Actuator, active suspension and vehicle

Abstract

An actuator (2), an active suspension (5) and a vehicle (6). The actuator (2) comprises a driving module (100), a motion conversion assembly (7) and a sensor (800), wherein at least part of the driving module (100) is used for connecting to a vehicle body; the motion conversion assembly (7) comprises a rotary motion module (3) and a linear motion module (4), at least part of the linear motion module (4) being used for connecting to vehicle wheels; the sensor (800) is used for detecting rotation information of the rotary motion module (3); and the driving module (100) is used for driving the rotary motion module (3) to rotate, so as to drive the linear motion module (4) to drive the wheels to perform linear motion in a height direction.

Description

Actuators, active suspension and vehicle

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410680107.9, filed on May 28, 2024, entitled "Actuator, Active Suspension and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of vehicle height adjustment technology, specifically to an actuator, an active suspension, and a vehicle. Background Technology

[0004] Active suspension typically includes actuators, one end of which is connected to the vehicle body and the other end to the wheel. These actuators can drive linear motion based on road conditions and driving status to adjust the vehicle height. In related technologies, the actuators usually output linear motion via linear drive. This method requires significant vertical space, which is not conducive to the placement of the adjustment device on the vehicle. Furthermore, because this drive process is open-loop, it is impossible to accurately obtain drive information such as drive travel and drive speed. Summary of the Invention

[0005] The purpose of this disclosure is to provide an actuator, an active suspension, and a vehicle to at least partially address the problems existing in the related art.

[0006] To achieve the above objectives, this disclosure provides an actuator, comprising: a drive module, at least a portion of which is configured to be connected to a vehicle body; a motion conversion component, including a rotary motion module and a linear motion module, the linear motion module being at least a portion configured to be connected to a wheel; and a sensor for detecting rotational information of the rotary motion module, wherein the drive module is configured to drive the rotary motion module to rotate, thereby causing the linear motion module to drive the wheel to perform linear motion in the height direction.

[0007] Optionally, the rotary motion module includes a lead screw extending along the height direction, the lead screw being responsively connected to the drive module; the linear motion module includes a lead screw nut forming a kinematic pair with the lead screw.

[0008] Optionally, the drive module includes a stator, a rotor, and a motor housing, with the lead screw shaft flexibly connected to the rotor. The sensor includes a moving element flexibly connected to the lead screw shaft and a fixed element fixed in the motor housing.

[0009] Optionally, the moving element is fixedly sleeved on the upper end of the lead screw shaft, the motor housing includes an axially penetrating cover, and an upper end cover and a lower end cover disposed at both ends of the cover, the fixed element is sleeved on the outside of the lead screw shaft at intervals, and the fixed element is fixed to the upper end cover.

[0010] Optionally, the upper cover includes a cover body and a top cover detachably mounted above the cover body, wherein the lead screw shaft passes through the cover body, the cover body is provided with a fifth mounting seat for fixing the fixed element, and the top cover covers the cover body and forms a closed space with the cover body to accommodate the moving element and the fixed element.

[0011] Optionally, the cover body is detachably connected to the top cover.

[0012] Optionally, the fifth mounting base limits the positioning element in both the axial and radial directions.

[0013] Optionally, the fixed element is screwed onto the fifth mounting base.

[0014] Optionally, the lead screw shaft has a fifth stepped surface that restricts the moving element in the axial direction.

[0015] Optionally, the moving element and the lead screw are keyed together so that the moving element rotates synchronously with the lead screw.

[0016] Optionally, the fixed element and the moving element are parallel on one side of their axially spaced and close to each other.

[0017] Optionally, the upper end face of the moving element is flush with the upper end face of the lead screw shaft, and the actuator further includes a clamping member for fixing the moving element to the lead screw shaft.

[0018] Optionally, the stationary element includes a coil winding, and the moving element includes a plurality of first silicon steel sheets. The coil winding includes 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. The plurality of first silicon steel sheets are used to move in the magnetic field to generate electrical signals in the sine signal winding and the cosine signal winding, respectively.

[0019] Optionally, the fixing element may further include a plurality of second silicon steel sheets.

[0020] According to a second aspect of this disclosure, an active suspension is provided, including the aforementioned actuator.

[0021] According to a third aspect of this disclosure, a vehicle is provided, including the aforementioned active suspension.

[0022] Through the above technical solution, during operation, the drive module drives the rotary motion module to rotate, while the linear motion module follows and moves linearly along the height direction, thereby causing the wheels to move linearly relative to the vehicle body along the height direction, thus achieving fully active adjustment of the vehicle height. Traditional pure linear drive methods occupy a large amount of height space because both the drive and transmission components are linear. The rotary + linear motion transmission method disclosed in this invention saves more height space compared to traditional pure linear transmission methods, and under the same manufacturing conditions, the control precision of the rotary + linear motion method is higher. Sensors can detect the rotation information of the rotary motion module and transmit this information to the vehicle's control module. The control module can further control the working state of the drive module based on the real-time rotation information of the rotary motion module, thereby achieving precise control of the vehicle height.

[0023] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0024] 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:

[0025] Figure 1 is a front view of an actuator exemplarily illustrated according to the present disclosure;

[0026] Figure 2 is a cross-sectional view of the actuator shown in Figure 1;

[0027] Figure 3 is a magnified view of part D in Figure 2;

[0028] Figure 4 is a front view of another actuator exemplarily illustrated according to this disclosure;

[0029] Figure 5 is a cross-sectional view of the actuator shown in Figure 4;

[0030] Figure 6 is a magnified view of part B in Figure 5;

[0031] Figure 7 is a magnified view of part A in Figure 5;

[0032] Figure 8 is a front view of another actuator exemplarily illustrated according to this disclosure;

[0033] Figure 9 is a cross-sectional view of the actuator shown in Figure 8;

[0034] Figure 10 is a magnified view of part C in Figure 9;

[0035] Figure 11 is a front view of another actuator exemplarily illustrated according to this disclosure;

[0036] Figure 12 is a cross-sectional view of the actuator shown in Figure 11;

[0037] Figure 13 is a magnified view of part G in Figure 12;

[0038] Figure 14 is a schematic diagram of another actuator exemplarily illustrated according to this disclosure;

[0039] Figure 15 is a cross-sectional view of the actuator shown in Figure 14;

[0040] Figure 16 is a partial enlarged view of the brake module of the actuator and its surrounding components shown in Figure 15;

[0041] Figure 17 is a partial enlarged cross-sectional view of the braking module and surrounding components of another actuator exemplarily illustrated according to the present disclosure;

[0042] Figure 18 is a schematic diagram of a lead screw shaft exemplarily illustrated according to the present disclosure;

[0043] Figure 19 is a schematic diagram of another lead screw shaft exemplarily shown according to the present disclosure;

[0044] Figure 20 is a schematic diagram of a driver module exemplarily illustrated according to the present disclosure;

[0045] Figure 21 is a cross-sectional view of the drive module shown in Figure 20;

[0046] Figure 22 is an exemplary assembly diagram of a drive module and an adapter sleeve according to the present disclosure;

[0047] Figure 23 is an assembly cross-sectional view of the drive module and the adapter bushing shown in Figure 22;

[0048] Figure 24 is a cross-sectional view of a sensor exemplarily illustrated according to the present disclosure;

[0049] Figure 25 is a schematic diagram of a rotor exemplarily illustrated according to the present disclosure;

[0050] Figure 26 is a top view of the rotor shown in Figure 25;

[0051] Figure 27 is a schematic diagram of the first half of the rotor shown in Figure 25;

[0052] Figure 28 is a schematic diagram of a first bushing exemplarily illustrated according to the present disclosure;

[0053] Figure 29 is a top view of the first bushing shown in Figure 28;

[0054] Figure 30 is a schematic diagram of an upper housing exemplarily illustrated according to the present disclosure;

[0055] Figure 31 is a cross-sectional view of the upper housing shown in Figure 30;

[0056] Figure 32 is a top view of the upper housing shown in Figure 30;

[0057] Figure 33 is a schematic diagram of another upper housing exemplarily shown according to the present disclosure;

[0058] Figure 34 is a schematic diagram of a lower housing exemplarily shown according to the present disclosure;

[0059] Figure 35 is a cross-sectional view of the lower housing shown in Figure 34;

[0060] Figure 36 is a schematic diagram of a sealing module exemplarily illustrated according to the present disclosure;

[0061] Figure 37 is a cross-sectional view of the sealing module shown in Figure 36;

[0062] Figure 38 is a cross-sectional view of another sealing module exemplarily illustrated according to this disclosure;

[0063] Figure 39 is an assembly cross-sectional view of the sealing module and the upper housing shown in Figure 38;

[0064] Figure 40 is an assembly cross-sectional view of the sealing module and the upper housing shown in Figure 37;

[0065] Figure 41 is a schematic diagram of an upper end cap exemplarily shown according to the present disclosure;

[0066] Figure 42 is a cross-sectional view of the upper end cap shown in Figure 41;

[0067] Figure 43 is a schematic diagram of a housing exemplarily illustrated according to the present disclosure;

[0068] Figure 44 is a schematic diagram of a lower end cap exemplarily shown according to the present disclosure;

[0069] Figure 45 is a cross-sectional view of a lower end cap shown in Figure 44;

[0070] Figure 46 is a schematic diagram of a lower end cap as exemplarily shown in the fundamental disclosure;

[0071] Figure 47 is a cross-sectional view of the lower end cap shown in Figure 46;

[0072] Figure 48 is an exploded view of a tower top assembly exemplarily illustrated according to this disclosure;

[0073] Figure 49 is a schematic diagram of a vehicle exemplarily illustrated according to this disclosure.

[0074] Explanation of reference numerals in the attached drawings: 1-Connecting hole; 2-Actuator; 3-Rotary motion module; 4-Linear motion module; 5-Active suspension; 6-Vehicle; 7-Motion conversion component; 8-Clamping element; 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; 2 30-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-Lead 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; 812-Coil winding; 813-Second silicon steel sheet; 820-Moving element; 821-Moving pressure plate; 822-Clamping screw; 823-First silicon steel sheet; 830-Signal processing circuit; 900-Adapter sleeve; 901-Flange; 902-Internal spline; 910-First sleeve; 911-Interlocking platform; 920-Second sleeve; 1000-Brake module;1100-Fixed unit; 1110-Brake fixed component; 1111-Receiving groove; 1120-Brake coil; 1130-Friction pad; 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

[0075] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0076] In 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.

[0077] In addition, the terms "first," "second," etc., used in this disclosure are for distinguishing 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.

[0078] It should be noted that, in this disclosure, the term "connection" can refer to either a direct connection or an indirect connection. Interlocking components can be achieved through appropriate means, such as interference fit, key connection, or connection via external connectors. "Upward movement, downward movement, etc." refers to relative movement.

[0079] All hole features (e.g., threaded holes) used to connect two components in this disclosure are collectively 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. No specific type is limited to either of them, as long as they can serve the function of connecting and fastening.

[0080] An active suspension system is a system that actively adjusts the suspension stiffness, height, and stability via a transmission mechanism based on road conditions and driving needs to provide a more comfortable and stable driving experience. It is often used in vehicle shock absorbers to actively control the relative height of the wheels and the vehicle body, thus providing a more comfortable and stable driving experience. Active suspension includes actuators. When the vehicle is running, the actuators can receive information from vehicle sensors 800 and the control unit to adjust the suspension system's operating state according to road conditions and driving status, meeting the vehicle's personalized needs for different height states. For example, when encountering potholes (wheel drop), the actuators can actively control and increase the vehicle's suspension height to ensure the vehicle body remains stable and does not sink with the potholes; when encountering raised sections of road (wheel bounce), the actuators can actively control and decrease the suspension height to ensure the vehicle body is not lifted, causing bumps.

[0081] 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. This disclosure mainly focuses on electrically operated actuators based on electromagnetic principles and makes corresponding improvements to their height adjustment function.

