Actuator assembly, suspension, vehicle and control method

Abstract

An actuator assembly (100), a suspension (1000), a vehicle (10000), and a control method. The actuator assembly (100) comprises an actuator module (30) and a brake module (50); the actuator module (30) comprises a housing (10), a rotating member (33), and a moving member (35); the rotating member (33) is rotatably mounted in the housing (10) and sleeves the moving member (35); the rotating member (33) rotates to drive the moving member (35) to move linearly; and the brake module (50) is provided in the housing (10) and is used for limiting the rotation of the rotating member (33).

Description

Actuator assembly, suspension, vehicle and control method

[0001] Priority information

[0002] This application claims priority to and the benefit of the filing date of Chinese Patent Application No. 2024106827079, filed May 28, 2024, and is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the technical field of actuators, and in particular to an actuator assembly, a suspension, a vehicle and a control method. BACKGROUND

[0004] In the related art, an actuator assembly is connected between a vehicle body and a vehicle wheel, and an external brake is usually used to brake the actuator assembly. However, the external brake occupies the space of the actuator, which reduces the axial movement space of the actuator, thereby increasing the contact between the elements in the actuator assembly, damaging the structure of the actuator assembly, and affecting the normal operation of the actuator assembly. SUMMARY

[0005] The present application provides an actuator assembly, a suspension, a vehicle and a control method.

[0006] In a first aspect, the embodiments of the present application provide an actuator assembly. The actuator assembly includes an actuator module and a brake module. The actuator module includes a housing, a rotating member and a moving member. The rotating member is rotatably mounted in the housing and covers the moving member. The rotating member rotates to drive the moving member to move linearly. The brake module is arranged in the housing and is used to limit the rotation of the rotating member.

[0007] In some embodiments, the moving member is a lead screw, and the rotating member is a ball nut. The lead screw is arranged through the ball nut and cooperates with the ball nut to form a ball screw pair.

[0008] In some embodiments, the actuator module further includes a motor, the motor is accommodated in the housing and connected with the rotating member, the motor is used to drive the rotating member to rotate, and the moving member at least partially penetrates the housing; the brake module includes a stator assembly and a rotor assembly, the stator assembly is mounted on the housing, and the rotor assembly is mounted on the motor.

[0009] In some embodiments, the stator assembly includes a coil and a friction member. The coil and the friction member are mounted in the housing. The mover assembly surrounds the rotating member and cooperates with the coil. When the coil is energized, the coil attracts the mover assembly to contact the friction member to brake the rotation of the rotating member.

[0010] In some embodiments, the rotating member includes a rotating body and a guide seat. The rotating body is provided with a receiving cavity in which the moving member is disposed. The guide seat is disposed on an outer peripheral wall of the rotating body. The mover assembly is mounted on the guide seat.

[0011] In some embodiments, the motor includes a stator and a mover. The mover is sleeved on the rotating member, and the stator is mounted on the housing and spaced opposite to the mover. The guide seat includes a first side and a second side opposite in the axial direction of the receiving cavity. The rotating member further includes a first step. The first step extends in the axial direction of the receiving cavity from the first side of the guide seat and extends in the radial direction of the receiving cavity from the outer peripheral wall of the rotating body. The first step is in contact with the mover. There is a gap between the stator and the guide seat.

[0012] In some embodiments, the motor includes a stator and a mover. The stator is mounted on the inner wall of the housing and is provided with a winding. The mover is sleeved on the rotating member and spaced opposite to the stator. The mover is provided with a magnet. The winding cooperates with the magnet to rotate the mover and drive the rotating member to rotate synchronously.

[0013] In some embodiments, the mover includes a first end surface and a second end surface opposite in the axial direction. A locking member passes through the guide seat and is locked to the first end surface to fixedly connect the mover and the guide seat.

[0014] In some embodiments, the mover includes a first sub-portion and a second sub-portion divided in the axial direction. The first sub-portion is fixedly connected with the guide seat and surrounds the rotating body. The second sub-portion is fixedly connected with the guide seat and surrounds the rotating body. The first sub-portion and the second sub-portion are spliced to form a complete annular structure.

[0015] In some embodiments, the housing is provided with a bearing seat, the bearing seat is mounted with a bearing, and the rotating member is mounted in the bearing. The guide seat includes a first side and a second side opposite in the axial direction of the receiving cavity. The rotating member further includes a second step. The second step extends in the axial direction of the receiving cavity from the second side of the guide seat and extends in the radial direction of the receiving cavity from the outer peripheral wall of the rotating body. The second step is in abutment with the bearing.

[0016] In some embodiments, the rotor assembly comprises a deformable elastic member and a magnetic member. The elastic member is sleeved on the rotating body and connected with the guide base. The magnetic member is sleeved on the rotating body and connected with the elastic member. The elastic member is located between the magnetic member and the guide base. The magnetic member cooperates with the coil and is spaced apart from the friction member. In the case that the rotating member rotates, the elastic member and the magnetic member rotate together with the guide base. In the case that the coil is powered, the coil attracts the magnetic member to move along the rotating body towards the friction member to contact the friction member. In the case that the coil is powered off, the elastic member drives the magnetic member to move along the rotating body away from the friction member to separate from the friction member.

[0017] In some embodiments, the elastic member is connected with the guide base by a first rivet, and the elastic member is connected with the magnetic member by a second rivet. Or the magnetic member is provided with a mounting hole and a receiving hole, and the guide base is provided with a connecting hole and an accommodating hole. The elastic member is connected with the guide base by a first screw, and the elastic member is connected with the magnetic member by a second screw. The shank of the first screw is locked in the connecting hole, and the head of the first screw is received in the receiving hole. The shank of the second screw is locked in the mounting hole, and the head of the second screw is received in the accommodating hole.

[0018] In some embodiments, the inner side surface of the shell is provided with a groove. The coil and the friction member are both received in the groove. The coil is closer to the bottom wall of the groove than the friction member. The outer surface of the friction member is flush with the inner side surface of the shell.

[0019] In some embodiments, the shell is made of a soft magnetic material, or the magnetic member in the rotor assembly is made of a soft magnetic material, or both the shell and the magnetic member in the rotor assembly are made of a soft magnetic material.

[0020] In some embodiments, the friction member is made of composite asbestos.

[0021] In some embodiments, the shell comprises a first shell and a second shell. The first shell and the second shell are connected to form an accommodating cavity. The rotating member and at least part of the moving member are received in the accommodating cavity. The brake module is received in the first shell or the second shell and is located at one of the opposite ends of the rotating member.

[0022] In some embodiments, the housing includes a first housing and a second housing. The first housing and the second housing are connected to form a receiving cavity, in which the rotating member and at least part of the moving member are accommodated. The brake module includes a first brake module and a second brake module. The first brake module is accommodated in the first housing and located at one end of the rotating member. The second brake module is accommodated in the second housing and located at the other end of the rotating member.

[0023] In some embodiments, the first brake module includes a first stator assembly and a first mover assembly. The first stator assembly includes a first coil and a first friction member. The first coil and the first friction member are installed in the first housing, and the first mover assembly surrounds the rotating member and cooperates with the first coil. When the first coil is energized, the first coil attracts the first mover assembly to contact the first friction member to brake the rotation of the rotating member. The second brake module includes a second stator assembly and a second mover assembly. The second stator assembly includes a second coil and a second friction member. The second coil and the second friction member are installed in the second housing, and the second mover assembly surrounds the rotating member and cooperates with the second coil. When the second coil is energized, the second coil attracts the second mover assembly to contact the second friction member to brake the rotation of the rotating member.

[0024] In some embodiments, the rotating member includes a rotating body, a first guide seat and a second guide seat. The rotating body is provided with a receiving cavity, in which the moving member is arranged. The first guide seat and the second guide seat are arranged at the outer peripheral wall of the rotating body at intervals. The first guide seat is arranged in the first housing, and the second guide seat is arranged in the second housing. The first mover assembly includes a deformable first elastic member and a first magnetic member. The first elastic member is sleeved on the rotating body and connected with the first guide seat. The first magnetic member is sleeved on the rotating body and connected with the first elastic member. The first elastic member is located between the first magnetic member and the first guide seat. The first magnetic member cooperates with the first coil and is spaced apart from the first friction member. When the first coil is energized, the first coil attracts the first magnetic member to move along the rotating body towards the first friction member to contact the first friction member. When the first coil is de-energized, the first elastic member drives the first magnetic member to move along the rotating body away from the first friction member to separate from the first friction member.

[0025] In some embodiments, the rotating member includes a rotating body, a first guide seat and a second guide seat. The rotating body is provided with a receiving cavity, and the moving member is arranged in the receiving cavity. The first guide seat and the second guide seat are arranged on the outer circumferential wall of the rotating body and are spaced apart from each other. The first guide seat is arranged in the first shell, and the second guide seat is arranged in the second shell. The second mover assembly includes a deformable second elastic member and a second magnetic member. The second elastic member is sleeved on the rotating body and connected with the second guide seat. The second magnetic member is sleeved on the rotating body and connected with the second elastic member. The second elastic member is located between the second magnetic member and the second guide seat. The second magnetic member cooperates with the second coil and is spaced apart from the second friction member. When the second coil is powered on, the second coil attracts the second magnetic member to move along the rotating body towards the second friction member to contact the second friction member. When the second coil is powered off, the second elastic member drives the second magnetic member to move along the rotating body away from the second friction member to separate from the second friction member.

[0026] In some embodiments, the first shell is provided with a first bearing seat, and the second shell is provided with a second bearing seat. A first bearing is arranged in the first bearing seat, and a second bearing is arranged in the second bearing seat. The rotating member is arranged in the first shell through the first bearing and arranged in the second shell through the second bearing.

[0027] In some embodiments, the moving member includes opposite first and second ends. The actuator assembly further includes a lower fork arm. The lower fork arm is connected with the first end of the moving member and linearly moves together with the moving member.

[0028] In some embodiments, the actuator assembly further includes an elastic element. Opposite ends of the elastic element are connected with the shell and the lower fork arm, respectively. The elastic element is used to provide a reset elastic force for the moving member.

[0029] In some embodiments, the actuator assembly further includes a dustproof sleeve. Opposite ends of the dustproof sleeve are connected with the shell and the lower fork arm, respectively. The dustproof sleeve surrounds the part of the moving member that extends out of the shell.

[0030] In some embodiments, the moving member includes opposite first and second ends. The actuator assembly further includes an upper shell. The upper shell is arranged on the shell, and the second end of the moving member extends into the upper shell. The upper shell is used to be connected with an external structure.

[0031] In a second aspect, the present application provides a suspension, the suspension comprising the actuator assembly of any one of the preceding aspects.

[0032] In a third aspect, the present application provides a vehicle, the vehicle comprising the suspension of any one of the preceding aspects and a wheel. The suspension is connected to the wheel.

[0033] In a fourth aspect, the present application provides a control method, the control method being applicable to the vehicle of any one of the preceding aspects, the actuator assembly having a plurality of working modes. The control method comprises: controlling at least one of the actuator module and the brake module to cause the actuator assembly to be in any one of the working modes.

[0034] In certain embodiments, the actuator assembly has a first working mode. The controlling at least one of the actuator module and the brake module to cause the actuator assembly to be in any one of the working modes comprises: energizing the windings in the motor stator to drive the rotation of the motor rotor to drive the rotation of the rotating member; the rotation of the rotating member drives the linear movement of the moving member; and the moving member drives the wheel of the vehicle to jump up or down via the lower fork arm to adjust the height of the vehicle body.

[0035] In certain embodiments, the controlling at least one of the actuator module and the brake module to cause the actuator assembly to be in any one of the working modes further comprises: in the case that the wheel encounters a road excitation, the road excitation drives the linear movement of the moving member via the lower fork arm; the rotating member converts the linear movement of the moving member into the rotation of the rotating member; the rotation of the rotating member drives the rotation of the motor rotor; and the windings in the motor stator are energized to slow down the rotation of the motor rotor, thereby slowing down the rotation of the rotating member.

