Actuator assembly, suspension system, and vehicle

Abstract

An actuator assembly (100), comprising: a first damping device (10) and a second damping device (20), wherein the first damping device (10) comprises a fixed part (11) and a movable part (12) movably arranged relative to each other in a first direction, and the second damping device (20) comprises a piston part (21) and a cavity part (22) movably arranged relative to each other in the first direction; the piston part (21) is connected to the movable part (12), one of the fixed part (11) and the cavity part (22) is adapted for connection to a vehicle body, and the other one is adapted for connection to an axle or a wheel; and in the second damping device (20), road surface excitation applied to the wheel is inhibited by means of a damping force generated when the piston part (21) and the cavity part (22) move relative to each other.

Description

Actuator assembly, suspension system and vehicle

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese patent applications filed on July 29, 2024, entitled “Actuator Assembly, Suspension System and Vehicle”, with application numbers “202411032525.3”, “202411031489.9”, “202421816360.4”, and “202411026828.4”. Technical Field

[0003] This application relates to the field of vehicle technology, and in particular to an actuator assembly, a suspension system, and a vehicle. Background Technology

[0004] In related technologies, the actuator assembly can adjust the vehicle's height by adjusting the height of the first damping device. The actuator assembly needs to achieve height adjustment and active vibration absorption through the linear reciprocating motion of the first damping device.

[0005] However, the power source outputs power, and based on the control time, signal transmission time, and power source response time, the actuator assembly can only respond to a small frequency range and has limited bandwidth, resulting in insufficient comfort. Summary of the Invention

[0006] This application aims to address at least one of the technical problems existing in the prior art. To this end, one object of this application is to provide an actuator assembly that can respond to a wider range of frequencies and provides greater comfort.

[0007] This application further proposes a suspension system employing the aforementioned actuator assembly.

[0008] This application also proposes a vehicle having the above-described suspension system.

[0009] In a first aspect, this application proposes an actuator assembly, comprising: a first damping device and a second damping device. The first damping device includes a fixed portion and a movable portion that are relatively movable in a first direction. The second damping device includes a piston portion and a cavity portion that are relatively movable in the first direction. The piston portion is connected to the movable portion, and one of the fixed portion and the cavity portion is adapted to be connected to a vehicle body, while the other is adapted to be connected to an axle or a wheel.

[0010] In the second damping device, the damping force generated when the piston and the cavity move relative to each other suppresses the road surface excitation on the wheel.

[0011] According to the actuator assembly of the present application embodiment, the first damping device and the second damping device are arranged sequentially in the first direction. The second damping device can suppress and cancel high-frequency road surface excitation, while the first damping device can further suppress and cancel low-frequency road surface excitation. The first damping device can compensate for the response hysteresis and insufficient bandwidth of the second damping device, thereby improving the response speed and the response bandwidth of the actuator assembly, thus improving comfort.

[0012] According to some embodiments of this application, the movable part and the piston part are coaxially arranged in a first direction.

[0013] According to some embodiments of this application, the second damping device is a bi-tube damper, a mono-tube damper, or a magnetorheological damper.

[0014] According to some embodiments of this application, the piston part includes a piston rod and a piston assembly, the piston assembly is connected to the piston rod, the cavity part includes a first connecting shell and a second connecting shell connected together, the first connecting shell and the second connecting shell define a working cavity, the piston assembly is located in the working cavity, the piston rod passes through the first connecting shell and is connected to the movable part, and the cavity part is adapted to move relative to the piston assembly under the action of a pressure medium.

[0015] According to some embodiments of this application, the piston rod and the movable shell of the movable part are integrally formed.

[0016] According to some embodiments of this application, a guide is provided on the first connecting shell, and the guide is configured to limit the relative movement direction of the cavity portion relative to the movable shell.

[0017] According to some embodiments of this application, the first connecting shell includes a first flange and a first sleeve. The first sleeve is configured as a guide. The first flange is connected to the second connecting shell. The first sleeve is connected to the side of the first flange away from the second connecting shell and is at least partially sleeved on the outer periphery of the movable shell and slides in cooperation with the movable shell.

[0018] According to some embodiments of this application, a sliding bearing is provided between the first sleeve and the movable shell.

[0019] According to some embodiments of this application, a connecting portion is provided on the outer periphery of the first flange, and the connecting portion is connected to the second connecting shell by fasteners.

[0020] According to some embodiments of this application, the second connecting shell includes a first cylinder and a second cylinder, the first cylinder and the second cylinder being radially spaced apart to divide the working chamber into an inner cavity and an outer cavity that communicate with each other. The second cylinder, the first connecting shell, and the piston assembly are slidably disposed in the inner cavity, and the inner cavity is divided into a first sub-cavity and a second sub-cavity that communicate with each other. The piston rod is located in the first sub-cavity.

[0021] According to some embodiments of this application, a bottom valve assembly is also provided at the end of the second cylinder away from the first damping device. The bottom valve assembly is adapted to connect the second sub-cavity with the outer cavity under pressure, so as to supply pressure medium to the second sub-cavity or extract pressure medium from the second sub-cavity.

[0022] According to some embodiments of this application, one of the bottom walls of the bottom valve assembly and the first cylinder is provided with a limiting protrusion and the other is provided with a limiting groove, and the limiting protrusion is limited and fitted in the limiting groove.

[0023] According to some embodiments of this application, the bottom valve assembly is provided with a third connecting hole and a fourth connecting hole that connect the outer cavity and the second sub-cavity. The third connecting hole is configured to deliver the pressure medium in the second sub-cavity to the outer cavity to extract the pressure medium in the second sub-cavity. The fourth connecting hole is configured to deliver the pressure medium in the outer cavity to the second sub-cavity to supply the pressure medium to the second sub-cavity.

[0024] According to some embodiments of this application, a second flange is provided at the end of the first cylinder facing the first connecting shell, and the second flange is connected to the first connecting shell.

