Actuator, suspension assembly, and vehicle

Abstract

A vehicle. The vehicle comprises a suspension assembly. The suspension assembly comprises an actuator. The actuator comprises: a motor structure and a displacement sensor. The motor structure comprises a motor housing, a motor rotor, and a motor stator, a motor mounting space is formed inside the motor housing, the motor stator is mounted on the motor housing, and the motor rotor is adapted to rotate relative to the motor stator. The displacement sensor is provided in the motor mounting space, and is used for detecting a rotational displacement of the motor rotor.

Description

Actuators, suspension assemblies and vehicles

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application filed on May 28, 2024, with application number 202410681656.8 and entitled "Actuator, Suspension Assembly and Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of vehicle technology, and more particularly to an actuator, a suspension assembly having the actuator, and a vehicle having the suspension assembly. Background Technology

[0004] In related technologies, the actuator includes a motor structure and a displacement sensor. The motor is used to drive the lead screw to move linearly to adjust the distance between the vehicle body and the wheels, and the displacement sensor is used to detect the linear displacement of the lead screw. However, the displacement sensors in the prior art are easily damaged. Therefore, there is room for improvement. Summary of the Invention

[0005] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, this application proposes an actuator capable of protecting a displacement sensor.

[0006] This application also proposes a suspension assembly having the aforementioned actuator.

[0007] This application also proposes a vehicle having the above-described suspension assembly.

[0008] The actuator according to an embodiment of this application includes: a motor structure and a displacement sensor. The motor structure includes a motor housing, a motor mover, and a motor stator. The motor housing has a motor mounting space inside. The motor stator is mounted on the motor housing. The motor mover is adapted to rotate relative to the motor stator. The displacement sensor is disposed in the motor mounting space and is used to detect the rotational displacement of the motor mover.

[0009] According to the actuator of the present application embodiment, by placing the displacement sensor inside the motor housing, the motor housing can protect the displacement sensor, which is beneficial to improving the service life of the displacement sensor.

[0010] According to some embodiments of this application, the displacement sensor includes a sensor mover and a sensor stator, wherein the sensor mover is fixed relative to the motor mover, and the sensor stator is fixed relative to the motor stator.

[0011] According to some embodiments of this application, the sensor mover is coaxially arranged with the motor mover, and the sensor stator is coaxially arranged with the motor stator.

[0012] According to some embodiments of this application, the actuator further includes a magnetic shielding plate disposed between the motor mover and the displacement sensor, and the magnetic shielding plate is spaced apart from the sensor stator.

[0013] According to some embodiments of this application, the magnetic shielding plate is fixedly connected to the motor rotor, and the sensor rotor is located on the side of the magnetic shielding plate opposite to the motor rotor, and the sensor rotor is fixedly connected to the magnetic shielding plate.

[0014] According to some embodiments of this application, the magnetic shielding plate has a clearance step that is recessed in a direction away from the sensor stator, and the sensor stator extends at least partially into the recessed area formed by the clearance step.

[0015] According to some embodiments of this application, the motor structure further includes a stator positioning ring. The interior of the motor housing has a first positioning surface and a second positioning surface. The motor stator and the stator positioning ring are located between the first positioning surface and the second positioning surface. One axial end of the stator positioning ring abuts against the first positioning surface, and the other axial end of the stator positioning ring abuts against the motor stator. The axial end of the motor stator away from the stator positioning ring abuts against the second positioning surface. The stator positioning ring includes a stator support shoulder, and the end of the sensor stator near the motor rotor abuts against the stator support shoulder.

[0016] According to some embodiments of this application, the motor housing is provided with a stepped structure, and the end of the sensor stator away from the motor mover abuts against the stepped structure.

[0017] According to some embodiments of this application, the motor housing includes a first bearing mount extending into the motor mounting space, and the stepped structure is formed on the first bearing mount.

[0018] According to some embodiments of this application, the stepped structure includes an inner circumferential stop surface and an axial stop surface. The axial end of the sensor stator away from the motor mover abuts against the axial stop surface. The inner circumferential surface of the sensor stator abuts against the inner circumferential stop surface. The stator positioning ring includes an outer circumferential stop surface. The outer circumferential surface of the sensor stator abuts against the outer circumferential stop surface.

[0019] According to some embodiments of this application, the actuator further includes a lead screw, a nut, and a first bearing. The first bearing is mounted on a first bearing mounting seat. One end of the nut is rotatably supported on the motor housing via the first bearing. The motor actuator is mounted on the nut. The nut is screwed into the lead screw. When the nut rotates, it can drive the lead screw to move linearly.

[0020] According to some embodiments of this application, the actuator further includes a second bearing, the other end of the nut being rotatably supported on the motor housing via the second bearing, the second bearing being axially spaced from the first bearing in the nut.

[0021] According to some embodiments of this application, the nut is provided with a first circumferential protrusion, the first circumferential protrusion protrudes outward along the radial direction of the nut, the motor mover is located on one axial side of the first circumferential protrusion, and a magnetic shielding plate is provided between the motor mover and the displacement sensor, the magnetic shielding plate being located on the radial outer side of the first circumferential protrusion.

[0022] According to some embodiments of this application, the nut is further provided with a second circumferential protrusion, the second circumferential protrusion protruding outward along the radial direction of the nut, the motor mover is located between the first circumferential protrusion and the second circumferential protrusion, and the motor mover is fixed to at least one of the first circumferential protrusion and the second circumferential protrusion.

[0023] According to some embodiments of this application, the motor housing has a housing hole for the lead screw to extend out, and the displacement sensor is located on the side of the motor actuator opposite to the housing hole; or, the displacement sensor is located on the side of the motor actuator facing the housing hole.

[0024] According to some embodiments of this application, the displacement sensor is one of a Hall effect sensor, a magnetorheological sensor, an inductive sensor, and a grating sensor.

[0025] The suspension assembly according to a second aspect of this application includes the actuator described above.

[0026] According to the suspension assembly of the present application embodiment, the actuator has a displacement sensor installed inside the motor housing, which protects the displacement sensor and helps to extend the service life of the displacement sensor.

[0027] The vehicle according to a third aspect of this application includes the suspension assembly described above.