[0036] In certain embodiments, the actuator assembly has a third working mode. The controlling at least one of the actuator module and the brake module to cause the actuator assembly to be in any one of the working modes comprises:

[0037] The coil of the brake module is energized to attract the magnetic member of the brake module to contact the friction member of the brake module to brake the rotation of the rotating member.

[0038] In some embodiments, the actuator assembly has a second working mode; the control of at least one of the actuator module and the brake module to make the actuator assembly in any one of the working modes comprises: in the case that the wheel encounters a road excitation, the road excitation drives the moving member to move linearly through the lower fork arm; the rotating member converts the linear movement of the moving member into its rotation; the rotating member rotation drives the rotor to rotate, the magnet of the rotor of the actuator module generates a constant magnetic field; and the windings in the stator of the motor are not energized, the windings in the stator cut the magnetic lines of force in the magnetic field to generate electric energy.

[0039] In the actuator assembly, the suspension, the vehicle and the control method of the present application, the motor of the actuator module and the stator assembly of the brake module in the actuator assembly are both mounted on the same housing, i.e. the motor, the coil of the stator assembly and the friction member of the stator assembly are integrated on the same housing. Compared with the traditional actuator assembly in which the brake module and the actuator module are arranged independently in sequence along the axial direction, the arrangement space of the actuator assembly in the axial direction is reduced, the space utilization of the actuator assembly is improved, and at the same time, the overall structure of the actuator assembly is simple and convenient to disassemble and assemble.

[0040] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0041] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the appended drawings.

[0042] Fig. 1 is a perspective view of an actuator assembly according to some embodiments of the present application;

[0043] Fig. 2 is a cross-sectional view of the actuator assembly shown in Fig. 1;

[0044] Fig. 3 is a cross-sectional view of a partial structure of the actuator assembly shown in Fig. 1;

[0045] Fig. 4 is a perspective view of a partial structure of the actuator assembly shown in Fig. 1;

[0046] Fig. 5 is a cross-sectional view of a partial structure of the actuator assembly shown in Fig. 4;

[0047] Fig. 6 is a perspective view of the rotating member of the actuator assembly shown in Fig. 1 from one viewing angle;

[0048] Fig. 7 is a perspective view of the rotating member shown in Fig. 6 from another viewing angle;

[0049] Fig. 8 is a perspective view of the rotating member shown in Fig. 6 from still another viewing angle;

[0050] Fig. 9 is a cross-sectional view of a portion of the actuator assembly of Fig. 1;

[0051] Fig. 10 is a perspective view of a magnetic member of the actuator assembly of Fig. 1;

[0052] Fig. 11 is a perspective view of a resilient member of the actuator assembly of Fig. 1;

[0053] Fig. 12 is a perspective view of another actuator assembly of the present application;

[0054] Fig. 13 is a cross-sectional view of the actuator assembly of Fig. 12;

[0055] Fig. 14 is a cross-sectional view of a portion of the actuator assembly of Fig. 12;

[0056] Fig. 15 is a cross-sectional view of a portion of the actuator assembly of Fig. 12;

[0057] Fig. 16 is a perspective view of a first housing of the actuator assembly of Fig. 12;

[0058] Fig. 17 is a cross-sectional view of the first housing of the actuator assembly of Fig. 16;

[0059] Fig. 18 is a perspective view of a second housing of the actuator assembly of Fig. 12;

[0060] Fig. 19 is a cross-sectional view of the second housing of Fig. 18;

[0061] Fig. 20 is a cross-sectional view of a portion of the actuator assembly of Fig. 12;

[0062] Fig. 21 is an exploded view of a portion of the actuator assembly of Fig. 12;

[0063] Fig. 22 is a cross-sectional view of a portion of the actuator assembly of Fig. 12;

[0064] Fig. 23 is a perspective view of a portion of the actuator assembly of Fig. 12;

[0065] Fig. 24 is a perspective view of a portion of the actuator assembly of Fig. 12;

[0066] Fig. 25 is a perspective view of a first magnetic member of the actuator assembly of Fig. 12;

[0067] Fig. 26 is a perspective view of a first resilient member of the actuator assembly of Fig. 12;

[0068] Fig. 27 is a perspective view of a second magnetic member of the actuator assembly of Fig. 12;

[0069] Fig. 28 is a perspective view of a second elastic member of the actuator assembly shown in Fig. 12;

[0070] Fig. 29 is a schematic view of a vehicle according to some embodiments of the present application. DETAILED DESCRIPTION

[0071] In the description of the present application, parts are disclosed which have been shown in the corresponding drawings, in which the same or similar notations are used to represent the same or similar parts or parts having the same or similar function throughout the present application. The following description is provided as an example of the present application and is not to be construed as limiting the present application.

[0072] In the description of the present application, many different contents or examples are disclosed to realize different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and the purpose is not to limit the present application.

[0073] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0074] In the description of the present application, it is to be understood that the terms used to indicate the orientation or positional relationship (such as "center", "vertical", "horizontal", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc.) are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and facilitating the understanding of the corresponding embodiments, and therefore the terms used to indicate the orientation or positional relationship cannot be understood as limiting the present application. The device or element indicated by the orientation or positional relationship must have a specific orientation, be constructed and operated in a specific orientation, and therefore the terms used to indicate the orientation or positional relationship cannot be understood as limiting the present application.

[0075] In the description of the application, unless otherwise clearly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "over" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. "Under", "below" and "under" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0076] In the description of the application, it should be noted that, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected. It can be mechanical connection, or electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

[0077] Please refer to FIG. 1 to FIG. 3, the embodiment of the application provides an actuator assembly 100, the actuator assembly 100 includes an actuator module 30 and a brake module 50. The actuator module 30 includes a housing 10, a rotating member 33 and a moving member 35. The rotating member 33 is rotatably mounted in the housing 10 and covers the moving member 35, and the rotating member 33 rotates to drive the moving member 35 to move linearly. The brake module 50 is arranged in the housing 10 and is used to limit the rotation of the rotating member 33.

[0078] Among them, the application takes the direction of the central axis of the moving member 35 and the rotating member 33 in the length direction as the axial direction Z of the application.

[0079] In some embodiments, the material of the housing 10 includes metal materials and non-metal materials, wherein the metal materials include but are not limited to aluminum, iron, steel or aluminum alloy, etc., and the non-metal materials include but are not limited to plastics, etc. In one example, the housing 10 can be made of metal material, thereby improving the structural strength of the housing 10, preventing the housing 10 from being damaged by collision during the working process of the actuator assembly 100, and improving the stability and reliability of the actuator assembly 100.

[0080] In some embodiments, the housing 10 can be made of non-metallic material, so as to make the housing 10 lighter in weight, and thus facilitate the lightening of the actuator assembly 100. The actuator module 30 further includes a motor 31. The motor 31 is accommodated in the housing 10. The moving member 35 at least partially penetrates the housing 10. The rotating member 33 is accommodated in the housing 10 and is sleeved on the moving member 35. The motor 31 is connected with the rotating member 33 and is configured to drive the rotating member 33 to rotate. The brake module 50 includes a stator assembly 51 and a rotor assembly 53. The stator assembly 51 is mounted on the housing 10, and the rotor assembly 53 is mounted on the motor 31. Further, the stator assembly 51 includes a coil 511 and a friction member 513. The coil 511 and the friction member 513 are mounted in the housing 10. The rotor assembly 53 surrounds the rotating member 33 and cooperates with the coil 511. When the coil 511 is energized, the coil 511 attracts the rotor assembly 53 to contact the friction member 513, so as to brake the rotation of the rotating member 33.

[0081] In some embodiments, the housing 10 includes a first housing 11 and a second housing 13. The first housing 11 and the second housing 13 are connected to form the accommodation cavity 15. The motor 31, the rotating member 33 and at least part of the moving member 35 are accommodated in the accommodation cavity 15. The brake module 50 is accommodated in the first housing 11. The motor 31 includes, but is not limited to, a rotary motor or a bidirectional motor, etc. When the motor 31 is stably operated, the motor 31 can generate a driving force and drive the rotating member 33 to rotate around the central axis Z. During the rotation of the rotating member 33, the rotating member 33 can drive the moving member 35 to linearly move in the axial direction Z, i.e., the moving member 35 can linearly move in the axial direction Z relative to the housing 10. Correspondingly, when the moving member 35 linearly moves relative to the housing 10 under the action of external force (e.g., road excitation), the moving member 35 can drive the rotating member 33 to rotate around the central axis Z.

[0082] In the embodiments of the present application, the shell 10 can not only be used to accommodate the motor 31, but also be used as part of the stator assembly 51 of the brake module 50, that is, the shell 10 can also be used to accommodate the coil 511 and the friction member 513. In the case that the coil 511 is electrified, the coil 511 can generate a magnetic field perpendicular to the mover assembly 53, and the magnetic field can generate a magnetic attraction force to attract the mover assembly 53 to approach the friction member 513. There is a gap between the mover assembly 53 and the friction member 513, and the mover assembly 53 can linearly move in the axial direction Z. When the magnetic attraction force reaches a certain size, the coil 511 can attract the mover assembly 53 to contact the shell 10 and generate a positive pressure, and at the same time, the mover assembly 53 can contact the friction member 513 arranged on the shell 10. Under the action of the friction force of the friction member 513, a brake torque is generated between the mover assembly 53 and the friction member 513, so as to brake the mover assembly 53, and further brake the rotating member 33 connected with the mover assembly 53.

[0083] In the actuator assembly 100 of the present application, the motor 31 of the actuator module 30 and the stator assembly 51 of the brake module 50 are both mounted on the same shell 10, that is, the motor 31, the coil 511 of the stator assembly 51, and the friction member 513 of the stator assembly 51 are integrated on the same shell 10. Compared with the traditional actuator assembly in which the brake module and the actuator module are arranged along the axial direction Z in sequence and independently, the arrangement space of the actuator assembly 100 in the axial direction Z is reduced, and the space utilization is improved. At the same time, the overall structure of the actuator assembly 100 is simple, and the actuator assembly 100 is convenient to disassemble and assemble.

[0084] Please refer to FIG. 2 and FIG. 3. In some embodiments, the motor 31 includes a stator 311 and a mover 313. The stator 311 is mounted on the inner wall of the shell 10 and is provided with a winding. The mover 313 is sleeved on the rotating member 33 and is spaced from the stator 311. The mover 313 is provided with a magnet, and the winding cooperates with the magnet to make the mover 313 rotate and drive the rotating member 33 to synchronously rotate. In some embodiments, the moving member 35 is a screw rod, and the rotating member 33 is a ball nut. The screw rod is arranged through the ball nut to form a ball screw pair.

[0085] In the related art, a coil is arranged on the shaft core of the motor, and cooperates with a magnet on the shell. After the coil is electrified, the coil and the magnet generate a magnetic force to drive the shaft core of the motor to linearly move. If the axial height of the entire actuator assembly is to be maintained, the coil needs to be electrified all the time, and a very precise electric control method is required, which is relatively large in load on the actuator assembly, greatly reduces the service life of the actuator assembly, and wastes energy.

[0086] In embodiments of the present application, the moving member 35 is a screw rod, and the rotating member 33 is a ball nut. In other embodiments, the moving member 35 and the rotating member 33 can also have other structural forms. When the coil 511 is supplied with electric current, the coil 511 generates a magnetic field perpendicular to the mover assembly 53, and the magnetic attraction force attracts the mover assembly 53 to approach the friction member 513. There is a gap between the mover assembly 53 and the friction member 513, and the mover assembly 53 can move in the axial direction Z. When the magnetic attraction force reaches a certain size, the coil 511 can attract the mover assembly 53 to contact the surface of the friction member 513 and generate a positive pressure. Under the action of the friction force, the brake torque is generated between the mover assembly 53 and the friction member 513, so that the mover assembly 53 is braked, and then the ball nut connected with the mover assembly 53 is braked, and then the screw rod is braked, at this time the screw rod can be maintained at a fixed height. After the coil 511 is powered off, since the screw rod and the ball nut form a ball screw pair, the screw rod can be maintained at the position before the coil 511 is powered off, and the coil 511 does not need to be powered on all the time, the load on the actuator assembly 100 is smaller, and the service life of the actuator assembly 100 can be prolonged.