[0025] According to some embodiments of this application, the second damping device further includes a retainer, which is disposed between the first cylinder and the second cylinder and is adapted to fix the second cylinder.

[0026] According to some embodiments of this application, a seal is also provided on the side of the retainer away from the second cylinder.

[0027] According to some embodiments of this application, the piston assembly includes a piston body and a first valve disposed on the piston body. The piston body is connected to a piston rod, and the first valve is adapted to communicate a first sub-chamber with a second sub-chamber under pressure.

[0028] According to some embodiments of this application, the second damping device further includes a limiting component configured to limit the relative range of movement between the piston assembly and the second connecting housing.

[0029] According to some embodiments of this application, the limiting assembly includes a first limiting member and a buffer member spaced apart. In a first direction, the first limiting member is located between the second connecting shell and the movable shell, and the buffer member is located on the side of the piston body facing the first damping device. The first limiting member and the buffer member cooperate to limit the relative movement range between the piston assembly and the cavity portion.

[0030] According to some embodiments of this application, both the first limiting member and the buffer member are formed as elastic members.

[0031] According to some embodiments of this application, a first valve is provided with a first connecting hole and a second connecting hole. The first connecting hole is configured to transport the pressure medium in the first sub-cavity to the second sub-cavity, and the second connecting hole is configured to transport the pressure medium in the second sub-cavity to the first sub-cavity.

[0032] According to some embodiments of this application, the fixing part includes a fixing shell, a power source, and a transmission assembly. The power source is disposed inside the fixing shell, and the fixing shell is movably connected to the movable shell. The transmission assembly includes a power input end and a power output end. The power input end is poweredly connected to the power source, and the power output end is disposed in the movable shell and poweredly connected to the power input end.

[0033] According to some embodiments of this application, a power source is used to drive a power input end, and a power output end is used to convert the rotation of the power input end into movement of the power output end along a first direction.

[0034] According to some embodiments of this application, the transmission assembly is constructed as a ball screw drive or a rack and pinion drive.

[0035] According to some embodiments of this application, the fixed housing includes a motor housing and a guide housing. The power source is disposed in the motor housing. One end of the guide housing is connected to the motor housing, and the other end has an opening. At least a portion of the movable housing is disposed relatively movable within the guide housing through the opening.

[0036] According to some embodiments of this application, the guide shell includes a first shell segment, a second shell segment, and a third shell segment connected sequentially in a first direction. The first shell segment is connected to the motor housing via a flange. The second shell segment is adapted to accommodate the transmission assembly and to limit the stroke of the transmission assembly. The third shell segment is sleeved on the movable shell and is adapted to provide motion guidance for the movable shell.

[0037] According to some embodiments of this application, the movable housing has a receiving cavity adapted to receive at least a portion of the power output end and the power input end.

[0038] According to some embodiments of this application, the power input end and the piston part are coaxially arranged in a first direction.

[0039] According to some embodiments of this application, it also includes a lower fork arm, which is connected to the first cylinder body, or the first cylinder body and the lower fork arm are integrally formed.

[0040] Secondly, this application discloses a suspension system, including: the actuator assembly in the above embodiments.

[0041] Thirdly, this application discloses a vehicle, including the suspension system described in the above embodiments.

[0042] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0043] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0044] Figure 1 is a schematic diagram of an actuator assembly according to some embodiments of the present invention.

[0045] Figure 2 is a front view of an actuator assembly according to some embodiments of the present invention.

[0046] Figure 3 is a cross-sectional view along line AA in Figure 2.

[0047] Figure 4 is a partially enlarged cross-sectional schematic diagram of the actuator assembly according to some embodiments of the present invention.

[0048] Figure 5 is an enlarged view of region I in Figure 4.

[0049] Figure 6 is a perspective view of the first connecting shell according to some embodiments of the present invention.

[0050] Figure 7 is a front view of the first connecting shell according to some embodiments of the present invention.

[0051] Figure 8 is a cross-sectional view along line BB in Figure 7.

[0052] Figure 9 is a perspective view of the movable shell and piston rod of some embodiments of the present invention.

[0053] Figure 10 is a front view of the movable shell and piston rod of some embodiments of the present invention.

[0054] Figure 11 is a cross-sectional view of Figure 1 along line CC;

[0055] Figure 12 is a schematic diagram of a vehicle according to some embodiments of the present invention. Detailed Implementation

[0056] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0057] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0058] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0059] The actuator assembly 100 and the vehicle 200 according to embodiments of this application are described below with reference to Figures 1-12.

[0060] As shown in Figures 1, 2 and 3, this application proposes an actuator assembly 100, including: a first damping device 10 and a second damping device 20.

[0061] The actuator assembly 100 is disposed between the axle and the vehicle body, or between the wheel 400 and the vehicle body. The actuator assembly 100 is adapted to transmit the vibration and impact generated by the road surface excitation to the vehicle body after buffering, so as to reduce the sway of the vehicle body after being excited by the road surface and improve comfort.

[0062] Furthermore, the actuator assembly 100 includes a first damping device 10 and a second damping device 20, enabling the actuator assembly 100 to have active and passive adjustment. Active adjustment refers to adjusting the height of the actuator assembly 100 by adjusting the height of the first damping device 10, thereby increasing or decreasing the distance between the wheel 400 and the vehicle body, achieving active vehicle body height adjustment. Passive adjustment refers to the fact that during vehicle 200 driving, the second damping device 20 can couple with the first damping device 10 to buffer road surface excitation and improve comfort.

[0063] The first damping device 10 includes a fixed part 11 and a movable part 12 that are movable relative to each other in a first direction. The second damping device 20 includes a piston part 21 and a cavity part 22 that are movable relative to each other in a first direction. One of the fixed part 11 and the cavity part 22 is adapted to be connected to the vehicle body, and the other is adapted to be connected to the axle or wheel 400.

