm 710 (moving part).

[0212] Furthermore, in some embodiments, the helical spring 730 may also be connected to the lower end face of the upper housing 210, in which case the spring support 211 may be disposed on the lower end face of the upper housing 210. Alternatively, if the base 1410 (mentioned below) is mounted on the lower end face of the upper housing 210, the upper end of the helical spring 730 may abut against the base 1410, which is not a limitation of this disclosure.

[0213] Referring to Figures 11-12 and 15, in some embodiments of this disclosure, the actuator may further include a dust cover 720 capable of axial extension and retraction. The dust cover 720 may be disposed outside the upper housing 210 and fitted onto the linear motion module. One end of the dust cover 720 is connected to the fork arm 710, and the other end of the dust cover 720 is connected to the upper housing 210.

[0214] For example, the dust cover 720 can be made of a stretchable flexible material or a corrugated pipe. By setting the dust cover 720, external dust can be prevented from entering the sealing module, upper housing 210, lower housing 220 and motor housing 230 mentioned below, thus serving a dustproof and waterproof function.

[0215] After introducing the overall structure of the actuator, the following will further describe the details of the actuator based on some embodiments. Some parts of the following content are repeated from the above. In order to avoid redundancy, the repeated parts will be briefly described. Please refer to the relevant parts above.

[0216] Referring to FIG2, some embodiments of this disclosure exemplarily illustrate an actuator including a drive module 100, a motion conversion assembly, and an adapter sleeve 900. The drive module 100 includes a stator 110 and a rotor 120, and at least a portion of the drive module 100 is used for connection to a vehicle body. The motion conversion assembly includes a lead screw shaft 310 and a lead screw nut 320, the lead screw nut 320 being used for connection to a wheel. The adapter sleeve 900 is disposed between the rotor 120 and the lead screw shaft 310.

[0217] For example, the rotor 120 can drive the lead screw shaft 310 to rotate through the adapter sleeve 900, thereby driving the lead screw nut 320 to drive the wheel to move in a straight line in the height direction.

[0218] It should be noted that the drive module 100 can be connected to the vehicle body through the motor housing 230 for accommodating the rotor 120 and the stator 110. The nut 320 can be directly connected to the wheel, or indirectly connected to the wheel through the lower housing 220 mentioned above.

[0219] This disclosure does not impose any restrictions on the structure of the adapter sleeve 900, as long as it can transmit the rotation of the rotor 120 to the lead screw shaft 310. The structure of the adapter sleeve 900 will be described below.

[0220] In some embodiments of this disclosure, the speed transmission ratio of the adapter sleeve 900 can be 1. This design allows the speed of the lead screw shaft 310 to be the same as the speed of the rotor 120, thereby reducing the computational complexity of the control strategy.

[0221] Furthermore, in some embodiments, the speed transmission ratio of the adapter bushing 900 may also be 1.5, 2, etc., and this disclosure does not limit this.

[0222] In some embodiments of this disclosure, when the actuator is in operation, the rotor 120 of the drive module 100 drives the lead screw shaft 310 to rotate through the adapter sleeve 900. The lead screw nut 320, driven by the lead screw shaft 310, moves linearly along the height direction, thereby driving the wheel to move linearly along the height direction, thus realizing fully active adjustment of the vehicle height.

[0223] The actuators in some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble. Furthermore, the transmission method combining rotation and linear motion saves more space and provides higher control precision compared to purely linear transmission methods in related technologies. By providing an adapter sleeve 900, the rotation of the rotor 120 can be transmitted to the lead screw shaft 310. Since the adapter sleeve 900 is arranged between the rotor 120 and the lead screw shaft 310, it avoids occupying space axially, increases the axial coupling length, reduces the maximum size requirement in the Z-direction (height direction), and facilitates a flattened design of the rotor 120, further improving the arbitrability of the adjustment device within the vehicle.

[0224] In some embodiments of this disclosure, referring to Figures 20-23, the rotor 120 may be constructed as a hollow annular structure, and the lead screw 310 may extend coaxially into the inner side of the rotor 120.

[0225] In order to achieve torque transmission between the lead screw shaft 310 and the adapter sleeve 900, in some embodiments of this disclosure, the inner circumference of the adapter sleeve 900 and the outer circumference of the lead screw shaft 310 can be keyed together.

[0226] For example, in Figures 18-19 and 28-29, the inner circumference (inner hole wall) of the adapter sleeve 900 can be provided with an internal spline 902, and the outer circumference of the part of the lead screw shaft 310 corresponding to the adapter sleeve 900 can be provided with an external spline 317 that cooperates with the internal spline 902.

[0227] Torque and speed can be transmitted through the combination of internal spline 902 and external spline 317. Using a spline connection simplifies the motion transmission structure and ensures the reliability of torque and speed transmission. In addition to transmitting speed and torque, the adapter sleeve 900 also prevents the constant magnetic field generated by the permanent magnet 124 of the rotor 120 from passing through the lead screw shaft 310, thus ensuring electromagnetic performance.

[0228] This disclosure does not limit the material of the adapter bushing 900. For example, the adapter bushing 900 can be made of aluminum alloy, aluminum-magnesium alloy or other high-strength composite materials, thereby ensuring the lightweight design goal of the system, reducing the total mass of the system, and further reducing the rotational inertia of the system.

[0229] This disclosure does not limit the type or number of external splines 317 of the lead screw shaft 310. For example, the external splines 317 can be rectangular external splines 317, involute external splines 317, etc., and the external splines 317 can be evenly arranged in the circumferential direction of the lead screw shaft 310. For example, the lead screw shaft 310 includes multiple external splines 317.

[0230] To prevent the adapter sleeve 900 from moving axially relative to the rotor 120, and to improve the stability of torque and speed transmission, referring to Figures 22-23, in some embodiments of this disclosure, the adapter sleeve 900 may have two radially protruding flanges 901, which abut against the ends of the rotor 120 from both ends, respectively. With this design, at least a portion of the rotor 120 is clamped between the two flanges 901, thereby creating an axial limit between the adapter sleeve 900 and the rotor 120 through the two flanges 901.

[0231] This disclosure does not limit the formation method of flange 901. For example, flange 901 can be integrally formed with adapter sleeve 900. Alternatively, flange 901 can also be assembled with adapter sleeve 900.

[0232] Referring to Figures 22-23 and 28-29, in some embodiments of this disclosure, the flange 901 can be connected to the end of the rotor 120 by fasteners (e.g., bolts), thereby ensuring that the adapter sleeve 900 can rotate synchronously with the rotor 120.

[0233] For example, the flange 901 may be provided with multiple connecting holes 1, and the end of the rotor 120 (which may be the end of the cage mentioned below) may be provided with multiple connecting holes 1 corresponding to the connecting holes 1 on the flange 901, so that the adapter sleeve 900 and the rotor 120 can be fixedly connected by bolts, screws, etc.

[0234] With this design, when the rotor 120 rotates, the adapter sleeve 900, which is fixedly connected to the rotor 120, can rotate synchronously with the rotor 120, and then drive the lead screw shaft 310 to rotate through the cooperation of the inner spline 902 and the outer spline 317.

[0235] To facilitate the assembly and disassembly of the rotor 120 and the adapter bushing 900, referring to Figures 3 and 22-23, in some embodiments of this disclosure, the rotor 120 may be annular, and the adapter bushing 900 may include a first bushing 910 and a second bushing 920 arranged from top to bottom in the height direction, with the first bushing 910 and the second bushing 920 each having a flange 901.

[0236] For example, the ends of the first bushing 910 and the second bushing 920 that are away from each other have the aforementioned flanges 901 for fixed connection to the ends of the rotor 120, respectively.

[0237] During installation, simply install the first bushing 910 and the second bushing 920 from both ends of the rotor 120 along the axial direction; when disassembly is required, simply remove the first bushing 910 and the second bushing 920 from both ends of the rotor 120 along the axial direction. The disassembly and assembly are convenient and quick.

[0238] When the adapter bushing 900 includes a first bushing 910 and a second bushing 920, referring to Figures 3 and 22-23, the first bushing 910 and the second bushing 920 can axially abut against each other. This design allows the first bushing 910 and the second bushing 920 to provide axial support and restraint, thereby improving the actuator's axial force transmission effect and stability. Furthermore, this "compact" installation method avoids vibration noise during the movement of the adjustment device.

[0239] Referring to Figures 3, 5, and 18-19, in some embodiments, the portion of the lead screw shaft 310 located below the second bushing 920 may have a first stepped surface 313. The second bushing 920 can abut against the first stepped surface 313 from the upper side, thereby limiting the second bushing 920 axially downward. When the first bushing 910 and the second bushing 920 abut against each other, the entire adapter bushing 900 can be limited axially downward.

[0240] Referring to Figures 3 and 19, in some embodiments of this disclosure, the portion of the lead screw 310 located above the first bushing 910 may have external threads, and the actuator may further include a first nut 740 screwed onto the lead screw 310. The first nut 740 can be pressed onto the first bushing 910 from above, thereby forming an axially upward limit on the first bushing 910 through the first nut 740.

[0241] When the first bushing 910 and the second bushing 920 abut against each other, the entire adapter bushing 900 can be axially and upwardly limited.

[0242] For example, the threaded portion of the lead screw shaft 310 can extend out of the adapter sleeve 900, and the lead screw shaft 310 and the adapter sleeve 900 are locked by the first nut 740. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the rotor 120 can also be limited in the axial direction.

[0243] Referring to Figure 19, in some embodiments, a first threaded hole 314 may be provided at the end face of the lower end of the lead screw shaft 310, and a first bolt 750 may be connected thereto. With this design, the first threaded hole 314 at the lower end of the lead screw shaft 310 is used to connect with the matching first bolt 750. Thus, under the combined action of the first nut 740 (tightened at the upper end of the lead screw shaft 310) and the first bolt 750, it is convenient to apply a suitable torque between the lead screw shaft 310 and the adapter sleeve 900, achieving a tight connection (applying external force from both ends of the lead screw shaft 310 to tighten the first nut 740 and the first bolt 750 makes it easier to apply external force during tightening).

[0244] In addition, in some embodiments, the first threaded hole 314 at the lower end of the lead screw 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 for coaxial sliding engagement.

[0245] With this design, when the lower housing 220 moves linearly along the height direction, the piston 770 can act as a guide and can work together with the lead screw nut 320 to ensure that the lead screw shaft 310 has good rigidity during rotation.

[0246] This disclosure does not limit the connection method between piston 770 and lead screw 310. For example, piston 770 and lead screw 310 can also be fixed by welding.

[0247] In order to improve the service life of piston 770, in some embodiments, wear-resistant material, such as wear-resistant pad, can be provided at the position where piston 770 contacts the inner circumferential surface of lower housing 220.

[0248] Referring to Figures 6 and 18-19, in some embodiments, the portion of the lead screw shaft 310 located above the first bushing 910 may have a second stepped surface 315, and the first bushing 910 may have a radially inwardly protruding overlapping platform 911, which can be pressed onto the second stepped surface 315 from above, thereby limiting the first bushing 910 axially downward.

[0249] To facilitate the assembly and disassembly of the adapter sleeve 900 and the rotor 120, in addition to constructing the adapter sleeve 900 as an independent first sleeve 910 and second sleeve 920 as described above, referring to Figures 25-27, in some embodiments, the adapter sleeve 900 can be an integral structure, and the rotor 120 can include a first half 121 and a second half 122, which can together surround the outside of the adapter sleeve 900.

[0250] With this design, during installation, the first half 121 and the second half 122 are simply joined together from both sides and fitted onto the outer periphery of the adapter sleeve 900. Similarly, during disassembly, they can be removed from both sides, making the operation convenient and simple.

[0251] Referring to Figures 25-27, in some embodiments of this disclosure, the first half 121 and the second half 122 can each be a semicircular structure. This design reduces the difficulty of procurement and assembly processes, eliminating the need to distinguish between the first half 121 and the second half 122.

[0252] In order to align and install the first half 121 and the second half 122, referring to FIG27, in some embodiments of this disclosure, the mating surfaces of the first half 121 and the second half 122 may be provided with positioning holes 123 for positioning by inserting pins into the two.

[0253] In addition, in some embodiments, one of the first half 121 and the second half 122 may have a positioning hole 123 formed on the mating surface, while the other may have a pin formed on the mating surface. During installation, positioning can be achieved simply by inserting the pin into the positioning hole 123.

[0254] To enable the lead screw nut 320 to drive the lower housing 220 to reciprocate linearly along the axial direction of the lead screw shaft 310, referring to Figures 2, 5, 9, 12, and 15, in some embodiments of this disclosure, the actuator may further include a lower housing 220 located below the lead screw nut 320, through which the lead screw nut 320 can be connected to the wheel. The lower housing 220 may be detachably connected to the lead screw nut 320 or integrally formed with the lead screw nut 320.

[0255] Referring to Figures 15-17, some embodiments of this disclosure provide an actuator including a drive module 100, a motion conversion component, and a braking module 1000. At least a portion of the drive module 100 is used to connect to a vehicle body. The motion conversion component includes a rotary motion module and a linear motion module. At least a portion of the linear motion module is used to connect to a wheel. The rotary motion module is used to rotate under the drive of the drive module 100 to drive the linear motion module to drive the wheel to perform linear motion in the height direction. The braking module 1000 is used to limit the rotation of the rotary motion module under preset conditions.

[0256] This disclosure does not impose any limitations on the aforementioned "preset conditions." For example, under highway conditions, where the vehicle travels at a relatively high speed, in order to ensure comfort and handling, the adjustment device should lower the vehicle's center of gravity and stop at a lower height. In this case, it is necessary to limit the rotation of the rotating motion module through the braking module 1000. These "preset conditions" can be adaptively designed according to actual conditions, and this disclosure does not impose any limitations on them.