[0087] Please refer to FIG. 2 and FIG. 3, in some embodiments, the rotating member 33 includes a rotating body 331 and a guide seat 333. The rotating body 331 is provided with a receiving cavity 3311, and the moving member 35 is arranged in the receiving cavity 3311. The guide seat 333 is arranged on the outer peripheral wall 3313 of the rotating body 331. The mover assembly 53 is installed on the guide seat 333.

[0088] In some embodiments, the rotating body 331 and the guide seat 333 are an integral structure, that is, the rotating body 331 and the guide seat 333 are an integral structure, thereby improving the bonding strength between the rotating body 331 and the guide seat 333, preventing the rotating body 331 and the guide seat 333 from being separated during the operation of the rotating member 33, and ensuring the stability and reliability of the operation of the rotating member 33. In other embodiments, the rotating body 331 and the guide seat 333 are a split structure, that is, the rotating body 331 and the guide seat 333 are two different structures. In one example, the rotating body 331 and the guide seat 333 can be combined together by a detachable connection mode, which includes but is not limited to a buckle connection or a threaded connection, etc. In another example, the rotating body 331 and the guide seat 333 can be combined together by a non-detachable connection mode, which includes but is not limited to bonding or welding, etc. In the present application, the rotating body 331 and the guide seat 333 are an integral structure. In addition, the axial direction Z of the receiving cavity 3311 is consistent with the direction Z of the central axis of the moving member 35 and the rotating member 33 in the length direction.

[0089] The mover assembly 53 is mounted to the guide 333 in a manner including but not limited to snap connection or threaded connection, etc. In the embodiments of the present application, the mover assembly 53 is movably connected to the guide 333 by screws, so that the mover assembly 53 can linearly move in the axial direction Z under the magnetic attraction force, and the mover assembly 53 and the rotating member 33 cannot produce radial rotation. In the case that the coil 511 is energized, the mover assembly 53 is mounted to the guide 333, so that the coil 511 can attract the mover assembly 53 to contact the friction member 513 to brake, and the guide 333 can also be braked, i.e. the rotation of the rotating member 33 is braked, and the moving member 35 is further braked.

[0090] Please refer to FIG. 2 and FIG. 3, in some embodiments, the mover 313 is sleeved on the rotating member 33. The stator 311 is mounted to the housing 10 and spaced opposite to the mover 313. Please refer to FIG. 6 and FIG. 7, the guide 333 includes a first side 3335 and a second side 3337 opposite in the axial direction Z of the accommodating cavity 3311. The rotating member 33 further includes a first step 3351. The first step 3351 extends from the first side 3335 of the guide 333 along the axial direction Z of the accommodating cavity 3311 and extends from the outer peripheral wall 3313 of the rotating body 331 along the radial direction of the accommodating cavity 3311. The first step 3351 is in contact with the mover 313. The stator 311 and the guide 333 have a gap in the axial direction Z.

[0091] The motor 31 generates driving force when energized, and the driving force drives the rotating member 33 connected to the mover 313 to rotate around the central axis Z. The first side 3335 of the guide seat 333 is a side on which the lower surface of the guide seat 333 is located, and the second side 3337 of the guide seat 333 is a side on which the upper surface of the guide seat 333 is located. The mover 313 is sleeved on the rotating body 331 and located on the first side 3335 of the guide seat 333. The first step 3351 is arranged on the first side 3335 of the guide seat 333. In the embodiment of the present application, the first step 3351 is integrally formed with the guide seat 333, extends from the first side 3335 of the guide seat 333 along the axial direction Z of the accommodation cavity 3311 and extends from the outer peripheral wall 3313 of the rotating body 331 along the radial direction of the accommodation cavity 3311, which can improve the bonding strength between the first step 3351 and the guide seat 333, prevent the first step 3351 from being separated from the guide seat 333 during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the first step 3351 and the guide seat 333. In other embodiments of the present application, the first step 3351 and the guide seat 333 are in a split structure, i.e., the first step 3351 and the guide seat 333 are two different structures. In one example, the first step 3351 and the guide seat 333 can be combined together by a detachable connection mode, which includes but is not limited to a buckle connection or a threaded connection, etc. In another example, the first step 3351 and the guide seat 333 can be combined together by a non-detachable connection mode, which includes but is not limited to bonding or welding, etc.

[0092] In the axial direction Z, one end of the first step 3351 is connected to the guide seat 333, and the opposite end of the first step 3351 abuts against the mover 313, and a gap is formed between the stator 311 and the guide seat 333. When the stator 311 and the mover 313 cooperate to generate driving force, the mover 313 rotates, and the rotating member 33 rotates driven by the mover 313. During the rotation of the rotating member 33, the gap can avoid the stator 311 from contacting the guide seat 333 to hinder the rotation of the guide seat 333, and thus avoid the stator 311 from hindering the rotation of the rotating member 33. The stator 311 is nested on the inner wall of the housing 10 and is sleeved on the outer side of the mover 313. The mover 313 is sleeved on the outer peripheral wall 3313 of the rotating body 331. In the embodiment of the present application, please refer to FIG. 2 and FIG. 3. In some embodiments, the mover 313 includes the first end face 3131 and the second end face 3133 opposite to each other in the axial direction Z. The locking member passes through the guide seat 333 and is locked to the first end face 3131 to fixedly connect the mover 313 and the guide seat 333.

[0093] The first end surface 3131 of the mover 313 is an upper surface of the mover 313, and the second end surface 3133 of the mover 313 is a lower surface of the mover 313. The first end surface 3131 of the mover 313 is closer to the first side 3335 of the guide base 333 than the second end surface 3133. The locking member passes through the guide base 333 and is locked to the first end surface 3131 to fixedly connect the mover 313 and the guide base 333, thereby achieving detachable connection between the mover 313 and the rotating member 33. The guide base 333 is provided with a through hole, and the mover 313 is provided with a threaded hole. A screw passes through the through hole of the guide base 333 and is screwed into the threaded hole of the mover 313, so as to detachably mount the mover 313 on the rotating member 33. The stator 311 is spaced apart from the mover 313 and has a certain gap. The winding in the stator 311 generates a magnetic field after being electrified, which can cooperate with the magnet in the mover 313 to drive the mover 313 to rotate around the central axis in the axial direction Z. The rotation of the mover 313 drives the rotating member 33 to rotate synchronously. The rotating member 33 drives the moving member 35 to linearly move, so as to change the position of the moving member 35 in the axial direction Z, so as to change the distance between the wheel 3000 (shown in FIG. 29) and the vehicle body 5000 (shown in FIG. 29).

[0094] Referring to FIG. 3, in some embodiments, the mover 313 includes a first sub-portion 3135 and a second sub-portion 3137 which are divided along the axial direction Z. The first sub-portion 3135 is fixedly connected with the guide base 333 and surrounds the rotating body 331. The second sub-portion 3137 is fixedly connected with the guide base 333 and surrounds the rotating body 331. The first sub-portion 3135 and the second sub-portion 3137 are spliced to form a complete annular structure.

[0095] The mover 313 is of a split structure, including a first sub-portion 3135 and a second sub-portion 3137 split along the axial direction Z. When the mover 313 is installed, the first sub-portion 3135 or the second sub-portion 3137 can be first wrapped around a partial rotating body 331 and fixedly connected with the guide seat 333, and then the second sub-portion 3137 or the first sub-portion 3135 is wrapped around another partial rotating body 331 and fixedly connected with the guide seat 333, so as to splice the first sub-portion 3135 and the second sub-portion 3137 to form a complete annular structure to wrap around the rotating body 331. At this time, the outer contour of the first sub-portion 3135 and the second sub-portion 3137 is a half of a circle, and the inner contour of the first sub-portion 3135 and the second sub-portion 3137 is also a half of a circle. The mover 313 is of a split structure, which facilitates the fixed connection of the mover 313 with the rotating member 33. In other embodiments of the present application, the mover 313 is of a split structure, but the first sub-portion 3135 and the second sub-portion 3137 are split along other planes parallel to the axial direction Z, i.e., the outer contour of the first sub-portion 3135 and the second sub-portion 3137 is not a half of a circle, but can be a ratio of the outer contour perimeters of the first sub-portion 3135 and the second sub-portion 3137 of 2:6, 3:7, etc. Meanwhile, the inner contour of the first sub-portion 3135 and the second sub-portion 3137 is not a half of a circle, but can be a ratio of the inner contour perimeters of the first sub-portion 3135 and the second sub-portion 3137 of 2:6, 3:7, etc. In some other embodiments of the present application, the mover 313 can be of an integral structure, and at this time, the mover 313 can be installed on the rotating member 33 from bottom to top.

[0096] Please refer to FIGS. 4 to 7, in combination with FIGS. 2 and 3, in some embodiments, the shell 10 is provided with a bearing seat 111. The bearing seat 111 is internally provided with a bearing, and the rotating member 33 is installed in the bearing. The rotating member 33 further includes a second step 3353. The second step 3353 extends along the axial direction Z of the accommodation cavity 3311 from the second side 3337 of the guide seat 333 and extends along the radial direction of the accommodation cavity 3311 from the outer peripheral wall 3313 of the rotating body 331. The second step 3353 is in abutment with the bearing. In some embodiments of the present application, the bearing seat 111 is provided on the shell 10, and the shell 10 forms the bearing seat 111 in the form of a groove, and the bearing seat 111 is internally provided with a bearing. The first shell 11 is provided with a first bearing seat 1111, the first bearing seat 1111 is internally provided with a first bearing 61, the second shell 13 is provided with a second bearing seat 1113, the second bearing seat 1113 is internally provided with a second bearing 63, and the rotating member 33 is installed in the first bearing 61 and the second bearing 63. Further, the first bearing 61 and the second bearing 63 are angular contact bearings.

[0097] The first side 3335 of the guide base 333 is the side where the lower surface of the guide base 333 is located, i.e. the side close to the mover 313, and the second side 3337 of the guide base 333 is the side where the upper surface of the guide base 333 is located, i.e. the side away from the mover 313. In the embodiments of the present application, the second step 3353 is integrally formed with the guide base 333, extends from the second side 3337 of the guide base 333 along the axial direction Z of the accommodation cavity 3311 and extends from the outer peripheral wall 3313 of the rotating body 331 along the radial direction of the accommodation cavity 3311, which can improve the bonding strength between the second step 3353 and the guide base 333, prevent the second step 3353 from separating from the guide base 333 during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the second step 3353 and the guide base 333. In other embodiments of the present application, the second step 3353 and the guide base 333 are in a split structure, i.e. the second step 3353 and the guide base 333 are two different structures. In one example, the second step 3353 and the guide base 333 can be combined together by a detachable connection mode, which includes but is not limited to a buckle connection or a threaded connection, etc. In another example, the second step 3353 and the guide base 333 can be combined together by a non-detachable connection mode, which includes but is not limited to bonding or welding, etc.