[0028] According to an embodiment of this application, the vehicle's suspension assembly includes an actuator. By placing a displacement sensor inside a motor housing, the motor housing can protect the displacement sensor, which helps to extend the service life of the displacement sensor.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] Figure 1 is a perspective view of an actuator according to an embodiment of this application;

[0031] Figure 2 is a front view of an actuator according to an embodiment of this application;

[0032] Figure 3 is a cross-sectional view along line AA in Figure 2;

[0033] Figure 4 is a magnified view of part B in Figure 3;

[0034] Figure 5 is a three-dimensional schematic diagram of the first housing, the motor housing, the guide structure and the stud structure;

[0035] Figure 6 is a front view of the first housing, the motor housing, and the stud structure;

[0036] Figure 7 is a cross-sectional view along line DD in Figure 6;

[0037] Figure 8 is a magnified view of part E in Figure 7;

[0038] Figure 9 is a magnified view of part F in Figure 7;

[0039] Figure 10 is a cross-sectional view of the magnetic shielding plate;

[0040] Figure 11 is a schematic diagram of a suspension assembly according to an embodiment of this application;

[0041] Figure 12 is a block diagram of a vehicle according to an embodiment of this application.

[0042] Reference numerals: Vehicle 1000, Suspension assembly 100, Actuator 10, First housing 11, First housing body 111, First housing protrusion 112, First mounting hole 1121, Stroke space 113, Inner circumferential surface of housing 115, Second housing 12, Motor mounting space 120, Second housing body 121, Second lower mounting hole 1211, Second housing end plate 122, Second upper mounting hole 1221, First bearing mounting seat 123, First axial limiting surface 1231, First circumferential mounting surface 1232, Second through hole 124, Third housing 13, Housing hole 131, End cover space 132, Second bearing mounting seat 133, Second axial limiting surface 1331, Second circumferential mounting surface 1332, Third mounting hole 135, Mounting cavity 14, Lead screw 2, Guide groove 21, Nut 3, First circumferential protrusion 33 34. Second circumferential protrusion; 4. Guide structure; 41. Guide rod; 411. Ventilation channel; 4111. First channel section; 4111. Second channel section; 4112. Sliding bearing; 42. Guide ring; 43. Mating cavity; 5. Motor structure; 60. Motor stator; 61. Motor mover; 62. Motor housing; 63. Stepped structure; 631. Inner circumferential stop surface; 6311. Axial stop surface; 6312. Stator positioning ring; 7. Stator support shoulder; 71. First positioning surface; 81. Second positioning surface; 82. Stator mating surface; 83. First bearing; 91. Second bearing; 92. Stud structure; 93. Wheel connection structure; 94. Elastic support component; 95. Dust cover; 96. Fastener; 97. Displacement sensor; 98. Sensor stator; 981. Sensor mover; 982. Magnetic shielding plate; 99. Avoidance step; 991. Magnetic shielding center hole; 992. Magnetic shielding fixing hole; 993. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0044] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] The actuator 10, the suspension assembly 100 having the actuator 10, and the vehicle 1000 having the suspension assembly 100 according to embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0046] Referring to Figures 1-4 and 7, the actuator 10 according to an embodiment of this application may include: a motor structure 60 and a displacement sensor 98.

[0047] The motor structure 60 includes a motor housing 63, a motor mover 62, and a motor stator 61. The motor housing 63 has a motor mounting space 120 inside. The motor stator 61 is mounted on the motor housing 63, thus the motor stator 61 is relatively fixed to the motor housing 63, and the motor mover 62 is adapted to rotate relative to the motor stator 61. A displacement sensor 98 is disposed within the motor mounting space 120 and is used to detect the rotational displacement of the motor mover 62. The displacement sensor 98, motor stator 61, and motor mover 62 are all located within the motor mounting space 120. The motor housing 63 can protect the displacement sensor 98, motor stator 61, and motor mover 62. Furthermore, compared to related technologies where the displacement sensor is placed externally on the motor housing 63, in this application, the displacement sensor 98 is disposed inside the motor housing 63, allowing it to be closer to the motor mover 62, which improves the accuracy of the displacement sensor 98 in detecting the rotational position of the motor mover 62.

[0048] According to the embodiment of this application, the actuator 10, by placing the displacement sensor 98 inside the motor housing 63, enables the motor housing 63 to protect the displacement sensor 98, which is beneficial to improving the service life of the displacement sensor 98.

[0049] In some embodiments of this application, referring to Figures 3-4, the displacement sensor 98 includes a sensor mover 982 and a sensor stator 981. The sensor mover 982 is fixed relative to the motor mover 62, and the sensor stator 981 is fixed relative to the motor stator 61.

[0050] The phrase "the sensor stator 981 is relatively fixed to the motor stator 61" means that the sensor stator 981 and the motor stator 61 can move and stop synchronously. For example, when the position of the motor stator 61 is fixed, the position of the sensor stator 981 is also fixed. The sensor stator 981 can be installed on the motor stator 61, on the motor housing 63, or on other components that are fixed in a relative position to the motor stator 61.

[0051] The phrase "sensor mover 982 is relatively fixed to motor mover 62" means that sensor mover 982 and motor mover 62 can move and stop synchronously. For example, when motor mover 62 rotates, sensor mover 982 rotates synchronously with motor mover 62; when motor mover 62 stops rotating, sensor mover 982 stops rotating synchronously with motor mover 62. In this way, displacement sensor 98 can accurately detect the rotational displacement of motor mover 62. Sensor mover 982 can be mounted on motor mover 62 or on other components that are fixed in a relative position to motor mover 62.

[0052] In some embodiments of this application, referring to Figures 3-4, the sensor mover 982 and the motor mover 62 are coaxially arranged, and the sensor stator 981 and the motor stator 61 are coaxially arranged. The sensor mover 982, the motor mover 62, the sensor stator 981, and the motor stator 61 are all rotating bodies. The axes of the sensor mover 982 and the motor mover 62 coincide, and the axes of the sensor stator 981 and the motor stator 61 coincide. Therefore, when the motor mover 62 and the sensor mover 982 rotate synchronously, their centers of rotation are the same, resulting in better dynamic balance, which is beneficial for improving the working performance of the actuator 10.

[0053] In some embodiments of this application, referring to Figures 3-4, the actuator 10 further includes a magnetic shielding plate 99, which is disposed between the motor mover 62 and the displacement sensor 98, and spaced apart from the sensor stator 981. The magnetic shielding plate 99 isolates the motor mover 62 from the displacement sensor 98. Made of a magnetically shielding material, such as aluminum or magnesium, the magnetic shielding plate 99 reduces magnetic field leakage from the motor mover 62, thereby weakening the influence of the motor mover 62's magnetic field on the measurement accuracy of the displacement sensor 98 and improving the accuracy of the displacement sensor's measurement results. The magnetic shielding plate 99 also helps reduce eddy current losses in the motor mover 62.