[0257] By using the above technical solution, when the actuator is working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module can move in a straight line along the height direction, thereby driving the wheels to move in a straight line along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0258] Furthermore, since the pure linear drive method in the related technology occupies a large height space because both the drive component and the transmission component are linear motions, the rotation plus linear motion transmission form of some embodiments of this disclosure saves more height space compared to the pure linear transmission method in the related technology, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions.

[0259] By setting up a braking module 1000, when the vehicle does not require the adjustment device to work, the braking module 1000 can restrict the rotation of the rotary motion module. At this time, the actuator will no longer work, thereby reducing the waste of electrical energy.

[0260] In some embodiments, it is not necessary to configure the drive module to have braking function, which can effectively reduce the size of the drive module and the complexity of its internal structure.

[0261] This disclosure does not limit the structure of the rotary motion module and the linear motion module. For example, the rotary motion module may include a lead screw 310 extending in the height direction, and the lead screw 310 may be responsively connected to the drive module 100; the linear motion module may include a lead screw nut 320 that forms a kinematic pair with the lead screw 310.

[0262] With this design, the drive module 100 can drive the lead screw shaft 310 to rotate, thereby enabling the lead screw nut 320 to move linearly along the height direction. Some embodiments of this disclosure feature simple structures, high manufacturability, and convenient assembly and disassembly.

[0263] This disclosure does not limit the structure of the braking 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 examples for detailed description.

[0264] Referring to Figures 2 and 15-17, in some embodiments, the actuator may further include a housing module 200 for accommodating the lead screw shaft 310 and the lead screw nut 320. For example, the braking module 1000 may include a fixed unit 1100 fixed to the housing module 200 and a moving unit 1200 rotatably connected to the lead screw shaft 310. The moving unit 1200 is locked to the fixed unit 1100 under preset conditions to restrict the rotation of the lead screw shaft 310.

[0265] With this design, when the vehicle does not require the actuator to work, the braking module 1000 can control the actuator unit 1200 to lock into the stationary unit 1100, thereby limiting the rotation of the lead screw shaft 310. At this time, the actuator no longer works, which can reduce the load on the drive module 100 and reduce energy waste.

[0266] This disclosure does not limit how the moving unit 1200 and the fixed unit 1100 lock and unlock. For example, the moving unit 1200 and the fixed unit 1100 can lock or unlock by magnetic attraction when energized and disengagement when de-energized. Here, disengagement after de-energization can be achieved by the leaf spring 1230 described below.

[0267] In addition, in some embodiments, this can also be achieved through limiting, locking, or interfering between mechanical structures.

[0268] This disclosure does not limit the structure of the moving unit 1200. For example, in Figures 16 and 17, the moving unit 1200 may include a guide seat 1210 and an armature 1220.

[0269] The guide seat 1210 is fixedly sleeved on the lead screw shaft 310. For example, the guide seat 1210 can be connected to the lead screw shaft 310 via a spline, and the guide seat 1210 and the lead screw shaft 310 can be axially locked by a radial locking screw. The armature 1220 is connected to the guide seat 1210 via a leaf spring 1230.

[0270] For example, when the stationary unit 1100 is energized, the armature 1220 can be attracted to the stationary unit 1100 for locking. When the stationary unit 1100 is de-energized, the armature 1220 can be disengaged from the stationary unit 1100 (achieved by the leaf spring 1230).

[0271] Similarly, this disclosure does not limit the structure of the fixing unit 1100. For example, in Figures 16 and 17, the fixing unit 1100 may include: a braking fixing member 1110, a braking coil 1120, and a friction plate 1130.

[0272] The brake stationary component 1110 is fixed to the housing module 200; the brake coil 1120 is mounted on the brake stationary component 1110; the friction plate 1130 is mounted on the brake stationary component 1110.

[0273] For example, when the brake coil 1120 is energized, it can attract the armature 1220 to the friction plate 1130 for frictional locking. When the brake coil 1120 is de-energized, the friction plate 1130 disengages from the armature 1220 (reset by the spring force of the leaf spring 1230).

[0274] In some embodiments of this 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 face of the armature 1220 away from the leaf spring 1230, so as to avoid affecting the contact between the armature 1220 and the friction plate 1130.

[0275] For example, the brake coil 1120 can be connected to an external power source. When the brake coil 1120 is de-energized, the brake module 1000 does not work, and the lead screw shaft 310 can rotate freely. When the brake coil 1120 is energized, the brake module 1000 performs the braking function, the coil generates excitation, and the brake stationary component 1110 can generate an electromagnetic attraction between itself and the armature 1220. The armature 1220 is attracted to the friction plate 1130, preventing it from rotating freely. Thus, the lead screw shaft 310 is locked by the guide seat 1210, so that the adjustment device is stopped at any height.

[0276] Compared to servo motor-driven active suspensions with braking functions in related technologies, the braking module 1000 provided in some embodiments of this disclosure has a smaller footprint, is easier to assemble and disassemble, is lighter, lower in cost, and requires less labor. Furthermore, the braking mode of the braking module 1000 provided in some embodiments of this disclosure operates for a shorter period, which helps extend the service life of the braking module 1000.

[0277] In some embodiments of this disclosure, the braking fixing member 1110 and the armature 1220 can be made of magnetically conductive soft magnetic materials, such as low-carbon steel or electromagnetic pure iron. The friction plate 1130 can be made of composite asbestos or other materials with a high coefficient of friction.

[0278] Referring to Figures 16-17, in some embodiments of this disclosure, the braking fixing member 1110 may be provided with a receiving groove 1111, into which the braking coil 1120 and the friction plate 1130 may be respectively embedded. This design can reduce the space occupied by the braking module 1000 and improve space utilization.

[0279] For example, the friction plate 1130 can be located outside the brake coil 1120, and the friction plate 1130 can be flush with the end face of the brake fixing member 1110. With this design, when the brake coil 1120 is energized, it can attract the armature 1220 to the friction plate 1130 to frictionally lock the lead screw shaft 310.

[0280] Furthermore, by making the friction pad 1130 flush with the end face of the brake fixing member 1110, the friction pad 1130 can avoid occupying extra space. This arrangement can limit the movement of the friction pad 1130 to a certain extent, preventing the friction pad 1130 from moving under the force of the armature 1220 and causing the brake module 1000 to fail.

[0281] Referring to Figures 16-17, in some embodiments of this disclosure, the friction plate 1130 and the armature 1220 can be arranged axially opposite each other, so that when the brake coil 1120 magnetically attracts the armature 1220, the armature 1220 can fit against the friction plate 1130 to restrict the rotation of the armature 1220.

[0282] 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 de-energized, in some embodiments of this disclosure, the gap between the friction plate 1130 and the armature 1220 can be any value between 3mm and 6mm when the brake coil 1120 is de-energized. For example, the gap between the friction plate 1130 and the armature 1220 can be 3mm, 5mm, 6mm, etc., and this gap can be achieved by the aforementioned leaf spring 1230.

[0283] Referring to Figures 16 and 17, in some embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230 for connection to the vehicle body.

[0284] For example, the housing module 200 may include an upper housing 210 connected below the motor housing 230 and a lower housing 220 connected to the nut 320. The lower housing 220 is used to connect to the wheel, and the brake fixing member 1110 may be partially clamped between the motor housing 230 and the upper housing 210. With this design, the motor housing 230 and the upper housing 210 can limit and fix the brake fixing member 1110.

[0285] Referring to Figures 16-17, in some embodiments of this disclosure, the motor housing 230, the brake fixing member 1110, and the upper housing 210 can be fixedly connected by fasteners passing through the three.

[0286] Referring to Figure 17, in some embodiments of this disclosure, the housing module 200 may be provided with a radial bearing 601 for radially supporting the lead screw shaft 310 and a lower bearing seat 1140 for mounting the radial bearing 601. The braking fixing member 1110 may be integrally formed with the lower bearing seat 1140. This design can save axial space, improve space utilization, facilitate center positioning during assembly, simplify the structure, facilitate disassembly and assembly, and contribute to weight reduction.

[0287] Furthermore, referring to FIG16, in some embodiments, the lower bearing housing 1140 and the brake fixing member 1110 can be separate components. In this case, the lower bearing housing 1140 can be disposed between the brake fixing member 1110 and the motor housing 230. The motor housing 230, the lower bearing housing 1140, the brake fixing member 1110, and the lower end cover 233 can be fixedly connected by fasteners that pass through them in sequence. By fixing the brake fixing member 1110 below the lower bearing housing 1140, installation is convenient and the strength of the entire system housing can be guaranteed.

[0288] Referring to Figure 16, the brake module 1000 is arranged at the lower part of the drive module 100 (rotary motor) (near the wheel end), which avoids the sensors and drive module 100 wiring mentioned below, which helps to simplify the wiring and avoid messy wiring.

[0289] Referring to FIG2, some embodiments of the present disclosure provide an actuator including a drive module 100 and a motion conversion assembly. At least a portion of the drive module 100 is used for connection to a vehicle body, and the motion conversion assembly includes a lead screw 310 and a lead screw 320, the lead screw 320 being used for connection to a wheel.

[0290] For example, the drive module 100 is used to drive the lead screw shaft 310 to rotate, thereby driving the lead screw nut 320 to drive the wheel to move linearly in the height direction. Furthermore, the lead screw shaft 310 is a one-piece shaft component and has multiple engagement features adapted to multiple structural components. Here, "one-piece shaft component" means that all engagement features of the lead screw shaft 310 are formed on the lead screw shaft 310 itself, rather than being assembled; they can be created later or integrally formed with the lead screw shaft 310.

[0291] This disclosure does not limit the aforementioned "joining features," which may include, for example, the external spline 317, the first raceway groove 316, the external thread, the internal thread hole, and other structures described above or below. Correspondingly, the aforementioned "structural components" may include the adapter bushing 900, the nut 320, the piston 770, etc. The joining features and structural components will be described below.

[0292] In some embodiments of this disclosure, the nut 320 can be directly connected to the wheel, or it can be connected to the wheel through the lower housing 220.

[0293] By using the above technical solution, when the actuator is working, the drive module 100 drives the lead screw shaft 310 to rotate, and the lead screw nut 320 follows and moves linearly along the height direction, thereby driving the wheel to move linearly along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0294] The actuators in some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble. Furthermore, in the purely linear drive methods of the related art, since both the drive and transmission components are linear motions (occupying a large height space), the rotary-linear motion transmission form of some embodiments of this disclosure saves more height space compared to the purely linear transmission methods of the related art, and under the same process conditions, the rotary-linear motion form has higher control accuracy.

[0295] Understandably, by setting the lead screw shaft 310 as an integral shaft, the number of system parts can be effectively reduced, the intermediate transition fit relationships can be reduced, the assembly accuracy of the adjustment device can be improved, and thus the overall reliability of the adjustment device can be improved.

[0296] It should be noted that the “structure” referred to by the structural components and joint features is described in detail in the relevant parts of this disclosure. The following is only an example of the relevant structural components and joint features. For information on their structure, alternatives, and beneficial effects, please refer to the relevant parts.

[0297] Referring to Figures 18-19, in some embodiments of this disclosure, multiple structural components may include a lead screw nut 320, and multiple engagement features may include a helical first raceway groove 316 disposed on the lead screw shaft 310, the first raceway groove 316 being available for the lead screw nut 320 to slide.

[0298] This disclosure does not limit the number of first raceway grooves 316. For example, multiple engagement features may include two first raceway grooves 316, and the two first raceway grooves 316 extend side by side.

[0299] For example, when the lead screw shaft 310 and the lead screw nut 320 form a kinematic pair, the inner surface of the lead screw nut 320 can be provided with a second raceway groove 323, and multiple balls can be arranged in the first raceway groove 316 and the second raceway groove 323. The multiple balls can realize the conversion of rotary motion to linear motion in the form of transmitting frictional torque.

[0300] In some embodiments of this disclosure, the drive module 100 may include a rotor 120 and a stator 110, and multiple structural components may include an adapter sleeve 900 fixedly connected to the rotor 120. The adapter sleeve 900 may be fixedly sleeved on the outside of the lead screw shaft 310 to transmit the rotation of the rotor 120 to the lead screw shaft 310.

[0301] Referring to Figures 18-19, multiple engagement features may include an external spline 317 disposed on the outer periphery of the lead screw shaft 310, which may be keyed to the adapter sleeve 900.

[0302] As described above, the adapter bushing 900 may include a first bushing 910 and a second bushing 920 arranged from top to bottom in the height direction.

[0303] The first bushing 910 and the second bushing 920 can abut axially. This provides axial support and restraint, thereby improving the actuator's axial force transmission and stability. Furthermore, this "compact" installation method avoids vibration and noise during the adjustment device's movement.

[0304] Referring to Figures 3, 5, and 18-19, in some embodiments, multiple engagement features may include a first step surface 313 disposed on the lead screw shaft 310 and located below the second bushing 920. The second bushing 920 can abut against the first step surface 313 from above, thereby limiting the second bushing 920 axially downward. When the first bushing 910 and the second bushing 920 abut against each other, the entire adapter bushing 900 can be limited axially downward.

[0305] Referring to Figures 3 and 19, in some embodiments of this disclosure, multiple engagement features may include an external thread formed on the lead screw shaft 310, located above the first bushing 910. Multiple structural components may include a first nut 740 screwed onto the lead screw shaft 310, which can be pressed against the first bushing 910 from above, thereby providing an axially upward limiting effect on the first bushing 910. When the first bushing 910 and the second bushing 920 abut against each other, the entire adapter bushing 900 can be axially upwardly limited.

[0306] For example, the threaded portion of the lead screw shaft 310 can extend out of the adapter sleeve 900, and the lead screw shaft 310 and the adapter sleeve 900 are locked by the first nut 740. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the rotor 120 can also be limited in the axial direction.