[0098] The bearing seat 111 is arranged in the housing 10, which can further reduce the arrangement space of the actuator assembly 100 in the axial direction Z on the basis that the motor 31 and the stator assembly 51 are both arranged in the same housing 10. Compared with the traditional actuator assembly in which the brake module and the actuator module are arranged independently along the axial direction Z in sequence, the bearing seat 111 arranged in the housing 10 can make the brake module 50 occupy less or even no axial movement space of the actuator module 30, and can also make the overall structure of the actuator assembly 100 simpler and more convenient to disassemble and assemble, and further improve the space utilization. The arrangement of the second step 3353 limits the bearing in the bearing seat 111. In the axial direction Z, one end of the second step 3353 is connected with the second side 3337 of the guide base 333, and the other end of the second step 3353 abuts against the bearing, which can cooperate with the bearing seat 111 to fix the bearing in the axial direction Z and avoid displacement of the bearing in the axial direction Z. In the radial direction of the accommodation cavity 3311, the outer peripheral wall 3313 of the rotating body 331 cooperates with the inner side wall of the bearing, which can cooperate with the bearing seat 111 to fix the bearing in the radial direction of the accommodation cavity 3311 and avoid displacement of the bearing in the radial direction.

[0099] Please refer to FIG. 3 and FIG. 5. In some embodiments, the inner side surface 17 of the housing 10 is provided with a groove 113, and the coil 511 and the friction member 513 are both accommodated in the groove 113. The coil 511 is closer to the bottom wall of the groove 113 than the friction member 513. The outer surface of the friction member 513 is flush with the inner side surface 17 of the housing 10.

[0100] The inner side 17 of the shell 10 is provided with a groove 113, which enables the coil 511 and the friction member 513 to be stacked and installed in the groove 113, and does not need to occupy the arrangement space of the actuator assembly 100 in the axial direction Z. Meanwhile, if the outer surface of the friction member 513 is closer to the bottom wall of the groove 113 than the inner side 17 of the shell 10, in the case that the coil 511 is energized, the mover assembly 53 moves along the rotating body 331 towards the friction member 513 and cannot contact the friction member 513, at this time, the friction member 513 cannot brake the rotating member 33. If the outer surface of the friction member 513 is farther away from the bottom wall of the groove 113 than the inner side 17 of the shell 10, in the case that the coil 511 is energized, the mover assembly 53 moves along the rotating body 331 towards the friction member 513 and only contacts the friction member 513, but does not contact the inner side 17 of the shell 10, which causes the local pressure of the friction member 513 to be too large and the friction member 513 to be easily damaged. The outer surface of the friction member 513 is flush with the inner side 17 of the shell 10, which enables the mover assembly 53 to contact the friction member 513 to brake the rotating member 33 in the case that the coil 511 is energized, and also enables the mover assembly 53 to contact the inner side 17 of the shell 10 to generate a positive pressure and reduce the local pressure on the friction member 513.

[0101] Please refer to FIGS. 6 to 9, in some embodiments, the mover assembly 53 comprises a deformable elastic member 531 and a magnetic member 533. The elastic member 531 is sleeved on the rotating body 331 and connected with the guide seat 333. The magnetic member 533 is sleeved on the rotating body 331 and connected with the elastic member 531. The elastic member 531 is located between the magnetic member 533 and the guide seat 333. The magnetic member 533 is spaced from the friction member 513 in cooperation with the coil 511. The elastic member 531 and the magnetic member 533 rotate with the guide seat 333 in the case that the rotating member 33 rotates. In the case that the coil 511 is energized, the coil 511 attracts the magnetic member 533 to move along the rotating body 331 towards the friction member 513 to contact the friction member 513; in the case that the coil 511 is de-energized, the elastic member 531 drives the magnetic member 533 to move along the rotating body 331 away from the friction member 513 to separate from the friction member 513.

[0102] In some embodiments of the present application, the elastic member 531 is detachably connected with the guide base 333, and the elastic member 531 is detachably connected with the magnetic member 533. The detachable connection includes, but is not limited to, a snap connection or a threaded connection, and in the present application, a screw connection. In the present application, the elastic member 531 is a leaf spring, which has a certain elastic deformation capacity. The elastic member 531 is arranged between the magnetic member 533 and the guide base 333, and is connected with the magnetic member 533 and the guide base 333. In other words, the magnetic member 533 and the guide base 333 are connected through the elastic member 531. When the coil 511 is energized, the coil 511 can generate a magnetic field perpendicular to the magnetic member 533, which generates a magnetic attraction force on the magnetic member 533, attracting the magnetic member 533 to approach the friction member 513. The magnetic member 533 starts to pull the elastic member 531 upward, while the guide base 333 pulls the elastic member 531 downward at the same time, and the elastic member 531 deforms elastically. Since the magnetic member 533 and the friction member 513 are spaced apart when the coil 511 is not energized, the magnetic attraction force can move the magnetic member 533 in the axial direction Z. The coil 511 can attract the magnetic member 533 to contact the housing 10 and generate a positive pressure. At the same time, the magnetic member 533 can contact the friction member 513. Under the action of the friction force of the friction member 513, a braking torque is generated between the magnetic member 533 and the friction member 513, thereby braking the rotor assembly 53, and further braking the rotating member 33 connected with the rotor assembly 53. When the coil 511 is de-energized, the coil 511 no longer generates a magnetic field perpendicular to the magnetic member 533, and the magnetic attraction force is zero at this time. The elastic member 531 restores the elastic deformation. Since the guide base 333 pulls the elastic member 531 downward, the elastic member 531 drives the magnetic member 533 to move along the rotating body 331 away from the friction member 513 during the elastic deformation of the elastic member 531, so as to separate from the friction member 513 and end the braking of the rotating member 33.

[0103] Please refer to FIG. 9. In some embodiments, the elastic member 531 is connected with the guide base 333 through a first rivet, and the elastic member 531 is connected with the magnetic member 533 through a second rivet. The first rivet (not shown) connects the elastic member 531 with the guide base 333, so that the connection between the elastic member 531 and the guide base 333 is more stable and not easy to fall off. The second rivet (not shown) connects the elastic member 531 with the magnetic member 533, so that the connection between the elastic member 531 and the magnetic member 533 is more stable and not easy to fall off.

[0104] Referring to FIG. 7, FIG. 9 to FIG. 11, the magnetic member 533 is provided with a mounting hole 5335 and a receiving hole 5337, the guide base 333 is provided with a connecting hole 3338 and a receiving hole 3339, the elastic member 531 is connected with the guide base 333 through a first screw 5315, and the elastic member 531 is connected with the magnetic member 533 through a second screw 5317. The shank of the first screw 5315 is locked in the connecting hole 3338, and the head of the first screw 5315 is received in the receiving hole 5337. The shank of the second screw 5317 is locked in the mounting hole 5335, and the head of the second screw 5317 is received in the receiving hole 3339.

[0105] In some embodiments, the mounting hole 5335 and the receiving hole 5337 are arranged on the magnetic member 533 in a spaced manner, and the connecting hole 3338 and the receiving hole 3339 are arranged on the guide base 333 in a spaced manner. In the axial direction Z, the mounting hole 5335 corresponds to the receiving hole 3339, and the receiving hole 5337 corresponds to the connecting hole 3338. When the elastic member 531 is connected with the guide base 333, the shank of the first screw 5315 is locked in the connecting hole 3338, the head of the first screw 5315 is received in the receiving hole 5337, the shank of the second screw 5317 is locked in the mounting hole 5335, and the head of the second screw 5317 is received in the receiving hole 3339. This connection mode not only ensures the connection between the elastic member 531 and the guide base 333 and the connection between the elastic member 531 and the magnetic member 533, but also ensures that the first screw 5315 and the second screw 5317 do not occupy the axial direction Z space of the actuator assembly 100.

[0106] Referring to FIG. 9, in some embodiments, the housing 10 is made of a soft magnetic material that is magnetically conductive, including but not limited to low carbon steel or electromagnetic pure iron, etc. The soft magnetic material is easy to magnetize and easy to demagnetize. The materials of the housing 10 and the magnetic member 533 can be the same or different. After the coil 511 is supplied with current, the housing 10 can generate a magnetic attraction force to attract the magnetic member 533.

[0107] Please continue to refer to FIG. 9, in some embodiments, the magnetic member 533 in the mover assembly 53 is made of a magnetically conductive soft magnetic material, which includes but is not limited to low-carbon steel and the like. The soft magnetic material is easy to magnetize and demagnetize, so that after the coil 511 is supplied with current, the magnetic member 533 can be magnetized, and a magnetic attraction force can be generated between the housing 10 and the magnetic member 533, which can make the magnetic member 533 contact the friction member 513 to brake the rotation of the rotating member 33. Please continue to refer to FIG. 9, in some embodiments, the friction member 513 is made of composite asbestos. The friction coefficient of the friction member 513 made of composite asbestos is large, and the braking effect on the magnetic member 533 is good. The friction member 513 made of composite asbestos is also wear-resistant, which can increase the service life of the friction member 513 and reduce the replacement frequency. In other embodiments of the present application, the friction member 513 can be made of other materials with a large friction coefficient. In some embodiments, the brake module 50 is accommodated in the second housing 13. Compared with the case where the brake module 50 is accommodated in the first housing 11, at this time, the guide seat 333 of the rotating member 33 is arranged close to the second housing 13, the stator assembly 51 is arranged in the second housing 13, and the mover assembly 53 is arranged on the side of the guide seat 33 close to the second housing 13, and other structures remain unchanged, which will not be described here. It can be understood that when the brake module 50 is accommodated in the first housing 11 or the second housing 13, the brake module 50 is located at one of the opposite ends of the rotating member 33.

[0108] Please refer to FIG. 12 and FIG. 13, in some embodiments, the brake module 50 is accommodated in the first housing 11 and the second housing 13. At this time, the brake module 50 includes a first brake module 50A and a second brake module 50B. The first brake module 50A is accommodated in the first housing 11 and located at one end of the rotating member 33, and the second brake module 50B is accommodated in the second housing 13 and located at the other end of the rotating member 33.

[0109] Referring to FIGS. 13-15, the coils include first coils 5111. The friction members include first friction members 5131. The mover assemblies include first mover assemblies 53A. The first brake modules 50A include the first stator assemblies 51A and the first mover assemblies 53A. The first stator assemblies 51A include the first coils 5111 and the first friction members 5131. The first coils 5111 and the first friction members 5131 are mounted in the first housing 11. The first mover assemblies 53A surround the rotating member 33 and cooperate with the first coils 5111. When the first coils 5111 are energized, the first coils 5111 attract the first mover assemblies 53A into contact with the first friction members 5131 to brake rotation of the rotating member 33. The coils include second coils 5113. The friction members include second friction members 5133. The mover assemblies include second mover assemblies 53B. The second brake modules 50B include the second stator assemblies 51B and the second mover assemblies 53B. The second stator assemblies 51B include the second coils 5113 and the second friction members 5133. The second coils 5113 and the second friction members 5133 are mounted in the second housing 13. The second mover assemblies 53B surround the rotating member 33 and cooperate with the second coils 5113. When the second coils 5113 are energized, the second coils 5113 attract the second mover assemblies 53B into contact with the second friction members 5133.

[0110] In some embodiments, referring to FIGS. 16 and 17, the first housing 11 is provided with a first recess 1131 for accommodating the first coil 5111 and the first friction member 5131. Referring to FIGS. 18 and 19, the second housing 13 is provided with a second recess 1133 for accommodating the second coil 5113 and the second friction member 5133. When the first coil 5111 is supplied with current, the first coil 5111 can generate a magnetic field perpendicular to the first mover assembly 53A, and the magnetic field can generate magnetic attraction force to attract the first mover assembly 53A to approach the first friction member 5131. There is a gap between the first mover assembly 53A and the first friction member 5131, and the first mover assembly 53A can move in the axial direction Z. When the magnetic attraction force reaches a certain size, the first coil 5111 can attract the first mover assembly 53A to contact the first housing 11 and generate positive pressure, and at the same time, the first mover assembly 53A can contact the first friction member 5131 provided on the first housing 11. Under the action of the friction force of the first friction member 5131, the brake torque is generated between the first mover assembly 53A and the first friction member 5131, so that the first mover assembly 53A is braked, and further, the rotating member 33 connected with the first mover assembly 53A is braked. When the second coil 5113 is supplied with current, the second coil 5113 can generate a magnetic field perpendicular to the second mover assembly 53B, and the magnetic field can generate magnetic attraction force to attract the second mover assembly 53B to approach the second friction member 5133. There is a gap between the second mover assembly 53B and the second friction member 5133, and the second mover assembly 53B can move in the axial direction Z. When the magnetic attraction force reaches a certain size, the second coil 5113 can attract the second mover assembly 53B to contact the second housing 13 and generate positive pressure, and at the same time, the second mover assembly 53B can contact the second friction member 5133 provided on the second housing 13. Under the action of the friction force of the second friction member 5133, the brake torque is generated between the second mover assembly 53B and the second friction member 5133, so that the second mover assembly 53B is braked, and further, the rotating member 33 connected with the second mover assembly 53B is braked. It can be understood that the first coil 5111 and the second coil 5113 can be supplied with current at the same time, or can not be supplied with current at the same time. When the first coil 5111 and the second coil 5113 are supplied with current at the same time, the current intensity can be consistent, or can not be consistent.