[0082] In this disclosure, the actuator 2 may include a housing module 200, a motion conversion assembly 7, and a drive module 100. The housing module 200 includes an upper housing 210 for connection to the vehicle body and a lower housing 220 for connection to the wheels. The motion conversion assembly 7 includes a rotary motion module 3 and a linear motion module 4. The rotary motion module 3 may include a lead screw 310, and the linear motion module 4 may include a lead screw nut 320. The drive module 100 drives either the lead screw 310 or the lead screw nut 320 to rotate. When the drive module 100 drives the lead screw 310 to rotate, the lead screw nut 320 moves linearly along the axial direction (height direction) of the lead screw 310 under the drive of the lead screw 310; when the drive module 100 drives the lead screw nut 320 to rotate, the lead screw 310 moves linearly along the height direction under the drive of the lead screw nut 320.

[0083] In addition to the modules described above, in some other embodiments, the actuator 2 may also include a rotary support module and a fork arm 710, etc.

[0084] Next, we will further describe the various parts of actuator 2. It should be noted that the embodiments described here are not intended to limit the specific parts, but are merely illustrative. Specifically:

[0085] The drive module 100 is mainly used to provide power, such as a rotary motor (electromagnetic drive), and specifically includes a stator 110 and a rotor 120 rotating relative to the stator 110. The stator 110 provides the required excitation magnetic field, and the rotor 120 provides a permanently stable magnetic field, driving the rotor 120 to rotate after the stator 110 is energized. The rotor 120 is coaxially arranged with the stator 110, and the maximum radial dimension of the rotor 120 is smaller than the minimum radial dimension of the stator 110. The rotor 120 is disposed within the radial interior space of the stator 110.

[0086] The housing module 200 provides support, guidance, and sealing. When the drive module 100 is a rotary motor, it may further include a motor housing 230, within which the stator 110 and rotor 120 can be housed. The motor housing 230 may include a cover 231 with an axially through-type sleeve structure, and an upper end cover 232 and a lower end cover 233 for connecting to opposite ends of the cover 231. The upper end cover 232 is used to connect to the vehicle body, and the lower end cover 233 may be annular to allow the lead screw shaft 310 to pass through it. The upper housing 210 and the lower end cover 233 may be integrally formed or assembled, meaning the upper housing 210 can be indirectly connected to the vehicle body via the motor housing 230; this disclosure does not impose any limitations on this.

[0087] Referring to Figures 2 and 42, in the embodiments of this disclosure, the lower end cover 233 and the upper housing 210 can be integrally formed. The upper end of the lower end cover 233 can extend radially outward to form a flange structure. This flange structure can be uniformly provided with a plurality of connecting holes 1 for fastening with the housing 231, and two symmetrically arranged positioning ports (not shown in the figures) for precise positioning. The positioning ports can fix the installation angle of the lower end cover 233 and the housing 231, and align the connecting holes 1 of the lower end cover 233 with the connecting holes 1 of the housing 231 for easy fixing. To improve positioning accuracy, the diameter of the positioning port can be smaller than the diameter of the connecting holes 1.

[0088] Furthermore, when the lower end cover 233 and the upper housing 210 are detachably connected, referring to FIG5, in the embodiments of this disclosure, the upper end of the upper housing 210 can be bolted to the lower end cover 233. Specifically, the upper end of the upper housing 210 can be constructed with a flange structure, and the flange structure has multiple connecting holes 1 along the circumference. The lower end cover 233 can also have multiple connecting holes 1 at the corresponding positions of the flange structure. With this design, during installation, only two connecting holes 1 need to be passed through the corresponding bolts. When the lower end cover 233 and the upper housing 210 are integrally formed, the upper part of the upper housing 210 serves 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 nut 320, etc.

[0089] This disclosure does not restrict the connection method of any two connected parts in the housing module 200 and the motor housing 230, as will be described in detail below.

[0090] The motion conversion component 7 may include at least a rotary motion module 3 and a linear motion module 4, wherein the rotary motion module 3 can rotate with the rotor 120 and drive the linear motion module 4 to move in a straight line. The rotary motion module 3 and the linear motion module 4 may specifically include the aforementioned lead screw shaft 310 and lead nut 320. To ensure the adjustment accuracy of the overall vehicle height, this disclosure may use a motion pair (ball screw pair) formed by the lead screw shaft 310 and the ball nut (lead nut 320), wherein the lead screw shaft 310 and the ball nut may be provided with helical raceway grooves for the movement of 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. Of course, this disclosure is not limited to the ball screw pair; it is merely an illustrative example. The lead nut 320 that mates with the lead screw shaft 310, as mentioned below, can be a ball nut or other lead nut 320. 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.

[0091] The rotary support module may include multiple bearings, some of which may be used to provide axial movement support for at least one of the rotor 120, the adapter sleeve 900, the nut 320, and the lead screw shaft 310; and other bearings may be used to provide radial support and limit the movement of at least one of the rotor 120, the adapter sleeve 900, the nut 320, and the lead screw shaft 310.

[0092] The types, quantities, and installation locations of the bearings will be described in detail in the specific embodiments below.

[0093] The fork arm 710 can be located at the bottom end of the actuator 2 near the wheel. Specifically, it can be fixed to the bottom end of the lower housing 220 near the wheel using a nut 320 for easy disassembly. Alternatively, the fork arm 710 can be integrally formed with the lower housing 220 to save costs and increase strength. This disclosure does not limit the fork arm 710.

[0094] Having understood the basic structure of each module mentioned above, the technical solution of this disclosure will be described in detail below. It should be noted that there are many overlapping technical features among the various embodiments described below. To avoid redundancy, for repeated technical features, except for their unique effects in specific embodiments, their effects, alternative solutions, and specific details will only be described in detail the first time they appear. Technical features mentioned in different embodiments can be combined with each other without contradiction.

[0095] Referring to Figures 1-15, this disclosure exemplarily illustrates an actuator 2, including a drive module 100 and a motion conversion component 7. At least a portion of the drive module 100 is used to connect to a vehicle body. The motion conversion component 7 includes a rotary motion module 3 and a linear motion module 4. At least a portion of the linear motion module 4 is used to connect to a wheel. The drive module 100 is used to drive the rotary motion module 3 to rotate so that the linear motion module 4 drives the wheel to perform linear motion in the height direction.

[0096] Here, it needs to be explained that the linear motion module 4 can be directly connected to the wheel, or indirectly connected through the lower housing, fork arm, etc., which will be mentioned below.

[0097] This disclosure does not limit the specific structure of the drive module 100, as long as it can be used to drive the rotary motion module 3 to rotate, and it can be a drive motor, etc.

[0098] This disclosure does not impose any restrictions on the specific structure of the linear motion module 4 and the rotary motion module 3, as long as they can realize the conversion from rotary motion to linear motion. Specifically, they can be the lead screw 310 and lead screw nut 320 mentioned below.

[0099] By using the above technical solution, during operation, the drive module 100 drives the rotary motion module 3 to rotate, and the linear motion module 4 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. Traditional pure linear drive methods occupy a large height space because both the drive and transmission components are linear motions. The rotary + linear motion transmission method disclosed in this invention saves more height space compared to traditional pure linear transmission methods, and under the same process conditions, the control precision of the rotary + linear motion method is higher.

[0100] Referring to Figures 1-15, in the embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230. The motor housing 230 may include: a cover 231, configured as an axially through sleeve structure; and an upper end cover 232 and a lower end cover 233, which are detachably connected to opposite ends of the cover 231. The upper end cover 232 is used to connect to the vehicle body. The rotary motion module 3 can be connected to the rotor 120 to follow its rotation, thereby driving the linear motion module 4 to drive the wheels to move linearly along the height direction.

[0101] Referring to Figures 11-14, in the 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.

[0102] This disclosure does not limit the specific structure of the circumferential locking portion 400. Referring to Figures 41-45, in some embodiments, the circumferential locking portion 400 may include: a plurality of housing lugs, including a plurality of first lugs 410 protruding radially outward from the upper end of the housing 231 and a plurality of third lugs 460 protruding radially outward from the lower end of the housing 231; and a plurality of end cap lugs, including 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. The plurality of first lugs 410 and the plurality of second lugs 430 can be aligned one-to-one and connected by fasteners, and the plurality of third lugs 460 and the plurality of fourth lugs 480 can be aligned one-to-one and connected by fasteners.

[0103] Further referring to Figures 41-45, in some embodiments, a first latch 420 can be formed between two adjacent first lugs 410, and a second latch 470 can be formed between two adjacent third lugs 460. The circumferential locking portion 400 may further include: a first locking piece 440 disposed between two adjacent second lugs 430 and extending into the first latch 420 in a form-fitting manner; and a second locking piece 490 disposed between two adjacent fourth lugs 480 and extending into the second latch 470 in a form-fitting manner. By engaging the locking pieces with the latches, rotation of the upper end cover 232 and the lower end cover 233 relative to the cover 231 can be further prevented. During installation, inserting the locking pieces into the corresponding latches ensures alignment between the corresponding lugs 410, thereby enabling quick connection via fasteners.

[0104] In 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.

[0105] Referring to Figures 5 and 7, in the 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 outer side of the end of the cover 231. This design allows the flange 450 to enclose the cover 231, achieving radial restraint between them. Furthermore, this design prevents water and impurities from entering the interior of the motor housing 230 through the gap between them, and also blocks static electricity from entering the interior of the motor housing 230 from the outside, protecting the internal components.

[0106] Referring to Figures 11 and 12, in embodiments of this disclosure, the actuator 2 may further include a tower top assembly 500 for mounting on a vehicle body, and an upper end cover 232 may be fixedly connected to the tower top assembly 500.

[0107] This disclosure does not limit the specific structure of the tower top assembly 500. For example, in the embodiment shown in FIG12, the tower top assembly 500 may include: a tower top shell that partially accommodates the upper end cover 232; a rubber pad 520 fixed inside the tower top shell; and a central connecting plate 530 connected between the rubber pad 520 and the upper end cover 232. The top stud of the upper end cover 232 can coaxially engage with the central connecting plate 530 of the tower top assembly 500 and be fixedly connected by a locking nut (not shown in the figure), thereby achieving a fixed connection between the upper end cover 232 and the tower top assembly 500.

[0108] Referring to Figure 48, in the embodiments of this disclosure, the rubber pad 520 and the middle connecting plate 530 can be sequentially fitted onto the upper end cover 232. The middle connecting plate 530 is detachably connected to the upper end cover 232 and can be embedded in the rubber pad 520. Specifically, referring to Figures 12 and 48, the middle part of the tower top shell can be constructed as a through hole, and the middle part of the through hole can have a first annular hollow feature with a larger diameter. The rubber pad 520 can be installed inside the first annular hollow feature. The rubber pad 520 can have a through hole, and the middle part of the through hole can have a second annular hollow feature with a larger diameter. The middle connecting plate 530 can be installed inside the second hollow feature and coaxially engages with the top stud of the top cover 234. In the embodiments of this disclosure, the rubber pad 520 can withstand axial loads transmitted from bottom to top without undergoing large deformation. At the same time, it can provide a small-angle swing of the middle connecting plate 530 to adapt to different impacts at the wheel end and minimize the radial load on the actuator 2.

[0109] Referring to FIG12, in an embodiment of the present 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.

[0110] Referring to Figure 48, in an embodiment of this disclosure, the top shell may be provided with mounting studs 511 for connection 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. This disclosure does not limit the number of mounting studs 511. For example, in the embodiment shown in Figure 48, the top shell may be provided with three mounting studs 511 evenly distributed circumferentially. Furthermore, in some other embodiments, the number of mounting studs 511 may be four, five, etc.

[0111] Referring to Figure 48, in order to achieve weight reduction, in some embodiments, the central connecting plate 530 may have multiple weight reduction holes 531.

[0112] 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.

[0113] Referring to FIG48, in an embodiment of the present 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.

[0114] Referring to Figure 12, in an embodiment 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, which may be bolted together. The top cover 234 may be fixedly connected to the tower top assembly 500. With this design, when the actuator 2 needs to be installed on the tower top assembly 500, only the top cover 234 needs to be installed on the tower top assembly 500 first, and then the cover body 235 is connected to the top cover 234; when the actuator 2 needs to be disassembled, only the cover body 235 and the top cover 234 need to be disassembled, without disassembling the tower top assembly 500.

[0115] Specifically, when the rotary motion module 3 is a lead screw 310, referring to Figures 11-12, 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 the sensors mentioned in this article.