[0307] Referring to FIG19, in some embodiments, the plurality of engagement features may include a first threaded hole 314 provided on the lower end face of the lead screw shaft 310, and the plurality of engagement features may include a first bolt 750 connected to the first threaded hole 314.

[0308] Referring to Figures 6 and 18-19, in some embodiments, multiple engagement features may include a second stepped surface 315 formed on the lead screw shaft 310. The second stepped surface 315 may be located near the upper end of the first bushing 910. The first bushing 910 has a radially inwardly protruding overlapping platform 911, which can be pressed onto the second stepped surface 315 from above, thereby limiting the first bushing 910 axially downward.

[0309] Referring to Figures 18-19, in some embodiments of this disclosure, in addition to the external thread, external spline 317, and first threaded hole 314 located at the upper end of the lead screw shaft 310, the lead screw shaft 310 may also include a working shaft section 319 and a second threaded hole 780 located at the upper end of the lead screw shaft 310. One or two first raceway grooves 316 may be provided on the working shaft section 319.

[0310] For example, the first raceway groove 316 is used to allow the rolling element to move, thereby converting the rotational motion of the lead screw shaft 310 into the linear motion of the lead nut 320. The second threaded hole 780 located at the upper end of the lead 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 below.

[0311] In some embodiments of this disclosure, the lead screw nut 320 moves linearly along the working shaft segment 319 of the lead screw shaft 310. Therefore, the length of the working shaft segment 319 of the lead screw shaft 310 needs to be greater than the stroke of the lead screw nut 320.

[0312] Here, the travel of the lead screw nut 320 refers to the adjustable travel of the adjustment device, i.e., the design travel. Since the lead screw nut 320 is fitted onto the lead screw shaft 310, during the actual driving of the vehicle, the travel may exceed the limit. In order to protect the system structure, a certain safety redundancy (e.g., greater than the travel of the lead screw nut 320) can be reserved for the working shaft section 319 of the lead screw shaft 310.

[0313] This disclosure does not limit the amount of safety redundancy, which can be designed to be no less than the maximum compressibility of the first limiting buffer structure 1310 and the second limiting buffer structure 1320 mentioned below.

[0314] For example, the ratio of the travel stroke of the nut 320 to the length of the working shaft section 319 can be any value between 0.7 and 0.85. For example, the ratio of the travel stroke of the nut 320 to the length of the working shaft section 319 can be 0.7, 0.8, or 0.85, etc.

[0315] Referring to Figures 2, 30 and 31, some embodiments of this disclosure provide an actuator, including: a drive module 100, a motion conversion component and an upper housing 210.

[0316] The motion conversion assembly includes a rotary motion module and a linear motion module, with the linear motion module at least partially connected to the wheel. For example, the rotary motion module is driven to rotate by the drive module 100 to drive the linear motion module to propel the wheel in a linear motion in the height direction. The upper housing 210 is used to connect to the vehicle body and has a slide section 213 for the linear motion module to move vertically inside. The inner circumferential surface of the slide section 213 has a non-circular cross-section to limit the circumferential rotation of the linear motion module.

[0317] Here, the upper housing 210 can be directly connected to the vehicle body, or it can be indirectly connected to the vehicle body through the drive module 100. For example, when the drive module 100 includes a motor housing 230, the upper housing 210 can be indirectly connected to the vehicle body through the motor housing 230.

[0318] This disclosure does not limit the structure of the drive module 100. For example, the drive module 100 can 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.

[0319] This disclosure does not limit the "non-circular cross section". The "non-circular cross section" can be any shape other than a circle, and the linear motion module has a part that cooperates with it (e.g., mutually limits each other) so that the circumferential rotation of the linear motion module is limited by the "non-circular cross section". The shape of the "non-circular cross section" will be described below and will not be repeated here.

[0320] By using the above technical solution, when the actuator is working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module can move in a straight line along the height direction, thereby driving the wheels to move in a straight line along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0321] Furthermore, in the purely linear drive method of related technologies, since both the drive component and the transmission component are linear motions (occupying a large height space), the rotation plus linear motion transmission form of some embodiments of this disclosure saves more height space compared to the purely linear transmission method of related technologies, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions. By cooperating (mutually limiting) the sliding section 213 and the linear motion module, the relative rotation between the linear motion module and the upper housing 210 can be effectively controlled, ensuring the reliability of the actuator operation.

[0322] This disclosure does not limit the structure of the above-mentioned "non-circular cross section". Referring to FIG32, the sliding cylinder section 213 may include an arc surface 2131 arranged opposite to each other and a flat surface 2132 connected between the two arc surfaces 2131. The two arc surfaces 2131 and the two flat surfaces 2132 enclose and form the non-circular cross section.

[0323] Furthermore, in some embodiments, the "non-circular cross-section" can also be formed by four flat surfaces. Alternatively, it can be any other irregular shape, as long as it serves to restrict mutual rotation.

[0324] In order to enable the linear motion module to form circumferential motion limit through the non-circular cross section of the upper housing 210, referring to Figures 2, 5, 34 and 35, in some embodiments of this 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 shape of the non-circular cross section.

[0325] This design, with its connecting section 223 matching the non-circular cross-sectional shape, restricts the circumferential rotation of the lower housing 220 relative to the upper housing 210. Since the linear motion module is connected to the lower housing 220, its circumferential rotation relative to the upper housing 210 is also restricted. When the drive module 100 drives the linear motion module to move along the height direction, the drive module 100 can use the lower housing 220 to move the wheels along the height direction, thereby adjusting the vehicle height.

[0326] Referring to FIG31, in some embodiments of this disclosure, the upper housing 210 may include a lower end wall 214, which may have an opening 215 that avoids the lower housing, and the lower end wall 214 may be connected to a downwardly extending guide shaft segment 216. The lower housing 220 includes a main body segment 224, and the guide shaft segment 216 is shaped to fit the main body segment 224 of the lower housing 220.

[0327] For example, the guide shaft section 216 can be constructed as a hollow thin-walled cylindrical structure and can cooperate with the outer peripheral surface of the main body section 224 of the lower shell 220 to play a guiding role.

[0328] For example, the outer diameter of the main body section 224 of the lower housing 220 can be smaller than the inner diameter of the guide shaft section 216 of the upper housing 210, that is, the outer peripheral surface of the main body section 224 and the guide shaft section 216 of the upper housing 210 can be coaxially clearance-fitted so that the main body section 224 can reciprocate linearly within the guide shaft section 216.

[0329] 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, the guide shaft segment can function as the base 1410 without the need for a separate arrangement of the base 1410 mentioned below.

[0330] Referring to Figures 34-35, the lower end of the lower housing 220 may be provided with an external threaded connecting shaft 221, which is used to achieve a fast connection with the fork arm 710, and then to achieve a fixed connection with the wheel end, so as to directly drive the wheel end to make a corresponding action response.

[0331] Referring to Figures 34-35, in some embodiments of this disclosure, the upper end of the lower housing 220 may be provided with a flange section 225, and the 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 restrict the relative rotation of the two.

[0332] For example, referring to Figures 30-35, the flange section 225 can be symmetrically provided with two arc surfaces and two straight surfaces. The arc surface 2131 of the sliding cylinder section 213 can be coaxially clearance-fitted with the arc surface of the flange section 225. For example, 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 sliding cylinder section 213. The arc surface of the flange section 225 can reciprocate linearly within the arc surface 2131 of the sliding cylinder section 213 to achieve better guiding function.

[0333] The flat surface 2132 of the sliding section 213 is arranged parallel to the flat surface of the lower housing 220. The minimum vertical distance between the two flat surfaces that are closer to each other during the relative movement should be maintained between 0.3mm and 0.5mm to allow for a small gap between the two flat surfaces. This can effectively control the relative rotation between the lower housing 220 and the upper housing 210, ensuring the reliability of the actuator operation. At the same time, the two flat surfaces are not allowed to contact each other to reduce the frictional resistance between the lower housing 220 and the upper housing 210, thereby reducing the energy loss of the system.

[0334] Referring to Figures 2 and 5, in some embodiments of this disclosure, the rotary motion module may include a lead screw 310 extending along the height direction, which may be responsively connected to the drive module 100. The linear motion module may also include a lead screw nut 320 forming a kinematic pair with the lead screw 310, and the lower housing 220 may be mounted below the lead screw nut 320.

[0335] For example, the lead screw 310 can be connected to the upper housing 210, and the lower housing 220 can be a hollow structure, allowing the lead screw 310 to extend into the lower housing 220 from above.

[0336] When the actuator is working, the drive module 100 drives the lead screw shaft 310 to rotate, and the lead screw nut 320 moves linearly along the height direction under the drive of the lead screw shaft 310, thereby driving the lower housing 220 to move linearly relative to the upper housing 210 along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0337] The solutions of some embodiments of this disclosure are simple in structure, highly manufacturable, and easy to assemble and disassemble. Furthermore, the transmission method combining rotation and linear motion saves more space and offers higher control precision compared to purely linear transmission methods in related technologies.

[0338] Referring to Figures 2, 34-35, in some embodiments of this disclosure, the nut 320 may have a radially protruding flange 321, which may be connected to the flange section 225 to install the nut 320 into the lower housing 220.

[0339] This disclosure does not limit the formation method of the flange section 225. The flange section 225 can be integrally formed with the lower housing 220, or it can be assembled. The flange section 225 can be provided with multiple connection holes 1, which are adapted to the connection holes 1 on the flange platform 321 of the nut 320 to fix the lower housing 220 and the nut 320 together.

[0340] Referring to Figures 2, 5, 9, 12 and 15, in some embodiments of this disclosure, at least a portion of the nut 320 may extend from above into the inner side of the lower housing 220.

[0341] With this design, the portion of the nut 320 extending into the inner side of the lower housing 220 can fit against the inner wall of the lower housing 220, forming a radial limit between the nut 320 and the lower housing 220, ensuring the stability of their fit. On the other hand, at least a portion of the nut 320 extends downward into the lower housing 220, which can prevent the nut 320 from occupying too much axial space on the upper side, thereby increasing the axial range of motion of the nut 320, that is, increasing the adjustment range of the adjustment device.

[0342] Referring to Figures 2, 5, 9, 12, and 15, the inner circumferential surface of the lower housing 220 may have a shoulder 226 to support the nut 320 extending into the lower housing 220. The shoulder 226 can restrict the downward movement of the nut 320 relative to the lower housing 220, further improving the stability of the fit between the nut 320 and the lower housing 220.

[0343] Referring to Figures 30-31, in some embodiments of this disclosure, the upper housing 210 may further include a connecting section 217 disposed above the slide section 213, the top of the connecting section 217 being a flange for connection with the motor housing 230.

[0344] Referring to Figures 9-10 and 12-13, some embodiments of this disclosure provide an actuator including a drive module 100, a motion conversion assembly, and a sensor 800. At least a portion of the drive module 100 is used for connection to a vehicle body. The motion conversion assembly includes a rotary motion module and a linear motion module. At least a portion of the linear motion module is used for connection to a wheel. The sensor 800 is used to detect rotational information of the rotary motion module.

[0345] For example, the drive module 100 is used to drive the rotary motion module to rotate, thereby driving the linear motion module to drive the wheels to move linearly in the height direction. This disclosure does not limit the type and structure of the sensor 800, as long as it can detect the rotation information of the rotary motion module.

[0346] Here, the aforementioned "rotation information" can be rotational speed, rotational displacement, etc., which is beneficial for achieving precise control of the vehicle's Z-axis height. The "detection" here can be direct or indirect detection. In the case of indirect detection, it can indirectly detect the rotational motion module's rotational information by detecting the aforementioned adapter bushing 900, rotor 120, etc.

[0347] By using the above technical solution, when the actuator is working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module follows and moves in a straight line along the height direction, thereby driving the wheels to move in a straight line relative to the vehicle body along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0348] In the purely linear drive method of the related art, since both the drive component and the transmission component are linear motions (occupying a large height space), the rotation plus linear motion transmission form of some embodiments of this disclosure saves more height space than the purely linear transmission method of the related art, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions.

[0349] The sensor 800 can detect the rotation information of the rotary motion module and transmit the rotation information to the vehicle's control module. The control module can further control the working state of the drive module 100 based on the real-time rotation information of the rotary motion module, thereby achieving precise control of the vehicle's height.

[0350] As described above, in some embodiments of this disclosure, the rotary motion module may include a lead screw 310 extending along the height direction, which may be responsively connected to the drive module 100. The linear motion module may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. The solutions in some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble.

[0351] Referring to Figures 3, 5, 10, and 24, in some embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230. A lead screw 310 may be movably connected to the rotor 120. For example, the sensor 800 may include a moving element 820 movably connected to the lead screw 310 and a fixed element 810 fixed in the motor housing 230. Furthermore, in some embodiments, the sensor 800 may also include a signal processing circuit 830.

[0352] Referring to Figures 3, 5, and 10, in some embodiments of this disclosure, the moving element 820 can be fixedly sleeved on the upper end of the lead screw shaft 310 (with clearance fit or transition fit, etc.), the motor housing 230 can include an axially penetrating cover 231, and an upper end cover 232 and a lower end cover 233 disposed at both ends of the cover 231, the fixed element 810 can be sleeved on the outside of the lead screw shaft 310 at intervals, and the fixed element 810 is fixed to the upper end cover 232.

[0353] With this design, when the actuator is working, the moving element 820 can rotate synchronously with the lead screw shaft 310, while the stationary element 810 remains stationary, thus allowing the rotation information of the lead screw shaft 310 to be measured.

[0354] In some embodiments of this disclosure, in order to enable the moving element 820 to rotate synchronously with the lead screw shaft 310, the moving element 820 and the lead screw shaft 310 can be keyed together so that the moving element 820 rotates synchronously with the lead screw shaft 310. For example, a limiting groove can be opened on the outer side of the lead screw shaft 310, and the moving element 820 is provided with a protruding key that extends into the limiting groove.