[0064] The first direction can be the height direction of the vehicle 200, or it can be a direction that is at an angle to the height direction but generally along the height direction, such as when the actuator assembly 100 is arranged at an angle and the extension direction of the actuator assembly 100 (i.e. the first direction) has an angle of 15° with the height direction.

[0065] The fixed part 11 and the movable part 12 can move relative to each other in the first direction, so as to realize the active adjustment of the vehicle height by adjusting the distance between the fixed part 11 and the movable part 12. The piston part 21 and the cavity part 22 can move relative to each other in the first direction. The movable cooperation between the piston part 21 and the cavity part 22 can realize the passive buffering of road excitation, and can be coupled with the first damping device 10 to realize the effective buffering of road excitation.

[0066] As shown in Figures 1, 2 and 3, the first damping device 10 includes a fixed part 11 and a movable part 12, the movable part 12 being reciprocating.

[0067] In some embodiments, as shown in FIG1, FIG2 and FIG3, the first damping device 10 includes a fixed shell 111, and at least a portion of the movable part 12 is disposed within the fixed shell 111 (such as at least a portion of the movable shell 121), so as to use the fixed shell 111 to support and protect the movable part 12, thereby ensuring the structural stability of the movable part 12 to a certain extent and extending the service life of the movable part 12.

[0068] It should be noted that the reciprocating movement of the movable part 12 mentioned above can be understood as the reciprocating movement of the movable part 12 relative to the fixed shell 111, so as to ensure the working performance of the first damping device 10.

[0069] Furthermore, the piston part 21 is connected to the movable part 12, and in the second damping device 20, the damping force generated when the piston part 21 and the cavity part 22 move relative to each other suppresses the road surface excitation received by the wheel 400.

[0070] The second damping device 20 can absorb high-frequency damping and buffer high-frequency vibrations, while damping of other frequencies can be absorbed by the first damping device 10. Thus, the second damping device 20 can compensate for the insufficient bandwidth of the first damping device 10. That is, by absorbing the high-frequency damping force (i.e., high-frequency damping) that the first damping device 10 cannot respond to quickly, the second damping device 20 can increase the response bandwidth of the actuator assembly 100 and improve the overall vehicle comfort.

[0071] It should be noted that the first damping device 10 and the second damping device 20 can achieve coupled vibration filtering, rather than fixedly having all high-frequency excitations filtered by the first damping device 10 and all low-frequency excitations filtered by the second damping device 20. In actual operation, the first damping device 10 has the disadvantage of insufficient bandwidth. After completing the filtering and suppression of a part of the road excitation, the second damping device 20 can further filter and suppress all or part of the remaining road excitation. The vibration filtering process of the first damping device 10 and the second damping device 20 can be carried out simultaneously or sequentially, and can be dynamically coupled for vibration filtering based on the current damping state of the first damping device 10 and the second damping device 20, the road feedback state, etc.

[0072] For example, after the first damping device 10 completes the vehicle height adjustment, during the passive adjustment process, it may have a first actuation mode and a second actuation mode. In the first actuation mode, the damping force generated by the second damping device 20 and the damping force generated by the first damping device 10 are coupled and used to suppress vehicle vibration.

[0073] Understandably, in the first actuation mode, during the driving of the vehicle 200, the wheel 400 is subjected to road surface excitation. Since the first damping device 10 and the second damping device 20 are connected in series, both the first damping device 10 and the second damping device 20 can be used to absorb road surface excitation, thereby increasing the corresponding bandwidth of the actuator assembly 100 and improving the high-frequency vibration comfort of the whole vehicle.

[0074] Specifically, in the first operating mode, the road surface excitation is transmitted to the second damping device 20, causing relative movement between the cavity portion 22 and the piston portion 21 of the second damping device 20. This generates a damping force in the second damping device 20 to absorb the high-frequency excitation from the road surface and alleviate the high-frequency vibration of the vehicle body. The remaining road surface excitation is transmitted to the first damping device 10 through the piston rod 211. At this time, the first damping device 10 is not energized, and the reverse torque generated by the first damping device 10 itself suppresses at least part of the remaining road surface excitation.

[0075] It should be noted that the reverse torque generated by the first damping device 10 itself can be generated by the rotational inertia caused by the weight of the vehicle body, or it can be generated by the electromagnetic damping force between the stator and rotor of the power source 112 in the first damping device 10.

[0076] When the vehicle encounters asphalt, gravel, or other road surfaces, the first damping device 10, due to its delayed response, is insufficient to quickly provide damping force for effective buffering. In this case, the second damping device 20 generates hydraulic damping force through oil exchange, which can filter out high-frequency, low-amplitude vibrations. If the first damping device 10 is not locked at this time, the second damping device 20 can compensate for the response time of the first damping device 10, so that the first damping device 10 can better respond to road surface excitations of other frequencies.

[0077] In the second operating mode, when the vehicle 200's pre-aiming system detects undulations in the road surface ahead, the first damping device 10 actively intervenes and drives the moving part 12 to move, thereby achieving real-time control of the height of the wheels 400 to meet the vehicle 200's real-time needs for adjusting the vehicle's height.

[0078] Specifically, based on the anticipated road surface undulations, the amplitude of the wheel 400's bumps is determined. The greater the amplitude of the bumps, the greater the range of motion of the movable part 12 relative to the fixed part 11. The smaller the amplitude of the bumps, the smaller the range of motion of the movable part 12 relative to the fixed part 11. That is, when the vibration generated by the wheel 400 is transmitted to the movable part 12, the motor (i.e., the power source 112) in the fixed part 11 is energized to generate a damping force that suppresses the vibration of the vehicle body. The magnitude of the damping force generated by the fixed part 11 can be adjusted based on the amplitude of the bumps to dynamically suppress the vibration of the vehicle body and improve comfort.