[0116] Referring to Figures 1-15, in the embodiments of this disclosure, the rotary motion module 3 may include a lead screw 310 extending along the height direction, which can be responsively connected to the drive module 100, such as the rotor 120. The linear motion module 4 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, which in turn drives the lead screw nut 320 to move linearly along the height direction, thereby driving the wheel to move along the height direction. The solution of this application has a simple structure, high machinability, and is easy to assemble and disassemble. Furthermore, by cooperating with the lead screw 310 and the lead screw nut 320, by configuring parameters such as the thread between them, when the lead screw 310 rotates at a large angle, the lead screw nut 320 only performs fine adjustments in the height direction, thereby improving the accuracy of the actuator 2.

[0117] Furthermore, in embodiments of this disclosure, the actuator 2 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.

[0118] To enable the lead screw nut 320 to drive the lower housing 220 in linear reciprocating motion along the axial direction of the lead screw shaft 310, referring to Figures 2, 5, 9, 12, and 15, in the embodiments of this disclosure, the lower housing 220 can be a hollow structure, allowing the lead screw shaft 310 to extend into it from above. This design ensures that when the lead screw nut 320 drives the lower housing 220 in axial motion along the lead screw shaft 310, there will be no interference between the lead screw shaft 310 and the lower housing 220, thus guaranteeing the movement. In actual operation, the rotary motor is powered on, and the rotor 120 rotates around the axis. Since the upper end of the lead screw shaft 310 of the actuator 2 is connected to the rotor 120, it can follow the rotor 120 to rotate, so that the lead screw nut 320 screwed to the lead screw shaft 310 can move linearly in the height direction. Since 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 in the height direction through the lower housing 220 to achieve the adjustment of the vehicle height.

[0119] The details of how the nut 320 and the lower housing 220 achieve a detachable connection will not be elaborated here; please refer to the relevant sections below for specific information. Besides the detachable connection method, in some embodiments, the nut 320 can be integrally formed with the lower housing 220.

[0120] Referring to Figures 1-2, 4-5, 8-9, 11-12, and 15, in embodiments of this disclosure, the actuator 2 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.

[0121] This disclosure does not limit the connection method between the lower housing 220 and the fork arm 710. For example, in the embodiment shown in Figures 34-35, a connecting shaft 221 may protrude downward from the bottom of the lower housing 220. The outer circumferential surface of the connecting shaft 221 may be provided with external threads. 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 onto the connecting shaft 221. This design facilitates the disassembly and maintenance of the fork arm 710 and the lower housing 220. In addition, the fork arm 710 may also be integrally formed with the lower housing 220, saving costs and increasing strength. This disclosure does not limit the connection method between the fork arm 710 and the lower housing 220.

[0122] Referring to Figures 1-15, in the embodiments of this disclosure, the actuator 2 may further include an upper housing 210 sleeved on the linear motion module 4, and 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 and the lower end cover 233 may be integrally formed. By providing the upper housing 210, the linear motion module (e.g., the nut 320) can be sealed and protected, and guided along the height direction. Furthermore, the upper housing 210 also serves to limit movement and install the helical spring mentioned below.

[0123] Referring to Figures 8-9 and 11-12, in the embodiments of this disclosure, the actuator 2 may further include a coil spring 730 for providing support to the vehicle body in the height direction. Specifically, it can be a steel spring, an air spring, etc. By providing the coil spring 730, the weight of the vehicle body can be supported, thereby reducing the active thrust required by the adjustment device. Specifically, when the adjustment device is in the zero-position (neither raised nor lowered), the coil spring 730 is in a compressed state (bearing the weight of the vehicle body). During the operation of the adjustment device (lowering or raising), the coil spring 730 is in a second or third compression state, and the output thrust of the adjustment device is actually overcoming the elastic force generated by the second deformation of the coil spring 730. If the coil spring 730 is not provided, the entire weight of the vehicle body will directly act on the adjustment device, making the adjustment device prone to damage and reducing its service life.

[0124] This disclosure does not limit the specific installation position of the helical spring 730. For example, in the case of the aforementioned fork arm 710, the helical spring 730 can be connected between the upper housing 210 and the fork arm 710.

[0125] Furthermore, referring to Figures 13 and 33, in embodiments of this disclosure, the outer periphery of the upper housing 210 may protrude to form a spring support 211, for example, in the central region. A helical spring 730 may be attached to the bottom of the spring support 211. In this embodiment, 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 spring mounting pad. 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 (the coil spring 730 is positioned between the upper housing 210 (fixed part) and the fork arm 710 (moving part)). Furthermore, in some other embodiments, the coil spring 730 can also be connected to the lower end face of the upper housing 210. In this case, the spring support 211 can 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 coil spring 730 can abut against the base 1410. This disclosure does not impose any limitations on this.

[0126] Referring to Figures 11-12 and 15, in the embodiments of this disclosure, the actuator 2 may further include an axially extendable dust cover 720. The dust cover 720 may be disposed outside the upper housing 210 and fitted onto the linear motion module 4. One end of the dust cover 720 is connected to the fork arm 710, and the other end is connected to the upper housing 210. The dust cover 720 may be made of a stretchable flexible material or a corrugated tube. By providing 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.

[0127] After understanding the overall structure of actuator 2, the details of actuator 2 will be further introduced below based on different embodiments. The following content contains parts that overlap with the above. In order to avoid redundancy, the repeated parts will be summarized in an appropriate manner. For details, please refer to the relevant parts above.

[0128] Referring to Figures 2-3, 5-6, 9-10, and 12-13, this disclosure provides an actuator 2, including a drive module 100, at least a portion of which is connected to a vehicle body; a motion conversion component 7, including a rotary motion module 3 and a linear motion module 4, at least a portion of which is connected to a wheel; and a sensor 800 for detecting the rotation information of the rotary motion module 3. The drive module 100 drives the rotary motion module 3 to rotate, thereby causing the linear motion module 4 to drive the wheel in a linear motion in the height direction. This disclosure does not limit the type or specific structure of the sensor 800, as long as it can detect the rotation information of the rotary motion module 3.

[0129] Here, the aforementioned "rotation information" can specifically refer to 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 the rotational motion module 3 by detecting the adapter sleeve 900, rotor 120, etc., mentioned in this article.

[0130] By using the above technical solution, during operation, the drive module 100 drives the rotary motion module 3 to rotate, while the linear motion module 4 follows and moves linearly along the height direction, thereby causing the wheels to move linearly relative to the vehicle body along the height direction, thus achieving fully active adjustment of the vehicle height. Traditional pure linear drive methods occupy a large amount of height space because both the drive and transmission components are linear motion components. The rotary + linear motion transmission method disclosed herein saves more height space compared to traditional pure linear transmission methods, and under the same process conditions, the control precision of the rotary + linear motion method is higher. The sensor 800 can detect the rotation information of the rotary motion module 3 and transmit this 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 3, thereby achieving precise control of the vehicle height.

[0131] As described above, in the embodiments of this disclosure, the rotary motion module 3 may include a lead screw 310 extending along the height direction, and the lead screw 310 may be responsively connected to the drive module 100; the linear motion module 4 may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. The solution of this disclosure has a simple structure, high manufacturability, and is easy to assemble and disassemble.

[0132] Referring to Figures 3, 5, 10, and 24, in the 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. 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 other embodiments, the sensor 800 may also include a signal processing circuit 830.

[0133] Further referring to Figures 3, 5, and 10, in the 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 may 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 spaced outwards on the lead screw shaft 310, and the fixed element 810 is fixed to the upper end cover 232. With this design, during operation, the moving element 820 can rotate synchronously with the lead screw shaft 310, while the fixed element 810 remains stationary, thereby allowing the rotation information of the lead screw shaft 310 to be measured.

[0134] In the 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. Specifically, a limiting groove can be opened on the outer side of the lead screw shaft 310, and the moving element 820 is equipped with a protruding key that extends into the limiting groove.

[0135] Referring to Figure 2, in an embodiment of this disclosure, the upper end 232 may include a cover body 235 and a top cover 234 detachably mounted above the cover body 235. The lead screw shaft 310 may pass through the cover body 235. The cover body 235 may be provided with a fifth mounting base 212 for fixing the fixed element 810. 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 sealing protection for the sensor 800, thereby improving the service life and measurement accuracy of the sensor 800. To transmit the detection signal from the sensor 800, the top cover 234 may have an opening 215 for the sensor 800 to output its wiring.

[0136] For ease of assembly and disassembly, in the embodiments of this disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0137] Furthermore, in order to fix the moving element 820 to the lead screw shaft 310, referring to Figures 10 and 19, in the 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, it is only necessary to sleeve the moving element 820 onto the lead screw shaft 310 and make it abut against the fifth stepped surface 318.

[0138] Referring to Figures 3, 6, and 10, in the embodiments of this disclosure, the fifth mounting base 212 can limit the positioning element 810 in both the axial and radial directions.

[0139] Referring to Figure 10, in an embodiment of this disclosure, the fixing element 810 can be threadedly fixed to the fifth mounting base 212. Specifically, the fifth mounting base 212 can be a hole structure formed on the upper surface of the cover body 235. The fixing element 810 can be coaxially installed in the hole structure of the cover body 235, and specifically, the hole structure can form an internal thread, while the fixing element 810 has an external thread, thereby realizing the threaded connection between the fixing element 810 and the fifth mounting base 212. Alternatively, in some other embodiments, the connection can also be fixed by interference fit or heat fitting, which is not limited in this disclosure. In addition to the fixing method by the fifth mounting base 212, in some other embodiments, the fixing element 810 and the cover body 235 can be fixed by adhesive bonding, bolt connection, or other methods.

[0140] Referring to Figures 3, 6, and 24, in some embodiments, the fixed element 810 and the moving element 820 may be axially spaced apart and have parallel end faces that are close to each other, thereby ensuring the accuracy of the sensor 800. In some embodiments, the distance between the two close end faces may be 1 mm, 1.5 mm, etc.

[0141] 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 avoiding the moving element 820 occupying too much axial space. The actuator 2 may also include a clamping member 8 for fixing the moving element 820 to the lead screw shaft 310. This disclosure does not limit the clamping member 8, which may be a plate, fastener, etc.

[0142] This disclosure does not limit the type of sensor 800, such as it can be an eddy current sensor 800, a rotary transformer sensor 800, etc. During operation, the moving element 820 can rotate with the lead screw shaft 310, while the stationary element 810 remains stationary.

[0143] Referring to Figure 6, in some embodiments, the stationary element 810 may include a coil winding 812, and the moving element 820 may include a plurality of first silicon steel sheets 823. The coil winding 812 may include a sine signal winding, a cosine signal winding, and an excitation winding. The sine signal winding and the cosine signal winding are arranged at different angles. The excitation winding is used to generate a magnetic field, and the plurality of first silicon steel sheets 823 are used to move in the magnetic field to generate electrical signals in the sine signal winding and the cosine signal winding, respectively. Specifically, when the moving element 820 rotates, there are periodic changes in the sine signal winding and the cosine signal winding, and the signals change accordingly. Based on the relationship between the two signals, the position of the moving element 820 can be determined, and then the signal can be transmitted to the control module (e.g., through the signal processing element 830) to control the adjustment device to adjust the overall vehicle height to achieve a vibration reduction effect.

[0144] Furthermore, in order to reduce the divergence of the magnetic field generated by the excitation winding and thereby 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 813, which can play a role in concentrating the magnetic field.

[0145] Referring to Figures 1-15, this disclosure exemplarily illustrates an actuator 2, including a drive module 100, a motion conversion component 7, 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 to connect to a vehicle body. The motion conversion component 7 includes a lead screw shaft 310 and a lead screw nut 320, the lead screw nut 320 being used to connect to a wheel. The adapter sleeve 900 is disposed between the rotor 120 and the lead screw shaft 310, wherein 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 perform linear motion in the height direction.

[0146] 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 it can be indirectly connected to the wheel through the lower housing 220 mentioned in this article.

[0147] This disclosure does not limit the specific structure of the adapter sleeve 900, as long as it can transmit the rotation of the rotor 120 to the lead screw shaft 310. The specific structure will be described below. In the 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, simplifying the calculation complexity of the control strategy. In addition, in some other embodiments, the speed transmission ratio can also be 1.5, 2, etc., and this disclosure does not limit this.