[0355] Referring to Figure 2, in some embodiments of this disclosure, the upper cover 232 may include a cover body 235 and a top cover 234 detachably mounted above the cover body 235. For example, 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 cover 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 provide a sealing protection for the sensor 800, thereby improving 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 for the sensor 800 to output its wiring.

[0356] For ease of assembly and disassembly, in some embodiments of this disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0357] To secure the moving element 820 to the lead screw shaft 310, referring to Figures 10 and 19, in some embodiments of this disclosure, the lead screw shaft 310 may have a fifth stepped surface 318 that axially limits the braking element 820. During installation, simply sleeve the moving element 820 onto the lead screw shaft 310 and allow it to abut against the fifth stepped surface 318.

[0358] Referring to Figures 3, 6, and 10, in some embodiments of this disclosure, the fifth mounting base 212 can limit the positioning element 810 in the axial and radial directions.

[0359] Referring to FIG10, in some embodiments of this disclosure, the fixing element 810 can be fixed to the fifth mounting base 212 by screwing. For example, the fifth mounting base 212 can be a hole structure formed on the upper surface of the cover body 235, and the fixing element 810 can be coaxially installed in the hole structure of the cover body 235. For example, an internal thread can be formed in the hole structure, and the fixing element 810 has an external thread. Through the cooperation of the internal thread and the external thread, the threaded connection between the fixing element 810 and the fifth mounting base 212 is realized.

[0360] Alternatively, in some embodiments, the connection can be fixed by interference fit or heat fitting, and this disclosure does not limit this. In addition to the fixing method by the fifth mounting base 212, in some embodiments, the fixing element 810 and the cover body 235 can be fixed by adhesive bonding, bolt connection, or other methods.

[0361] Referring to Figures 3, 6, and 24, in some embodiments, the fixed element 810 and the moving element 820 may be spaced apart axially, and the two end faces of the fixed element 810 and the moving element 820 that are close to each other are parallel, thereby ensuring the accuracy of the sensor 800. In some embodiments, the distance between the two end faces of the fixed element 810 and the moving element 820 that are close to each other may be 1 mm, 1.5 mm, etc.

[0362] In some embodiments, the upper end face of the moving element 820 may be flush with the upper end face of the lead screw shaft 310, thereby preventing the moving element 820 from occupying excessive axial space. The actuator may also include a clamping member for fixing the moving element 820 to the lead screw shaft 310. This disclosure does not limit the clamping member, which may be a plate, fastener, etc.

[0363] This disclosure does not limit the type of sensor 800. For example, sensor 800 can be an eddy current sensor 800, a rotary transformer sensor 800, etc. When the actuator is working, the moving element 820 can rotate with the lead screw shaft 310, while the stationary element 810 remains stationary.

[0364] In some embodiments, the stationary element 810 may include a coil winding, and the moving element 820 may include a plurality of first silicon steel sheets.

[0365] For example, 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. Multiple 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.

[0366] For example, when the moving element 820 rotates, there are periodic changes in the sine signal winding and the cosine signal winding, and the signals 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 (e.g., through the signal processing element 830) and the adjustment device can be controlled to adjust the overall vehicle height to achieve the vibration reduction effect.

[0367] 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 stationary element 810 may also include a plurality of second silicon steel sheets, which can be used to confine the magnetic field.

[0368] In addition to the arrangement of the sensor 800 described above, the actuator will be introduced below with another arrangement of the sensor 800. The difference between the sensor 800 mentioned below and the sensor 800 in the previous embodiment is that the positional relationship between the moving element 820 and the fixed element 810 is different. This embodiment mainly improves the problem of the axial impact of the rotary motion module affecting the sensor 800. The remaining basic structures and effects of the two embodiments can be referred to each other without contradiction. In order to avoid redundancy, the repeated parts will only be briefly described below. For effects, alternatives, etc., please refer to the above.

[0369] Referring to Figures 9 and 10, some embodiments of this disclosure provide an actuator including a drive module 100 for at least partial connection to a vehicle body, a motion conversion assembly, and a sensor 800. The motion conversion assembly includes a rotary motion module and a linear motion module. At least a portion of the linear motion module is connected to a wheel. The rotary motion module is driven by the drive module to cause the linear motion module to drive the wheel in a linear motion in the height direction.

[0370] The sensor 800 is used to detect rotation information of the rotary motion module. For example, 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 rotary motion module, and the fixed element 810 is spaced out on the outside of the moving element 820.

[0371] Similar to the above, the "rotation information" here can be rotational speed, rotational displacement, etc., to facilitate precise control of the vehicle's Z-axis height. The "detection" here can be direct or indirect detection. In the case of indirect detection, it can indirectly detect rotation information by detecting the aforementioned adapter bushing 900, rotor 120, etc.

[0372] Here, "the fixed element 810 is spaced out on the outside of the moving element 820" means that the fixed element 810 and the moving element 820 have an overlapping portion in the radial projection.

[0373] By using the above technical solution, when the actuator is working, the drive module 100 drives the rotary motion module to rotate, and the linear motion module follows and moves in a straight line along the height direction, thereby driving the wheels to move in a straight line along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0374] In the purely linear drive method of the related art, since both the drive component and the transmission component are linear motions (occupying a large height space), the rotation plus linear motion transmission form of some embodiments of this disclosure saves more height space than the purely linear transmission method of the related art, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions.

[0375] The sensor 800 can detect the rotation information of the rotary motion module and transmit the rotation information to the vehicle's control module. The control module can further control the working state of the drive module 100 based on the real-time rotation information of the rotary motion module, thereby achieving precise control of the vehicle's height.

[0376] By spaced-outly sleeved fixed element 810 on the outside of moving element 820 (with an air gap between them), the accuracy of the relative installation position of the hardware in sensor 800 can be effectively avoided due to slight changes in the axial position of the rotating motion module. That is, when subjected to axial impact, the movement of moving element 820 will not affect fixed element 810. When moving element 820 follows the linear motion module to move radially, the radial distance between fixed element 810 and moving element 820 remains unchanged, thereby ensuring that sensor 800 can work normally and facilitating precise control of Z-axis (height direction) position.

[0377] In some embodiments, the dimension of the moving element 820 in the height direction can be larger than that of the fixed element 810 in the height direction. With this design, when the moving element 820 is subjected to an axial impact during rotation, causing a small displacement of the moving element 820 in the axial direction, the normal operation of the sensor 800 can still be guaranteed. That is, when the moving element 820 is displaced by an axial impact, because the moving element 820 has a large dimension in the height direction, even if it is displaced, it is still within the effective range of the moving element 820 (the relative area does not change).

[0378] As described above, in some embodiments of this disclosure, the drive 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.

[0379] For example, a rotary motion module may include a lead screw 310 extending along the height direction, which can be movably connected to a rotor 120, and a moving element 820 can be movably connected to the lead screw 310. A linear motion module may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. Some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble.

[0380] Referring to Figures 3, 5, and 10, in some embodiments of this disclosure, the moving element 820 can be fixedly sleeved on the upper end of the lead screw shaft 310 (with clearance fit or transition fit, etc.), and the motor housing 230 can include an axially penetrating cover 231 and an upper end cover 232 disposed on the upper end of the cover 231. The fixed element 810 can be fixed to the upper end cover 232.

[0381] With this design, when the actuator is working, the moving element 820 can rotate synchronously with the lead screw shaft 310, while the stationary element 810 remains stationary, thus allowing the rotation information of the lead screw shaft 310 to be measured.

[0382] Referring to FIG2, in some embodiments of this disclosure, the upper cover 232 may include a cover body 235 and a top cover 234 mounted on top of the cover body 235.

[0383] For example, the lead screw 310 can pass through the cover body 235, and the cover body 235 can be provided with a fifth mounting base 212 for fixing the fixed element 810. The top cover 234 can be placed over the cover body 235 to form a closed space to accommodate the moving element 820 and the fixed element 810. The closed space can provide sealing protection for the sensor 800, thereby improving 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 can have an opening for the sensor 800 to output its wiring.

[0384] For ease of assembly and disassembly, in some embodiments of this disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0385] Referring to Figures 3, 6, and 10, in some embodiments of this disclosure, the fifth mounting base 212 can limit the positioning element 810 in the axial and radial directions.

[0386] To prevent the fixed element 810 from detaching from the cover body 235, referring to FIG10, in some embodiments of this disclosure, the fixed element 810 can be axially pressed onto the cover body 235 by a fixed pressure plate 811.

[0387] In some embodiments of this disclosure, in order to enable the moving element 820 to rotate synchronously with the lead screw shaft 310, the moving element 820 and the lead screw shaft 310 can be keyed together so that the moving element 820 rotates synchronously with the lead screw shaft 310. For example, a limiting groove can be opened on the outer side of the lead screw shaft 310, and the moving element 820 is provided with a protruding key that extends into the limiting groove.

[0388] To secure the moving element 820 to the lead screw shaft 310, referring to Figures 10 and 19, in some embodiments of this disclosure, the lead screw shaft 310 may have a fifth stepped surface 318 that axially limits the braking element 820. During installation, simply sleeve the moving element 820 onto the lead screw shaft 310 and allow the moving element 820 to abut against the fifth stepped surface 318.

[0389] In some embodiments, the side of the moving element 820 closest to the vehicle body can be aligned with the end face (upper end face) of the lead screw shaft 310 closest to the vehicle body, thereby avoiding the moving element 820 occupying too much axial space.

[0390] This design facilitates the assembly and disassembly of the moving element 820, especially when the lead screw shaft 310 extends out of the cover body 235, allowing the assembly and disassembly of the moving element 820 without disassembling the motor housing 230. On the other hand, the moving element 820 does not occupy the internal space of the motor housing 230, which is beneficial for arranging the rotor 120, stator 110, etc. inside the motor housing 230.

[0391] To prevent the moving element 820 from moving upward along the axial direction, referring to FIG10, in some embodiments of this disclosure, the moving element 820 can be axially pressed against the lead screw shaft 310 by the moving pressure plate 821.

[0392] This disclosure does not impose any restrictions on the movable pressure plate 821. The movable pressure plate 821 can be a plate-like structure that is fixed to the end of the lead screw shaft 310 by the engagement of the clamping screw 822 with the second threaded hole 780, as long as the movable pressure plate 821 can restrict the moving element 820 to move upward in the axial direction.

[0393] Referring to FIG5, some embodiments of the present disclosure provide an actuator including at least a drive module 100 for connection to a vehicle body, a motion conversion component, and a first limiting buffer structure 1310.

[0394] The motion conversion component includes a rotary motion module and a linear motion module. The linear motion module is at least partially connected to the wheel. The rotary motion module is driven by the drive module 100 to drive the linear motion module to drive the wheel in a linear motion in the height direction. A first limiting buffer structure 1310 is disposed on the motion trajectory of the linear motion module to limit and buffer the upward travel of the wheel.

[0395] It should be noted that the wheel's upward travel refers to the wheel jumping up when encountering a bumpy road surface. To prevent the vehicle body from jumping up as well, the linear motion module drives the wheel to move upward relative to the vehicle body.

[0396] This disclosure does not limit the structure of the first limiting buffer structure 1310. For example, the first limiting buffer structure 1310 can be a gasket made of non-metallic materials such as rubber or polyurethane, or it can be a metal spring made of metallic materials. As long as the first limiting buffer structure 1310 is set on the motion trajectory of the linear motion module and can directly or indirectly limit and buffer the motion, it is acceptable.

[0397] "Direct" refers to the linear motion module directly contacting the first limiting buffer structure 1310 to form a buffer limit, while "indirect" refers to the linear motion module contacting the first limiting buffer structure 1310 through a rotating motion module or similar means to form a limiting buffer. "Motion trajectory" refers to the displacement trajectory of the linear motion module along the height direction. This trajectory is unrelated to the contour of the linear motion module itself, as long as the linear motion module can directly or indirectly compress the first limiting buffer structure 1310 to form a buffer limit when it moves to its limit range along the height direction.

[0398] By using the above technical solution, when the actuator is working, the drive module 100 drives the linear motion module to rotate, and the rotary motion module follows and moves in a straight line along the height direction, thereby driving the wheels to move in a straight line along the height direction, thus realizing the fully active adjustment of the vehicle height.

[0399] Furthermore, since the pure linear drive method in the related technology occupies a large height space because both the drive component and the transmission component are linear motions, the rotation plus linear motion transmission form of some embodiments of this disclosure saves more height space compared to the pure linear transmission method in the related technology, and the control accuracy of the rotation plus linear motion form is higher under the same process conditions.

[0400] By setting the first limiting buffer structure 1310, when the linear motion module drives the wheel to move upward, the first limiting buffer structure 1310 can limit and buffer the upward movement at a preset position, preventing the upward movement from being too excessive and causing damage to the relevant components of the adjustment device. In addition, the first limiting buffer structure 1310 can buffer the movement and avoid rigid collisions between components caused by excessive movement.

[0401] As described above, in some embodiments of this disclosure, the rotary motion module may include a lead screw 310 extending along the height direction, which may be responsively connected to the drive module 100. The linear motion module may include a lead screw nut 320 forming a kinematic pair with the lead screw 310.

[0402] For example, the actuator may also include a lower housing 220 connected below the lead screw nut 320, which is used to connect to the wheel. With this design, the drive module 100 drives the lead screw shaft 310 to rotate, and the lead screw nut 320 can follow along the height direction. Furthermore, the lead screw nut 320 can drive the wheel to move along the height direction through the lower housing 220. Some embodiments of this disclosure have simple structures, high manufacturability, and are easy to assemble and disassemble.