[0111] The first brake module 50A is accommodated in the first housing 11, the second brake module 50B is accommodated in the second housing 13, and the motor 31 of the actuator module 30 is installed on the first housing 11, that is, the motor 31, the first coil 5111 of the first stator assembly 51A, and the first friction piece 5131 of the first stator assembly 51A are integrated on the first housing 11, the second coil 5113 of the second stator assembly 51B and the second friction piece 5133 of the second stator assembly 51B are integrated on the second housing 13. Compared with the traditional actuator assembly in which the brake module and the actuator module are arranged in sequence along the axial direction Z, the arrangement space of the actuator assembly 100 in the axial direction Z is reduced, the brake module 50 occupies less or even no axial Z movement space of the actuator module 30, the overall structure of the actuator assembly 100 is simple and convenient to disassemble and assemble, and the space utilization is improved.

[0112] The first brake module 50A and the second brake module 50B can both exert braking on the rotating member 33, improve the braking torque, ensure the braking efficiency, and improve the space utilization of the actuator. In addition, the first brake module 50A and the second brake module 50B can also provide a redundant design. When any one of the first brake module 50A and the second brake module 50B fails to work, the actuator assembly 100 can ensure that the other brake module can play a braking role.

[0113] The following describes the related structures in the actuator assembly 100 when the brake module 50 includes the first brake module 50A and the second brake module 50B, the first brake module 50A is accommodated in the first housing 11, and the second brake module 50B is accommodated in the second housing 13.

[0114] Referring to FIGS. 13-15, in some embodiments, the rotating member 33 includes a rotating body 331, a first guide seat 3331 and a second guide seat 3333. The rotating body 331 is provided with a receiving cavity 3311 in which the moving member 35 is arranged. The first guide seat 3331 and the second guide seat 3333 are arranged on the outer circumferential wall 3313 of the rotating body 331 at intervals. The first guide seat 3331 is arranged in the first housing 11. The second guide seat 3333 is arranged in the second housing 13. The first mover assembly 53A includes a deformable first elastic member 5311 and a first magnetic member 5331. The first elastic member 5311 is sleeved on the rotating body 331 and connected with the first guide seat 3331. The first magnetic member 5331 is sleeved on the rotating body 331 and connected with the first elastic member 5311. The first elastic member 5311 is located between the first magnetic member 5331 and the first guide seat 3331. The first magnetic member 5331 cooperates with the first coil 5111 and is spaced from the first friction member 5131. When the first coil 5111 is energized, the first coil 5111 attracts the first magnetic member 5331 to move along the rotating body 331 towards the first friction member 5131 to contact the first friction member 5131. When the first coil 5111 is de-energized, the first elastic member 5311 drives the first magnetic member 5331 to move along the rotating body 331 away from the first friction member 5131 to separate from the first friction member 5131. The structure of the first guide seat 3331, the first elastic member 5311 and the first magnetic member 5331 and their connection relationship are the same as those of the guide seat 333, the elastic member 531 and the magnetic member 533. The structure of the first coil 5111 and the first friction member 5131 and their connection relationship are the same as those of the coil 511 and the friction member 513. When the first coil 5111 is energized, the first coil 5111 can generate a magnetic field perpendicular to the first magnetic member 5331, the magnetic field generates a magnetic attraction force to attract the first magnetic member 5331 to the first friction member 5131. The first magnetic member 5331 starts to pull the first elastic member 5311 upwards, while the first guide seat 3331 pulls the first elastic member 5311 downwards, and the first elastic member 5311 deforms elastically. There is a gap between the first magnetic member 5331 and the first friction member 5131, the magnetic attraction force can make the first magnetic member 5331 move in the axial direction Z, the first coil 5111 can attract the first magnetic member 5331 to contact the first housing 11 and generate a positive pressure, and the first magnetic member 5331 can contact the first friction member 5131 arranged on the first housing 11.Under the action of the friction force of the first friction piece 5131, the brake torque is generated between the first magnetic piece 5331 and the first friction piece 5131, so as to brake the first magnetic piece 5331, and further brake the rotating piece 33 connected with the first magnetic piece 5331 through the first guide seat 3331 and the first elastic piece 5311. In the case that the first coil 5111 is powered off, the first coil 5111 no longer generates the magnetic field perpendicular to the magnetic piece 533, at this time, the magnetic attraction force is zero, the first elastic piece 5311 restores the deformation, and since the first guide seat 3331 pulls the first elastic piece 5311 at the lower side, in the process that the first elastic piece 5311 restores the elastic deformation, the first elastic piece 5311 drives the first magnetic piece 5331 to move along the rotating body 331 in the direction away from the first friction piece 5131, so as to separate from the first friction piece 5131, and thus end the brake on the rotating piece 33.

[0115] Please refer to FIG. 15, FIG. 18 to FIG. 23, in some embodiments, the second rotor assembly 53B includes the deformable second elastic piece 5313 and the second magnetic piece 5333. The second elastic piece 5313 is sleeved on the rotating body 331 and connected with the second guide seat 3333. The second magnetic piece 5333 is sleeved on the rotating body 331 and connected with the second elastic piece 5313. The second elastic piece 5313 is located between the second magnetic piece 5333 and the second guide seat 3333. The second magnetic piece 5333 cooperates with the second coil 5113 and is spaced from the second friction piece 5133. Wherein, in the case that the second coil 5113 is powered on, the second coil 5113 attracts the second magnetic piece 5333 to move along the rotating body 331 in the direction close to the second friction piece 5133, so as to contact with the second friction piece 5133; in the case that the second coil 5113 is powered off, the second elastic piece 5313 is used to drive the second magnetic piece 5333 to move along the rotating body 331 in the direction away from the second friction piece 5133, so as to separate from the second friction piece 5133. Wherein, the structure of the second guide seat 3333, the second elastic piece 5313 and the second magnetic piece 5333, and the connection relationship therebetween are completely same as the structure of the guide seat 333, the elastic piece 531 and the magnetic piece 533, and the connection relationship therebetween, and the structure of the second coil 5113 and the second friction piece 5133, and the connection relationship therebetween are basically same as the structure of the coil 511 and the friction piece 513, and the connection relationship therebetween, which will not be described herein.

[0116] In the case of energizing the second coil 5113, the second coil 5113 can generate a magnetic field perpendicular to the second magnetic member 5333, the magnetic field generates a magnetic attraction force to attract the second magnetic member 5333 to approach the second friction member 5133, the second magnetic member 5333 starts to pull the second elastic member 5313 at the lower side, and at this time, the second guide 3333 pulls the second elastic member 5313 at the upper side, the second elastic member 5313 is elastically deformed. There is a gap between the second magnetic member 5333 and the second friction member 5133, the magnetic attraction force can make the second magnetic member 5333 move in the axial direction Z, the second coil 5113 can attract the second magnetic member 5333 to contact the second shell 13 and generate a positive pressure, the second magnetic member 5333 can contact the second friction member 5133 arranged on the second shell 13. Under the action of the friction force of the second friction member 5133, the brake torque is generated between the second magnetic member 5333 and the second friction member 5133, so that the second magnetic member 5333 is braked, and further the rotating member 33 connected with the second magnetic member 5333 through the second guide 3333 and the second elastic member 5313 is braked. In the case of de-energizing the second coil 5113, the second coil 5113 no longer generates a magnetic field perpendicular to the magnetic member 533, at this time the magnetic attraction force is zero, the second elastic member 5313 restores the deformation, because the second guide 3333 pulls the second elastic member 5313 at the upper side, in the process of restoring the elastic deformation of the second elastic member 5313, the second elastic member 5313 drives the second magnetic member 5333 to move along the rotating body 331 in the direction away from the second friction member 5133, so as to separate from the second friction member 5133 and end the braking of the rotating member 33.

[0117] Please refer to FIG. 14 and FIG. 15, FIG. 20 and FIG. 23, in some embodiments, the first guide 3331 includes a first side 3335 and a second side 3337, the first side 3335 of the first guide 3331 is the side where the lower surface of the first guide 3331 is located, that is, the side close to the rotor 313, and the second side 3337 of the first guide 3331 is the side where the upper surface of the first guide 3331 is located, that is, the side away from the rotor 313. In the embodiments of the present application, the first side 3335 of the first guide 3331 can also be provided with a first step 3351, the first step 3351 is integrally formed with the first guide 3331, and the first step 3351 extends from the first side 3335 of the first guide 3331 along the axial direction Z of the accommodating cavity 3311 and extends from the outer peripheral wall 3313 of the rotating body 331 along the radial direction of the accommodating cavity 3311. Integrally forming the first step 3351 with the first guide 3331 can improve the bonding strength between the first step 3351 and the first guide 3331, prevent the first step 3351 from separating from the first guide 3331 during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the first step 3351 and the first guide 3331.

[0118] Please refer to FIG. 14 and FIG. 15, FIG. 22 and FIG. 24, in some embodiments, the second guide base 3333 comprises a first side 3335 and a second side 3337, the first side 3335 of the second guide base 3333 is the side where the upper surface of the second guide base 3333 is located, that is, the side close to the mover 313, and the second side 3337 of the second guide base 3333 is the side where the lower surface of the second guide base 3333 is located, that is, the side away from the mover 313. In the embodiments of the present application, the first side 3335 of the second guide base 3333 can also be provided with a first step 3351, the first step 3351 is integrally formed with the second guide base 3333, and the first step 3351 extends from the first side 3335 of the second guide base 3333 along the axial direction Z of the accommodation cavity 3311 and extends from the outer peripheral wall 3313 of the rotating body 331 along the radial direction of the accommodation cavity 3311. The first step 3351 is integrally formed with the first guide base 3331, which can improve the bonding strength between the first step 3351 and the second guide base 3333, prevent the first step 3351 from separating from the second guide base 3333 during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the first step 3351 and the second guide base 3333.

[0119] In the axial direction Z, one end of the first step 3351 of the first side 3335 of the first guide base 3331 is connected with the first guide base 3331, and the opposite end abuts against the mover 313, and a first gap is formed between the stator 311 and the first guide base 3331. One end of the first step 3351 of the first side 3335 of the second guide base 3333 is connected with the second guide base 3333, and the opposite end abuts against the mover 313, and a second gap can also be formed between the stator 311 and the second guide base 3333. When the driving force is generated by the cooperation between the stator 311 and the mover 313, the mover 313 rotates to drive the rotating member 33 to rotate, the first gap can avoid the stator 311 contacting the first guide base 3331 to hinder the rotation of the first guide base 3331, the second gap can avoid the stator 311 contacting the second guide base 3333 to hinder the rotation of the second guide base 3333, and thus the stator 311 can avoid hindering the rotation of the rotating member 33.