[0079] Meanwhile, it should be noted that when the fixed part 11 drives the movable part 12 to move in the first direction, road excitation can be suppressed, and active tuning control of vibration (i.e., the second actuation mode) can be realized. When the vehicle height is too low, the suspension system 300 can also avoid impact. Since the first damping device 10 and the second damping device 20 are connected in series in the first direction, the second damping device 20 will move in the first direction. The damping force generated by the second damping device 20 is opposite to the damping force generated by the first damping device 10. When performing active tuning control, the first damping device 10 needs to overcome the damping force generated by the second damping device 20 at the same time in order to realize active tuning control.

[0080] According to the actuator assembly 100 of the present application embodiment, the first damping device 10 and the second damping device 20 are connected in series in the first direction. The second damping device 20 can suppress and cancel high-frequency road surface excitation, while the first damping device 10 can further suppress and cancel low-frequency road surface excitation. The second damping device 20 can make up for the response hysteresis and insufficient bandwidth of the first damping device 10, thereby improving the response speed and the response bandwidth of the actuator assembly 100, thus improving comfort.

[0081] As shown in Figures 3 and 4, the movable part 12 and the piston part 21 are coaxially arranged in the first direction.

[0082] The first damping device 10 includes a fixed part 11 and a movable part 12 that are movable relative to each other in a first direction. The second damping device 20 includes a piston part 21 and a cavity part 22 that are movable relative to each other in a first direction. The movable part 12 and the piston part 21 are coaxially arranged in the first direction. One of the fixed part 11 and the cavity part 22 is adapted to be connected to the vehicle body, and the other is adapted to be connected to the axle or wheel 400.

[0083] Therefore, the first damping device 10 and the second damping device 20 are coaxially arranged in the first direction. When the first damping device 10 and the second damping device 20 perform corresponding actions of the actuator assembly 100, such as the first damping device 10 adjusting the height, the second damping device 20 canceling high-frequency excitation, and the first damping device 10 canceling low-frequency vibration, the probability of interference between them is lower, the working stability is higher, and the difficulty of disassembly and assembly and maintenance are reduced.

[0084] It is understood that the second damping device 20 in the embodiments of this application may be a bi-tube damper, a mono-tube damper, or a magnetorheological damper.

[0085] Specifically, when the second damping device 20 is formed as a twin-cylinder damper, it can have better damping effect and stability, and can better adapt to different working conditions and usage environments, thereby providing higher safety performance; when the second damping device 20 is a single-cylinder damper, it has advantages such as economy and practicality, ease of maintenance and upkeep, and long stroke; when the second damping device 20 is a magnetorheological damper, it has advantages such as intelligent controllability, low energy consumption, fast response, easy integration, and compact structure.

[0086] As shown in Figures 3 and 4, according to some embodiments of this application, the piston part 21 further includes a piston rod 211 and a piston assembly 212. The piston assembly 212 is connected to the piston rod 211. The cavity part 22 includes a first connecting shell 221 and a second connecting shell 222 connected together. The first connecting shell 221 and the second connecting shell 222 define a working cavity. The piston rod 211 passes through the first connecting shell 221 and is connected to the movable part 12. The piston assembly 212 is located in the working cavity, and the cavity part 22 is adapted to move relative to the piston assembly 212 under the action of a pressure medium.

[0087] Specifically, the first connecting shell 221 and the second connecting shell 222 can both be constructed as hollow shells, and their ends are connected in the first direction to define a working chamber. Alternatively, one of the first connecting shell 221 and the second connecting shell 222 can be constructed as a hollow shell, and the other can be constructed as a cover plate structure. The cover plate is placed on one end of the hollow shell and defines a working chamber. The working chamber can contain a pressure medium (such as hydraulic oil, pressurized gas, etc.). The piston assembly 212 is connected to the piston rod 211 and extends into the working chamber. Thus, under the pressure difference of the pressure medium, the first connecting shell 221 and the second connecting shell 222 can move synchronously relative to the piston assembly 212, thereby realizing the extension and compression of the second damping device 20.

[0088] In this way, the piston rod 211 passes through the first connecting shell 221 so that the piston assembly 212 is located in the working chamber. Under the premise of realizing the mutual coupling of the second damping device 20 and the first damping device 10 to counteract the road excitation, the first connecting shell 221 and the movable shell 121 can at least partially overlap. The first connecting shell 221 enables relative movement with the movable shell 121 externally, and the piston assembly 212 enables relative movement internally. This can improve the stability and reliability of the cooperation between the second damping device 20 and the first damping device 10, and further make the arrangement of the actuator assembly 100 more compact.

[0089] It is understandable that the free end of the piston rod 211 (i.e. the end away from the movable housing 121) can be provided with a threaded structure, a plug-in structure, etc., and the piston assembly 212 can be fixed on the piston rod 211 through a threaded structure, a plug-in structure, etc., to define the piston part 21. The piston assembly 212 is sealed and slidably fitted with the side wall of the working chamber, that is, the cavity part 22 is sleeved on the outside of the piston assembly 212, and a sliding sealing ring can be provided between the two so that the first connecting housing 221 and the second connecting housing 222 can slide relative to the piston assembly 212.

[0090] As shown in Figures 9, 1 and 11, the piston rod 211 is integrally formed with the movable shell 121 of the movable part 12.

[0091] It should be noted that the movable shell 121 of the movable part 12 is integrally formed with the piston rod 211 of the piston part 21 so that the first damping device 10 can be directly connected to the second damping device 20. The vibration of the second damping device 20 after being subjected to road surface excitation can be directly applied to the piston rod 211 and transmitted to the first damping device 10 through the piston rod 211.

[0092] Furthermore, since the movable housing 121 and the piston rod 211 are integrally formed, there is no need to set a connection structure between the first damping device 10 and the second damping device 20. This simplifies the assembly structure of the first damping device 10, improves the axial space occupation of the first damping device 10 assembly, and reduces the cost of the first damping device 10 assembly.