[0403] Referring to Figures 5, 9, 12, and 15, in some embodiments of this disclosure, the lower housing 220 may be a hollow structure, with the lead screw 310 extending into the lower housing 220 from above. A first limiting space 1330 may be formed between the lower end face of the lead screw 310 and the lower housing 220. The first limiting buffer structure 1310 may be disposed within the first limiting space 1330.

[0404] It should be noted that the first limiting space 1330 here changes with the movement of the lower housing 220. When the lower housing 220 moves to the limit position toward the lower end face close to the lead screw shaft 310, the first limiting buffer structure 1310 can play a limiting buffer role.

[0405] This disclosure does not restrict the location of the first limiting buffer structure 1310 within the first limiting space 1330. For example, in Figures 5, 9, 12, and 15, the first limiting buffer structure 1310 can be located inside the lower housing 220 near the wheel. The first limiting buffer structure 1310 can be fixedly connected to the lower housing 220 by means of screws or adhesive bonding.

[0406] Alternatively, in some embodiments, the first limiting buffer structure 1310 may also be disposed on the lower end face of the lead screw shaft 310. The first limiting buffer structure 1310 may be fixedly connected to the lead screw shaft 310 by means of screws or adhesive bonding.

[0407] With this design, when encountering a bumpy road surface that causes the wheels to bounce, the drive module 100 will drive the lead screw nut 320 to move the lower housing 220 upward, thereby reducing the suspension height and preventing the vehicle body from bouncing and causing bumps. At the end of the upward movement of the lower housing 220, there is a risk of rigid impact between the lower end face of the lower housing 220 and the bottom end face of the lead screw shaft 310. The first limiting buffer structure 1310 can play a buffering role to avoid excessive movement and rigid impact.

[0408] Similarly, referring to Figures 5, 9, 12, and 15, in some embodiments of this disclosure, a second limiting space 1340 may be formed between the nut 320 and the drive module 100, and a first limiting buffer structure 1310 may be disposed within 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.

[0409] In some embodiments, the first limiting buffer structure 1310 may be disposed at one end of the nut 320 near the drive module 100; or, the first limiting buffer structure 1310 may be disposed at one end of the drive module 100 near the nut 320.

[0410] When the wheels bounce on a bumpy road surface, the drive module 100 will drive the nut 320 to move the lower housing 220 upward to reduce the suspension height and prevent the vehicle body from bouncing up and causing bumps. At the end of the upward movement of the lower housing 220, there is a risk of rigid impact between the upper end face of the nut 320 and the lower end face of the drive module 100. The first limiting buffer structure 1310 can play a buffering role to avoid rigid impact.

[0411] Referring to Figures 2, 5, 9, 12, and 15, in some embodiments of this disclosure, at least a portion of the nut 320 can extend from its upper end into the inner side of the lower housing 220. This design allows the portion of the nut 320 extending into the inner side of the lower housing 220 to conform to the inner wall surface of the lower housing 220, increasing the radial restraint between the nut 320 and the lower housing 220 and ensuring the stability of their fit. Furthermore, the downward extension of a portion of the nut 320 into the lower housing 220 avoids it occupying excessive axial space on the upper side, thereby increasing the axial range of motion of the nut 320, i.e., increasing the adjustment range of the adjustment device.

[0412] Referring to Figures 2, 5, 9, 12, and 15, the inner circumferential surface of the lower housing 220 may have a shoulder 226 to support the nut 320 extending into the lower housing 220. The shoulder 226 can restrict the downward movement of the nut 320 relative to the lower housing 220, thereby improving the stability of the fit between the nut 320 and the lower housing 220.

[0413] As described above, in some embodiments of this disclosure, the actuator may further include an upper housing 210 that is at least partially fitted over the lower housing 220 and the nut 320. The drive module 100 may include a motor housing 230 with a lower end cover 233. The upper housing 210 may be fixedly connected to the lower end cover 233 or integrally formed with the lower end cover 233. By providing the upper housing 210, the nut 320 and the lower housing 220 can be sealed and protected, and guided along the height direction. The upper housing 210 also has the functions of limiting and installing the helical spring mentioned below.

[0414] To avoid interference between the lead screw shaft 310 and the movement of the lower housing 220, referring to Figures 5, 9, 12, and 15, in some embodiments of this disclosure, the lower housing 220 can be a hollow structure, and the lead screw shaft 310 can extend into the lower housing 220 from above.

[0415] In some embodiments of this disclosure, in order to allow the lower housing 220 to extend into the upper housing 210, the lower end of the upper housing 210 may be provided with a through hole for the lower housing 220 to extend into.

[0416] In addition to the aforementioned first limiting buffer structure 1310, referring to Figures 4-10, in some embodiments of this disclosure, the actuator may also include a second limiting buffer structure 1320 for limiting the downward travel of the wheel.

[0417] It should be noted that the wheel's downward travel refers to the wheel jumping down when encountering potholes. To prevent the vehicle body from jumping down as well, the linear motion module drives the wheel to move downward relative to the vehicle body.

[0418] This disclosure does not limit the structure of the second limiting buffer structure 1320. For example, the second limiting buffer structure 1320 can be a gasket made of non-metallic materials such as rubber or polyurethane, or the second limiting buffer structure 1320 can be a metal spring made of metallic materials.

[0419] As described above, in some embodiments of this disclosure, the rotary motion module may include a lead screw 310 extending along the height direction, which may be responsively connected to the drive module 100. The linear motion module may include a lead screw nut 320 forming a kinematic pair with the lead screw 310.

[0420] For example, the actuator may also include a lower housing 220 connected below the nut 320, which is used to connect to the wheel. In this case, when the wheel bounces down on a bumpy road, the drive module 100 will drive the nut 320 to move the lower housing 220 downward to increase the suspension height and prevent the vehicle body from sinking and causing bumps. At the end of the downward stroke of the lower housing 220, there is a risk of rigid impact between the nut 320 and the bottom end face of the upper housing 210. The second limiting and buffering structure 1320 can play a limiting and buffering role to avoid excessive movement and rigid impact.

[0421] In some embodiments of this disclosure, the actuator may further include an upper housing 210 that is at least partially fitted outside the lower housing 220 and the nut 320. The drive module 100 may include a motor housing 230 with a lower end cover 233. The upper housing 210 may be fixedly connected to the lower end cover 233, or the upper housing 210 may be integrally formed with the lower end cover 233.

[0422] By setting the upper housing 210, the nut 320 and the lower housing 220 can be sealed and protected, and guided along the height direction. The upper housing 210 also has the functions of limiting and installing the helical spring mentioned below.

[0423] This disclosure does not limit the structure of the second limiting buffer structure 1320. For example, in Figures 5 and 9, the second limiting buffer structure 1320 may be located at the bottom inside the upper housing 210.

[0424] In this configuration, the second limiting buffer structure 1320 can be provided with a through hole through which the lower housing 220 passes. With this design, when the lower housing 220 and the nut 320 move downwards excessively, the lower end face of the nut 320 can abut against the second limiting buffer structure 1320, thereby limiting the continued movement of the nut 320. Furthermore, the second limiting buffer structure 1320 can prevent the nut 320 from directly and rigidly impacting the upper housing 210, thus providing a buffering protection function.

[0425] In addition, in some embodiments, the upper end of the lower housing 220 may be provided with a flange section 225, 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 onto the lower housing 220. The second limiting buffer structure 1320 may be provided on the lower end face of the flange section 225 to play a buffering role at the end of the downward movement of the lower housing 210, so as to avoid excessive movement and rigid impact.

[0426] In order for the lower housing 220 to extend into the upper housing 210, referring to FIG2, in some embodiments of the present disclosure, the upper housing 210 may include a lower end wall 214, which may have an opening 215 that avoids the lower housing 220.

[0427] In order for the first limiting buffer structure 1310 and the second limiting buffer structure 1320 to play a buffering role, in some embodiments of this disclosure, the first limiting buffer structure 1310 and the second limiting buffer structure 1320 may each be elastic.

[0428] With this design, when the wheels bounce off uneven road surfaces, the drive module 100 will drive the nut 320 to move the lower housing 220 downwards, thereby increasing the suspension height and preventing the vehicle body from sinking and causing bumps. At the end of the downward movement of the lower housing 220, there is a risk of rigid impact between the nut 320 and the bottom end face of the upper housing 210. The second limiting buffer structure 1320 can act as a buffer to avoid rigid impact.

[0429] Similarly, when the wheels bounce on a bumpy road surface, the drive module 100 will drive the lead screw nut 320 to move the lower housing 220 upward to reduce the suspension height and prevent the vehicle body from bouncing up and causing bumps. At the end of the upward movement of the lower housing 220, there is a risk of rigid impact between the lower end face of the lower housing 220 and the bottom end face of the lead screw shaft 310. The first limiting buffer structure 1310 can play a buffering role to avoid rigid impact.

[0430] When the first limiting buffer structure 1310 and the second limiting buffer structure 1320 are elastic, they can be made of non-metallic materials such as rubber and polyurethane mentioned above. Alternatively, the first limiting buffer structure 1310 and the second limiting buffer structure 1320 can be made of metallic materials such as metal springs, as long as they are elastic and can provide a buffering effect. The installation method and installation position of the first limiting buffer structure 1310 and the second limiting buffer structure 1320 can be found in the relevant sections above, and will not be repeated here.

[0431] Referring to Figures 2, 5, 9, and 36-40, some embodiments of this disclosure provide an actuator including a housing module 200, a drive module 100, and a sealing module 1400. The housing module 200 includes an upper housing 210 for connection to a vehicle body and a lower housing 220 for connection to a wheel. The drive module 100 drives the upper housing 210 and the lower housing 220 to move relative to each other in the height direction. The sealing module 1400 seals between the upper housing 210 and the lower housing 220.

[0432] In some embodiments of this disclosure, the upper housing 210 can be indirectly connected to the vehicle body via the motor housing mentioned herein, and the lower housing 220 can be indirectly connected to the wheel via the fork arm mentioned herein. Furthermore, in some 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.

[0433] This disclosure does not limit the structure of the sealing module 1400, as long as the sealing module 1400 can seal between the upper housing 210 and the lower housing 220, and allows relative movement between the upper housing 210 and the lower housing 220 in the height direction (i.e., dynamic sealing). For example, the sealing module 1400 may include a base and a sealing ring, as mentioned below. Alternatively, the sealing module 1400 may also include only a sealing ring, in which case one of the upper housing 210 and the lower housing 220 needs to be provided with an annular groove for mounting the sealing ring.

[0434] This disclosure does not limit the drive module 100. For example, the drive module 100 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.

[0435] By using the above technical solution, when the actuator is working, the drive module 100 can drive the upper housing 210 and the lower housing 220 to move relative to each other in the height direction, thereby realizing the linear movement of the wheels relative to the vehicle body in the height direction, and thus achieving the adjustment of the vehicle body height. The sealing module 1400 can be used to isolate external media such as water, air, oil, and dust from entering the interior of the upper housing 210 and the lower housing 220 through the gap between them, thereby improving the reliability of the adjustment device and increasing its service life.

[0436] The following section will provide a further introduction to the sealing module 1400, focusing on its main structure and positional relationship with other components. For information on its technical effects and alternative solutions, please refer to the relevant sections below.

[0437] As described above, this disclosure does not limit the structure of the sealing module 1400. For example, in FIG37, the sealing module 1400 may include a base 1410 and a sealing ring 1420.

[0438] The base 1410 surrounds the lower housing 220 and is detachably mounted on the outside of the upper housing 210. The sealing ring 1420 is clamped between the base 1410 and the lower housing 220. With this 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.

[0439] This disclosure does not limit the types of sealing rings 1420; please refer to the relevant sections above.

[0440] Referring to Figures 36-37, in some embodiments of this disclosure, the actuator may further include a guide 1430 fixed to the inner wall of the base 1410. The guide 1430 may be sleeved on the outer side of the lower housing 220 and slide in contact with the lower housing 220. For example, the sealing ring 1420 and the guide 1430 are spaced apart in the axial direction.

[0441] Referring to Figures 36-37, in some embodiments of this disclosure, the inner periphery of the base 1410 may be provided with a groove 1411 for accommodating the sealing ring 1420. The sidewall of the groove 1411 protrudes inward from the inner wall of the base 1410, and the sidewall of the groove 1411 is used to axially limit the guide member 1430.

[0442] As described above, this disclosure does not limit the structure of the guide 1430. For example, in some embodiments of this disclosure, the guide 1430 may be a sliding bearing or a linear bearing.

[0443] In order to allow the lower housing 220 to extend into the upper housing 210, in some embodiments, the upper housing 210 may include a lower end wall 214, which may have an opening 215 that avoids the lower housing 220.

[0444] The following will introduce two connection methods between the base 1410 and the upper housing 210. Referring to FIG40, in some embodiments of this disclosure, the upper end of the base 1410 may have a radially outward protruding extension platform 1412, which may abut against the lower end wall 214 and be connected to the lower end wall 214 by bolts.

[0445] Referring to Figures 38-39, in some embodiments, the base 1410 can be inserted into the opening 215 and screwed to the lower end wall 214. Details regarding these two connection methods can be found in the relevant sections above.

[0446] Referring to Figures 1-2, in some embodiments of this disclosure, the actuator may further include a fork arm 710 for connecting a wheel, the fork arm 710 being detachably connected to the lower housing 220 below. This disclosure does not limit the connection method between the fork arm 710 and the lower housing 220; please refer to the relevant sections below.

[0447] Referring to Figures 11, 12, and 15, in some embodiments of this disclosure, the actuator may further include an axially extendable dust cover 720. The dust cover 720 may be disposed outside the upper housing 210 and fitted over the lower housing 220. One end of the dust cover 720 may be connected to the fork arm 710, and the other end of the dust cover 720 may be connected to the upper housing 210. For details regarding the types, beneficial effects, and other aspects of the dust cover 720, please refer to the relevant sections below.