[0120] Please refer to FIG. 14 and FIG. 15, FIG. 20 to FIG. 24, in some embodiments, the first housing 11 is provided with a first bearing seat 1111, and the second housing 13 is provided with a second bearing seat 1113, the first bearing seat 1111 is provided with the first bearing 61, and the second bearing seat 1113 is provided with the second bearing 63, the rotating member 33 is arranged in the first housing 11 through the first bearing 61, and is arranged in the second housing 13 through the second bearing 63.

[0121] The first housing 11 is not only used for mounting the motor 31 and mounting the first stator assembly 51A, but also used for setting a first bearing seat 1111 to place a first bearing 61, in the present application, the first bearing 61 is an angular bearing. The second housing 13 is not only used for mounting the motor 31 and mounting the second stator assembly 51B, but also used for setting a second bearing seat 1113 to place a second bearing 63, in the present application, the second bearing 63 is a second angular bearing.

[0122] In some embodiments, the second side 3337 of the first guide seat 3331 can be further provided with a second step 3353, the second step 3353 is integrally formed with the first guide seat 3331, the second step 3353 extends from the second side 3337 of the first guide seat 3331 along the axial direction Z of the accommodation cavity 3311 and along the radial direction of the accommodation cavity 3311 from the outer peripheral wall 3313 of the rotating body 331. The second step 3353 is integrally formed with the first guide seat 3331, which can improve the bonding strength between the second step 3353 and the first guide seat 3331, prevent the second step 3353 and the first guide seat 3331 from being separated during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the second step 3353 and the first guide seat 3331.

[0123] In some embodiments, the second side 3337 of the second guide seat 3333 can be further provided with a second step 3353, the second step 3353 extends from the second side 3337 of the second guide seat 3333 along the axial direction Z of the accommodation cavity 3311 and along the radial direction of the accommodation cavity 3311 from the outer peripheral wall 3313 of the rotating body 331. The second step 3353 is integrally formed with the second guide seat 3333, which can improve the bonding strength between the second step 3353 and the second guide seat 3333, prevent the second step 3353 and the second guide seat 3333 from being separated during the operation of the rotating member 33, and thus ensure the stability and reliability of the operation of the second step 3353 and the second guide seat 3333.

[0124] The first housing 11 is provided with a first bearing seat 1111, and the second housing 13 is provided with a second bearing seat 1113, so that the actuator assembly 100 can further reduce the arrangement space in the axial direction Z on the basis that the motor 31 and the stator assembly 51 are both installed in the housing 10. Compared with the traditional actuator assembly in which the brake module and the actuator module are arranged in sequence along the axial direction Z, the first housing 11 is provided with the first bearing seat 1111, and the second housing 13 is provided with the second bearing seat 1113, so that the brake module 50 can further occupy less or even no axial Z movement space of the actuator module 30, and the structure of the actuator assembly 100 can be simpler, the disassembly and assembly can be more convenient, and the space utilization rate can be improved. The first guide seat 3331 and the second step 3353 of the second side 3337 are arranged, so that the first bearing 61 can be limited in the first bearing seat 1111. In the axial direction Z, one end of the second step 3353 is connected with one end of the first guide seat 3331, and the other end of the second step 3353 abuts against the first bearing 61, so that the first bearing 61 can be fixed with the first bearing seat 1111 in the axial direction Z, and displacement of the first bearing 61 in the axial direction Z is avoided. Further, in the radial direction of the containing cavity 3311, the outer peripheral wall 3313 of the rotating body 331 is matched with the inner side wall of the first bearing 61, so that the first bearing 61 can be fixed with the first bearing seat 1111 in the radial direction of the containing cavity 3311, and displacement of the first bearing 61 in the radial direction is avoided. The second guide seat 3333 and the second step 3353 of the second side 3337 are arranged, so that the second bearing 63 can be limited in the second bearing seat 1113, and details are not repeated here.

[0125] Referring to FIGS. 2 and 13, in some embodiments, the moving member 35 includes opposite first and second ends 351, 353. The actuator assembly 100 further includes a lower fork arm 70. The lower fork arm 70 is connected with the first end 351 of the moving member 35 and linearly moves together with the moving member 35.

[0126] In some embodiments, the lower fork arm 70 comprises opposite first and second ends, and the first end of the lower fork arm 70 is closer to the first end 351 of the moving member 35. In one embodiment, the first end of the lower fork arm 70 is provided with a through hole, and a screw passes through the through hole and is screwed with the first end 351 of the moving member 35, so as to achieve the fixed connection of the lower fork arm 70 with the moving member 35, and the linear movement of the lower fork arm 70 together with the moving member 35. The second end of the lower fork arm 70 is detachably connected with the wheel 3000 through other structures of the suspension 1000 (shown in FIG. 29), and the detachable connection mode includes but is not limited to buckle connection or threaded connection, etc. In other embodiments, the connection mode of the lower fork arm 70 with the moving member 35 can be other detachable modes, or can be a non-detachable mode. The connection of the first end of the lower fork arm 70 with the first end 351 of the moving member 35, and the connection of the second end of the lower fork arm 70 with other structures of the suspension 1000 (shown in FIG. 29), can make the linear movement of the moving member 35 transmitted from the lower fork arm 70 to the wheel 3000, and can also make the movement of the wheel 3000 due to road excitation transmitted to the lower fork arm 70, and then transmitted to the moving member 35 from the lower fork arm 70.

[0127] Please refer to FIG. 2 and FIG. 13, in some embodiments, the actuator assembly 100 further comprises an elastic element 80. The opposite ends of the elastic element 80 are connected with the housing 10 and the lower fork arm 70 respectively, and the elastic element 80 is used to provide a restoring elastic force for the moving member 35. In some embodiments, the elastic element 80 can be a coil spring, can be an air spring, or can be other elastic components meeting the requirements, which are not limited in the present application. The upper end of the elastic element 80 is connected with the lower end of the second housing 13, and the lower end of the elastic element 80 is connected with the first end of the lower fork arm 70. The connection mode can be detachable or non-detachable. The detachable connection mode includes but is not limited to buckle connection, etc., and the non-detachable connection mode includes but is not limited to bonding or welding, etc. In the present application, the upper end of the elastic element 80 abuts against the lower end of the second housing 13, and the lower end of the elastic element 80 abuts against the first end of the lower fork arm 70. Further, the first end of the lower fork arm 70 is provided with a limiting structure matched with the elastic element 80, which can better fix the elastic element 80, and avoid the displacement between the elastic element 80 and the lower fork arm 70.

[0128] In the process that the road excitation pushes the moving piece 35 to move relative to the shell 10 from the direction of the lower fork arm 70 to the shell 10 through the lower fork arm 70, the lower fork arm 70 extrudes the elastic piece 531, the elastic piece 531 generates an elastic force, the elastic force acts on the moving piece 35 through the lower fork arm 70 in the opposite direction, so as to offset part of the force applied by the lower fork arm 70 to the elastic piece 531, the elastic piece 531 can absorb the impact force, thereby facilitating the damping effect of the actuator assembly 100 and improving the driving performance of the vehicle 10000 (shown in FIG. 29). In the process that the moving piece 35 moves relative to the shell 10 from the direction of the shell 10 to the lower fork arm 70, the lower fork arm 70 stretches the elastic piece 531, the elastic piece 531 can generate an elastic force, the elastic force acts on the moving piece 35 through the lower fork arm 70 in the opposite direction, so as to offset part of the force applied by the lower fork arm 70 to the elastic piece 531, the elastic piece 531 can absorb the impact force, thereby facilitating the damping effect of the actuator assembly 100 and improving the driving performance of the vehicle 10000 (shown in FIG. 29).

[0129] Please refer to FIG. 2 and FIG. 13, in some embodiments, the actuator assembly 100 can further comprise a dust cover 90. The opposite ends of the dust cover 90 are connected with the shell 10 and the lower fork arm 70 respectively, and the dust cover 90 surrounds the part of the moving piece 35 that extends out of the shell 10.

[0130] The dust cover 90 is used for waterproof and dustproof. The upper end of the dust cover 90 is connected with the lower end of the second shell 13, and the lower end of the dust cover 90 is connected with the first end of the lower fork arm 70 and surrounds the part of the moving piece 35 that extends out of the second shell 13. The connection mode can be detachable or non-detachable. The detachable connection mode includes but is not limited to buckle connection or threaded connection, etc., and the non-detachable connection mode includes but is not limited to bonding or welding, etc. In this application, the upper end of the dust cover 90 abuts against the lower end of the second shell 13, and the lower end of the dust cover 90 abuts against the first end of the lower fork arm 70. In one example, the dust cover 90 is located in the elastic element 80, as shown in FIG. 2 and FIG. 13. In another example, the dust cover 90 can be arranged outside the elastic element 80. Further, the first end of the lower fork arm 70 can be provided with a limiting structure matched with the dust cover 90, which can better fix the dust cover 90 and avoid displacement between the dust cover 90 and the lower fork arm 70.

[0131] The dust cover 90 can avoid dust and fluid from entering the inside of the shell 10 through the gap between the moving piece 35 and the second shell 13, which affects the normal work of other elements inside the shell 10. The dust cover 90 surrounds the part of the moving piece 35 that extends out of the shell 10, which can waterproof and dustproof the part of the moving piece 35 that extends out of the shell 10, and prolong the service life of the moving piece 35 and other elements inside the shell 10.

[0132] Referring to FIG. 2 and FIG. 13, in some embodiments, the actuator assembly 100 further comprises an upper housing 10. The upper housing 10 is mounted on the housing 10, the second end 353 of the moving member 35 extends into the upper housing 10, and the upper housing 10 is used to connect with an external structure.

[0133] In the embodiments of the present application, the upper housing 10 is used to connect the actuator assembly 100 with the vehicle body 5000 (shown in FIG. 29), and in other embodiments, the upper housing 10 can be used to connect the actuator assembly 100 with other external structures. Further, the upper end of the upper housing 10 is connected with the vehicle body 5000 (shown in FIG. 29) through a top bolt, and the lower end of the upper housing 10 (i.e. the end close to the wheel 3000) is connected with the first housing 11 through a flange structure. The upper housing 10 has an accommodation space inside, the second end 353 of the moving member 35 extends into the upper housing 10, and the first end 351 of the moving member 35 is connected with the lower fork arm 70 after the moving member 35 passes through the first housing 11 and the second housing 13. The upper housing 10 is arranged to connect the actuator assembly 100 with the vehicle body 5000 (shown in FIG. 29), so that the actuator assembly 100 can adjust the relative distance between the wheel 3000 and the vehicle body 5000 (shown in FIG. 29).

[0134] Referring to FIG. 29, in combination with FIG. 2 and FIG. 3, or in combination with FIG. 13 to FIG. 15, the embodiments of the present application provide a suspension 1000, which comprises the actuator assembly 100 according to any one of the above embodiments. The motor 31 of the actuator module 30 and the stator assembly 51 of the brake module 50 in the actuator assembly 100 are both mounted on the same housing 10, i.e. the motor 31, the coil 511 of the stator assembly 51, and the friction member 513 of the stator assembly 51 are integrated on the same housing 10. Compared with the traditional arrangement of the brake module and the actuator module of the actuator assembly in the axial direction Z, the arrangement space of the actuator assembly 100 in the axial direction Z is reduced, the brake module 50 occupies less or even no axial Z movement space of the actuator module 30, the overall structure of the actuator assembly 100 is simple and convenient to disassemble and assemble, and the space utilization is improved.

[0135] Referring to FIG. 29, the embodiments of the present application provide a vehicle 10000, which comprises the suspension 1000 and the wheel 3000 according to any one of the above embodiments. The suspension 1000 is connected with the wheel 3000.

[0136] In some embodiments, the vehicle 10000 includes, but is not limited to, a passenger vehicle such as an electric vehicle, a hybrid vehicle, or a large engineering vehicle in a non-very harsh working condition. The vehicle 10000 further includes a vehicle body 5000 and wheels 3000 arranged on the vehicle body 5000 and capable of moving relative to the vehicle body 5000. An actuator assembly 100 is arranged between the vehicle body 5000 and the wheels 3000 and connected to both the vehicle body 5000 and the wheels 3000. The arrangement of the actuator assembly 100 can adjust the relative distance between the wheels 3000 and the vehicle body 5000, resist the impact and vibration from the road surface, and meet the demand for driving comfort of the vehicle 10000.