[0093] In other words, the movable housing 121 and the piston rod 211 can be constructed as a single unit, which not only simplifies the connection device and makes the overall structure more compact, but also reduces the connection difficulty between the piston rod 211 and the movable housing 121 and improves the connection quality. This makes it easier to use the movable housing 121 to support the piston rod 211 and ensure the working performance of the piston rod 211.

[0094] In summary, this application adopts a series connection of the first damping device 10 and the second damping device 20, and integrates the movable shell 121 of the first damping device 10 and the piston rod 211 of the second damping device 20 into one unit, simplifying the connection device and making the actuator assembly 100 more compact. This can effectively reduce high-frequency damping and thus make up for the shortcomings of the active vibration reduction structure in high-frequency comfort.

[0095] Of course, in some other embodiments, the piston rod 211 and the movable shell 121 can also be formed as separate parts. After the piston rod 211 and the movable shell 121 are processed separately, the piston rod 211 and the movable shell 121 are connected. In this way, the movable shell 121 can be used to support the piston rod 211 and ensure the working performance of the piston rod 211.

[0096] The connection mentioned here can be welding, bonding, snap-fitting, or bolting.

[0097] As shown in Figures 3 and 4, the second damping device 20 includes a piston part 21 and a cavity part 22. The cavity part 22 is movable and engaged with the movable shell 121 of the movable part 12. A guide is provided on the cavity part 22. The guide is configured to limit the relative movement direction of the cavity part 22 relative to the movable shell 121 (i.e., the relative movement direction of the first connecting shell 221 relative to the movable shell 121).

[0098] It should be noted that by connecting the piston rod 211 to the movable housing 121, the second damping device 20 is connected to one end of the first damping device 10 through the piston rod 211, thereby connecting the second damping device 20 in series with the first damping device 10. This allows the actuator assembly 100 to integrate both the first damping device 10 and the second damping device 20. When the actuator assembly 100 is applied to the vehicle 200, the second damping device 20 can absorb high-frequency vibrations when the road surface is excited, while the redundant vibrations are handled by the first damping device 10. This expands the vibration response bandwidth, thereby compensating for the insufficient response bandwidth of the suspension system 300 in the prior art, ensuring the working performance of the actuator assembly 100, and improving the comfort of the vehicle 200.

[0099] In a specific example, in the first direction, the second damping device 20 is located at one end of the first damping device 10 and the piston rod 211 is connected to the end of the movable housing 121, so as to realize the second damping device 20 in series on the first damping device 10.

[0100] It is worth noting that, compared to connecting the first damping device 10 and the second damping device 20 in parallel, the actuator assembly 100 of this application connects the first damping device 10 and the second damping device 20 in series, which can shorten the response time and further ensure the working performance of the actuator assembly 100.

[0101] It should be noted that during the operation of the second damping device 20, the cavity 22 and the movable shell 121 will move relative to each other. If the relative movement direction of the cavity 22 and the movable shell 121 is deviated, it will affect the working performance of the second damping device 20.

[0102] Based on this, this application provides a guide on the cavity 22 and sets the guide to limit the relative movement direction of the movable shell 121 and the cavity 22. In this way, when the movable shell 121 and the cavity 22 move relative to each other, the cavity 22 and the movable shell 121 can be prevented from shifting during relative movement to a certain extent, ensuring the positional accuracy of the cavity 22 and the movable shell 121 during relative movement, thereby ensuring the working performance of the second damping device 20, which in turn ensures the working performance of the actuator assembly 100 to a certain extent.

[0103] Meanwhile, since the movable housing 121 is connected to the piston rod 211, when the relative movement position of the cavity 22 and the movable housing 121 is accurate, it is also beneficial to ensure the coaxiality of the first damping device 10 and the second damping device 20, and further ensure the working performance of the actuator assembly 100.

[0104] With the above settings, in a specific example, when the actuator assembly 100 is excited by the road surface, the road surface excitation is transmitted from the wheel 400 to the second damping device 20, causing the piston assembly 212 to move relative to the housing assembly to absorb some high-frequency vibrations. The remaining vibrations (such as low-frequency high-amplitude and low-frequency low-amplitude vibrations) are transmitted to the first damping device 10 through the second damping device 20. The first damping device 10 generates a damping force to suppress the linear motion of the moving assembly, thereby providing the main force and suppressing the vehicle body vibration.

[0105] It should also be noted that by providing a guide on the cavity 22, the cavity 22 can be used to support the guide, thereby improving the positional stability of the guide and ensuring its working performance to a certain extent.

[0106] As can be seen from the above structure, the actuator assembly 100 of the present invention, by connecting a second damping device 20 to one end of the first damping device 10, can utilize the second damping device 20 to absorb part of the high-frequency vibration, reduce the active thrust required by the first damping device 10, and compensate for the insufficient response bandwidth of the first damping device 10, thereby increasing the bandwidth of the actuator assembly 100 in filtering vibration frequencies, meeting the requirements of the actuator assembly 100 in mitigating impact and reducing vibration, and thus improving the ride comfort of the vehicle 200.

[0107] Meanwhile, a guide is provided on the cavity 22, and the guide is configured to limit the relative movement direction of the piston assembly 212 and the movable shell 121. This avoids the piston assembly 212 and the movable shell 121 from shifting during movement to a certain extent, ensuring the positional accuracy of the piston assembly 212 and the movable shell 121 during relative movement, thereby ensuring the working performance of the second damping device 20.