[0448] To avoid redundancy, only a brief introduction will be given to the technical features of the sealing module 1400 and other components that cooperate with it. For effects, cooperation relationships and other details, please refer to the relevant sections in the context.

[0449] To facilitate understanding of the structure and effects of the sealing module 1400, the following text will introduce relevant content in conjunction with the accompanying drawings. Some content in the following text echoes the content above, and all content mentioned in the context can be combined without contradiction.

[0450] Referring to Figures 2, 5, 9, and 36-40, in some embodiments, the sealing module 1400 may include a base 1410, a guide 1430, and a sealing ring 1420. The base 1410 surrounds the lower housing 220 and is detachably mounted on the outside of the upper housing 210. The guide 1430 is sleeved on the outside of the lower housing 220 and fixed to the inner wall of the base 1410. The sealing ring 1420 is clamped between the base 1410 and the lower housing 220, and the sealing ring 1420 is axially spaced from the guide 1430.

[0451] This design serves two purposes: firstly, the guide member 1430 guides the linear movement of the lower housing 220 along the height direction in the radial direction; secondly, the guide member 1430 reduces the sliding friction on the outer circumferential surface of the lower housing 220 in the axial direction, reduces the load on the lead screw shaft 310 and the lead nut 320, extends the service life of the adjustment device, and increases the comfort of the vehicle.

[0452] The sealing ring 1420 can be used to isolate water, air, oil, dust and other media from the outside of the system, to prevent external impurities from entering the system and damaging the lubrication, thereby reducing the system's reliability and service life.

[0453] This disclosure does not limit the sealing ring 1420 and the guide 1430. The sealing ring 1420 can be an O-ring 1420 or the like, and the guide 1430 can be a sliding bearing, linear bearing or other component that can reduce friction.

[0454] For example, referring to Figures 37-38, 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 housing 210. The guide member 1430 can be interference-fitted to the inner side of the base 1410 near the upper end. The lower housing 220 can pass through the guide member 1430 and extend into the upper housing 210. The inner circumferential surface of the guide member 1430 can be coaxially slidably engaged with the outer circumferential surface of the lower housing 220. The inner side of the base 1410 near the lower end can be provided with the following groove 1411, and the sealing member can be sleeved in the groove 1411.

[0455] Referring to Figures 37-38, in some embodiments of this disclosure, the inner circumference of the base 1410 may be provided with a groove 1411 for accommodating the sealing ring 1420. The sidewall of the groove 1411 may protrude inward from the inner wall of the base 1410 to axially limit the guide member 1430. With this design, during installation, the guide member 1430 is installed into the base 1410 and abuts against the groove 1411 to form an axial limit, which facilitates installation and improves the stability during use.

[0456] During the movement of the lower housing 220, the guide 1430 will bear some radial load, which will cause local failure of the guide 1430. Therefore, the guide 1430 is a vulnerable part. At the same time, the sealing ring 1420 will age and fail due to the harshness of the actual project and the long service life. Therefore, the sealing ring 1420 is also a vulnerable part.

[0457] Therefore, both the guide 1430 and the sealing ring 1420 need to be inspected and replaced regularly to facilitate future maintenance and replacement. In some embodiments of this disclosure, the base 1410 and the upper housing 210 can be designed as a non-destructive detachable connection, which is beneficial for later maintenance, with simple disassembly and assembly processes, short labor time, and low maintenance costs.

[0458] Referring to FIG40, in some embodiments, the upper housing 210 may include a lower end wall 214, the lower end wall 214 may have an opening 215 that avoids the lower housing 220, and the upper end of the base 1410 may have a radially outwardly protruding extension platform 1412, the extension platform 1412 may abut against the lower end wall 214 and may be bolted to the lower end wall 214.

[0459] For example, the extension platform 1412 may be provided with a plurality of connecting holes 1 evenly arranged circumferentially, and the lower end face of the upper housing 210 may be provided with a plurality of connecting holes 1 corresponding to the aforementioned connecting holes 1 evenly arranged circumferentially. During installation, screws or bolts are screwed from the base 1410 side into the connecting holes 1 on the lower end face of the upper housing 210 to achieve a detachable connection between the upper housing 210 and the base 1410.

[0460] In addition, in some embodiments, referring to Figures 37-39, the upper housing 210 may include a lower end wall 214, which may have an opening 215 that avoids the lower housing 220, and the base 1410 may be inserted into the opening 215 and screwed to the lower end wall 214.

[0461] For example, the inner side of the lower end wall 214 of the upper housing 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 mates with the aforementioned internal thread. During installation, the base 1410 can be screwed into the internal thread of the upper housing 210 from the bottom to achieve a fast and detachable connection between the upper housing 210 and the base 1410.

[0462] In addition to the actuator, some embodiments of this disclosure also provide an electric motor.

[0463] Referring to Figures 2-9, 12, and 15, some embodiments of this disclosure provide a motor for an actuator, including a stator 110, a rotor 120, a housing 231, and an upper end cover 232. The housing 231 is configured as an axially through sleeve structure and accommodates the stator 110 and the rotor 120. The upper end cover 232 is disposed at the upper end of the housing 231, and at least a portion of the structure of the upper end cover 232 is used for connection with a vehicle body.

[0464] This disclosure does not limit the connection method between the upper cover 232 and the cover 231. The two can be integrally formed or detachably connected, etc.

[0465] In some embodiments of this disclosure, the upper cover 232 can be connected to the vehicle body via the aforementioned tower top assembly. In addition, in some embodiments, the upper cover 232 can also be directly connected to the vehicle body.

[0466] Referring to FIG43, in some embodiments, in order to prevent the stator 110 from rotating, the inner peripheral wall of the cover 231 may be provided with a plurality of anti-rotation grooves 760 spaced apart from each other.

[0467] By using the above technical solution, the through-sleeve structure facilitates the installation of the stator 110 and rotor 120 into the housing 231, resulting in a simple motor structure. Furthermore, the upper cover 232 is used to connect to the vehicle body. Compared to related technologies where the motor is fixed using other connecting components, some embodiments of this disclosure provide a higher degree of integration between the motor and the vehicle body, making installation convenient, quick, and space-saving.

[0468] To prevent the upper cover 232 from rotating relative to the housing 231, referring to Figures 1-12 and 14, in some embodiments of this disclosure, the upper cover 232 can be positioned against the housing 231 by a first circumferential locking portion 401. By providing the first circumferential locking portion 401, the rotation of the upper cover 232 relative to the housing 231 can be effectively prevented, and it also has a quick positioning function during installation.

[0469] This disclosure does not limit the structure of the first circumferential locking portion 401. Referring to Figures 41-45, in some embodiments, the first circumferential locking portion 401 may include a plurality of first lugs 410 and a plurality of second lugs 430. The plurality of first lugs 410 protrude radially outward from the upper end of the cover 231. The plurality of second lugs 430 protrude radially outward from the edge of the upper end cover 232.

[0470] For example, multiple first lugs 410 and multiple second lugs 430 are aligned and connected by fasteners. Here, as described above, the fasteners can be bolts, and during installation, it is only necessary to align the corresponding first lugs 410 and second lugs 430 and then pass the fasteners through the first lugs 410 and second lugs 430 in sequence.

[0471] In some embodiments of this disclosure, the first lug 410 can be integrally formed with the cover 231, and the second lug 430 can be integrally formed with the upper end cover 232. In some embodiments, the first circumferential locking portion 401 can be a connecting hole directly formed in the cover 231 and the upper end cover 232, and fastening and anti-rotation can be achieved by fasteners passing through the connecting hole in sequence.

[0472] Referring to Figures 41-45, in some embodiments, a first latch 420 may be formed between two adjacent first lugs 410 among a plurality of first lugs 410, and the first circumferential locking portion 401 may further include: a first locking piece 440, which is disposed between two adjacent second lugs 430 and extends into the first latch 420 in a shape-fitting manner.

[0473] By engaging the first locking piece 440 with the first bayonet 420, the upper cover 232 can be further prevented from rotating relative to the cover 231. During installation, inserting the first locking piece 440 into the corresponding first bayonet 420 can ensure that the corresponding first lug 410 and second lug 430 are aligned, and thus can be quickly connected by fasteners.

[0474] In some embodiments of this disclosure, the first locking tab 440 can be fitted to the outer side wall of the housing 231. This design allows multiple first locking tabs 440 to wrap around the housing 231 from the outer periphery during installation, forming a radial limit, which facilitates positioning and installation and improves the overall stability of the drive module 100.

[0475] In some embodiments of this disclosure, to facilitate the assembly, disassembly, and maintenance of the motor, the upper cover 232 can be detachably connected to the housing 231, for example, via the fasteners described above. Furthermore, in some embodiments, the upper cover 232 and the housing 231 can also be connected by threaded connection.

[0476] In addition to the aforementioned upper cover 232, in some embodiments of this disclosure, the motor may also include a lower cover 233 disposed at the lower end of the housing 231. This disclosure does not limit the connection method between the lower cover 233 and the housing 231.

[0477] To prevent the lower end cover 232 from rotating relative to the cover 231, referring to Figures 11-12 and 14, in some embodiments of this disclosure, the lower end cover 233 can be positioned against the cover 231 by a second circumferential locking portion 402. By providing the second circumferential locking portion 402, the rotation of the lower end cover 233 relative to the cover 231 can be effectively prevented, and it also has a quick positioning function during installation.

[0478] This disclosure does not limit the structure of the second circumferential locking portion 402. Referring to Figures 41-45, in some embodiments, the second circumferential locking portion 402 may further include: a plurality of third lugs 460 and a plurality of fourth lugs 480. The plurality of third lugs 460 protrude radially outward from the lower end of the cover 231. The plurality of fourth lugs 480 protrude radially outward from the edge of the lower end cover 233.

[0479] For example, multiple third lugs 460 and multiple fourth lugs 480 can be aligned and connected by fasteners. Here, as mentioned above, the fasteners can be bolts, and during installation, it is only necessary to align the corresponding third lugs 460 and fourth lugs 480 and then pass the fasteners through the third lugs 460 and fourth lugs 480 in sequence.

[0480] In some embodiments of this 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 embodiments, the second circumferential locking portion 402 may also be a connecting hole directly formed in the housing 231 and the lower end cover 233, and fastening and anti-rotation can be achieved by fasteners passing through the connecting hole in sequence.

[0481] Referring to Figures 41-45, in some embodiments, a second latch 470 may be formed between two adjacent third lugs 460, and the second circumferential locking portion 402 may further include a second locking piece 490. The second locking piece 490 is disposed between two adjacent fourth lugs 480 and extends into the second latch 470 in a form-fitting manner.

[0482] By engaging the second locking piece 490 with the second bayonet 470, the lower end cover 233 can be further prevented from rotating relative to the cover 231. During installation, inserting the second locking piece 490 into the corresponding second bayonet 470 can ensure alignment between the corresponding third lug 460 and fourth lug 480, thereby enabling quick connection via fasteners.

[0483] In some embodiments of this disclosure, the first locking tab 440 can be fitted to the outer side wall of the housing 231. This design allows multiple first locking tabs 440 to wrap around the housing 231 from the outer periphery during installation, forming a radial limit, which facilitates positioning and installation and improves the overall stability of the drive module 100.

[0484] In some embodiments of this disclosure, the second locking tab 490 can be fitted to the outer side wall of the housing 231. With this design, during installation, multiple first locking tabs 440 can wrap around the housing 231 from the outer periphery to form radial restraint, facilitating positioning and installation and improving the overall stability of the drive module 100.

[0485] In some embodiments of this disclosure, 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, via the fasteners described above. Furthermore, in some embodiments, the lower end cover 233 and the housing 231 can also be connected by threaded connection.

[0486] Referring to Figures 5, 7, 46 and 47, in some embodiments of this disclosure, the outer periphery of the upper end cover 232 and the lower end cover 233 may each have a flange 450, which surrounds the cover 231 from the outer side of the end of the cover 231.

[0487] This design allows the flange 450 to wrap around the cover 231, achieving radial restraint between the two. Furthermore, this design prevents water and impurities from entering the motor housing 230 through the gap between them, and also blocks static electricity from entering the motor housing 230 from the outside, protecting the internal components.

[0488] Referring to FIG12, in some embodiments of this disclosure, the upper cover 232 may include a cover body 235 and a top cover 234 detachably mounted above the cover body 235. For example, the top cover 234 may be used to fix it to the vehicle body.

[0489] For example, the top cover 234 can be connected to the vehicle body via the aforementioned tower top assembly 500. This design allows for easy and simple operation, as the cover body 235 can be separated from the top cover 234 when the motor needs to be removed from the vehicle body for maintenance, and the cover body 235 can be simply connected to the top cover 234 when installation is required. Furthermore, a closed space can be formed between the top cover 234 and the cover body 235, which can be used to install the aforementioned sensors, etc.

[0490] Referring to Figures 20-24, in some embodiments of this 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 portion of the stator 110 can be used to arrange the rotor 120 and the lead screw shaft 310.

[0491] For example, in some embodiments of this disclosure, the stator 110 can be fixed to the middle region of the inner circumferential surface of the housing 231, and can be installed by interference fit or heat fitting. An axial limiting feature 2311 for defining the installation position of the stator 110 can be provided near the lower end of the inner circumferential surface of the housing 231.

[0492] Referring to Figures 20-24, in some embodiments of this disclosure, the rotor 120 can be constructed as a hollow cylindrical structure. The rotor 120 can be coaxially mounted inside the stator 110 and can rotate relative to the stator 110. The structure of the rotor 120 and its positional relationship with the stator 110 are described below and will not be repeated here.