[0054] In some embodiments of this application, the magnetic shielding plate 99 is connected and fixed to the motor rotor 62, and the sensor rotor 982 is located on the side of the magnetic shielding plate 99 opposite to the motor rotor 62. The sensor rotor 982 is connected and fixed to the magnetic shielding plate 99. Referring to Figures 3-4 and Figure 10, the magnetic shielding plate 99 is located above the motor rotor 62, and the sensor rotor 982 is located above the magnetic shielding plate 99. The magnetic shielding plate 99 has a magnetic shielding fixing hole 993, and the sensor rotor 982 has a rotor hole. Fasteners (such as screws, rivets, etc.) pass through the rotor hole and the magnetic shielding fixing hole 993 and are then fastened to the motor rotor 62, thereby achieving the connection and fixation of the sensor rotor 982, the magnetic shielding plate 99, and the motor rotor 62. In this way, when the motor rotor 62 rotates, it will drive the magnetic shielding plate 99 and the sensor rotor 982 to rotate synchronously.

[0055] In some embodiments of this application, referring to Figures 3-4 and Figure 10, the magnetic shielding plate 99 has a clearance step 991, which is recessed away from the sensor stator 981. The sensor stator 981 at least partially extends into the recessed area formed by the clearance step 991. This allows the overall axial dimension of the magnetic shielding plate 99 and the motor stator 61 to be smaller, saving axial space. Simultaneously, the magnetic shielding plate 99 is spaced apart from the sensor stator 981, thereby preventing the magnetic shielding plate 99 from colliding with the sensor stator 981 during rotation.

[0056] In some embodiments of this application, referring to Figures 3-4, the motor structure 60 further includes a stator positioning ring 7. The interior of the motor housing 63 has a first positioning surface 81 and a second positioning surface 82, which are spaced apart. A stator mounting space is formed between the first positioning surface 81 and the second positioning surface 82. The motor stator 61 and the stator positioning ring 7 are located between the first positioning surface 81 and the second positioning surface 82. One axial end of the stator positioning ring 7 abuts against the first positioning surface 81, and the other axial end of the stator positioning ring 7 abuts against the motor stator 61. The axial end of the motor stator 61 away from the stator positioning ring 7 abuts against the second positioning surface 82.

[0057] The stator mating surface 83 is located between the first positioning surface 81 and the second positioning surface 82, and the stator mating surface 83 is used to mount the outer peripheral surface of the motor stator 61. Referring to Figures 3-4 and 7, both the motor stator 61 and the stator positioning ring 7 are fitted onto the stator mating surface 83. The sum of the axial length of the motor stator 61 and the axial length of the stator positioning ring 7 is equal to the distance between the first positioning surface 81 and the second positioning surface 82, that is, the sum of the axial length of the motor stator 61 and the axial length of the stator positioning ring 7 is equal to the axial length of the stator mating surface 83.

[0058] In some embodiments of this application, the motor stator 61 is press-fitted into the stator mating surface 83 inside the motor housing 63 by an interference fit.

[0059] In the examples of Figures 2 and 7, the first positioning surface 81 is located above the second positioning surface 82, so that the stator positioning ring 7 is located above the motor stator 61. In some embodiments not shown in the figures, the first positioning surface 81 is located below the second positioning surface 82, so that the stator positioning ring 7 is located below the motor stator 61.

[0060] The first positioning surface 81 and the second positioning surface 82 are disposed opposite to each other. In some embodiments of this application, the first positioning surface 81 and the second positioning surface 82 are parallel to each other.

[0061] In some embodiments of this application, the stator positioning ring 7 includes a stator support shoulder 71, and the end of the sensor stator 981 near the motor rotor 62 abuts against the stator support shoulder 71. As shown in Figures 3-4, the lower end of the sensor stator 981 abuts against the stator support shoulder 71, thereby axially limiting the lower end of the sensor stator 981.

[0062] In some embodiments of this application, a stepped structure 631 is provided on the motor housing 63, and the end of the sensor stator 981 away from the motor rotor 62 abuts against the stepped structure 631. As shown in Figures 3-4, the upper end of the sensor stator 981 abuts against the stepped structure 631, thereby axially limiting the upper end of the sensor stator 981.

[0063] In some embodiments of this application, the motor housing 63 includes a first bearing mounting base 123 that extends into the motor mounting space 120, so as not to occupy the external space of the motor housing 63. A stepped structure 631 is formed on the first bearing mounting base 123, thereby making full use of the internal structure of the motor housing 63.

[0064] In some embodiments of this application, the stepped structure 631 includes an inner circumferential stop surface 6311 and an axial stop surface 6312. The axial end of the sensor stator 981 away from the motor mover 62 abuts against the axial stop surface 6312, as shown in Figures 4 and 7-8. The upper axial end of the sensor stator 981 abuts against the axial stop surface 6312. The inner circumferential surface of the sensor stator 981 abuts against the inner circumferential stop surface 6311. The stator positioning ring 7 includes an outer circumferential stop surface. The outer circumferential surface of the sensor stator 981 abuts against the outer circumferential stop surface, thereby limiting the circumferential position of the sensor stator 981.

[0065] In some embodiments of this application, referring to Figures 3-4, the actuator 10 further includes a lead screw 2, a nut 3, and a first bearing 91. The first bearing 91 is mounted on a first bearing mounting base 123. One end of the nut 3 is rotatably supported on the motor housing 63 via the first bearing 91. A motor mover 62 is mounted on the nut 3. The nut 3 is screwed to the lead screw 2. When the nut 3 rotates, it can drive the lead screw 2 to move linearly. The motor mover 62 can rotate synchronously with the nut 3. The displacement sensor 98 can obtain the rotational position of the nut 3 by detecting the rotational position of the motor mover 62. The position of the lead screw 2 can be obtained through the transmission ratio between the nut 3 and the lead screw 2, thereby providing accurate position feedback for the lead screw 2 and the nut 3. The positions of the lead screw 2 and the nut 3 can be monitored and corrected in real time to ensure high precision and consistency of position control. By detecting the actual position through the displacement sensor 98, the accumulation of displacement errors can be avoided, thereby improving the accuracy and sustainability of the system. The displacement sensor 98 is not directly connected to the lead screw 2, has a simple structure and strong practicality, does not affect the structural layout of the motor structure 60, occupies little space, and is easy to maintain.

[0066] In some embodiments of this application, referring to Figures 3-4, the motor stator 61 includes a stator core and a stator winding. The stator winding is wound around the stator core. The motor mover 62 is mounted on the nut 3, and the motor mover 62 includes at least a magnetic component. The motor stator 61 is used to excite the motor mover 62 to rotate, thereby driving the nut 3 to rotate.

[0067] The motor stator 61 provides the required excitation magnetic field, and the magnetic component can be a permanent magnet. The motor mover 62 provides a permanently stable magnetic field. The motor mover 62 may also include a cage, on which the magnetic component is mounted.