[0137] Please refer to FIG. 2 and FIG. 3, or please refer to FIG. 13 to FIG. 15. The motor 31 of the actuator module 30 and the stator assembly 51 of the brake module 50 are both mounted on the same housing 10, that is, the motor 31, the coil 511 of the stator assembly 51, and the friction member 513 of the stator assembly 51 are integrated on the same housing 10. Compared with the conventional arrangement of the brake module and the actuator module of the actuator assembly in the axial direction Z, the arrangement space of the actuator assembly 100 in the axial direction Z is reduced. The brake module 50 occupies less or even no axial Z movement space of the actuator module 30. The overall structure of the actuator assembly 100 is simple, easy to disassemble and assemble, and the space utilization is improved.

[0138] Please refer to FIG. 2 and FIG. 3, or please refer to FIG. 13 to FIG. 15. The present application provides a control method applicable to the vehicle 10000 of any of the above embodiments. The actuator assembly 100 has multiple working modes. The control method includes controlling at least one of the actuator module 30 and the brake module 50 to make the actuator assembly 100 in any working mode.

[0139] The actuator assembly 100 can adapt to different working conditions. For example, when encountering a bumpy road surface with a large pit depth, the actuator assembly 100 needs to actively lift the height of the vehicle body 5000 to ensure the passability of the vehicle 10000. For example, after lifting the height of the vehicle body 5000, the actuator assembly 100 needs to actively eliminate the road surface excitation. For another example, the actuator assembly 100 needs to keep the vehicle body 5000 at a certain height to save system energy. For another example, on a highway, in order to reduce wind resistance and ensure the maneuverability and stability of the vehicle 10000, the actuator assembly 100 needs to lower the height of the vehicle body 5000 to play the brake function of the actuator assembly 100, so that the vehicle body 5000 is maintained at a certain height. When the vehicle body 5000 senses a bump ahead, the actuator assembly 100 closes the brake, recovers energy and eliminates road surface excitation by using small vibration of the road surface.

[0140] Referring to FIG. 2 and FIG. 3, in some embodiments, the actuator assembly 100 has a first working mode. At least one of the actuator module 30 and the brake module 50 is controlled to make the actuator assembly 100 in any one of the working modes, the winding in the stator 311 is energized to drive the rotor 313 of the motor 31 to rotate to drive the rotating member 33 to rotate; the rotating member 33 drives the moving member 35 to linearly move; and the moving member 35 drives the wheels 3000 of the vehicle 10000 to jump up or down through the lower fork arm 70 to adjust the height of the vehicle body 5000 of the vehicle 10000.

[0141] The first working mode is also called active mode. When the actuator assembly 100 needs to actively lift the height of the vehicle body 5000, such as encountering a large pit depth, the winding coil 511 in the stator 311 is energized to generate a magnetic field to drive the rotor 313 of the motor 31 to rotate to drive the rotating member 33 to rotate, and the rotating member 33 drives the moving member 35 to linearly move in the axial direction Z, and the moving member 35 drives the wheels 3000 of the vehicle 10000 to jump up or down through the lower fork arm 70, thereby achieving the purpose of actively adjusting the height of the vehicle body 5000.

[0142] Referring to FIG. 2 and FIG. 3, in some embodiments, at least one of the actuator module 30 and the brake module 50 is controlled to make the actuator assembly 100 in any one of the working modes, and further includes: in the case that the wheels 3000 encounter road excitation, the road excitation drives the moving member 35 to linearly move through the lower fork arm 70; the rotating member 33 converts the linear movement of the moving member 35 into its own rotation; the rotating member 33 drives the rotor 313 to rotate; and the winding in the stator 311 is energized to slow down the rotation of the rotor 313, thereby slowing down the rotation of the rotating member 33.

[0143] The first working mode is used to actively eliminate road excitation after lifting the height of the vehicle body 5000, etc. The road excitation is transmitted to the moving member 35 through the wheels 3000 and the lower fork arm 70 to drive the moving member 35 to linearly move in the axial direction Z, and the rotating member 33 converts the linear movement of the moving member 35 into its own rotation to drive the rotor 313 to rotate. At this time, the winding coil 511 of the stator 311 applies current to slow down the rotation of the rotor 313, thereby slowing down the rotation of the rotating member 33, thereby achieving the purpose of dissipating road energy.

[0144] Referring to FIG. 2 and FIG. 3, in some embodiments, the actuator assembly 100 has a second working mode; at least one of the actuator module 30 and the brake module 50 is controlled to make the actuator assembly 100 in any one of the working modes, including: in the case that the wheel 3000 encounters road excitation, the road excitation drives the moving part 35 to move linearly through the lower fork arm 70; the linear movement of the moving part 35 is converted into the rotation of the rotating part 33; the rotating part 33 rotates to drive the rotor 313 to rotate, the magnet in the rotor 313 generates a constant magnetic field; and the winding in the stator 311 of the motor 31 is not powered, the magnet in the rotor 313 cuts the magnetic induction lines in the magnetic field to generate electric energy. The second working mode is also called passive energy feeding mode, which is mainly used to recover road excitation energy and reduce system energy consumption. For example, when the sensor of the vehicle body 5000 senses that there is a bump in front, the actuator assembly 100 closes the brake, at this time, the vehicle 10000 starts the second working mode to recover energy from small vibrations caused by road bumps and eliminate road excitation. The road excitation drives the moving part 35 to move linearly through the lower fork arm 70; the linear movement of the moving part 35 is converted into the rotation of the rotating part 33; the rotating part 33 rotates to drive the rotor 313 to rotate, at this time, the winding coil 511 in the stator 311 no longer applies current, but is in a power-off state, according to Faraday's law of electromagnetic induction, the magnet in the rotor 313 generates a constant magnetic field, the rotor 313 rotates, the winding coil 511 in the stator 311 cuts the magnetic induction lines to generate electric energy, thereby achieving the purpose of energy feeding.

[0145] Referring to FIG. 2 and FIG. 3, in some embodiments, the actuator assembly 100 has a third working mode; at least one of the actuator module 30 and the brake module 50 is controlled to make the actuator assembly 100 in any one of the working modes, including: the coil 511 is powered and the magnetic member 533 of the moving assembly 53 is attracted to contact the friction member 513 to brake the rotation of the rotating member 33. The third working mode is also called the brake mode, which is used to maintain the height of the vehicle body 5000 unchanged, to prevent the stator 311 from being powered to brake and increase the power consumption of the actuator assembly 100. For example, on the paved highway, in order to reduce wind resistance and ensure good maneuverability and stability of the vehicle 10000, the actuator assembly 100 needs to open the third working mode, appropriately reduce the height of the vehicle body 5000, and maintain the vehicle body 5000 at a certain height. In the third working mode, under the condition that the coil 511 is powered, the coil 511 can generate a magnetic field perpendicular to the magnetic member 533, the magnetic field generates a magnetic attraction force to attract the magnetic member 533 close to the friction member 513. There is a gap between the magnetic member 533 and the friction member 513, and the magnetic member 533 can move in the axial direction Z. The coil 511 can attract the magnetic member 533 to contact the housing 10 and generate a positive pressure, at the same time, the magnetic member 533 can contact the friction member 513 arranged on the housing 10. Under the action of the friction force of the friction member 513, the brake torque is generated between the magnetic member 533 and the friction member 513, so that the magnetic member 533 is braked, and then the rotating member 33 connected with the magnetic member 533 through the guide seat 333 is braked. Under the condition that the coil 511 is powered off, the coil 511 no longer generates a magnetic field perpendicular to the magnetic member 533, at this time the magnetic attraction force is zero, the elastic force of the elastic member 531 is greater than the magnetic attraction force, the elastic member 531 drives the magnetic member 533 to move along the rotating body 331 away from the friction member 513, to separate from the friction member 513, so as to end the brake. Although the embodiments of the present application have been shown and described, those skilled in the art can understand that various changes, modifications, replacements and variations can be made to the embodiments of the present application without departing from the principles and purposes of the present application, the scope of the present application is defined by the claims and their equivalents.

Claims

1. An actuator assembly (100), wherein, include: An actuator module (30) includes a housing (10), a rotating member (33), and a moving member (35). The rotating member (33) is rotatably mounted inside the housing (10) and fitted with the moving member (35). The rotating member (33) rotates to drive the moving member (35) to move linearly. A brake module (50) is disposed within the housing (10) and is used to limit the rotation of the rotating member (33).

2. The actuator assembly (100) according to claim 1, wherein, The moving part (35) is a lead screw, and the rotating part (33) is a ball nut. The lead screw passes through the ball nut and cooperates with the ball nut to form a ball screw pair.

3. The actuator assembly (100) according to claim 1 or 2, wherein, The actuator module (30) further includes a motor (31), which is housed in the housing (10) and connected to the rotating member (33). The motor (31) is used to drive the rotating member (33) to rotate. The moving member (35) passes through the housing (10) at least partially. The brake module (50) includes a stator (311) assembly and a mover assembly (53). The stator (311) assembly is mounted on the housing (10), and the mover assembly (53) is mounted on the motor (31).

4. The actuator assembly (100) according to claim 3, wherein, The stator (311) assembly includes a coil (511) and a friction element (513), which are installed inside the housing (10). The mover assembly (53) surrounds the rotating member (33) and cooperates with the coil (511). When the coil (511) is energized, the coil (511) attracts the mover assembly (53) to contact the friction element (513) to brake the rotation of the rotating member (33).

5. The actuator assembly (100) according to claim 4, wherein, The rotating component (33) includes: A rotating body (331) is provided with a receiving cavity (3311), and the moving member (35) passes through the receiving cavity (3311); and A guide seat (3331) is disposed on the outer peripheral wall of the rotating body (331), and the moving part assembly (53) is mounted on the guide seat (3331).

6. The actuator assembly (100) according to claim 5, wherein, The motor (31) includes a stator (311) and a mover (313), the mover (313) being sleeved on the rotating member (33), and the stator (311) being mounted on the housing (10) and spaced apart from the mover (313); the guide seat (3331) includes a first side (3335) and a second side (3337) axially opposite to each other in the accommodating cavity (3311); the rotating member (33) further includes: A first step (3351) extends axially from the first side (3335) of the guide seat (3331) along the receiving cavity (3311) and radially from the outer peripheral wall of the rotating body (331) along the receiving cavity (3311). The first step (3351) contacts the mover (313), and there is a gap between the stator (311) and the guide seat (3331).

7. The actuator assembly (100) according to claim 5 or 6, wherein, The motor (31) includes: A stator (311), said stator (311) being mounted on the inner wall of the housing (10) and having windings; and The mover (313) is sleeved on the rotating member (33) and spaced apart from the stator (311). The mover (313) is provided with a magnet. The winding cooperates with the magnet to make the mover (313) rotate and drive the rotating member (33) to rotate synchronously.

8. The actuator assembly (100) according to claim 7, wherein, The mover (313) includes a first end face (3131) and a second end face (3133) that are axially opposite to each other. The locking member passes through the guide seat (333) and is locked to the first end face (3131) to fix the mover (313) and the guide seat (333) together.

9. The actuator assembly (100) according to claim 7 or 8, wherein, The moving part (313) includes a first sub-part (3135) and a second sub-part (3137) divided along the axial direction. The first sub-part (3135) is fixedly connected to the guide seat (333) and surrounds the rotating body (331). The second sub-part (3137) is fixedly connected to the guide seat (333) and surrounds the rotating body (331). The first sub-part (3135) and the second sub-part (3137) are spliced ​​together to form a complete ring structure.