[0493] Referring to Figures 20-24, in some embodiments of this disclosure, the rotor 120 can be constructed as a hollow cylindrical structure. The rotor 120 is used to drive the lead screw shaft 310 extending into the inner side of the rotor 120 to rotate, so as to drive the lead screw nut 320 connected to the lead screw shaft 310 to output linear motion, and then drive the wheel to move linearly along the height direction through the lead screw nut 320.

[0494] To facilitate understanding of the internal structure of the motor, an embodiment is described below to aid in understanding the above solution.

[0495] In some embodiments, the rotor 120 may include a cage and permanent magnets 124. The cage may be constructed as a hollow cylindrical structure, and the permanent magnets 124 may be uniformly and fixedly distributed on the outer circumferential surface of the cage. The stator 110 may include a core assembly and a conductor assembly. The conductor assembly may consist of three-phase conductors wound separately around the core assembly to form the required three-phase winding.

[0496] For example, the rotor 120 can be coaxially embedded inside the stator 110. The minimum vertical distance between the outer axial surface of the rotor 120 and the inner bore surface of the stator 110 can be 0.5mm to 1.0mm. This distance ensures a compact structure for the rotary motor and allows for electromagnetic interaction between the rotor 120 and the stator 110. Because the rotor 120 has a hollow structure and the lead screw shaft 310 extends into the rotor 120, the axial coupling length between the rotor 120 and the lead screw shaft 310 can be significantly increased, reducing the maximum size requirement of the adjustment device in the Z-axis direction and further improving the arbitrability of the adjustment device within the vehicle.

[0497] Referring to Figures 5 and 12, in some embodiments of this disclosure, the motor may further include a lower end cover 233 disposed at the lower end of the housing 231, an upper end cover 232 may be provided with a first mounting seat 2321, and a lower end cover 233 may be provided with a second mounting seat 2331. The first mounting seat 2321 and the second mounting seat 2331 may be used to mount the radial bearing 601 applied to the lead screw shaft 310, respectively. By providing the radial bearing 601, the lead screw shaft 310 can be radially limited, improving the stability of the motor driving the lead screw shaft 310. The first mounting seat 2321 and the second mounting seat 2331 can respectively limit the radial bearing 601 radially and axially. Here, the radial bearing 601 is the third bearing 630 and the fourth bearing 640 mentioned below for radially limiting the lead screw shaft 310.

[0498] In some embodiments of this disclosure, the upper cover 232 may be provided with a mounting space for mounting a sensor 800, which is used to detect rotation information of the lead screw shaft 310. For example, the upper cover 232 may include a cover body 235 and a top cover 234, and a closed space, i.e., a mounting space, may be formed between the top cover 234 and the cover body 235. Regarding "rotation information," please refer to the above text; it will not be repeated here.

[0499] This disclosure does not limit the structure of the sensor 800. Referring to FIG10, in some embodiments of this disclosure, the sensor 800 may include a fixed element 810 and a moving element 820 that is movably connected to the lead screw shaft 310. The mounting space may include a fifth mounting seat 212 formed on the upper end cover 232 for mounting the fixed element 810. The fifth mounting seat 212 may restrict the fixed element 810 in the radial and axial directions.

[0500] For example, the fifth mounting base 212 can be formed on the cover body 235. The structure and principle of the sensor 800 can be found in the relevant sections above, and will not be repeated here.

[0501] In order to prevent the fixed element 810 from detaching from the upper end cover 232, referring to FIG10, in some embodiments of this disclosure, the fixed element 810 can be axially pressed onto the upper end cover 232 by a fixed pressure plate 811.

[0502] Referring to Figures 2 and 3, in some embodiments of this disclosure, the upper end cover 232 may be provided with a third mounting base 2322, and the lower end cover 233 may be provided with a fourth mounting base 2332. The third mounting base 2322 and the fourth mounting base 2332 may be used to install axial bearings 602 capable of withstanding axial loads.

[0503] Here, the axial bearing 602 refers to the first bearing 610 and the second bearing 620 mentioned below. The third mounting base 2322 and the fourth mounting base 2332 can radially and axially limit the axial bearing 602. By setting the axial bearing 602, the rotor 120 can be axially limited, thereby ensuring the relative position of the rotor 120 and the stator 110 in the axial direction, avoiding axial impact that could cause misalignment between the rotor 120 and the stator 110 in the axial direction, thus reducing the service life and output efficiency of the motor.

[0504] Accordingly, some embodiments of this disclosure provide an actuator, which may include the motor described above. Since the actuator has all the beneficial effects of the motor described above, it will not be described in detail here.

[0505] In addition to the motor described above, referring to Figures 5 and 9, some embodiments of this disclosure also provide a motor for an actuator, including a motor housing 230 with at least a portion of its structure for connecting to a vehicle body, a stator 110 and a rotor 120 housed within the motor housing 230, and an axial bearing 602 fixed to the motor housing 230 for axially restricting the rotor 120.

[0506] The motor housing 230 can be directly connected to the vehicle body, or it can be indirectly connected to the vehicle body through the aforementioned tower top assembly 500.

[0507] This disclosure does not limit the installation position or type of the axial bearing 602. For example, the axial bearing 602 can indirectly bear the axial load of the rotor 120 through the adapter sleeve 900 mentioned below. Furthermore, in some embodiments, the axial bearing 602 can also be directly mounted between the motor housing 230 and the rotor 120. The type of axial bearing 602 can be a thrust bearing, as mentioned below, as long as it can perform the axial load-bearing function.

[0508] 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 being displaced in the axial direction. This ensures the relative position of the rotor 120 and the stator 110 in the axial direction (the stator 110 is fixed to the motor housing 230), thereby improving the output efficiency of the motor and ensuring the stability of the motor movement.

[0509] Referring to Figures 2 and 5, in some embodiments of this 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.

[0510] With this 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 by 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 by the rotor 120, thereby achieving axial support. More specific installation methods for the first bearing 610 and the second bearing 620 will be described below, and will not be explained in detail here.

[0511] This disclosure does not limit the types of the first bearing 610 and the second bearing 620. For example, the first bearing 610 and the second bearing 620 can be thrust bearings. Thrust bearings have high load-carrying capacity and long service life. In addition, the installation and maintenance of thrust bearings are relatively simple.

[0512] Accordingly, some embodiments of this disclosure provide an actuator, including the aforementioned motor, a lead screw 310 rotatably connected to the rotor 120, and a lead screw nut 320 forming a kinematic pair with the lead screw 310, the lead screw nut 320 being used to connect to a wheel. With this design, when the lead screw 310 rotates with the rotor 120, it can drive the lead screw nut 320 to move the wheel linearly along the height direction, thereby achieving vehicle height adjustment. Since this actuator has all the beneficial effects of the aforementioned motor, further details are omitted here.

[0513] In order to enable the rotor 120 and the lead screw shaft 310 to be connected for transmission, referring to Figures 1-15, in some embodiments of this disclosure, the rotor 120 can be sleeved on the outer circumference of the lead screw shaft 310, and a transition sleeve 900 can be provided between the rotor 120 and the lead screw shaft 310, and the lead screw shaft 310 can be fixedly connected to the rotor 120 through the transition sleeve 900.

[0514] In some embodiments of this disclosure, the adapter sleeve 900 may have two radially protruding flanges 901 to abut against the ends of the rotor 120 and be fixed to the rotor 120, respectively. The adapter sleeve 900 and the lead screw shaft 310 may be keyed together. With this design, when the rotor 120 rotates, the adapter sleeve 900 rotates along with it and can further drive the lead screw shaft 310 to rotate via the keyed connection.

[0515] The structure of the adapter sleeve 900 and the connection method between the adapter sleeve 900 and the lead screw shaft 310 and the rotor 120 can be found in the relevant section above, and will not be repeated here. The following text will focus on the "axial bearing 602".

[0516] Referring to Figures 2-3, 5, and 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 for axially supporting the rotor 120 through the adapter sleeve 900.

[0517] For example, in the embodiments shown in Figures 2-3, 5, and 9, the upper base of the first bearing 610 can be interference-fitted to the upper end cover 232 and is in a stationary state, and the lower base of the first bearing 610 can be interference-fitted to the upper end of the adapter sleeve 900. The lower base of the second bearing 620 can be interference-fitted to the lower end cover 233 and is in a stationary state, and the upper base of the second bearing 620 can be interference-fitted to the lower end of the adapter sleeve 900.

[0518] With this design, the first bearing 610 and the second bearing 620 can provide axial support to the adapter sleeve 900 from both the upper and lower ends, allowing the adapter sleeve 900 to rotate. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the axial positioning of the rotor 120 can be indirectly achieved.

[0519] Referring to FIG3, in some embodiments of this disclosure, the first bearing 610 and the second bearing 620 can respectively abut against the corresponding flange 901, thereby providing axial support for the adapter sleeve 900 (directly) and the rotor 120 (indirectly).

[0520] Referring to FIG2, in some embodiments of this disclosure, the upper end cover 232 may be formed with a third mounting base 2322 capable of radially and axially restricting the first bearing 610, and the lower end cover 233 may be formed with a fourth mounting base 2332 capable of radially and axially restricting the second bearing 620. The third mounting base 2322 may be integrally formed with the upper end cover 232, and the fourth mounting base 2332 may be integrally formed with the lower end cover 233. During installation, axial and radial restriction can be achieved simply by embedding the first bearing 610 and the second bearing 620 into the third mounting base 2322 and the fourth mounting base 2332, respectively.

[0521] In addition to the axial bearing 602, in some embodiments of this disclosure, the actuator may also include a radial bearing 601, which is fixed to the motor housing 230 and is used to radially support the lead screw shaft 310. This design ensures the rigidity of the lead screw shaft 310 during rotation and can prevent the lead screw shaft 310 from wobbling during rotation to a certain extent, thereby improving the stability of the actuator during operation.

[0522] Referring to Figures 5, 9, 12, and 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 lead screw shaft 310 for radially supporting the lead screw shaft 310.

[0523] Referring to Figures 5 and 41-45, in some embodiments of this disclosure, the upper end cover 232 may be formed with a first mounting seat 2321 capable of radially and axially restricting the third bearing 630, and the lower end cover 233 may be formed with a second mounting seat 2331 capable of radially and axially restricting 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.

[0524] During installation, the third bearing 630 is directly embedded into the first mounting base 2321 and the fourth bearing 640 is embedded into the second mounting base 2331, thereby achieving axial and radial limiting of the third bearing 630 and the fourth bearing 640.

[0525] In addition to limiting the third bearing 630 and the fourth bearing 640 via the first mounting base 2321 and the second mounting base 2331, referring to Figures 12, 15, and 18-19, in some embodiments, the lead screw shaft 310 may have at least one of a third stepped surface 311 that axially restricts the third bearing 630 or a fourth stepped surface that axially restricts the fourth bearing 640. During installation, the third bearing 630 and the fourth bearing 640 simply abut against their respective stepped surfaces.

[0526] This disclosure does not limit the type or arrangement of the third bearing 630 and the fourth bearing 640. For example, in some embodiments of this disclosure, the third bearing 630 and the fourth bearing 640 can be angular contact ball bearings, installed back-to-back. This design allows the contact angle of the bearings to spread along the axis of rotation, increasing their radial and axial support angular rigidity and maximizing their resistance to deformation. Since the lead screw shaft 310 is fixed integrally with the rotor 120, radial limiting of the rotor 120 can also be achieved.

[0527] By using the first bearing 610, the second bearing 620, the third bearing 630 and the fourth bearing 640 together, the axial and radial positions of the rotor 120 and the adapter sleeve 900 can be kept stable when the rotary motor is working, thus improving the stability of the motor and the overall suspension movement.

[0528] In addition to the advantages mentioned above, since the wheel end impact acts on the fork arm 710, the impact can be transmitted through the lower housing 220, the nut 320 and the lead screw shaft 310 to the sensor 800 (mounted at the upper end of the lead screw shaft 310) and the rotor 120.

[0529] In some embodiments of this disclosure, a first bearing 610 and a second bearing 620 may be arranged on the upper and lower parts of the adapter sleeve 900, respectively. The first bearing 610 and the second bearing 620 may be connected to the upper end cover 232 and the lower end cover 233, respectively. Due to the combined action of the first bearing 610 and the second bearing 620, the rotor 120 can be axially limited by the adapter sleeve 900. A third bearing 630 and a fourth bearing 640 may be arranged in the upper end cover 232 and the lower end cover 233, respectively, to achieve radial limitation of the lead screw shaft 310, while also withstanding a certain axial impact.

[0530] With this design, the relative position of the rotor 120 and stator 110 of the motor can be sufficiently limited under the combined action of the aforementioned axial and radial limiting features. Furthermore, axial impacts from the lead screw shaft 310 can be transmitted to the stator 110 and motor housing 230 of the motor through the first bearing 610, the second bearing 620, the third bearing 630, and the fourth bearing 640, thereby reducing the impact of axial impacts on the sensor 800.

[0531] Referring to FIG9, in some embodiments of this disclosure, the upper side of the adapter sleeve 900 can be connected to the third bearing 630 via the first nut 740, and the lower side can be connected to the fourth bearing 640 via the collar 790. That is, the axial supplementary limiting of the intermediate connecting member is achieved by the first nut 740 and the collar 790.

[0532] Furthermore, in some embodiments, the adapter sleeve 900 can be directly connected to the third bearing 630 and the fourth bearing 640, and this disclosure does not limit this.

[0533] According to another aspect of some embodiments of this disclosure, an active suspension is provided, including the aforementioned actuator, which will not be described further here as the active suspension has all the beneficial effects of the aforementioned actuator.

[0534] According to another aspect of some embodiments of this disclosure, a vehicle is provided that includes the above-described active suspension, since the vehicle has all the beneficial effects of the above-described active suspension, which will not be described in detail here.