[0108] It is understandable that, compared with the prior art, the actuator assembly 100 of this application not only integrates the first damping device 10 and the second damping device 20, but also improves the positional accuracy of the movable housing 121 and the first connecting housing 221 when they move relative to each other, thereby ensuring the working performance of the second damping device 20, realizing the vibration reduction by using the first damping device 10 and the second damping device 20 in combination, increasing the bandwidth of the actuator assembly 100 to filter vibration frequencies, meeting the requirements of the actuator assembly 100 to reduce impact and vibration, and ensuring the stroke space of the first damping device 10, thereby ensuring the working performance of the actuator assembly 100.

[0109] In some embodiments, the first connecting shell 221 and the movable shell 121 are slidably engaged to enable relative movement between the cavity portion 22 and the movable portion 12, thereby ensuring the working performance of the second damping device 20.

[0110] Referring to Figures 3 and 4, according to some embodiments of this application, the first connecting shell 221 includes a first flange 2211 and a first sleeve 2212 located on the side of the first flange 2211 facing the first damping device 10. The first flange 2211 is connected to the second connecting shell 222. The first sleeve 2212 is sleeved on the movable shell 121. The piston rod 211 passes through the first flange 2211. The first sleeve 2212 is connected to the side of the first flange away from the second connecting shell 222 and is at least partially sleeved on the outer periphery of the movable shell 121, and slides in cooperation with the movable shell 121.

[0111] Specifically, the first flange 2211 is provided with a through hole, through which the piston rod 211 extends into the working chamber and is connected to the piston assembly 212 located in the working chamber. The first flange 2211 is used to connect with the second connecting shell 222, which can improve the structural strength of the cavity 22 and the connection stability and reliability. The first sleeve 2212 is sleeved on the outer periphery of the movable shell 121. The length of the first sleeve 2212 can be consistent with the movement stroke of the second damping device 20, or it can be slightly larger than the movement stroke of the second damping device 20.

[0112] Therefore, by connecting the first flange 2211 to the second connecting shell 222, the structural strength of the second damping device 20 can be improved. The first sleeve 2212 is fitted on the outside of the movable shell 121, which can achieve radial limiting of the movable shell 121 and improve the coaxiality of the working cavity of the movable shell 121 and the second damping device 20, thereby improving the coupling effect between the second damping device 20 and the first damping device 10. While effectively buffering the road surface excitation, it also reduces radial movement and improves the working stability and reliability of the actuator assembly 100.

[0113] In some embodiments, as shown in FIG3 and FIG4, the cavity portion 22 includes a first connecting shell 221 and a second connecting shell 222. In a first direction, the first connecting shell 221 is located at one end of the movable shell 121. The guide is constructed as a first sleeve 2212, and the first sleeve 2212 is sleeved on the movable shell 121 and slides in cooperation with the movable shell 121.

[0114] It should be noted that, since the movable shell 121 is connected to the piston rod 211 and the movable shell 121 and the cavity 22 form a movable fit, a relative displacement is formed between the first connecting shell 221 and the movable shell 121. Therefore, this application sets the guide on the first connecting shell 221 and slides it with the movable shell 121 to limit the relative displacement between the movable shell 121 and the first connecting shell 221, thereby achieving the purpose of limiting the relative movement direction of the piston rod 211 relative to the cavity 22, and ensuring the working performance of the second damping device 20 to a certain extent.

[0115] Meanwhile, by setting the guide member on the first flange 2211, since the first flange 2211 covers the end of the second connecting shell 222 facing the movable shell 121, the guide member can be set on the cavity part 22 while also being set close to the movable shell 121, so as to achieve a sliding fit between the guide member and the movable shell 121, reducing the difficulty of fitting the guide member and the movable shell 121. This achieves the purpose of using the guide member to limit the movement direction of the piston rod 211, and to a certain extent ensures the working performance of the second damping device 20.

[0116] In some embodiments, as shown in Figures 3, 4, and 6, the guide member is a first sleeve 2212. The first sleeve 2212 is connected to the side of the first flange 2211 facing the movable housing 121, and at least a portion of the first sleeve 2212 is sleeved on the outer periphery of the movable housing 121 and slides in engagement with the movable housing 121. This facilitates the use of the first sleeve 2212 to limit the relative movement direction of the piston rod 211 and the cavity portion 22, ensuring the working performance of the guide member and ensuring the positional accuracy of the cavity portion 22 and the piston portion 21 during relative movement, thereby ensuring the working performance of the second damping device 20.

[0117] By connecting the first sleeve 2212 to the side of the first flange 2211 facing the movable shell 121, the first sleeve 2212 is positioned close to the movable shell 121, while the first flange 2211 supports the first sleeve 2212, thereby improving the positional stability of the first sleeve 2212 and ensuring the working performance of the first sleeve 2212 to a certain extent.

[0118] The protrusion height of the guide component can be adjusted according to the actual situation, and this application does not impose specific restrictions.

[0119] In some embodiments, as shown in Figures 3 and 4, a sliding bearing 30 is provided between the first sleeve 2212 and the outer peripheral wall of the movable shell 121. The sliding bearing 30 ensures a sliding fit between the first sleeve 2212 and the movable shell 121, while also guaranteeing the coaxiality of the first damping device 10 and the second damping device 20. This, in turn, ensures the coaxiality of the cavity portion 22 and the movable portion 12 during relative movement, improving the positional accuracy of the movable portion 12 and the cavity portion 22 during relative movement.

[0120] In some embodiments, the second connecting shell 222 forms a working cavity that opens toward the piston rod 211, the first connecting shell 221 covers the working cavity, and the piston rod 211 passes through the first flange 2211. The piston rod 211 and the second cylinder 2222 of the second connecting shell 222 can move and cooperate with each other, reducing the difficulty of cooperating between the piston part 21 and the cavity part 22.

[0121] In some embodiments, as shown in Figures 3 and 4, the second flange 22211 covers the second connecting shell 222, and the first flange 2211 is fitted at the opening of the working chamber defined by the second cylinder 2222 to close the working chamber and ensure its sealing. In this way, when the piston assembly 212 moves relative to the cavity portion 22, the cavity portion 22 can be used to provide resistance to the relative movement of the piston assembly 212, so as to achieve the purpose of vibration reduction by using the second damping device 20.