10. The actuator assembly (100) according to any one of claims 5-9, wherein, The housing (10) is provided with a bearing seat (111), and a bearing is installed in the bearing seat (111). The rotating component (33) is installed in the bearing. The guide seat (333) includes a first side (3335) and a second side (3337) that are axially opposite to each other in the accommodating cavity (3311). The rotating component (33) also includes: The second step (3353) extends axially from the second side (3337) of the guide seat (333) along the accommodating cavity (3311) and radially from the outer peripheral wall (3313) of the rotating body (331) along the accommodating cavity (3311), and the second step (3353) abuts against the bearing.

11. The actuator assembly (100) according to any one of claims 5-9, wherein, The moving part assembly (53) includes: A deformable elastic element (531), said elastic element (531) being sleeved on the rotating body (331) and connected to the guide seat (333); and A magnetic component (533) is sleeved on the rotating body (331) and connected to the elastic component (531). The elastic component (531) is located between the magnetic component (533) and the guide seat (333). The magnetic component (533) cooperates with the coil (511) and is spaced apart from the friction component (513). When the rotating body (33) rotates, the elastic component (531) and the magnetic component (533) rotate together with the guide seat (333); wherein: When the coil (511) is energized, the coil (511) attracts the magnetic element (533) to move along the rotating body (331) toward the friction element (513) to contact the friction element (513); when the coil (511) is de-energized, the elastic element (531) drives the magnetic element (533) to move along the rotating body (331) away from the friction element (513) to separate from the friction element (513).

12. The actuator assembly (100) according to claim 11, wherein, The elastic element (531) is connected to the guide seat (333) by a first rivet, and the elastic element (531) is connected to the magnetic element (533) by a second rivet, or... The magnetic component (533) is provided with a mounting hole (5335) and a receiving hole (5337). The guide seat (333) is provided with a connecting hole (3338) and a receiving hole (3339). The elastic component (531) is connected to the guide seat (333) by a first screw (5315). The elastic component (531) is connected to the magnetic component (533) by a second screw (5317). The shank of the first screw (5315) is locked in the connecting hole (3338), and the head of the first screw (5315) is received in the receiving hole (5337). The shank of the second screw (5317) is locked in the mounting hole (5335), and the head of the second screw (5317) is received in the receiving hole (3339).

13. The actuator assembly (100) according to any one of claims 4-12, wherein, The inner side (17) of the housing (10) is provided with a groove (113), and the coil (511) and the friction element (513) are both accommodated in the groove (113). The coil (511) is closer to the bottom wall of the groove (113) than the friction element (513). The outer surface of the friction element (513) is flush with the inner side (17) of the housing (10).

14. The actuator assembly (100) according to any one of claims 4-13, wherein, The housing (10) is made of a magnetically conductive soft magnetic material; or the magnetic element (533) in the actuator assembly (53) is made of a magnetically conductive soft magnetic material; or both the housing (10) and the magnetic element (533) in the actuator assembly (53) are made of a magnetically conductive soft magnetic material.

15. The actuator assembly (100) according to any one of claims 4-14, wherein, The friction element (513) is made of composite asbestos.

16. The actuator assembly (100) according to any one of claims 1-15, wherein, The housing (10) includes a first housing (11) and a second housing (13), the first housing (11) and the second housing (13) being connected to form a receiving cavity (15), the rotating member (33) and at least a portion of the moving member (35) being housed in the receiving cavity (15), and the brake module (50) being housed in the first housing (11) or the second housing (13) and located at one of the opposite ends of the rotating member (33).

17. The actuator assembly (100) according to any one of claims 1-15, wherein, The housing (10) includes a first housing (11) and a second housing (13), the first housing (11) and the second housing (13) being connected to form a receiving cavity (15), the rotating member (33) and at least a portion of the moving member (35) being housed in the receiving cavity (15), the brake module (50) including a first brake module (50A) and a second brake module (50B), the first brake module (50A) being housed in the first housing (11) and located at one end of the rotating member (33), and the second brake module (50B) being housed in the second housing (13) and located at the other end of the rotating member (33).

18. The actuator assembly (100) according to claim 17, wherein, The first brake module (50A) includes a first stator assembly (51A) and a first mover assembly (53A). The first stator assembly (51A) includes a first coil (5111) and a first friction element (5131). The first coil (5111) and the first friction element (5131) are installed in the first housing (11). The first mover assembly (53A) surrounds the rotating member (33) and cooperates with the first coil (5111). When the first coil (5111) is energized, the first coil (5111) attracts the first mover assembly (53A) to contact the first friction element (5131) to brake the rotation of the rotating member (33). The second brake module (50B) includes a second stator assembly (51B) and a second mover assembly (53B). The second stator assembly (51B) includes a second coil (5113) and a second friction element (5133). The second coil (5113) and the second friction element (5133) are installed in the second housing (13). The second mover assembly (53B) surrounds the rotating member (33) and cooperates with the second coil (5113). When the second coil (5113) is energized, the second coil (5113) attracts the second mover assembly (53B) to contact the second friction element (5133) to brake the rotation of the rotating member (33).

19. The actuator assembly (100) according to claim 18, wherein, The rotating component (33) includes a rotating body (331), a first guide seat (3331), and a second guide seat (3333). The rotating body (331) is provided with a receiving cavity (3311), and the moving component (35) passes through the receiving cavity (3311). The first guide seat (3331) and the second guide seat (3333) are disposed at intervals on the outer peripheral wall (3313) of the rotating body (331). The first guide seat (3331) is disposed in the first housing (11), and the second guide seat (3333) is disposed in the second housing (13). The first moving part assembly (53A) includes: A deformable first elastic element (5311) is sleeved on the rotating body (331) and connected to the first guide seat (3331); and A first magnetic element (5331) is sleeved on the rotating body (331) and connected to the first elastic element (5311). The first elastic element (5311) is located between the first magnetic element (5331) and the first guide seat (3331). The first magnetic element (5331) cooperates with the first coil (5111) and is spaced from the first friction element (5131). When the first coil (5111) is energized, the first coil (5111) attracts the first magnetic element (5331) to move along the rotating body (331) toward the first friction element (5131) to contact the first friction element (5131); when the first coil (5111) is de-energized, the first elastic element (5311) drives the first magnetic element (5331) to move along the rotating body (331) away from the first friction element (5131) to separate from the first friction element (5131).

20. The actuator assembly (100) according to claim 18 or 19, wherein, The rotating component (33) includes a rotating body (331), a first guide seat (3331), and a second guide seat (3333). The rotating body (331) is provided with a receiving cavity (3311), and the moving component (35) passes through the receiving cavity (3311). The first guide seat (3331) and the second guide seat (3333) are disposed at intervals on the outer peripheral wall (3313) of the rotating body (331). The first guide seat (3331) is disposed in the first housing (11), and the second guide seat (3333) is disposed in the second housing (13). The second moving part assembly (53B) includes: A deformable second elastic element (5313) is sleeved on the rotating body (331) and connected to the second guide seat (3333); and The second magnetic element (5333) is sleeved on the rotating body (331) and connected to the second elastic element (5313). The second elastic element (5313) is located between the second magnetic element (5333) and the second guide seat (3333). The second magnetic element (5333) cooperates with the second coil (5113) and is spaced apart from the second friction element (5133). When the second coil (5113) is energized, the second coil (5113) attracts the second magnetic element (5333) to move along the rotating body (331) toward the second friction element (5133) to contact the second friction element (5133); when the second coil (5113) is de-energized, the second elastic element (5313) drives the second magnetic element (5333) to move along the rotating body (331) away from the second friction element (5133) to separate from the second friction element (5133).

21. The actuator assembly (100) according to any one of claims 16-19, wherein, The first housing (11) is provided with a first bearing seat (1111), and the second housing (13) is provided with a second bearing seat (1113). A first bearing (61) is installed in the first bearing seat (1111), and a second bearing (63) is installed in the second bearing seat (1113). The rotating member (33) passes through the first bearing (61) in the first housing (11) and through the second bearing (63) in the second housing (13).

22. The actuator assembly (100) according to any one of claims 1-21, wherein, The movable element (35) includes opposing first ends (351) and second ends (353); the actuator assembly (100) further includes: The lower fork arm (70) is connected to the first end (351) of the moving member (35) and moves linearly together with the moving member (35).

23. The actuator assembly (100) according to claim 22, wherein, The actuator assembly (100) also includes: An elastic element (80) is provided, with its two ends connected to the housing (10) and the lower fork arm (70) respectively. The elastic element (80) is used to provide a resetting elastic force for the moving part (35).

24. The actuator assembly (100) according to claim 22 or 23, wherein, The actuator assembly (100) also includes: A dust cover (90) is provided, with its opposite ends connected to the housing (10) and the lower fork arm (70) respectively. The dust cover (90) surrounds the portion of the movable member (35) that extends out of the housing (10).

25. The actuator assembly (100) according to any one of claims 1-24, wherein, The movable element (35) includes opposing first ends (351) and second ends (353); the actuator assembly (100) further includes: Upper housing (20), which is mounted on housing (10), with the second end (353) of the movable member (35) extending into the upper housing (20), which is used to connect with an external structure.

26. A suspension (1000), wherein, Includes the actuator assembly (100) according to any one of claims 1-25.

27. A vehicle (10000), wherein, include: The suspension (1000) as described in claim 26, and Wheel (3000), the suspension (1000) is connected to the wheel (3000).

28. A control method applicable to the vehicle (10000) of claim 27, wherein, The actuator assembly (100) has multiple operating modes, and the control method includes: Control at least one of the actuator module (30) and the brake module (50) to put the actuator assembly (100) in any operating mode.

29. The control method according to claim 28, wherein, The actuator assembly (100) has a first operating mode; controlling at least one of the actuator module (30) and the brake module (50) to put the actuator assembly (100) into any operating mode includes: The windings in the stator (311) of the actuator module (30) are energized to drive the mover (313) of the actuator module (30) to rotate, thereby driving the rotating component (33) to rotate. The rotating member (33) rotates, causing the moving member (35) to move linearly; and The movable component (35) drives the wheels (3000) of the vehicle (10000) to jump up or down via the lower fork arm (70) to adjust the height of the vehicle body (5000).

30. The control method according to claim 29, wherein, The method of controlling at least one of the actuator module (30) and the brake module (50) to put the actuator assembly (100) in any operating mode further includes: When the wheel (3000) encounters road surface excitation, the road surface excitation drives the moving part (35) to move linearly through the lower fork arm (70); The rotating member (33) converts the linear movement of the moving member (35) into its own rotation; The rotation of the rotating component (33) drives the mover (313) of the actuator module (30) to rotate; and The windings in the stator (311) of the actuator module (30) are energized to slow down the rotation of the mover (313) of the actuator module (30), thereby slowing down the rotation of the rotating member (33).

31. The control method according to claim 29 or 30, wherein, The actuator assembly (100) has a third operating mode; controlling at least one of the actuator module (30) and the brake module (50) to put the actuator assembly (100) into any operating mode includes: The coil (511) of the brake module (50) is energized and attracts the magnetic component (533) of the brake module (50) to contact the friction component (513) of the brake module (50) to brake the rotation of the rotating component (33).

32. The control method according to any one of claims 28-30, wherein, The actuator assembly (100) has a second operating mode; controlling at least one of the actuator module (30) and the brake module (50) to put the actuator assembly (100) into any operating mode includes: When the wheel (3000) encounters road surface excitation, the road surface excitation drives the moving part (35) to move linearly through the lower fork arm (70); The rotating member (33) converts the linear movement of the moving member (35) into its own rotation; The rotating component (33) rotates, causing the mover (313) of the actuator module (30) to rotate, and the magnet of the mover (313) of the actuator module (30) generates a constant magnetic field; and The windings in the stator (311) of the actuator module (30) are not energized, and the windings in the stator (311) of the actuator module (30) cut the magnetic field lines in the magnetic field to generate electrical energy.

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