[0148] By using the above technical solution, during operation, the rotor 120 of the drive module 100 drives the lead screw shaft 310 to rotate via the adapter sleeve 900, and the lead screw nut 320 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. In addition, the rotation + linear motion transmission method saves more space and has higher control precision compared to the traditional pure linear transmission method. By setting the 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 in the axial direction, increases the axial coupling length, reduces the maximum size requirement of the Z-direction space (height direction), and is more conducive to the flattened design of the rotor 120, which can further improve the arrangement of the adjustment device in the vehicle.

[0149] In the embodiments of this disclosure, referring to Figures 20-23, the rotor 120 can be constructed as a hollow annular structure, and the lead screw shaft 310 can extend coaxially into the inner side of the rotor 120.

[0150] To achieve torque transmission between the lead screw shaft 310 and the adapter sleeve 900, in the 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. Specifically, for example, in the embodiments shown in Figures 18-19 and 28-29, the inner circumference (inner wall) of the adapter sleeve 900 can be provided with an internal spline 902, and the outer circumference of the portion of the lead screw shaft 310 corresponding to the adapter sleeve 900 can be provided with an external spline 317 that mates with the internal spline 902. Torque and speed transmission can be achieved through the engagement of the internal spline 902 and the 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.

[0151] This disclosure does not limit the material of the adapter bushing 900. For example, aluminum alloy, aluminum-magnesium alloy or other high-strength composite materials can be selected to ensure the lightweight design goal of the system, reduce the total mass of the system, and further reduce the rotational inertia of the system.

[0152] This disclosure does not limit the type and number of external splines 317 of the lead screw shaft 310. In the embodiments of this disclosure, they can be rectangular external splines 317, involute external splines 317, etc. The external splines 317 can be evenly arranged in the circumferential direction of the lead screw shaft 310, and the number of external splines 317 is not less than 2.

[0153] 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 the embodiments of this disclosure, the adapter sleeve 900 may have two radially protruding flanges 901, which abut against the shaft ends of the rotor 120 from both ends, respectively. With this design, the rotor 120 is at least partially clamped between the two flanges 901, thereby forming an axial limit between the two flanges 901 and the rotor 120.

[0154] This disclosure does not limit the formation of flange 901. For example, it can be integrally formed with adapter sleeve 900. Alternatively, it can be assembled with adapter sleeve 900.

[0155] Referring to Figures 22-23 and 28-29, in the 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. Specifically, the flange 901 can be provided with multiple connecting holes 1, and the end of the rotor 120 (specifically, the end of the cage mentioned below) can be provided with multiple connecting holes 1 corresponding to the aforementioned connecting holes 1, so that the adapter sleeve 900 can be fixedly connected to the rotor 120 by bolts, screws, etc. With this design, when the rotor 120 rotates, the adapter sleeve 900 fixedly connected to it can rotate synchronously, thereby driving the lead screw shaft 310 to rotate through the cooperation of the inner spline 902 and the outer spline 317.

[0156] To facilitate the assembly and disassembly of the rotor 120 and the adapter sleeve 900, referring to Figures 3 and 22-23, in the embodiments of this disclosure, the rotor 120 can be annular, and the adapter sleeve 900 can include a first sleeve 910 and a second sleeve 920 arranged from top to bottom in the height direction. The first sleeve 910 and the second sleeve 920 each have a flange 901 along their respective sides. Specifically, the mutually distant ends of the first sleeve 910 and the second sleeve 920 respectively form the aforementioned flange 901 for fixed connection with the ends of the rotor 120. During installation, the first sleeve 910 and the second sleeve 920 can be installed from both axial ends of the rotor 120; when disassembly is required, the first sleeve 910 and the second sleeve 920 can be removed from both axial ends of the rotor 120, making assembly and disassembly convenient and quick.

[0157] 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 abut axially. This design allows the first bushing 910 and the second bushing 920 to provide axial support and restraint, thereby improving the axial force transmission effect and stability of the actuator 2. Furthermore, this "compact" installation method avoids vibration noise during the movement of the adjustment device.

[0158] 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.

[0159] Referring to Figures 3 and 19, in the embodiments of this disclosure, the portion of the lead screw 310 located above the first bushing 910 may have external threads. The actuator 2 may also 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 limiting the first bushing 910 axially upward. When the first bushing 910 and the second bushing 920 abut against each other, the entire adapter bushing 900 can be limited axially upward. Specifically, the portion of the lead screw 310 with external threads can extend out of the adapter bushing 900, and the lead screw 310 and the adapter bushing 900 are locked by the first nut 740. Since the adapter bushing 900 and the rotor 120 are fixedly connected, the rotor 120 can also be limited axially.

[0160] 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).

[0161] In addition, in some other embodiments, the first threaded hole 314 at the lower end of the lead screw shaft 310 can also be used to mount the piston 770. 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. With this design, when the lower housing 220 moves linearly along the height direction, the piston 770 can act as a guide and, together with the lead screw nut 320, ensure that the lead screw shaft 310 has good rigidity during rotation. This disclosure does not limit the connection method between the piston 770 and the lead screw shaft 310; for example, in some embodiments, they can also be fixed by welding.

[0162] 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.

[0163] 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.

[0164] To facilitate the assembly and disassembly of the adapter sleeve 900 and the rotor 120, in addition to the aforementioned construction of the adapter sleeve 900 as an independent first sleeve 910 and second sleeve 920, as shown in Figures 25-27, in some other 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 outer side of the adapter sleeve 900. With this design, during installation, the first half 121 and the second half 122 are simply joined from both sides and fitted onto the outer periphery of the adapter sleeve 900; disassembly is similarly achieved by removing them from both sides, making the operation convenient and simple.

[0165] Referring to Figures 25-27, in the embodiments of this disclosure, the first half 121 and the second half 122 can each be a semi-circular 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.

[0166] To align and install the first half 121 and the second half 122, referring to FIG27, in embodiments of this disclosure, positioning holes 123 may be provided on the mating surfaces of the first half 121 and the second half 122, respectively, for positioning by inserting pins into both. Furthermore, in some other embodiments, one of the first half 121 and the second half 122 may have a positioning hole 123 formed on its mating surface, while the other may have a pin formed on its mating surface; during installation, positioning can be achieved simply by inserting the pin into the positioning hole 123.

[0167] 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 embodiments of this disclosure, the actuator 2 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.

[0168] Referring to Figures 15-17, this disclosure provides an actuator 2, including a drive module 100, a motion conversion component 7, and a braking module 1000. At least a portion of the drive module 100 is used to connect to the vehicle body. The motion conversion component 7 includes a rotary motion module 3 and a linear motion module 4. At least a portion of the linear motion module 4 is used to connect to the wheel. The rotary motion module 3 is used to rotate under the drive of the drive module 100 to drive the linear motion module 4 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 3 under preset conditions.

[0169] This disclosure does not impose any limitations on the aforementioned "preset conditions." For example, under highway conditions, the vehicle travels at a relatively high speed. 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, the rotation of the rotational motion module 3 needs to be limited by 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.

[0170] By using the above technical solution, during operation, the drive module 100 drives the rotary motion module 3 to rotate, while the linear motion module 4 can move 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. Furthermore, traditional pure linear drive methods, where both the drive and transmission components are linear motion (occupying a large height space), presently utilize a rotary + linear motion transmission method that saves more height space compared to traditional pure linear transmission methods, and offers higher control precision under the same manufacturing conditions. By setting up a braking module 1000, when the vehicle 6 does not require the adjustment device to operate, the braking module 1000 can restrict the rotation of the rotary motion module 3, at which point the actuator 2 no longer operates, thereby reducing energy waste. The drive module does not need to be configured with braking functionality, effectively reducing its size and the complexity of its internal structure.

[0171] This disclosure does not limit the specific structure of the rotary motion module 3 and the linear motion module 4. For example, in some embodiments, the rotary motion module 3 may include a lead screw 310 extending along the height direction, and the lead screw 310 may be responsively connected to the drive module 100; the linear motion module 4 may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. With this design, the drive module 100 can drive the lead screw 310 to rotate, thereby enabling the lead screw nut 320 to move linearly along the height direction. The solution disclosed herein has a simple structure, high manufacturability, and is easy to assemble and disassemble.

[0172] This disclosure does not limit the specific structure of the braking module 1000. The following will provide a detailed description using the rotary motion module 3 as a lead screw shaft 310 and the linear motion module 4 as a lead screw nut 320 as examples. Specifically:

[0173] Referring to Figures 15-17, in some embodiments, the actuator 2 may further include a housing module 200 for accommodating the lead screw shaft 310 and the lead screw nut 320. The braking module 1000 may include a fixed unit 1100 fixed to the housing module 200 and a moving unit 1200 movably 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. With this design, when the actuator 2 is not required to operate, the braking module 1000 can control the moving unit 1200 to lock to the fixed unit 1100, thereby restricting the rotation of the lead screw shaft 310. In this case, the actuator 2 no longer operates, reducing the load on the drive module 100 and minimizing energy waste.

[0174] This disclosure does not specify how the moving unit 1200 and the fixed unit 1100 achieve locking and unlocking. For example, in an embodiment of this disclosure, the moving unit 1200 and the fixed unit 1100 can be locked or unlocked by magnetic attraction when energized and disengagement when de-energized. Disengagement after de-energization can be achieved using the leaf spring 1230 described below. Furthermore, in some other embodiments, it can also be achieved through limiting, locking, or interference between mechanical structures.

[0175] This disclosure does not limit the specific structure of the moving unit 1200. For example, in the embodiments shown in Figures 16 and 17, the moving unit 1200 may include: a guide seat 1210, fixedly sleeved on the lead screw shaft 310, specifically 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 together via a radial locking screw; and an armature 1220, connected to the guide seat 1210 via a leaf spring 1230. 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 disengage from the stationary unit 1100 (achieved via the leaf spring 1230).

[0176] Similarly, this disclosure does not limit the specific structure of the fixing unit 1100. For example, in the embodiments shown in Figures 16 and 17, the fixing unit 1100 may include: a braking fixing member 1110, fixed to the housing module 200; a braking coil 1120, mounted on the braking fixing member 1110; and a friction plate 1130, mounted on the braking fixing member 1110. When the braking coil 1120 is energized, it can attract the armature 1220 to the friction plate 1130 for frictional locking. When the braking coil 1120 is de-energized, the friction plate 1130 disengages from the armature 1220 (reset by the elastic force of the leaf spring 1230).

[0177] In the 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.

[0178] 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 braking 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. This, in turn, locks the lead screw shaft 310 through the guide seat 1210, allowing the adjustment device to stop at any height. Compared with the traditional servo motor active suspension 5 with braking function, the brake module 1000 provided in this application has a smaller footprint, is easier to install and disassemble, is lighter, lower in cost, and requires less labor. Furthermore, the braking mode of the brake module 1000 provided in this application operates for a shorter period, which helps to extend the service life of the brake module 1000.

[0179] In the embodiments of this disclosure, the braking component 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.

[0180] Referring to Figures 16-17, in the embodiments of this disclosure, the braking fixing member 1110 may have 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.

[0181] Furthermore, 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 stationary 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. Furthermore, the fact that the friction plate 1130 is flush with the end face of the brake stationary member 1110 avoids the friction plate 1130 occupying extra space. This arrangement also provides a certain degree of limitation for the friction plate 1130, preventing it from moving under the force of the armature 1220 and causing the brake module 1000 to fail.

[0182] Referring to Figures 16-17, in the embodiments of this disclosure, the friction plate 1130 and the armature 1220 can be arranged axially opposite to each other. Thus, 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.

[0183] 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 the embodiments of this disclosure, the gap between the friction plate 1130 and the armature 1220 can be 3mm-6mm when the brake coil 1120 is de-energized. For example, it can be 3mm, 5mm, 6mm, etc., and this gap can be achieved by the aforementioned leaf spring 1230.

[0184] Referring to Figures 16 and 17, in the embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230, which is used to connect to the vehicle body. 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, which is used to connect to the wheel. The braking 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 braking fixing member 1110.

[0185] Further, referring to Figures 16-17, in the 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.

[0186] Referring to Figure 17, in an embodiment 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.

[0187] Furthermore, referring to FIG16, in some other embodiments, the lower bearing housing 1140 and the brake fixing member 1110 can be separate units. 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.