[0122] In other words, the first flange 2211 of this application not only supports the guide to ensure the coaxiality of the first damping device 10 and the second damping device 20, but also seals the working cavity.

[0123] As shown in Figure 4, according to some embodiments of this application, the first sleeve 2212 and the movable shell 121 are radially spaced apart, and a sliding bearing 30 is provided between them.

[0124] Specifically, the inner wall of the first sleeve 2212 is radially spaced from the side wall of the movable shell 121, and a guide slope can be provided at the end of the first sleeve 2212 away from the first flange 2211 to install the sliding bearing 30 between the first sleeve 2212 and the movable shell 121. That is, the sliding bearing 30 is constructed as a cylindrical bearing, which can improve the coaxiality of the first damping device 10 and the second damping device 20, and realize the motion guidance of the first connecting shell 221, thereby improving the smoothness of motion. At the same time, the sliding bearing 30 is assembled from the end of the first sleeve 2212 away from the first flange 2211. This end is constructed as an open end. The sliding bearing 30 serves as a guide component. Assembling from the open end can simplify the disassembly and assembly process, reduce the difficulty of disassembly and assembly, facilitate subsequent maintenance and upkeep, and reduce maintenance and upkeep costs.

[0125] Understandably, the second damping device 20 can be constructed as a twin-tube damper, which gives the second damping device 20 better damping effect and stability, and allows the second damping device 20 to better adapt to different working conditions and usage environments, thereby providing higher safety performance.

[0126] Of course, in some other embodiments, the second damping device 20 may also be a monotube damper or a magnetorheological damper.

[0127] When the second damping device 20 is a monotube damper, it has advantages such as being economical and practical, easy to maintain and repair, and having a long stroke. When the second damping device 20 is a magnetorheological damper, it has advantages such as being intelligent and controllable, having low energy consumption, fast response, easy integration, and a compact structure.

[0128] The outer periphery of the first flange 2211 is provided with a connecting part 22111, which is connected to the second connecting shell 222 by fasteners.

[0129] Specifically, as shown in Figures 4, 6, 7, and 8, a connecting portion 22111 is provided on the outer periphery of the first flange 2211. The connecting portion 22111 is detachably connected to the second connecting shell 222 via fasteners. This allows the first flange 2211 to be connected to the second connecting shell 222, reducing the difficulty of fixing the first flange 2211 and facilitating the use of the second connecting shell 222 to support the first flange 2211, thereby improving the positional stability of the first flange 2211 and, to a certain extent, ensuring the working performance of the first flange 2211.

[0130] Meanwhile, by making the first flange 2211 and the second connecting shell 222 detachably connected, the difficulty of assembling and disassembling the first flange 2211 and the second connecting shell 222 can be reduced. Since the sliding bearing 30 is a vulnerable part that needs to be inspected and replaced regularly, the difficulty of replacing the sliding bearing 30 can be reduced.

[0131] The fasteners mentioned here can be fastening bolts, fastening screws, etc.

[0132] Meanwhile, by setting the connecting part 22111 on the first flange 2211, the radial extension dimension of the first flange 2211 can be adapted to increase, so as to further simplify the disassembly and assembly process of the first flange 2211, which is beneficial to later maintenance, and makes the labor time short and the maintenance cost low.

[0133] In some embodiments, as shown in Figures 4, 6, 7, and 8, the first flange 2211 is provided with a connecting portion 22111. The first flange 2211 is connected to the second connecting shell 222 by fasteners passing through the connecting portion 22111, so as to realize the fixed connection between the first flange 2211 and the second connecting shell 222 and ensure the connection quality. This makes the relative position of the first flange 2211 and the second connecting shell 222 stable. When the cavity portion 22 and the piston portion 21 move relative to each other, the first sleeve 2212 and the movable shell 121 can slide relative to each other. This allows the first sleeve 2212 and the movable shell 121 to cooperate in limiting the relative movement direction of the piston portion 21 and the cavity portion 22, which to a certain extent prevents the piston portion 21 and the cavity portion 22 from deviating during movement, ensuring the positional accuracy of the piston portion 21 and the cavity portion 22 when they move relative to each other, thereby ensuring the working performance of the second damping device 20.

[0134] In some embodiments, as shown in Figures 6, 7 and 8, a plurality of connecting portions 22111 are formed on the first flange 2211. The plurality of connecting portions 22111 are spaced apart circumferentially along the first flange 2211. The cooperation of the plurality of connecting portions 22111 enables the first flange 2211 and the second connecting shell 222 to be fixedly connected by a plurality of fasteners, thereby further ensuring the connection quality and improving the connection strength.

[0135] Of course, in some other embodiments, the first flange 2211 and the second connecting shell 222 can also be connected by bonding, snap-fitting or other connection methods.

[0136] The actuator assembly 100 of this application embodiment will be specifically described below, with the second damping device 20 constructed as a twin-tube damper.

[0137] According to some embodiments of this application, the second connecting shell 222 includes a first cylindrical body 2221 and a second cylindrical body 2222. The first cylindrical body 2221 and the second cylindrical body 2222 are radially spaced apart to divide the working chamber into an inner cavity a and an outer cavity b that are in communication with each other. The second cylindrical body 2222, together with the first connecting shell 221 and the piston assembly 212, divides the inner cavity a into a first sub-cavity a1 and a second sub-cavity a2 that are in communication with each other. The piston rod 211 is located in the first sub-cavity a1.