[0068] Referring to Figures 3-4 and 10, a magnetic shielding center hole 992 is provided on the magnetic shielding plate 99, which is used for the nut 3 to pass through.

[0069] In some embodiments of this application, referring to Figures 3-4, the actuator 10 further includes a second bearing 92. The other end of the nut 3 is rotatably supported on the motor housing 63 via the second bearing 92. The first bearing 91 and the second bearing 92 support the rotating nut 3, reducing frictional losses between the nut 3 and the motor housing 63. The second bearing 92 and the first bearing 91 are spaced apart axially from each other, forming a two-point support, thereby allowing the nut 3 to rotate more smoothly. The motor housing 63 includes a second bearing mounting base 133, on which the second bearing 92 is mounted.

[0070] In some embodiments of this application, as shown in Figures 3-4, the first bearing 91 and the second bearing 92 can both be angular contact ball bearings, with the first bearing 91 and the second bearing 92 positioned opposite each other. The first bearing 91 and the second bearing 92 are used to support the axial and radial loads of the nut 3 and to provide support for the rotational movement of the nut 3.

[0071] In some embodiments of this application, the first bearing 91 and the second bearing 92 may both be deep groove ball bearings.

[0072] In some embodiments of this application, referring to Figures 3-4, the nut 3 is provided with a first circumferential protrusion 33, which protrudes outward along the radial direction of the nut 3. The motor actuator 62 is located on one axial side of the first circumferential protrusion 33. The first circumferential protrusion 33 can limit the axial position of the motor actuator 62 to ensure accurate relative axial position between the motor actuator 62 and the nut 3. A magnetic shielding plate 99 is provided between the motor actuator 62 and the displacement sensor 98. The magnetic shielding plate 99 is located radially outside the first circumferential protrusion 33. Thus, the magnetic shielding plate 99 can make full use of the radially outer space of the first circumferential protrusion 33, making the internal structure of the motor housing 63 more compact.

[0073] In some embodiments of this application, as shown in Figures 3-4, the thickness of the magnetic shielding plate 99 is less than the thickness of the first circumferential protrusion 33. In this way, the magnetic shielding plate 99 will not occupy too much axial space, which is beneficial to improving the compactness of the internal structure of the motor housing 63.

[0074] In some embodiments of this application, referring to Figures 3-4, the nut 3 is further provided with a second circumferential protrusion 34, which protrudes outward along the radial direction of the nut 3. The motor mover 62 is located between the first circumferential protrusion 33 and the second circumferential protrusion 34. The motor mover 62 is fixed to at least one of the first circumferential protrusion 33 and the second circumferential protrusion 34, thereby realizing the installation of the motor mover 62 on the nut 3. The motor mover 62 is not easy to fall off the nut 3, thus ensuring that the rotation of the motor mover 62 can be better transmitted to the nut 3, and the structure of the actuator 10 is more stable and the safety of use is higher.

[0075] By directly and coaxially nesting the motor mover 62 and the nut 3 together, the axial lengths of the nut 3 and the motor mover 62 are fully coupled, reducing intermediate adapters. The total axial length of the nut 3 and the motor mover 62 is smaller, further compressing the vertical (i.e. axial) dimension space of the lead screw 2, which is more conducive to improving the arrangeability of the lead screw 2 in the whole vehicle.

[0076] In some embodiments of this application, the first circumferential protrusion 33 and the nut 3 may be an integral structure, with the first circumferential protrusion 33 and the nut 3 being integrally formed.

[0077] In some embodiments of this application, the first circumferential protrusion 33 and the nut 3 may also be separate structures. For example, the first circumferential protrusion 33 is a first retaining ring, the nut 3 is provided with a first annular groove, the first retaining ring is installed in the first annular groove, and the first retaining ring protrudes outward from the outer circumferential surface of the nut 3 along the radial direction of the nut 3.

[0078] In some embodiments of this application, the second circumferential protrusion 34 and the nut 3 may be an integral structure, with the second circumferential protrusion 34 and the nut 3 being integrally formed.

[0079] In some embodiments of this application, the second circumferential protrusion 34 and the nut 3 may also be separate structures. For example, the second circumferential protrusion 34 is a second retaining ring, the nut 3 is provided with a second annular groove, the second retaining ring is installed in the second annular groove, and the second retaining ring protrudes outward from the outer circumferential surface of the nut 3 along the radial direction of the nut 3.

[0080] Nut 3 is coaxially fitted with lead screw 2. A helical raceway can be provided on nut 3. Rolling elements are provided in the helical raceway. The rolling elements are in rolling contact with lead screw 2, and power can be transmitted through the rolling elements.

[0081] In some embodiments of this application, referring to Figures 3-4, the motor housing 63 has a housing hole 131 for the lead screw 2 to extend out, and the displacement sensor 98 is located on the side of the motor rotor 62 opposite to the housing hole 131; or, the displacement sensor 98 is located on the side of the motor rotor 62 facing the housing hole 131. Referring to Figures 3-4, the housing hole 131 is formed at the lower end of the motor housing 63, and the displacement sensor 98 can be located on the upper side of the motor rotor 62 or on the lower side of the motor rotor 62.

[0082] In some embodiments of this application, the displacement sensor 98 is a Hall effect sensor, which detects the displacement or position change of an object based on the Hall effect. The sensor stator 981 uses a Hall element (i.e., a magnetic sensor), and the sensor mover 982 uses a permanent magnet. When the motor mover 62 rotates, the magnetic field generated by the sensor mover 982 mounted on the top of the motor mover 62 also rotates. In the central region of the rotating shaft, the rotating magnetic field remains unchanged. The Hall element detects this change in magnetic field, converts it into an electrical signal, and transmits the signal to the control module through the signal processing circuit to control the motor to adjust the vehicle body height to achieve a vibration reduction effect.

[0083] In other embodiments of this application, the displacement sensor 98 is one of a magnetorheological sensor, an inductive sensor, or a grating sensor. For example, the sensor stator 981 may use the magnetic poles of a magnetorheological sensor, the circuit board of an inductive sensor, etc.

[0084] Magnetorheological sensors typically detect displacement or position changes of objects based on the properties of magnetorheological fluids. Inductive sensors detect the approach, displacement, or position changes of objects based on changes in inductance. Grating sensors utilize the diffraction effect of gratings, detecting displacement or position changes of objects by measuring the movement of moiré fringes.

[0085] The thickness of the magnetic shielding plate 99 can be determined by the required magnetic flux intensity of the selected displacement sensor 98. If a displacement sensor 98, such as a grating sensor, is selected that does not require magnetic shielding, then the magnetic shielding plate 99 is not necessary.