[0188] Referring to Figure 16, the braking module 1000 is arranged at the lower part of the drive module 100 (rotary motor) (near the wheel end), which can avoid the sensors and drive module 100 wiring mentioned in this article, which helps to simplify the wiring and avoid messy wiring.

[0189] Referring to Figures 1-15, this disclosure provides an actuator 2, including a drive module 100 and a motion conversion assembly 7. At least a portion of the drive module 100 is used to connect to a vehicle body. The motion conversion assembly 7 includes a lead screw shaft 310 and a lead screw nut 320, with the lead screw nut 320 used to connect to a wheel. The drive module 100 drives the lead screw shaft 310 to rotate, thereby driving the lead screw nut 320 to drive the wheel in a linear motion in the height direction. The lead screw shaft 310 is a one-piece shaft and has multiple engagement features adapted to multiple structural components. Here, "one-piece shaft" means that all engagement features of the lead screw shaft 310 are formed on the lead screw shaft 310, not assembled; they can be created later or integrally formed with the lead screw shaft 310.

[0190] This disclosure does not limit the aforementioned "joining features," which may include, for example, external spline 317, first raceway groove 316, external thread, internal thread hole, etc., as described below. Correspondingly, the aforementioned "structural components" may include adapter bushing 900, nut 320, piston 770, etc. The specific details of the joining features and structural components will be described below.

[0191] In the 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.

[0192] By using the above technical solution, during operation, the drive module 100 drives the lead screw shaft 310 to rotate, and the lead nut 320 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, traditional pure linear drive methods occupy a large height space because both the drive and transmission components are linear motions. The rotary + linear motion transmission method of this disclosure saves more height space compared to traditional pure linear transmission methods, and under the same process conditions, the control accuracy of the rotary + linear motion method is higher. By setting the lead screw shaft 310 as an integrated shaft, the number of system parts can be effectively reduced, the intermediate connecting 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.

[0193] It should be noted that the specific "structures" referred to by the structural components and joint features are described in detail in the relevant parts of this application. The following only provides an example of the relevant structural components and joint features. For details on their specific structures, alternatives, and beneficial effects, please refer to the relevant parts.

[0194] Referring to Figures 18-19, in the embodiments of this disclosure, multiple structural components may include a lead screw nut 320, and multiple engagement features may include a spiral first raceway groove 316 formed on the lead screw shaft 310, the first raceway groove 316 allowing the lead screw nut 320 to slide.

[0195] This disclosure does not limit the number of first raceway grooves 316. For example, in some embodiments, the number of first raceway grooves 316 can be two, extending side by side.

[0196] Specifically, 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. 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.

[0197] In the 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.

[0198] Further, 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.

[0199] 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.

[0200] Furthermore, the first bushing 910 and the second bushing 920 can abut axially. This provides axial support and restraint, thereby improving the axial force transmission effect and stability of the actuator 2. This "compact" installation method also avoids vibration noise during the movement of the adjustment device.

[0201] 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 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.

[0202] Referring to Figures 3 and 19, in embodiments of this disclosure, multiple engagement features may include an external thread formed on the lead screw shaft 310, with the external thread located above the first bushing 910. Multiple structural components may include a first nut 740 screwed onto the lead screw shaft 310. The first nut 740 can be pressed onto the first bushing 910 from above, thereby creating 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 upward limited. Specifically, the threaded portion of the lead screw shaft 310 can extend out of the adapter bushing 900, and the lead screw shaft 310 and the adapter bushing 900 are locked together by the first nut 740. Since the adapter bushing 900 and the rotor 120 are fixedly connected, the rotor 120 can also be axially limited.

[0203] Referring to FIG19, in some embodiments, the plurality of engagement features may include a first threaded hole 314 formed 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.

[0204] 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 above 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.

[0205] Referring to Figures 18-19, in the 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. A first raceway groove 316 may be formed on the working shaft section 319 (one or two). 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 screw 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 in detail below.

[0206] In the embodiments of this disclosure, the linear motion space of the lead screw nut 320 is the working shaft section 319 of the lead screw shaft 310, and the working shaft section 319 of the lead screw shaft 310 needs to be greater than the travel of the lead screw nut 320. 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, it may encounter situations where its travel exceeds the limit during actual operation. For the protection of the system structure, a certain safety redundancy (greater than the travel of the lead screw nut 320) can be reserved in the working shaft section 319 of the lead screw shaft 310. This disclosure does not limit the safety redundancy, which can be designed to be no less than the maximum compressible amount of the first limiting buffer structure 1310 and the second limiting buffer structure 1320 mentioned below. For example, in some embodiments, the ratio of the travel of the lead screw nut 320 to the length of the working shaft section 319 can be 0.7 to 0.85.

[0207] Referring to Figures 1-15 and 30-35, this disclosure provides an actuator 2, including: a drive module 100; a motion conversion assembly 7, including a rotary motion module 3 and a linear motion module 4, the linear motion module 4 being at least partially connected to a wheel, wherein the rotary motion module 3 is driven to rotate by the drive module 100 to drive the linear motion module 4 to drive the wheel to perform linear motion in the height direction; and an upper housing 210 for connecting to the vehicle body, the upper housing 210 having a slide section 213 for the linear motion module 4 to move up and down inside, the inner circumferential surface of the slide section 213 being a non-circular cross-section to restrict the circumferential rotation of the linear motion module 4. Here, the upper housing 210 can be directly connected to the vehicle body, or indirectly connected to the vehicle body through the drive module 100. Specifically, 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.

[0208] This disclosure does not limit the specific structure of the drive module 100. For example, it can be the aforementioned rotor 120, stator 110 and motor housing 230, as long as it can drive the rotary motion module 3 to drive the linear motion module 4 to move in the height direction.

[0209] This disclosure does not limit the "non-circular cross section" to any shape other than a circle, and the linear motion module 4 has a part that cooperates with it (mutually limiting each other), so that the rotation of the linear motion module 4 in the circumferential direction is limited by the "non-circular cross section". The specific shape of the "non-circular cross section" will be described below and will not be repeated here.

[0210] By using the above-mentioned technology, during operation, the drive module 100 drives the rotary motion module 3 to rotate, while the linear motion module 4 can move 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. Furthermore, traditional pure linear drive methods, where both the drive and transmission components are linear motion (occupying a large height space), presently utilize a rotary + linear motion transmission method that saves more height space compared to traditional pure linear transmission methods, and offers higher control precision under the same manufacturing conditions. Through the cooperation (mutual limiting) between the slide section 213 and the linear motion module 4, the relative rotation between the linear motion module 4 and the upper housing 210 can be effectively controlled, ensuring the reliability of the actuator 2's operation.

[0211] This disclosure does not specify the specific structure of the aforementioned "non-circular cross-section". Referring to Figure 32, in the embodiments of this disclosure, the sliding section 213 may include two opposing arc surfaces 2131 and a flat surface 2132 connecting the two arc surfaces 2131. The two arc surfaces 2131 and the two flat surfaces 2132 enclose and form the non-circular cross-section. Furthermore, in some other embodiments, the "non-circular cross-section" may also be formed by four flat surfaces. Alternatively, it may be other irregular shapes, as long as they can restrict mutual rotation.

[0212] To enable the linear motion module 4 to form a circumferential movement limit through the non-circular cross-section of the upper housing 210, referring to Figures 1-15 and 30-35, in the embodiments of this disclosure, the actuator 2 may further include a lower housing 220 connected to the linear motion module 4. The linear motion module 4 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. With this design, since the lower housing 220 has a joint section 223 that matches the shape of the non-circular cross-section, the circumferential rotational movement of the lower housing 220 relative to the upper housing 210 can be restricted. Since the linear motion module 4 is connected to the lower housing 220, the circumferential rotational movement of the linear motion module 4 relative to the upper housing 210 can also be restricted. When the drive module 100 drives the linear motion module 4 to move in the height direction, it can drive the wheel to move in the height direction through the lower housing 220, thereby achieving vehicle height adjustment.

[0213] Referring to FIG31, in an embodiment of this disclosure, the upper housing 210 may include a lower end wall 214, which may have an opening 215 to avoid the lower housing. The lower end wall 214 may be connected to a downwardly extending guide shaft segment 216, which is shaped to fit the main body segment 224 of the lower housing 220. The guide shaft segment 216 may be constructed as a hollow, thin-walled, cylindrical structure, which fits with the outer peripheral surface of the main body segment 224 of the lower housing 220 to provide a guiding function. Specifically, the outer diameter of the main body segment 224 of the lower housing 220 may be smaller than the inner diameter of the guide shaft segment 216 of the upper housing 210, meaning the outer peripheral surface of the main body segment 224 and the guide shaft segment 216 of the upper housing 210 may be coaxially clearance-fitted, allowing the main body segment 224 to reciprocate linearly within the guide shaft segment 216.

[0214] Furthermore, in some embodiments, the inner side of the guide shaft segment 216 can be used to accommodate a guide element, such as a sliding bearing. In this case, there is no need to arrange the base 1410 mentioned below separately, as the guide shaft segment can serve as the base 1410.

[0215] 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, which can directly drive the wheel end to make a corresponding action response.

[0216] Referring to Figures 34-35, in the 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.

[0217] Specifically, 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. 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. 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 process must 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 2. 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.

[0218] Referring to Figures 1-15, in the embodiments of this disclosure, the rotary motion module 3 may include a lead screw 310 extending along the height direction, which can be flexibly connected to the drive module 100. The linear motion module 4 may further include a lead screw nut 320 forming a kinematic pair with the lead screw 310, and a lower housing 220 may be installed below the lead screw nut 320. 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 it from above. During operation, the drive module 100 drives the lead screw 310 to rotate, and the lead screw nut 320 follows with linear motion along the height direction, thereby causing the lower housing 220 to move linearly relative to the upper housing 210 along the height direction, thus achieving fully active adjustment of the vehicle height. The solution of this disclosure has a simple structure, high manufacturability, and is easy to assemble and disassemble. Furthermore, the rotational + linear motion transmission method saves more space and provides higher control precision compared to the traditional pure linear transmission method.

[0219] Referring to Figures 2 and 34-35, in the embodiments of this disclosure, the nut 320 may have a radially protruding flange platform 321, which can be connected to the flange segment 225 to install the nut 320 onto the lower housing 220. This disclosure does not limit the formation of the flange segment 225; it may be integrally formed with the lower housing 220 or it may be in an assembly relationship. The flange segment 225 may 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.

[0220] Referring to Figures 2, 5, 9, 12, and 15, in the 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 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.

[0221] 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.

[0222] Referring to Figures 30-31, in the embodiments of this disclosure, the upper housing 210 may further include a connecting section 217 disposed above the slide section 213, and the top of the connecting section 217 may be a flange for connection with the motor housing 230.

[0223] In addition to the specific arrangement of sensor 800 described above, the actuator 2 will be introduced below with another arrangement of sensor 800. The difference between the sensor 800 mentioned below and the sensor 800 in the previous embodiment lies in the different positional relationship between the moving element 820 and the fixed element 810. This embodiment mainly addresses the problem of the axial impact of the rotary motion module 3 affecting the sensor 800. The remaining basic structures and effects of the two embodiments can be referred to each other without contradiction. To avoid redundancy, repeated parts will only be briefly described below. For specific effects, alternative solutions, etc., please refer to the above.

[0224] Referring to Figures 9 and 10, this disclosure provides an actuator 2, including a drive module 100 for at least partial connection to a vehicle body, a motion conversion assembly 7, and a sensor 800. The motion conversion assembly 7 includes a rotary motion module 3 and a linear motion module 4. The linear motion module 4 is at least partially connected to a wheel. The rotary motion module 3 is driven by the drive module to drive the linear motion module 4 to drive the wheel to perform linear motion in the height direction. The sensor 800 is used to detect the rotation information of the rotary motion module 3. The sensor 800 includes a fixed element 810 and a movable element 820 that are movable relative to each other. The movable element 820 is fixed to the rotary motion module 3, and the fixed element 810 is spaced outward from the movable element 820.

[0225] Similar to the above, the "rotation information" here can specifically be rotational speed, rotational displacement, etc., to facilitate precise control of the vehicle's Z-axis height. The "detection" here can be direct detection or indirect detection. In the case of indirect detection, rotation information can be indirectly detected by detecting the aforementioned adapter bushing 900, rotor 120, etc.