[0535] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0536] It should also be noted that the various technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0537] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. An actuator, comprising: A drive module, at least a portion of which is used for connection to the vehicle body; as well as A motion conversion assembly includes a rotary motion module and a linear motion module, at least a portion of the linear motion module being used for connection with a wheel; The drive module is configured to drive the rotary motion module to rotate, thereby driving the linear motion module to drive the wheel to move in a straight line in the height direction.

2. The actuator according to claim 1, wherein, The drive module includes a stator, a rotor, and a motor housing; the motor housing includes: The housing is constructed as an axially through sleeve structure; Top cover; and The lower end cover is detachably connected to the opposite end of the housing, as are the upper end cover and the lower end cover.

3. The actuator according to claim 2 further includes a circumferential locking portion, wherein the upper end cover and the lower end cover are respectively provided with the circumferential locking portion; the upper end cover and the lower end cover are respectively positioned on the cover by their respective corresponding circumferential locking portions.

4. The actuator according to claim 3, wherein, The circumferential locking portion includes: Multiple housing lugs, including: A plurality of first lugs protruding radially outward from the upper end of the casing; and Multiple third lugs protruding radially outward from the lower end of the casing; and Multiple end cap lugs, including: A plurality of second lugs protruding radially outward from the edge of the upper end cap; and Multiple fourth lugs protruding radially outward from the edge of the lower end cap; The plurality of first lugs are respectively aligned with the plurality of second lugs and connected by fasteners; the plurality of third lugs are respectively aligned with the plurality of fourth lugs and connected by fasteners.

5. The actuator according to claim 4, wherein, A first notch is formed between two adjacent first lugs of the plurality of first lugs; a second notch is formed between two adjacent third lugs of the plurality of third lugs; The circumferential locking portion further includes: A first locking tab is disposed between two adjacent second lugs and extends into the first locking slot in a shaped fit; and The second locking tab is disposed between two adjacent fourth lugs and extends into the second locking slot in a matching shape.

6. The actuator according to claim 5, wherein, The first locking tab and the second locking tab are attached to the outer side wall of the cover.

7. The actuator according to any one of claims 2 to 6, wherein, The outer periphery of the upper end cover and the lower end cover are respectively provided with flanges; the flanges are located on the outer side of the end of the cover and are arranged around the cover.

8. The actuator according to any one of claims 2 to 7, further comprising a tower top assembly for mounting on the vehicle body; the upper end cover being fixedly connected to the tower top assembly.

9. The actuator according to claim 8, wherein, The tower top assembly includes: The tower top shell is configured to accommodate at least a portion of the upper end cover; Rubber pads are fixed inside the top shell of the tower; and A middle connecting plate connects the rubber pad and the upper end cap.

10. The actuator according to claim 9, wherein, The rubber pad and the middle connecting plate are sequentially sleeved on the upper end cover. The middle connecting plate is detachably connected to the upper end cover and is embedded in the rubber pad.

11. The actuator according to claim 10, wherein, The upper end cap has an end cap stepped surface, and the middle connecting plate is constrained by the end cap stepped surface.

12. The actuator according to any one of claims 9 to 11, wherein, The tower top shell includes mounting studs for connecting the vehicle body.

13. The actuator according to any one of claims 9 to 12, wherein, The central connecting plate has multiple weight-reduction holes.

14. The actuator according to any one of claims 9 to 13, wherein, The tower top shell and the middle connecting plate are made of aluminum-based alloy.

15. The actuator according to any one of claims 9 to 14, wherein, The tower top shell includes: ontology; and A bottom connecting plate is connected to the bottom of the body; the bottom connecting plate has a first through hole that avoids the upper end cover, and there is a swing gap between the bottom connecting plate and the upper end cover.

16. The actuator according to any one of claims 8 to 15, wherein, The upper end cap includes: Cover body; and A top cover that is detachably mounted on top of the cover body; wherein the top cover is fixedly connected to the tower top assembly.

17. The actuator according to any one of claims 1 to 16, wherein, The rotary motion module includes a lead screw shaft extending along the height direction; the lead screw shaft is movably connected to the drive module. The linear motion module includes a lead screw nut that forms a kinematic pair with the lead screw shaft.

18. The actuator of claim 17 further includes a lower housing detachably connected below the nut, the nut being connected to the wheel via the lower housing.

19. The actuator according to claim 17 further includes a lower housing, wherein the nut is connected to the wheel through the lower housing, and the nut and the lower housing are integrally formed.

20. The actuator of claim 18 or 19, further comprising a fork arm configured to connect the lower housing to the wheel.

21. The actuator according to claim 20 further includes a connecting shaft, the connecting shaft being connected to the bottom of the lower housing and protruding downward; the outer peripheral surface of the connecting shaft is provided with an external thread; The fork arm includes a mounting plate sleeved on the connecting shaft, and the mounting plate is pressed against the lower housing by a fastening nut screwed onto the connecting shaft.

22. The actuator according to any one of claims 1 to 21, further comprising an upper housing sleeved outside the linear motion module; the drive module includes a motor housing, the motor housing including a lower end cover; in, The upper housing and the lower end cover satisfy one of the following conditions: The upper housing is fixedly connected to the lower end cover; or The upper shell and the lower end cover are integrally formed.

23. The actuator according to any one of claims 1 to 22, further comprising a helical spring for providing a supporting force to the vehicle body in the height direction.

24. The actuator according to claim 23 further includes an upper housing sleeved outside the linear motion module, the drive module including a motor housing with a lower end cover; in, The upper housing and the lower end cover satisfy one of the following conditions: The upper housing is fixedly connected to the lower end cover; or The upper shell and the lower end cover are integrally formed.

25. The actuator of claim 24, further comprising a fork arm connecting the linear motion module, the fork arm being used to connect the wheel, and the helical spring being connected between the upper housing and the fork arm.

26. The actuator according to claim 25 further includes a spring support, the spring support being formed by protruding from the outer periphery of the upper housing; the helical spring being connected to the bottom of the spring support.

27. The actuator according to claim 25, wherein, The helical spring is connected to the lower end face of the upper housing.

28. The actuator according to claim 25 further includes a dust cover, the dust cover being extendable and retractable along its own axial direction; the dust cover is disposed outside the upper housing and fitted onto the linear motion module; one end of the dust cover is connected to the fork arm, and the other end of the dust cover is connected to the upper housing.

29. The actuator according to any one of claims 1 to 28, wherein, The drive module includes a stator and a rotor; The motion conversion assembly includes a lead screw and a lead screw nut; the lead screw nut is used to connect to the wheel. The actuator also includes an adapter sleeve, which is disposed between the rotor and the lead screw shaft; The rotor can drive the lead screw shaft to rotate through the adapter sleeve, thereby driving the lead screw nut to drive the wheel to move linearly in the height direction.

30. The actuator according to claim 29, wherein, The rotor is constructed as a hollow annular structure, and the lead screw is coaxially arranged inside the rotor.

31. The actuator according to claim 29 or 30, wherein, The inner peripheral wall of the adapter bushing is keyed to the outer peripheral wall of the lead screw shaft.

32. The actuator according to any one of claims 29 to 31, wherein the adapter sleeve has two radially protruding flanges; the two flanges respectively abut against two ends of the rotor.

33. The actuator according to claim 32, wherein, The flange is connected to the end of the rotor by fasteners.

34. The actuator according to claim 32 or 33, wherein, The rotor is ring-shaped; The adapter bushing includes: First bushing; and The second bushing, the first bushing and the second bushing are arranged from top to bottom along the height direction; the first bushing and the second bushing each have the flange.

35. The actuator according to claim 34, wherein, The first bushing and the second bushing abut against each other axially.

36. The actuator according to claim 34, wherein, The portion of the lead screw shaft located below the second bushing has a first stepped surface, and the second bushing abuts against the first stepped surface from above.

37. The actuator according to claim 34, wherein, The portion of the lead screw shaft located above the first bushing has external threads, and the actuator further includes a first nut screwed onto the lead screw shaft, the first nut being pressed against the first bushing from above.

38. The actuator according to claim 37, wherein, The lower end face of the lead screw shaft has a first threaded hole and is connected to a first bolt.

39. The actuator according to any one of claims 34 to 38, wherein, The portion of the lead screw shaft located above the first bushing has a second stepped surface; the first bushing has a radially inwardly protruding overlapping platform, which presses against the second stepped surface from above.

40. The actuator according to claim 32, wherein, The adapter sleeve is a single piece, and the rotor includes a first half and a second half, which together surround the outside of the adapter sleeve.

41. The actuator according to claim 40, wherein, The stator is constructed as a hollow cylindrical structure, with the first half and the second half being semi-circular in shape.

42. The actuator according to claim 41, wherein, The surfaces of the first half and the second half that meet each other are provided with positioning holes; the actuator also includes a pin, which is inserted into the positioning holes in the first half and the second half to position the first half and the second half.

43. The actuator according to any one of claims 29 to 42, wherein, It also includes a lower housing located below the nut, through which the nut is connected to the wheel.

44. The actuator according to claim 43, wherein, The lower housing and the nut satisfy one of the following conditions: The lower housing is detachably connected to the nut; or The lower shell is integrally formed with the mother wire.

45. A motor for an actuator, comprising: stator; Rotor; The housing is constructed as an axially through sleeve structure and is configured to house the stator and the rotor; as well as An upper end cover is disposed at the upper end of the cover, and at least a portion of the structure of the upper end cover is used for connection with the vehicle body.

46. ​​The motor for an actuator according to claim 45, wherein, The actuator includes a circumferential locking portion, which includes a first circumferential locking portion, and the upper end cover is positioned on the cover via the first circumferential locking portion.

47. The motor for an actuator according to claim 46, wherein, The first circumferential locking portion includes: Multiple first lugs protrude radially outward from the upper end of the housing; and Multiple second lugs protrude radially outward from the edge of the upper end cover; The plurality of first lugs are respectively aligned with the plurality of second lugs and connected by fasteners.

48. The motor for an actuator according to claim 47, wherein, A first notch is formed between two adjacent first lugs of the plurality of first lugs; The first circumferential locking portion also includes a first locking piece, which is disposed between two adjacent second lugs and extends into the first locking slot in a shape-fitting manner.

49. The motor for an actuator according to claim 48, wherein, The first locking tab is attached to the outer side wall of the housing.

50. The motor for an actuator according to claim 45, wherein, The upper end cap is detachably connected to the housing.

51. The motor for an actuator according to any one of claims 45 to 50, further comprising a lower end cap disposed at the lower end of the housing.

52. The motor for an actuator according to claim 51, wherein, The actuator includes a circumferential locking part, and the circumferential locking part further includes a second circumferential locking part. The lower end cover is positioned on the cover by the second circumferential locking part.

53. The motor for an actuator according to claim 52, wherein, The second circumferential locking part also includes: Multiple third lugs protrude radially outward from the lower end of the housing; and Multiple fourth lugs protrude radially outward from the edge of the lower end cap. The plurality of third lugs are respectively aligned with the plurality of fourth lugs and connected by fasteners.

54. The motor for an actuator according to claim 53, wherein, A second latch is formed between two adjacent third lugs of the plurality of third lugs; the second circumferential locking portion further includes a second locking piece, which is disposed between two adjacent fourth lugs and extends into the second latch in a shape-fitting manner.

55. The motor for an actuator according to claim 54, wherein, The second locking tab is attached to the outer side wall of the housing.

56. The motor for an actuator according to any one of claims 51 to 55, wherein, The lower end cap is detachably connected to the housing.

57. The motor for an actuator according to any one of claims 51 to 56, wherein, The outer periphery of the upper end cover and the lower end cover are respectively provided with flanges; the flanges are located on the outer side of the end of the cover and are arranged around the cover.

58. The motor for an actuator according to any one of claims 45 to 57, wherein, The upper cover includes a cover body and a top cover detachably mounted above the cover body; the top cover is used to connect to the vehicle body.

59. The motor for an actuator according to any one of claims 45 to 58, wherein, The stator is constructed as a hollow cylindrical structure and is fixed to the inner wall of the housing.

60. The motor for an actuator according to claim 59, wherein, The rotor is constructed as a hollow cylindrical structure; the rotor is coaxially mounted inside the stator and is rotatable relative to the stator.

61. The motor for an actuator according to any one of claims 45 to 60, wherein, The rotor is constructed as a hollow cylindrical structure; the rotor is used to drive the lead screw shaft extending into the inner side of the rotor to rotate, so as to drive the lead screw nut connected to the lead screw shaft to output linear motion.

62. The motor for an actuator according to claim 61 further includes a lower end cover disposed at the lower end of the housing; the upper end cover is provided with a first mounting seat, and the lower end cover is provided with a second mounting seat; the first mounting seat and the second mounting seat are respectively used to mount radial bearings applied to the lead screw shaft.

63. The motor for an actuator according to claim 61 or 62, wherein, The upper end cover is provided with a mounting space for installing a sensor, which is used to detect the rotation information of the lead screw shaft.

64. The motor for an actuator according to claim 63, wherein, The sensor includes a fixed element and a moving element that is responsively connected to the lead screw shaft; a fifth mounting seat formed in the upper end cover is provided in the mounting space for mounting the fixed element, the fifth mounting seat being configured to restrict the fixed element in the radial and axial directions.

65. The motor for an actuator according to claim 64, wherein, The fixed element is pressed onto the upper end cover along the axial direction of the upper end cover by a fixed pressure plate.

66. The motor for an actuator according to any one of claims 62 to 65, wherein, The upper end cover is provided with a third mounting seat, and the lower end cover is provided with a fourth mounting seat. The third mounting seat and the fourth mounting seat are respectively used to install axial bearings that can withstand axial loads.

67. An actuator comprising a motor for an actuator as described in any one of claims 45 to 66.

68. An active suspension comprising the actuator of any one of claims 1 to 44; or, the actuator of claim 67.

69. A vehicle comprising the active suspension of claim 68.

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