[0086] This application provides a coaxial parallel fully active control actuator 10 for fully active control of the relative distance between the wheels and the vehicle body to meet the personalized needs of the vehicle for different height states. The working principle of the actuator 10 is as follows: After the motor structure 60 is energized, the motor mover 62 rotates, driving the nut 3 to rotate. The lead screw 2 converts the rotational motion of the nut 3 into the linear motion of the lead screw 2. Furthermore, the lead screw 2 drives the lower fork arm to perform linear motion, thereby realizing real-time control of the wheel height to meet the real-time needs of the vehicle body height adjustment.

[0087] In some embodiments of this application, referring to Figures 1-9, the motor housing 63 may include a second housing 12 and a third housing 13. The second housing 12 has a motor mounting space 120 inside, which is used to mount the displacement sensor 98, the motor stator 61, and the motor mover 62. The third housing 13 covers the end of the second housing 12 that is opposite to the first housing 11. The third housing 13 and the second housing 12 can be connected and fixed by connectors such as bolts or rivets.

[0088] In some embodiments of this application, as shown in Figures 3-4 and 7, the first positioning surface 81 and the stator mating surface 83 are both formed on the second housing 12, and the second positioning surface 82 is formed on the third housing 13.

[0089] In some embodiments of this application, referring to Figures 1-8, the actuator 10 according to an embodiment of this application may include a first housing 11, the interior of which has a travel space 113 for linear movement of the lead screw 2. A second housing 12 is connected to the first housing 11, and a motor mounting space 120 communicates with the travel space 113.

[0090] Referring to FIG7, the interior of the third housing 13 has an end cover space 132, which is connected to the motor mounting space 120. The stroke space 113, the motor mounting space 120 and the end cover space 132 together form the mounting cavity 14.

[0091] In some embodiments of this application, the first housing 11 and the second housing 12 are an integral structure.

[0092] In some other embodiments of this application, the first housing 11 and the second housing 12 are separate structures. The first housing 11 and the second housing 12 can be connected and fixed by connectors such as bolts and rivets. Designing the first housing 11 and the second housing 12 as separate structures facilitates the assembly and disassembly of the components inside the first housing 11 and the second housing 12.

[0093] In some embodiments of this application, the second housing 12 has a second through hole 124 for the lead screw 2 to pass through at one end near the first housing 11. The second housing 12 has a cylindrical structure and a closed end face on the side near the vehicle body. The second through hole 124 is provided at the center of the closed end face. The second through hole 124 cooperates with the opening structure at the bottom of the first housing body 111, so as to connect the motor mounting space 120 and the stroke space 113, so that the lead screw 2 can pass smoothly.

[0094] In some embodiments of this application, referring to Figures 3-4 and 7-9, the second housing 12 includes a second housing body 121 and a second housing end plate 122, the second housing body 121 and the second housing end plate 122 are connected, the third housing 13 is connected to the second housing body 121, the first housing 11 is connected to the second housing end plate 122, the second through hole 124 is opened in the second housing end plate 122, the second through hole 124 is connected to the motor mounting space 120, and the second through hole 124 is used for the lead screw 2 to pass through.

[0095] In some embodiments of this application, referring to Figures 3-4, 7, and 9, the first housing 11 includes a first housing body 111 and a first housing protrusion 112, which are connected. A travel space 113 is formed within the first housing body 111. The first housing protrusion 112 protrudes radially outward from the first housing body 111 and is connected to the second housing end plate 122. The upper end of the first housing body 111 is adapted to connect to the vehicle body, and the lower end of the first housing body 111 has an opening structure for connecting the travel space 113 to the second housing 12, allowing the lead screw 2 to pass through.

[0096] Referring to Figures 7 and 8, the first housing protrusion 112 is provided with a first mounting hole 1121, and the second housing end plate 122 is provided with a second upper mounting hole 1221. The first mounting hole 1121 and the second upper mounting hole 1221 are at least partially connected. Threaded fasteners pass through the first mounting hole 1121 and the second upper mounting hole 1221 and are tightened to achieve the connection and fixation between the second housing 12 and the first housing 11.

[0097] In some embodiments of this application, one of the first mounting hole 1121 and the second upper mounting hole 1221 is a smooth hole and the other is a threaded hole, with a screw passing through the smooth hole and fastened to the threaded hole.

[0098] In some embodiments of this application, the first mounting hole 1121 and the second upper mounting hole 1221 are both open holes, as shown in FIG8. After the bolt passes through the two open holes, it is tightened with the fastening nut.

[0099] In some embodiments of this application, the number of first mounting holes 1121 is one, or the number of first mounting holes 1121 is multiple, and the number of first mounting holes 1121 and the second upper mounting holes 1221 are the same and their positions correspond one-to-one. When there are multiple first mounting holes 1121, as shown in Figures 5 and 7-8, the multiple first mounting holes 1121 can be arranged at intervals on the same circle, which facilitates the processing and manufacturing of the first mounting holes 1121, and facilitates the passing of threaded fasteners through the first mounting holes 1121 and the second upper mounting holes 1221 and fastening them.

[0100] Referring to Figures 3-4, 7 and 9, the lower end of the second housing body 121 is provided with a second lower mounting hole 1211, and the third housing 13 is provided with a third mounting hole 135. The second lower mounting hole 1211 and the third mounting hole 135 are at least partially connected. Threaded fasteners pass through the third mounting hole 135 and the second lower mounting hole 1211 and are fastened to achieve the connection and fixation of the second housing 12 and the third housing 13.

[0101] In some embodiments of this application, one of the third mounting hole 135 and the second lower mounting hole 1211 is a smooth hole and the other is a threaded hole, with a screw passing through the smooth hole and fastened to the threaded hole.

[0102] In some embodiments of this application, the third mounting hole 135 and the second lower mounting hole 1211 are both open holes, and a bolt is passed through the two open holes and tightened with a fastening nut.

[0103] In some embodiments of this application, the number of third mounting holes 135 is one, or the number of third mounting holes 135 is multiple, and the number of third mounting holes 135 is the same as that of the second lower mounting holes 1211, and their positions correspond one-to-one. When there are multiple third mounting holes 135, the multiple third mounting holes 135 can be arranged at intervals on the same circle, thereby facilitating the processing and manufacturing of the third mounting holes 135, and facilitating the passing of threaded fasteners through the third mounting holes 135 and the second lower mounting holes 1211 and fastening them.

[0104] In some embodiments of this application, referring to Figures 3 and 7-8, a first bearing mounting base 123 is disposed on a second housing end plate 122. The first bearing mounting base 123 includes a first axial limiting surface 1231 and a first circumferential mounting surface 1232. The first axial limiting surface 1231 is used to stop and limit one axial end face of the first bearing 91, and the first circumferential mounting surface 1232 is used to mount the outer circumferential surface of the first bearing 91. A second through hole 124 axially penetrates the annular space enclosed by the first circumferential mounting surface 1232. The nut 3 has a first limiting shoulder, which is used to stop and limit the other axial end face of the first bearing 91.