[0226] 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.

[0227] By using the above technical solution, during operation, the drive module 100 drives the rotary motion module 3 to rotate, while the linear motion module 4 follows and moves 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. Traditional pure linear drive methods occupy a large height space because both the drive and transmission components are linear motion components. The rotary + linear motion transmission method disclosed herein saves more height space compared to traditional pure linear transmission methods, and under the same process conditions, the control precision of the rotary + linear motion method is higher. The sensor 800 can detect the rotation information of the rotary motion module 3 and transmit this 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 3, thereby achieving precise control of the vehicle height. By spaced-outly sleeved fixed element 810 on the outside of moving element 820 (with an air gap between them), the relative installation position accuracy of sensor 800 hardware can be effectively avoided due to slight changes in the axial position of rotating motion module 3. That is, under axial impact, the movement of moving element 820 will not affect fixed element 810. When moving element 820 follows linear motion module 4 in radial displacement, 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.

[0228] Furthermore, 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 causing a small displacement in the axial direction, the normal operation of the sensor 800 can still be guaranteed. That is, when the moving element 820 is subjected to an axial impact and is displaced, because the moving element 820 is relatively thick, even if it is displaced, it is still within the effective range of the moving element 820 (the relative area does not change).

[0229] As described above, in the embodiments of this disclosure, the drive module 100 may include a stator 110, a rotor 120, and a motor housing 230, with the fixed element 810 fixed to the motor housing 230. The rotary motion module 3 may include a lead screw 310 extending along the height direction, which may be movably connected to the rotor 120, and the moving element 820 may be movably connected to the lead screw 310. The linear motion module 4 may include a lead screw nut 320 forming a kinematic pair with the lead screw 310. The solution of this disclosure has a simple structure, high manufacturability, and is easy to assemble and disassemble.

[0230] Further referring to Figures 3, 5, and 10, in the 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 disposed on the upper end of the cover 231, and the fixed element 810 can be fixed to the upper end cover 232. With this design, during operation, the moving element 820 can rotate synchronously with the lead screw shaft 310, while the fixed element 810 remains stationary, thereby allowing the rotation information of the lead screw shaft 310 to be measured.

[0231] Referring to Figure 2, in an embodiment of this disclosure, the upper cover 232 may include a cover body 235 and a top cover 234 mounted above the cover body 235. The lead screw 310 may pass through the cover body 235, and the cover body 235 may be provided with a fifth mounting base 212 for fixing the fixed element 810. The top cover 234 may cover the cover body 235 to form a closed space accommodating 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. To transmit the detection signal from the sensor 800, the top cover 234 may have an opening 215 for the sensor 800's wiring to exit.

[0232] For ease of assembly and disassembly, in the embodiments of this disclosure, the cover body 235 and the top cover 234 can be detachably connected.

[0233] Referring to Figures 3, 6, and 10, in the embodiments of this disclosure, the fifth mounting base 212 can limit the positioning element 810 in both the axial and radial directions.

[0234] To prevent the fixed element 810 from detaching from the cover body 235, referring to FIG10, in the embodiments of this disclosure, the fixed element 810 can be axially pressed onto the cover body 235 by a fixed pressure plate 811.

[0235] In the 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. Specifically, a limiting groove can be opened on the outer side of the lead screw shaft 310, and the moving element 820 is equipped with a protruding key that extends into the limiting groove.

[0236] To secure the moving element 820 to the lead screw shaft 310, referring to Figures 10 and 19, in an embodiment 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.

[0237] 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. This design facilitates the installation and removal of the moving element 820, especially when the lead screw shaft 310 extends out of the cover body 235, allowing for installation and removal of the moving element 820 without disassembling the motor housing 230; furthermore, the moving element 820 does not occupy space inside the motor housing 230, which is beneficial for the arrangement of the rotor 120, rotor, etc., inside the motor housing 230.

[0238] To prevent the moving element 820 from moving axially upward, referring to FIG10, in the embodiments of this disclosure, the moving element 820 can be axially pressed against the lead screw shaft 310 by a moving pressure plate 821. This disclosure does not limit the moving pressure plate 821; it can be a plate-like structure fixed to the end of the lead screw shaft 310 by a clamping screw 822 engaging with the second threaded hole 780, as long as it can restrict the moving element 820 from moving axially upward.

[0239] Referring to Figures 4-10, this disclosure provides an actuator 2, including a drive module 100 for at least partial connection to a vehicle body, a motion conversion component 7, and a first limiting buffer structure 1310. The motion conversion component 7 includes a rotary motion module 3 and a linear motion module 4. The linear motion module 4 is at least partially connected to a wheel. The rotary motion module 3 is driven by the drive module 100 to drive the linear motion module 4 to drive the wheel in a linear motion in the height direction. The first limiting buffer structure 1310 is disposed on the motion trajectory of the linear motion module 4 to limit and buffer the upward travel of the wheel. It should be explained here that the upward travel of the wheel refers to the wheel jumping up when encountering a bump in the road. To prevent the vehicle body from jumping up as well, the linear motion module 4 drives the wheel to move upward relative to the vehicle body.

[0240] This disclosure does not limit the specific structure of the first limiting buffer structure 1310. For example, it can be a gasket made of non-metallic materials such as rubber or polyurethane, or a metal spring made of metallic materials, as long as it is set on the movement trajectory of the linear motion module 4 and can directly or indirectly limit and buffer the movement. "Directly" means that the linear motion module 4 directly contacts the first limiting buffer structure 1310 and forms a buffer limit. "Indirectly" means that the linear motion module 4 can contact the first limiting buffer structure 1310 through the rotational motion module 3, etc., to form a limiting buffer. "Motion trajectory" refers to the displacement trajectory of the linear motion module 4 along the height direction. This trajectory is not related to the contour of the linear motion module 4 itself, as long as it can directly or indirectly compress the first limiting buffer structure 1310 to form a buffer limit when the linear motion module 4 moves to its limit range along the height direction.

[0241] By using the above technical solution, during operation, the drive module 100 drives the linear motion module 4 to rotate, while the rotary motion module 3 follows and moves 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. Furthermore, compared to traditional pure linear drive methods where both the drive and transmission components are linear (occupying a large height space), the rotary + linear motion transmission method of this disclosure saves more height space and offers higher control precision under the same manufacturing conditions. By setting the first limiting buffer structure 1310, when the linear motion module 4 drives the wheels upward, the first limiting buffer structure 1310 can limit and buffer the upward movement at a preset position, preventing excessive upward movement from damaging the relevant components of the adjustment device, and also acting as a buffer to avoid rigid collisions between components due to excessive movement.

[0242] As described above, in the embodiments of this disclosure, the rotary motion module 3 may include a lead screw 310 extending along the height direction, which can be movably connected to the drive module 100; the linear motion module 4 may include a lead screw nut 320 forming a kinematic pair with the lead screw 310, wherein the actuator 2 may further 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 310 to rotate, and the lead screw nut 320 can follow along the height direction, thereby the lead screw nut 320 can drive the wheel to move along the height direction through the lower housing 220. The solution of this disclosure has a simple structure, high manufacturability, and is easy to assemble and disassemble.

[0243] Referring to Figures 5, 9, 12, and 15, in the embodiments of this disclosure, the lower housing 220 can be a hollow structure. The lead screw 310 extends into the lower housing 220 from above. A first limiting space 1330 can be formed between the lower end face of the lead screw 310 and the lower housing 220. A first limiting buffer structure 1310 can be disposed within the first limiting space 1330. It should be explained that the first limiting space 1330 changes with the movement of the lower housing 220. When the lower housing 220 moves towards the lower end face of the lead screw 310 to its limit position, the first limiting buffer structure 1310 can play a limiting and buffering role.

[0244] This disclosure does not limit the specific location of the first limiting buffer structure 1310 within the first limiting space 1330. For example, in the embodiments shown in Figures 5, 9, 12, and 15, the first limiting buffer structure 1310 can be located inside the lower housing 220 near the wheel, and can be fixedly connected to the lower housing 220 by means of screws or adhesive. Alternatively, in some other embodiments, the first limiting buffer structure 1310 can also be located on the lower end face of the lead screw shaft 310, and can be fixedly connected to the lead screw shaft 310 by means of screws or adhesive. With this design, 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 that the lower end face inside the lower housing 220 will rigidly impact 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.

[0245] Similarly, referring to Figures 5, 9, 12, and 15, in the embodiments of this disclosure, a second limiting space 1340 can be formed between the nut 320 and the drive module 100, and a first limiting buffer structure 1310 can 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.

[0246] Furthermore, the first limiting buffer structure 1310 can be located at the end of the nut 320 near the drive module 100; or, the first limiting buffer structure 1310 can be located at the end of the drive module 100 near the nut 320. 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 and causing bumps. At the end of the upward movement of the lower housing 220, there is a risk that the upper surface of the nut 320 will rigidly impact the lower surface of the drive module 100. The first limiting buffer structure 1310 can then act as a buffer to avoid rigid impact.

[0247] Referring to Figures 2, 5, 9, 12, and 15, in the 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 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.

[0248] 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.

[0249] As described above, in the embodiments of this disclosure, the actuator 2 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.

[0250] To avoid interference between the lead screw 310 and the movement of the lower housing 220, referring to Figures 5, 9, 12, and 15 in the embodiments of this disclosure, the lower housing 220 can be a hollow structure, allowing the lead screw 310 to extend into it from above. In the embodiments of this disclosure, to allow the lower housing 220 to extend into the upper housing 210, a through hole can be provided at the lower end of the upper housing 210 for the lower housing 220 to extend into.

[0251] In addition to the aforementioned first limiting buffer structure 1310, referring to Figures 4-10, in embodiments of this disclosure, the actuator 2 may further include a second limiting buffer structure 1320 for limiting and buffering the downward travel of the wheel. It should be explained that the downward travel of the wheel refers to the wheel jumping down when encountering a pothole. To prevent the vehicle body from jumping down as well, the linear motion module 4 drives the wheel to move downward relative to the vehicle body. This disclosure does not limit the specific structure of the second limiting buffer structure 1320; for example, it can be a gasket made of non-metallic materials such as rubber or polyurethane, or a metal spring made of metallic materials.

[0252] As described above, in the embodiments of this disclosure, the rotary motion module 3 may include a lead screw 310 extending along the height direction, which can be flexibly connected to the drive module 100; the linear motion module 4 may include a lead screw nut 320 forming a kinematic pair with the lead screw 310, wherein the actuator 2 may also include a lower housing 220 connected below the lead screw nut 320, which is used to connect with the wheel. In this case, when the wheel bounces down on a bumpy road, the drive module 100 will drive the lead screw 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, the lead screw nut 320 may have a risk of rigidly impacting the bottom end face of the upper housing 210, and the second limiting buffer structure 1320 can play a limiting buffer role to avoid excessive movement and rigid impact.

[0253] In embodiments of this disclosure, the actuator 2 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.

[0254] This disclosure does not limit the specific structure of the second limiting buffer structure 1320. For example, in the embodiments shown in Figures 5 and 9, the second limiting buffer structure 1320 can be located at the bottom inside the upper housing 210. In this case, the second limiting buffer structure 1320 can be provided with a through hole for the lower housing 220 to pass through. 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 further movement. 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.

[0255] In addition, in some other 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.

[0256] In order for the lower housing 220 to extend into the upper housing 210, referring to FIG2, in an embodiment of the present disclosure, the upper housing 210 may include a lower end wall 214, which may have an opening 215 to avoid the lower housing 220.

[0257] In order for the first limiting buffer structure 1310 and the second limiting buffer structure 1320 to play a buffering role, in the embodiments of this disclosure, the first limiting buffer structure 1310 and the second limiting buffer structure 1320 may each have elasticity. With this design, when the wheels bounce down on uneven road surfaces, the drive module 100 will drive the lead screw nut 320 to move the lower housing 220 downwards 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, the lead screw nut 320 may have a risk of rigidly colliding with the bottom end face of the upper housing 210. The second limiting buffer structure 1320 can act as a buffer to avoid rigid impact. Similarly, when the wheels bounce up on raised road surfaces, the drive module 100 will drive the lead screw nut 320 to move the lower housing 220 upwards to reduce the suspension height and prevent the vehicle body from bouncing up and causing bumps. At the end of the upward stroke of the lower housing 220, the lower end face inside the lower housing 220 may have a risk of rigidly colliding with the bottom end face of the lead screw shaft 310. The first limiting buffer structure 1310 can act as a buffer to avoid rigid impact.