[0105] In some embodiments of this application, referring to Figures 3-4, 7, and 9, a second bearing mounting base 133 is disposed on a third housing 13. The second bearing mounting base 133 includes a second axial limiting surface 1331 and a second circumferential mounting surface 1332. The second axial limiting surface 1331 is used to stop and limit the axial end face of the second bearing 92, and the second circumferential mounting surface 1332 is used to mount the outer circumferential surface of the second bearing 92. The housing hole 131 axially penetrates the annular space enclosed by the second circumferential mounting surface 1332. The nut 3 has a second limiting shoulder, which is used to stop and limit the axial end face of the second bearing 92.

[0106] In some embodiments of this application, referring to Figures 1-3 and 5-7, a stud structure 93 is provided on the outside of the first housing 11 for connection with the vehicle body. When connecting the actuator 10 to the vehicle body, this can be achieved through the stud structure 93 on the first housing 11, thereby reducing the use of intermediate structures and reducing weight. Specifically, when connecting the stud structure 93 to the vehicle body, a fastening nut is used to engage with the stud structure 93 to achieve a secure connection. In some embodiments of this application, the number of stud structures 93 may be one or more.

[0107] Referring to Figures 1-7, the first housing 11 is a cylindrical structure with a closed end plate on the side near the vehicle body, and the stud structure 93 is disposed on the outer end face of the closed end plate.

[0108] After the first housing 11 and the motor housing 63 are connected and fixed, they form the actuator housing. As shown in Figures 3-4, a guide structure 4 is provided between the lead screw 2 and the actuator housing. The guide structure 4 is used to guide the lead screw 2 so that the lead screw 2 moves linearly.

[0109] When nut 3 rotates, it drives lead screw 2 to rotate. Since nut 3 is installed in the actuator housing, lead screw 2 will produce linear movement while rotating. Lead screw 2 will also reciprocate along its axial direction while rotating, such as moving up and down in Figure 3. Guide structure 4 is used to limit and guide lead screw 2. Under the guidance of guide structure 4, the lead screw 2 can be effectively prevented from deviating from its axis during movement, thereby reducing the risk of lead screw 2 wear, abnormal noise, failure, etc., and further enhancing the stability of lead screw 2 during axial reciprocating movement.

[0110] Referring to Figures 1-4, the actuator housing can be used to provide a space for the guide structure 4, the lead screw 2, and the nut 3. In this way, the actuator housing can protect the guide structure 4, the lead screw 2, and the nut 3, reducing the probability of damage to the guide structure 4, the lead screw 2, and the nut 3.

[0111] According to the actuator 10 of the present application embodiment, the guide structure 4 provided between the lead screw 2 and the actuator housing can guide the linear motion of the lead screw 2, which is beneficial to enhance the stability of the lead screw 2 in the process of reciprocating motion along the axial direction. The working principle is reliable, the structure is simple, the machinability is high, and the disassembly and assembly are convenient.

[0112] In some embodiments of this application, referring to Figures 1-4 and 7, the guide structure 4 includes a guide rod 41 connected to the actuator housing. The lead screw 2 has a guide groove 21. When the lead screw 2 moves linearly, the guide rod 41 extends at least partially into the guide groove 21. By setting the guide rod 41 to guide the linear movement of the lead screw 2, the guide rod 41 can guide the linear movement of the lead screw 2, and the working principle is simple and reliable.

[0113] The guide groove 21 runs along the same length as the lead screw 2, and the guide rod 41 engages with the guide groove 21. When the lead screw 2 moves along its length (i.e., the up-down direction as shown in Figure 3), the guide rod 41 maintains a good fit with the guide groove 21, thus guiding the linear motion of the lead screw 2. Under the guidance of the guide rod 41, the lead screw 2 is effectively prevented from deviating from its axis during movement, thereby reducing the risks of uneven wear, abnormal noise, and failure. The working principle of the guide rod 41 guiding the lead screw 2 is simple and reliable. Furthermore, the guide rod 41 extends at least partially into the guide groove 21 of the lead screw 2, minimizing its space occupation within the actuator housing. The high integration of the guide rod 41 with the lead screw 2 and the small space occupied by the guide rod 41 contribute to the compact structure of the actuator 10.

[0114] The actuator housing has an installation space inside, and the guide rod 41 extends from the actuator housing into the installation space. The specific connection form between the guide rod 41 and the actuator housing depends on the processing technology. For example, the guide rod 41 and the actuator housing can be integrally formed or separate parts that are connected by welding, bonding, bolting or other forms of fastening.

[0115] The guide groove 21 is relatively long, providing space for the relative movement of the guide rod 41 and the lead screw 2. Through the good cooperation between the guide rod 41 and the guide groove 21, the lead screw 2 is vertically guided. The cooperation between the guide rod 41 and the guide groove 21 inside the lead screw 2 avoids long-term wear on the outer circumference of the lead screw 2, reducing the risk of poor screwing connection between the nut 3 and the lead screw 2 due to wear on the outer circumference of the lead screw 2.

[0116] In some embodiments of this application, the projection of the guide rod 41 in a plane perpendicular to its axis is circular, and the projection of the guide groove 21 in a plane perpendicular to its axis is adapted to the guide rod 41. Thus, while the guide rod 41 guides the lead screw 2 vertically, it does not affect the circumferential rotation of the lead screw 2, ensuring a good threaded connection between the lead screw 2 and the nut 3, and increasing the operational stability of the entire actuator 10 mechanism.

[0117] In some embodiments of this application, the depth of the guide groove 21 is greater than the travel distance of the lead screw 2 in the linear movement direction of the lead screw 2. This ensures that the lead screw 2 will not interfere with the guide rod 41 within its travel distance.

[0118] In some embodiments of this application, the length of the guide rod 41 is less than or equal to the travel of the lead screw 2. Furthermore, since the depth of the guide groove 21 is greater than the travel of the lead screw 2, the length of the guide rod 41 is less than the depth of the guide groove 21. Therefore, the guide rod 41 will not collide with the bottom of the guide groove 21, meaning that the guide rod 41 and the lead screw 2 will not interfere with each other's movement.

[0119] In some embodiments of this application, referring to FIG3, the actuator housing has an internal mounting cavity 14, the nut 3 is located in the mounting cavity 14, and a mating cavity 5 is formed between the end of the guide rod 41 that extends into the guide groove 21 and the bottom of the guide groove 21. The guide rod 41 is provided with a ventilation channel 411, which connects the mating cavity 5 and the mounting cavity 14. When the mating cavity 5 is a closed cavity (i.e., the guide rod 41 does not have a ventilation channel 411), the gas in the mating cavity 5 generates a large damping force due to frequent compression by the guide rod 41, thus hindering the movement of the guide rod 41 within the guide groove 21. The ventilation channel 411 provided on the guide rod 41 can reduce the damping force generated by frequent compression of the gas in the mating cavity 5, resulting in less resistance when the guide rod 41 moves within the guide groove 21.

[0120] In some embodiments of this application, referring to Figures 3 and 7, the guide structure 4 further includes a sliding bearing 42, which is disposed at the guide engagement point between the guide rod 41 and the guide groove 21. The sliding bearing 42 is installed on the inner peripheral wall of the guide groove 21, and the inner peripheral surface of the sliding bearing 42 is in guide engagement with the outer peripheral wall of the guide rod 41. The sliding bearing 42 can at least partially separate the guide rod 41 from the guide groove 21, thereby preventing the guide rod 41 from directly contacting the guide groove 21 and causing wear. The sliding bearing 42 plays a role in sliding guidance and reducing sliding friction resistance, which is beneficial to improving the running stability of the lead screw 2.

[0121] In some embodiments of this application, the outer peripheral surface of the sliding bearing 42 and the inner peripheral wall of the guide groove 21 are interference fits, which ensures that the sliding bearing 42 can be firmly installed in the guide groove 21; and / or, the inner peripheral surface of the sliding bearing 42 and the outer peripheral wall of the guide rod 41 are clearance fits, which ensures that the lead screw 2 can move smoothly.

[0122] In some embodiments of this application, referring to Figures 3-4, the outer diameter of the guide rod 41 is smaller than the inner diameter of the guide groove 21. The outer peripheral wall of the guide rod 41 and the inner peripheral wall of the guide groove 21 are separated by a sliding bearing 42. One end of the ventilation channel 411 is connected to the outer peripheral wall of the guide rod 41, thereby connecting the ventilation channel 411 to the mounting cavity 14. The other end of the ventilation channel 411 is connected to the end face of the guide rod 41 that extends into the guide groove 21, thereby connecting the other end of the ventilation channel 411 to the mating cavity 5.

[0123] In the examples of Figures 3 and 4, the ventilation channel 411 is in the form of two sections, and the ventilation channel 411 includes a first channel section 4111 and a second channel section 4112. The lower end of the guide rod 41 extends into the guide groove 21. One end of the first channel section 4111 is connected to the lower end face of the guide rod 41 and is connected to the mating cavity 5. The other end of the first channel section 4111 is connected to the second channel section 4112. The other end of the second channel section 4112 is connected to the outer peripheral wall of the guide rod 41 and is connected to the mounting cavity 14.

[0124] In some embodiments not shown in the figure, the shape of the ventilation channel 411 can also be arc-shaped, three-section, corrugated, etc.

[0125] In some embodiments of this application, referring to Figures 3-4, the actuator housing has an inner circumferential surface 115, which is opposite to the outer circumferential surface of the lead screw 2. The guide structure 4 includes a guide ring 43, the inner circumferential surface of which is mounted on the outer circumferential surface of the lead screw 2, and the outer circumferential surface of which is slidably engaged with the inner circumferential surface 115 of the housing. When the lead screw 2 moves linearly, the guide ring 43 slides along the inner circumferential surface 115 of the housing, providing sliding guidance. The guide ring 43 can guide the linear movement of the lead screw 2, effectively preventing the lead screw 2 from deviating from its axis during movement, thereby reducing the risk of lead screw 2 wear, abnormal noise, and failure, and further enhancing the operational stability of the lead screw 2 during axial reciprocating motion.

[0126] In some embodiments of this application, the guide structure 4 of the actuator 10 can be one of the guide rod 41 and the guide ring 43, or the guide rod 41 and the guide ring 43 can be provided simultaneously to achieve dual guidance.

[0127] In some embodiments of this application, referring to Figures 1-3, the stud structure 93 provided on the first housing 11 is a vehicle body connection structure, the actuator 10 also includes a wheel connection structure 94, one end of the lead screw 2 is located inside the actuator housing, and the other end of the lead screw 2 is adapted to extend outside the actuator housing to be connected to the wheel through the wheel connection structure 94, and the actuator housing is adapted to be connected to the vehicle body through the stud structure 93.

[0128] Referring to Figure 3, the wheel connection structure 94 is a lower fork arm. The lower fork arm and the lead screw 2 are connected and fixed by fasteners 97. The lower fork arm is used to connect the lead screw 2 and the wheel end. The lead screw 2 drives the lower fork arm to move linearly together, thereby realizing the control of the position of the wheel end.

[0129] In some embodiments of this application, the fastener 97 is a screw, and the lower end of the lead screw 2 is provided with a threaded hole. After the screw passes through the lower fork arm, it is tightened into the threaded hole to achieve a fast connection between the lower fork arm and the lead screw 2.

[0130] In some embodiments of this application, the fastener 97 is a bolt, the lower end of the lead screw 2 is provided with a light hole, and the screw passes through the light hole of the lower fork arm and the lead screw 2 and is tightened with the nut 3 to achieve a tight connection between the lower fork arm and the lead screw 2.

[0131] In some embodiments of this application, referring to Figures 1-3, the actuator 10 further includes an elastic support 95. The elastic support 95 is sleeved outside the lead screw 2 and is located between the wheel connection structure 94 and the actuator housing. One end of the elastic support 95 is connected to the actuator housing, and the other end is connected to the wheel connection structure 94. The elastic support 95 is used to bear part of the vehicle body weight, reducing the active thrust required by the actuator 10. Referring to Figures 1-3, the elastic support 95 can be a coil spring.

[0132] In some embodiments of this application, referring to Figures 1-3, the actuator 10 further includes a dust cover 96. The dust cover 96 is sleeved on the outside of the lead screw 2 and is located between the wheel connection structure 94 and the actuator housing. The actuator housing has a housing hole 131 for the lead screw 2 to extend out, and the dust cover 96 has a dustproof space, with the housing hole 131 located within the dustproof space. The dust cover 96 is used to isolate the actuator 10 from external impurities such as water and dust. For example, the dust cover 96 can prevent external moisture, dust, and debris from entering the mounting cavity 14 inside the actuator housing through the housing hole 131.