[0258] When the first limiting buffer structure 1310 and the second limiting buffer structure 1320 are elastic, they can be non-metallic materials such as rubber and polyurethane mentioned above, or metallic materials such as metal springs, as long as they are elastic and can play a buffering role. Their installation method and installation position can be referred to the relevant positions above, and will not be repeated here.

[0259] Referring to Figures 2, 5, 9, and 36-40, this disclosure provides an actuator 2, including a housing module 200, a drive module 100, and a sealing module 1400. The housing module 200 includes an upper housing 210 for connecting to a vehicle body and a lower housing 220 for connecting to a wheel. The 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.

[0260] In the embodiments disclosed herein, 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 other embodiments, the upper housing 210 can also be directly connected to the vehicle body, and the lower housing 220 can be directly connected to the vehicle 6.

[0261] This disclosure does not limit the specific structure of the sealing module 1400, as long as it 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 (dynamic seal). For example, it may include a base and a sealing ring, which will be mentioned below. Alternatively, it may only include 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 installing the sealing ring.

[0262] This disclosure does not limit the drive module 100, for example, it may include the rotor and stator (motor structure) mentioned herein, as long as it can drive the upper housing 210 and the lower housing 220 to move relative to each other in the height direction.

[0263] By using the above technical solution, during operation, 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 vehicle height adjustment. 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 lower housing 220 through the gap between them, thereby improving the reliability of the adjustment device and increasing its service life.

[0264] The following section will provide a further introduction to the sealing module 1400, focusing on its main structure and its positional relationship with other components. For information on its technical effects and alternative solutions, please refer to the relevant sections below.

[0265] As described above, this disclosure does not limit the specific structure of the sealing module 1400. For example, in the embodiment shown in FIG37, the sealing module 1400 may include: a base 1410, surrounding the lower housing 220 and detachably mounted on the outside of the upper housing 210; and a sealing ring 1420, 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 function as a dynamic seal to isolate external water, air, dust, etc. This disclosure does not limit the type of sealing ring 1420; please refer to the relevant sections above for details.

[0266] Referring to Figures 36-37, in the embodiments of this disclosure, the actuator 2 may further include a guide member 1430 fixed to the inner wall of the base 1410. The guide member 1430 may be sleeved on the outer side of the lower housing 220 and slide in contact with the lower housing 220. The sealing ring 1420 and the guide member 1430 are spaced apart in the axial direction.

[0267] Referring to Figures 36-37, in the 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 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.

[0268] As described above, this disclosure does not limit the specific structure of the guide 1430. For example, in the embodiments of this disclosure, the guide 1430 may be a sliding bearing or a linear bearing.

[0269] 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.

[0270] The following describes two connection methods between the base 1410 and the upper housing 210. Referring to FIG40, in the embodiments disclosed herein, 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.

[0271] Referring to Figures 38-39, in some other embodiments, the base 1410 can be inserted into the opening 215 and screwed to the lower end wall 214. Specific details regarding these two connection methods can be found in the relevant sections above.

[0272] Referring to Figures 1-2, 4-5, 8-9, 11, 12, and 15, in embodiments of this disclosure, the actuator 2 may further include a fork arm 710 for connecting the wheel, the fork arm 710 being detachably connected to the lower housing 220. 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 for details.

[0273] Referring to Figures 11-12 and 15, in the embodiments of this disclosure, the actuator 2 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 over the lower housing 220. One end of the dust cover 720 may be connected to the fork arm 710, and the other end may be connected to the upper housing 210. For details regarding the types, beneficial effects, and specific details of the dust cover 720, please refer to the relevant sections below.

[0274] 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 specific effects, cooperation relationships and other details, please refer to the relevant sections in the context.

[0275] To facilitate understanding of the structure and effects of the sealing module 1400, the following text will provide a detailed description with reference to the accompanying drawings. Some content in the following text echoes the content above, and all content mentioned in the context can be combined with each other, provided there are no contradictions. Specifically:

[0276] Referring to Figures 2, 5, 9, and 36-40, in some embodiments, the sealing module 1400 may include: a base 1410, surrounding the lower housing 220 and detachably mounted on the outside of the upper housing 210; a guide 1430, sleeved on the outside of the lower housing 220 and fixed to the inner wall of the base 1410; and a sealing ring 1420, clamped between the base 1410 and the lower housing 220, with the sealing ring 1420 and the guide 1430 axially spaced apart. This design allows the guide 1430 to guide the linear movement of the lower housing 220 along its height direction in the radial direction; and it also reduces the sliding friction on the outer circumferential surface of the lower housing 220 in the axial direction, reducing the load on the lead screw shaft 310 and the lead nut 320, extending the service life of the adjusting device, and increasing the comfort of the vehicle's driving experience. The sealing ring 1420 can be used to isolate external media such as water, air, oil, and dust from the system, preventing external impurities from entering the system and damaging lubrication, thereby reducing system reliability and shortening system life. This disclosure does not limit the sealing ring 1420 and the guide 1430. The sealing ring 1420 can be an O-ring 1420, etc., and the guide 1430 can be a sliding bearing, linear bearing, or other component that can reduce friction.

[0277] Specifically, 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-fixed 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.

[0278] Referring to Figures 37-38, in the 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.

[0279] Because the guide member 1430 bears some radial load during the movement of the lower housing 220, it may experience localized failure, thus making it a vulnerable component. Similarly, the sealing ring 1420 may age and fail due to the harshness of actual engineering conditions and its long service life, making it also a vulnerable component. In summary, both the guide member 1430 and the sealing ring 1420 require regular inspection and replacement in this disclosure. To facilitate future maintenance and replacement, in this embodiment, the base 1410 and the upper housing 210 can be designed with a non-destructive, detachable connection, which facilitates later maintenance, simplifies disassembly and assembly, reduces labor time, and lowers maintenance costs. Specifically:

[0280] Referring to Figure 40, in some embodiments, the upper housing 210 may include a lower end wall 214, which may have an opening 215 to avoid the lower housing 220. The upper end of the base 1410 may have a radially outwardly protruding extension platform 1412, which may abut against the lower end wall 214 and be bolted to it. Specifically, the extension platform 1412 may have a plurality of connecting holes 1 evenly arranged circumferentially, and the lower end face of the upper housing 210 may have 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.

[0281] Furthermore, in some other embodiments, referring to Figures 37-39, the upper housing 210 may include a lower end wall 214, which may have an opening 215 to avoid the lower housing 220. The base 1410 can be inserted into the opening 215 and screwed to the lower end wall 214. Specifically, 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 fastened and detachable connection between the upper housing 210 and the base 1410.

[0282] In addition to actuator 2, this disclosure also provides an exemplary motor, specifically:

[0283] Referring to Figures 2-9, 12, and 15, this disclosure exemplarily illustrates a motor for an actuator 2, including a stator 110, a rotor 120, a housing 231, and an upper end cover 232. The housing 231 is constructed as an axially penetrating 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 upper end cover 232 is used for connection with the vehicle body.

[0284] 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.

[0285] In the embodiments disclosed herein, the upper cover 232 can be connected to the vehicle body via the aforementioned tower top assembly. In addition, in some other embodiments, the upper cover 232 can also be directly connected to the vehicle body.

[0286] 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.

[0287] 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 traditional methods of fixing the motor via other connecting components, the motor provided in this disclosure has a higher degree of integration with the vehicle body, making installation convenient, quick, and space-saving.

[0288] To prevent the upper cover 232 from rotating relative to the housing 231, referring to Figures 1-12 and 14, in the 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.

[0289] This disclosure does not limit the specific 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 protruding radially outward from the upper end of the cover 231; and a plurality of second lugs 430 protruding radially outward from the edge of the upper end cover 232. The plurality of first lugs 410 and the plurality of second lugs 430 are aligned one-to-one and connected by fasteners. Here, as described above, the fasteners can be bolts. 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 sequentially.

[0290] In the embodiments disclosed herein, 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 other 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.

[0291] Further referring to Figures 41-45, in some embodiments, a first latch 420 can be formed between two adjacent first lugs 410. The first circumferential locking portion 401 may also include a first locking piece 440, disposed between two adjacent second lugs 430 and extending into the first latch 420 in a form-fitting manner. By engaging the first locking piece 440 with the first latch 420, rotation of the upper end cover 232 relative to the cover 231 can be further prevented. During installation, inserting the first locking piece 440 into the corresponding first latch 420 ensures alignment between the corresponding first lugs 410 and second lugs 430, thereby enabling quick connection via fasteners.

[0292] In the embodiments of this disclosure, the first locking tab 440 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, thereby facilitating positioning and installation and improving the overall stability of the drive module 100.

[0293] In the 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 other embodiments, the upper cover 232 and the housing 231 can also be connected by threaded connection.

[0294] In addition to the upper end cover 232 described above, in embodiments of this disclosure, the motor may also include a lower end cover 233 disposed at the lower end of the housing 231. This disclosure does not limit the connection method between the lower end cover 233 and the housing 231; see below for details.

[0295] To prevent the lower end cover 232 from rotating relative to the cover 231, referring to Figures 11-12 and 14, in the 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.

[0296] This disclosure does not limit the specific 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 protruding radially outward from the lower end of the cover 231; and a plurality of fourth lugs 480 protruding radially outward from the edge of the lower end cover 233. The plurality of third lugs 460 and the plurality of fourth lugs 480 can be aligned one-to-one and connected by fasteners. Here, as described above, the fasteners can be bolts. 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 sequentially.

[0297] In the embodiments disclosed herein, the third lug 460 can be integrally formed with the cover 231, and the fourth lug 480 can be integrally formed with the lower end cover 233. In some other embodiments, the second circumferential locking portion 402 can also be a connecting hole directly formed on the cover 231 and the lower end cover 233, and fastening and anti-rotation can be achieved by fasteners passing through the connecting hole in sequence.

[0298] Further referring to Figures 41-45, in some embodiments, a second latch 470 can be formed between two adjacent third lugs 460. The second circumferential locking portion 402 may also include a second locking piece 490, disposed between two adjacent fourth lugs 480 and extending into the second latch 470 in a form-fitting manner. By engaging the second locking piece 490 with the second latch 470, rotation of the lower end cover 233 relative to the cover 231 can be further prevented. During installation, inserting the second locking piece 490 into the corresponding second latch 470 ensures alignment between the corresponding third lugs 460 and fourth lugs 480, thereby enabling quick connection via fasteners.

[0299] In the embodiments of this disclosure, the first locking tab 440 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, thereby facilitating positioning and installation and improving the overall stability of the drive module 100.

[0300] In 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.

[0301] In the 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 other embodiments, the lower end cover 233 and the housing 231 can also be connected by threaded connection.

[0302] Referring to Figures 5 and 7, in the 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 outer side of the end of the cover 231. This design allows the flange 450 to enclose the cover 231, achieving radial restraint between them. Furthermore, this design prevents water and impurities from entering the interior of the motor housing 230 through the gap between them, and also blocks static electricity from entering the interior of the motor housing 230 from the outside, protecting the internal components.

[0303] Referring to Figure 12, in an embodiment 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, wherein the top cover 234 can be used to fixally connect to the vehicle body. Specifically, the top cover 234 can be connected to the vehicle body via the aforementioned tower top assembly 500. With this design, when the motor needs to be removed from the vehicle body for maintenance, the cover body 235 can be separated from the top cover 234; when installation is required, the cover body 235 can simply be connected to the top cover 234, making the operation convenient and simple. 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.

[0304] Referring to Figures 20-24, in the 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. Specifically, in the embodiments of this disclosure, the stator 110 can be fixed in the middle region of the inner circumferential surface of the housing 231, which can be achieved 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.

[0305] Further referring to Figures 20-24, in the 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 specific structure of the rotor 120 and its positional relationship with the stator 110 can be found below and will not be repeated here.

[0306] Further referring to Figures 20-24, in the 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.

[0307] To facilitate understanding of the internal structure of the motor, an embodiment is described below to aid in understanding the above scheme. Specifically, 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 fixedly distributed on the outer axial surface of the cage. The stator 110 may include an iron core assembly and a wire assembly. The wire assembly may consist of three-phase wires wound separately around the iron core assembly to form the required three-phase windings. The rotor 120 may be coaxially arranged inside the stator 110 in an embedded manner. The minimum vertical distance between the outer axial surface of the rotor 120 and the inner bore surface of the stator 110 may be 0.5mm to 1.0mm. This distance ensures a compact structure for the rotating motor and satisfies the electromagnetic interaction between the rotor 120 and the stator 110. Since the rotor 120 adopts a hollow structure and the lead screw shaft 310 extends into the inner side of 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-direction space and further improving the arrangeability of the adjustment device in the whole vehicle.

[0308] Referring to Figures 5 and 12, in 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 radial bearings 601 applied to the lead screw shaft 310, respectively. By providing radial bearings 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 bearings 601 radially and axially. Here, the radial bearings 601 are the third bearing 630 and the fourth bearing 640 mentioned below for radially limiting the lead screw shaft 310.

[0309] In the 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 the rotation information of the lead screw shaft 310. Specifically, 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 explanation, which will not be repeated here.

[0310] This disclosure does not limit the specific structure of the sensor 800. Referring to FIG10, in embodiments of this disclosure, the sensor 800 may include a fixed element 810 and a moving element 820 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 radially and axially. Specifically, the fifth mounting seat 212 may be formed on the cover body 235. For details on the specific structure and principle of the sensor 800, please refer to the relevant sections above, which will not be repeated here.

[0311] In order to prevent the fixed element 810 from detaching from the upper end cover 232, referring to FIG10, in an embodiment of the present disclosure, the fixed element 810 can be axially pressed onto the upper end cover 232 by a fixed pressure plate 811.

[0312] Referring to Figures 2 and 3, in the 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 can be used to install axial bearings 602 capable of withstanding axial loads, respectively. Here, the axial bearing 602 is the first bearing 610 and the second bearing 620 mentioned below. The third mounting base 2322 and the fourth mounting base 2332 can limit the axial bearing 602 radially and axially. By providing the axial bearing 602, the rotor 120 can be limited axially, thereby ensuring the relative position of the rotor 120 and the stator 110 in the axial direction, avoiding axial impact that causes the rotor 120 and the stator 110 to misalign in the axial direction, thus reducing the service life and output efficiency of the motor.

[0313] Accordingly, this disclosure provides an actuator 2, which may include the aforementioned motor. Since the actuator 2 has all the beneficial effects of the aforementioned motor, it will not be described in detail here.

[0314] In addition to the motor described above, referring to Figures 5 and 9, this disclosure also exemplarily illustrates a motor for an actuator 2, 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.

[0315] 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.

[0316] This disclosure does not limit the installation position or type of the axial bearing 602. For example, in some embodiments, it can indirectly bear the axial load of the rotor 120 through the adapter sleeve 900 mentioned below. Furthermore, in other 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.

[0317] 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.

[0318] Referring to Figures 2 and 5, in the 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. With this design, the fixed portion of the first bearing 610 abuts against the upper end cover 232, and the moving portion is directly or indirectly supported by the rotor 120, thereby achieving axial support. Similarly, the fixed portion of the second bearing 620 abuts against the lower end cover 233, and the moving portion 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.

[0319] This disclosure does not limit the types of the first bearing 610 and the second bearing 620. For example, in some embodiments, the first bearing 610 and the second bearing 620 may be thrust bearings. Thrust bearings have high load-bearing capacity and long service life. In addition, the installation and maintenance of thrust bearings are relatively simple.

[0320] Accordingly, this disclosure provides an actuator 2, 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 the 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 2 has all the beneficial effects of the aforementioned motor, further details are omitted here.

[0321] Furthermore, in order to enable the rotor 120 and the lead screw shaft 310 to be connected in a transmission manner, referring to Figures 1-15, in the embodiments of this disclosure, the rotor 120 can be sleeved on the outer periphery of the lead screw shaft 310, and a transition sleeve 900 can be provided between the rotor 120 and the lead screw shaft 310, so that the lead screw shaft 310 can be fixedly connected to the rotor 120 through the transition sleeve 900.

[0322] In the embodiments of this disclosure, the adapter sleeve 900 may have two radially protruding flanges 901, which abut against the shaft ends of the rotor 120 from both ends and are fixed to the rotor 120. 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.

[0323] For details regarding the specific structure of the adapter sleeve 900 and its connection method with the lead screw shaft 310 and rotor 120, please refer to the relevant sections above. These details will not be repeated here. The following section will focus on the "axial bearing 602". Specifically:

[0324] 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 via the adapter sleeve 900. Specifically, in the embodiments shown in Figures 2-3, 5, and 9, the upper base of the first bearing 610 may be interference-fitted to the upper end cover 232 and is in a stationary state, while the lower base may be interference-fitted to the upper end of the adapter sleeve 900. Similarly, the lower base of the second bearing 620 may be interference-fitted to the lower end cover 233 and is in a stationary state, while the upper base may be interference-fitted to the lower end of the adapter sleeve 900. With this design, the first bearing 610 and the second bearing 620 can provide axial support to the adapter sleeve 900 from both ends, allowing the adapter sleeve 900 to rotate. Since the adapter sleeve 900 and the rotor 120 are fixedly connected, the axial limit of the rotor 120 can be indirectly achieved.

[0325] Furthermore, referring to FIG3, in the 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).

[0326] Referring to FIG2, in an embodiment 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.

[0327] In addition to the axial bearing 602, in embodiments of this disclosure, the actuator 2 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 2 during operation.

[0328] 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.

[0329] Referring to Figures 5 and 41-45, in the 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. During installation, the third bearing 630 is directly embedded into the first mounting seat 2321, and the fourth bearing 640 is embedded into the second mounting seat 2331, thereby achieving axial and radial restriction of the third bearing 630 and the fourth bearing 640.

[0330] 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 other embodiments, the lead screw shaft 310 may have a third stepped surface 311 that axially restricts the third bearing 630, and / or a fourth stepped surface (not shown) that axially restricts the fourth bearing 640. During installation, the third bearing 630 and the fourth bearing 640 simply abut against their corresponding stepped surfaces.

[0331] This disclosure does not limit the type or arrangement of the third bearing 630 and the fourth bearing 640. For example, in 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.

[0332] The use of the first bearing 610, the second bearing 620, the third bearing 630 and the fourth bearing 640 together can ensure the axial and radial position stability of the rotor 120 and the adapter sleeve 900 when the rotary motor is working, thereby improving the stability of the motor and the overall suspension movement.

[0333] In addition to the advantages mentioned above, since the wheel end impact acts on the fork arm 710, this impact can be transmitted to the sensor 800 (mounted at the upper end of the lead screw shaft 310) and the rotor 120 through the lower housing 220, the lead screw nut 320, and the lead screw shaft 310. In the embodiments of this disclosure, the upper and lower parts of the adapter sleeve 900 can be equipped with a first bearing 610 and a second bearing 620, which can 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. The third bearing 630 and the fourth bearing 640 can be arranged in the upper end cover 232 and the lower end cover 233, respectively, to achieve radial limitation of the lead screw shaft 310, while also withstanding a certain amount of axial impact. With this design, under the combined action of the above-mentioned axial and radial limiting features, the relative position of the rotor 120 and the stator 110 of the motor can be sufficiently limited. Meanwhile, the axial impact of the lead screw shaft 310 can be transmitted to the stator 110 and the motor housing 230 of the motor through the first bearing 610, the second bearing 620, the third bearing 630 and the fourth bearing 640, so as to reduce the impact of the axial impact on the sensor 800.

[0334] Referring to Figure 9, in the embodiments of this disclosure, the upper side of the adapter sleeve 900 can be connected to the third bearing 630 via the aforementioned first nut 740, and the lower side can be connected to the fourth bearing 640 via the collar 790. That is, the first nut 740 and the collar 790 achieve axial supplementary limiting of the intermediate connecting member. In addition, in some other embodiments, the adapter sleeve 900 can be directly connected to the third bearing 630 and the fourth bearing 640, which is not a limitation of this disclosure.

[0335] According to another aspect of this disclosure, an active suspension 5 is provided, including the aforementioned actuator 2. Since the active suspension 5 has all the beneficial effects of the aforementioned actuator 2, it will not be described in detail here.

[0336] Referring to FIG49, according to another aspect of the present disclosure, a vehicle 6 is provided, including the aforementioned active suspension 5. Since the vehicle 6 has all the beneficial effects of the aforementioned active suspension 5, further details are omitted here.

[0337] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0338] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0339] 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 (2), characterized in that, include: A drive module (100), at least a portion of which is used for connection to a vehicle body; The motion conversion assembly (7) includes a rotary motion module (3) and a linear motion module (4), the linear motion module (4) being at least partially used for connection with a wheel; as well as Sensor (800) is used to detect the rotation information of the rotary motion module (3). The drive module (100) is used to drive the rotary motion module (3) to rotate, so as to drive the linear motion module (4) to drive the wheel to move in a straight line in the height direction.

2. The actuator (2) according to claim 1, characterized in that, The rotary motion module (3) includes a lead screw (310) extending along the height direction, and the lead screw (310) is responsively connected to the drive module (100); The linear motion module (4) includes a lead screw nut (320) that forms a kinematic pair with the lead screw shaft (310).

3. The actuator (2) according to claim 2, characterized in that, The drive module (100) includes a stator (110), a rotor (120), and a motor housing (230), and the lead screw (310) is movably connected to the rotor (120). The sensor (800) includes a moving element (820) that is responsively connected to the lead screw shaft (310) and a fixed element (810) that is fixed in the motor housing (230).

4. The actuator (2) according to claim 3, characterized in that, The moving element (820) is fixedly sleeved on the upper end of the lead screw shaft (310). The motor housing (230) includes 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) is spaced out on the outside of the lead screw shaft (310), and the fixed element (810) is fixed to the upper end cover (232).

5. The actuator (2) according to claim 4, characterized in that, The upper cover (232) includes a cover body (235) and a top cover (234) detachably mounted above the cover body (235). The lead screw shaft (310) passes through the cover body (235), the cover body (235) is provided with a fifth mounting seat (212) for fixing the fixed element (810), and the top cover (234) covers the cover body (235) and forms a closed space with the cover body (235) to accommodate the moving element (820) and the fixed element (810).

6. The actuator (2) according to claim 5, characterized in that, The cover body (235) is detachably connected to the top cover (234).

7. The actuator (2) according to claim 5 or 6, characterized in that, The fifth mounting base (212) limits the positioning element (810) in the axial and radial directions.

8. The actuator (2) according to any one of claims 5-7, characterized in that, The fixed element (810) is screwed and fixed to the fifth mounting base (212).

9. The actuator (2) according to any one of claims 3-8, characterized in that, The lead screw (310) has a fifth stepped surface (318) that restricts the moving element (820) in the axial direction.

10. The actuator (2) according to any one of claims 3-9, characterized in that, The moving element (820) and the lead screw shaft (310) are keyed together so that the moving element (820) and the lead screw shaft (310) rotate synchronously.

11. The actuator (2) according to any one of claims 3-10, characterized in that, The fixed element (810) and the moving element (820) are axially spaced apart and have parallel end faces that are close to each other.

12. The actuator (2) according to any one of claims 3-11, characterized in that, The upper end face of the moving element (820) is flush with the upper end face of the lead screw shaft (310), and the actuator (2) further includes a clamping member (8) for fixing the moving element (820) to the lead screw shaft (310).

13. The actuator (2) according to any one of claims 3-12, characterized in that, The stationary element (810) includes a coil winding (812), and the moving element (820) includes a plurality of first silicon steel sheets (823). The coil winding (812) includes 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. The plurality of first silicon steel sheets (823) are used to move in the magnetic field to generate electrical signals in the sine signal winding and the cosine signal winding, respectively.

14. The actuator (2) according to claim 13, characterized in that, The fixed element (810) also includes a plurality of second silicon steel sheets (813).

15. An active suspension (5), characterized in that, The actuator (2) includes any one of claims 1-14.

16. A vehicle (6), characterized in that, Includes the active suspension (5) as described in claim 15.

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