[0133] The principle of the active actuation of the entire actuator 10 is as follows: the stator 61 of the motor 6 drives the motor mover 62 to rotate, the motor mover 62 drives the nut 3 to rotate, the nut 3 drives the lead screw 2 to rotate and the lead screw 2 moves linearly, realizing the conversion between rotational motion and linear motion. The guide structure 4 strictly restricts the movement of the lead screw 2 to the vertical direction. Through the control strategy, the relative distance between the wheel and the vehicle body is dynamically adjusted in real time to meet the needs of vehicle 1000 driving comfort.

[0134] Referring to FIG11, the suspension assembly 100 according to a second aspect embodiment of the present application includes the actuator 10 of the above embodiment.

[0135] According to the embodiment of this application, the suspension assembly 100 has an actuator 10 that places the displacement sensor 98 inside the motor housing 63, so that the motor housing 63 can protect the displacement sensor 98, which is beneficial to improving the service life of the displacement sensor 98.

[0136] Referring to FIG12, the vehicle 1000 according to a third aspect embodiment of the present application includes the suspension assembly 100 of the above embodiment.

[0137] According to an embodiment of this application, the vehicle 1000 has a suspension assembly 100 including an actuator 10. By placing a displacement sensor 98 inside a motor housing 63, the motor housing 63 can protect the displacement sensor 98, which helps to extend the service life of the displacement sensor 98.

[0138] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0139] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0140] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0141] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An actuator (10), wherein, The actuator (10) comprises: a motor structure (60) comprising a motor housing (63) having a motor mounting space (120) inside, a motor rotor (62) and a motor stator (61), the motor stator (61) being mounted to the motor housing (63), the motor rotor (62) being adapted to rotate relative to the motor stator (61); and a displacement sensor (98) disposed in the motor mounting space (120), the displacement sensor (98) being configured to detect the rotational displacement of the motor rotor (62). The displacement sensor (98) comprises a sensor rotor (982) fixed relative to the motor rotor (62) and a sensor stator (981) fixed relative to the motor stator (61).

2. The actuator (10) according to claim 1, wherein The sensor rotor (982) is coaxially disposed with the motor rotor (62), and the sensor stator (981) is coaxially disposed with the motor stator (61).

3. The actuator (10) according to claim 2, wherein The actuator (10) further comprises a magnetic isolation plate (99) disposed between the motor rotor (62) and the displacement sensor (98), the magnetic isolation plate (99) being spaced apart from the sensor stator (981).

4. The actuator (10) according to claim 2 or 3, wherein The magnetic isolation plate (99) is fixedly connected with the motor rotor (62), and the sensor rotor (982) is located on a side of the magnetic isolation plate (99) facing away from the motor rotor (62), and the sensor rotor (982) is fixedly connected with the magnetic isolation plate (99).

5. The actuator (10) according to claim 4, wherein The magnetic isolation plate (99) has a relief step (991) recessed away from the sensor stator (981), and the sensor stator (981) at least partially extends into a recessed area formed by the relief step (991).

6. The actuator (10) according to claim 4 or 5, wherein The motor structure (60) further comprises a stator positioning ring (7), the motor housing (63) has a first positioning surface (81) and a second positioning surface (82) inside, the motor stator (61) and the stator positioning ring (7) are located between the first positioning surface (81) and the second positioning surface (82), an axial end of the stator positioning ring (7) abuts against the first positioning surface (81), an axial other end of the stator positioning ring (7) abuts against the motor stator (61), and an axial end of the motor stator (61) away from the stator positioning ring (7) abuts against the second positioning surface (82).

7. The actuator (10) according to any one of claims 2-6, wherein, The stator positioning ring (7) comprises a stator support shoulder (71), and an end of the sensor stator (981) close to the motor rotor (62) abuts against the stator support shoulder (71). The motor housing (63) is provided with a stepped structure (631), and an end of the sensor stator (981) away from the motor rotor (62) abuts against the stepped structure (631).

8. The actuator (10) according to claim 7, wherein ​ 9. The actuator (10) according to claim 8, wherein The motor housing (63) comprises a first bearing mounting seat (123) extending to the motor mounting space (120), and the stepped structure (631) is formed on the first bearing mounting seat (123).

10. The actuator (10) according to claim 8 or 9, wherein The stepped structure (631) comprises an inner circumferential stop surface (6311) and an axial stop surface (6312), an axial end of the sensor stator (981) away from the motor rotor (62) abuts against the axial stop surface (6312), and an inner circumferential surface of the sensor stator (981) abuts against the inner circumferential stop surface (6311); the stator positioning ring (7) comprises an outer circumferential stop surface, and an outer circumferential surface of the sensor stator (981) abuts against the outer circumferential stop surface.

11. The actuator (10) according to claim 9 or 10, wherein The actuator (10) further comprises a lead screw (2), a nut (3), and a first bearing (91), the first bearing (91) is mounted to the first bearing mounting seat (123), one end of the nut (3) is rotatably supported to the motor housing (63) through the first bearing (91), the motor rotor (62) is mounted to the nut (3), the nut (3) is screw-coupled with the lead screw (2), and the nut (3) can drive the lead screw (2) to linearly move when the nut (3) rotates.

12. The actuator (10) according to claim 11, wherein The actuator (10) further comprises a second bearing (92), the other end of the nut (3) is rotatably supported to the motor housing (63) through the second bearing (92), and the second bearing (92) is spaced apart from the first bearing (91) in the axial direction of the nut (3).

13. The actuator (10) according to claim 11 or 12, wherein The nut (3) is provided with a first circumferential protrusion (33) protruding outward in the radial direction of the nut (3), the motor rotor (62) is located on one side in the axial direction of the first circumferential protrusion (33), a magnetic shielding plate (99) is arranged between the motor rotor (62) and the displacement sensor (98), and the magnetic shielding plate (99) is located on the outer side in the radial direction of the first circumferential protrusion (33).

14. The actuator (10) according to claim 13, wherein The nut (3) is further provided with a second circumferential protrusion (34) protruding outward in the radial direction of the nut (3), the motor rotor (62) is located between the first circumferential protrusion (33) and the second circumferential protrusion (34), and the motor rotor (62) is fixed to at least one of the first circumferential protrusion (33) and the second circumferential protrusion (34).

15. The actuator (10) according to any one of claims 11-14, wherein, The motor housing (63) has a housing hole (131) for the lead screw (2) to extend out, and the displacement sensor (98) is located on the side of the motor rotor (62) away from the housing hole (131); or the displacement sensor (98) is located on the side of the motor rotor (62) facing the housing hole (131).

16. The actuator (10) according to any one of claims 1-15, wherein, The displacement sensor (98) is one of a Hall effect sensor, a magneto-rheological sensor, an inductance sensor, and an optical grating sensor.

17. A suspension assembly (100), wherein The actuator (10) according to any one of claims 1-16.

18. A vehicle (1000), wherein The suspension assembly (100) according to claim 17.

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