[0138] Specifically, piston rod 211 extends into the first sub-cavity a1 and is connected to piston assembly 212, causing piston rod 211 to occupy the space of the first sub-cavity a1. Road excitation is first transmitted from wheel 400 or axle to the second damping device 20 for attenuation. At this time, the first connecting shell 221 and the second connecting shell 222 reciprocate relative to piston rod 211 synchronously. During the compression stroke, wheel 400 moves closer to the frame, the second damping device 20 is compressed, and piston assembly 212 moves downward. The volume of the second sub-cavity a2 decreases, the pressure of the pressure medium increases, and the pressure medium flows into the first sub-cavity a1 through piston assembly 212.

[0139] Furthermore, since the piston rod 211 in the first sub-cavity a1 occupies a portion of the space of the first sub-cavity a1, the increased volume of the first sub-cavity a1 is less than the decreased volume of the second sub-cavity a2, and some pressure medium overflows into the outer cavity b. During the extension stroke, the wheel 400 moves away from the frame, the second damping device 20 is stretched, and the piston assembly 212 moves upward. The volume of the first sub-cavity a1 decreases, the pressure of the pressure medium increases, and the pressure medium in the first sub-cavity a1 flows into the second sub-cavity a2 through the piston assembly 212. Due to the presence of the piston rod 211, the pressure medium in the first sub-cavity a1 cannot fill the increased volume of the second sub-cavity a2, and a certain degree of vacuum is generated in the second sub-cavity a2. At this time, the pressure medium in the outer cavity b replenishes the second sub-cavity a2.

[0140] In other words, during the flow of the pressure medium between the first sub-cavity a1, the second sub-cavity a2, and the outer cavity b, a throttling effect is generated. This throttling effect can provide damping force for the compression and extension movements of the second damping device 20, thereby achieving high-frequency vibration buffering. The second damping device 20 filters out the remaining road surface excitation, which can be further transmitted to the movable shell 121 through the piston rod 211, and then actuated by the first damping device 10 to dissipate the road surface excitation, thus suppressing the overall vibration of the vehicle body.

[0141] In other words, the second damping device 20 is coupled with the first damping device 10 to eliminate road surface excitation. The addition of the second damping device 20 allows the second damping device 20 and the first damping device 10 to work together or independently, thereby achieving stability in vehicle handling and driving comfort.

[0142] Meanwhile, the bandwidth of the first damping device 10 is insufficient to quickly provide damping force for effective buffering. At this time, the second damping device 20 can generate damping force through throttling to buffer, filter out high-frequency low-amplitude vibrations, compensate for the response time of the first damping device 10 and make up for the shortcomings of insufficient bandwidth, thereby improving the comfort of the whole vehicle when encountering asphalt, small stones and other road surfaces.

[0143] Furthermore, the piston assembly 212 includes a piston body 2121 and a first valve 2122 disposed on the piston body 2121. The piston body 2121 is connected to the piston rod 211. The first valve 2122 is adapted to connect the first sub-cavity a1 and the second sub-cavity a2 under pressure.

[0144] According to some embodiments of this application, the piston assembly 212 includes a piston body 2121 and a first valve 2122 disposed on the piston body 2121. The piston body 2121 is connected to the piston rod 211. The first valve 2122 is adapted to connect the first sub-cavity a1 and the second sub-cavity a2 under pressure. A bottom valve assembly 2223 is also disposed at the end of the second cylinder 2222 away from the first damping device 10. The bottom valve assembly 2223 is adapted to connect the second sub-cavity a2 and the outer cavity b under pressure to supply pressure medium to the second sub-cavity a2 or extract pressure medium from the second sub-cavity a2.

[0145] Specifically, the first valve 2122 is configured as a valve body or a valve system that can connect the first sub-cavity a1 and the second sub-cavity a2, and the bottom valve assembly 2223 is configured as a valve body or a valve system that can connect the second sub-cavity a2 and the outer cavity b. The bottom valve assembly 2223 can be disposed on the second cylinder 2222, and the first valve 2122 can be disposed on the piston body 2121.

[0146] For example, the bottom valve assembly 2223 may be provided with a bidirectional channel and cooperate with a bidirectional valve plate to achieve selective communication between the first sub-cavity a1 and the second sub-cavity a2. The bottom valve assembly 2223 may be provided with a compression channel and a recovery channel, and a compression valve plate is provided for the compression channel and a recovery valve plate is provided for the recovery channel, so that the second sub-cavity a2 is connected to the outer cavity b during the compression stroke and the extension stroke, respectively.

[0147] Therefore, damping force can be generated through the throttling effect of the first valve 2122 and the bottom valve assembly 2223, which can effectively buffer road surface excitation and improve comfort.

[0148] In some embodiments, as shown in Figures 3 and 4, the second connecting shell 222 includes a first cylindrical body 2221 and a second cylindrical body 2222. The first cylindrical body 2221 is sleeved on the outer periphery of the second cylindrical body 2222 and radially spaced apart from the second cylindrical body 2222, thereby defining an outer cavity b between the first cylindrical body 2221 and the second cylindrical body 2222. The second cylindrical body 2222 is hollow inside, defining an inner cavity a that communicates with the outer cavity b. This allows the second damping device 20 to be configured as a bi-cylinder damper, resulting in better damping effect and stability, and enabling the second damping device 20 to better adapt to different working conditions and usage environments, thereby providing higher safety performance.

[0149] In some embodiments, as shown in Figures 3 and 4, the piston portion 21 includes a piston rod 211 and a piston portion 21 disposed on the piston rod 211. The piston rod 211 is connected to the movable housing 121. The piston assembly 212 is disposed in the inner cavity a and slides in cooperation with the inner wall of the second cylinder 2222 to divide the inner cavity a into a second sub-cavity a2 and a first sub-cavity a1 that are interconnected. That is, the piston rod 211 is connected to the movable housing 121, and the piston assembly 212 is connected to the piston rod 211 to connect the piston portion 21 to the axial end of the movable portion 12, thereby realizing the second damping device 20 in series with the first damping device 10, so that the actuator assembly 100 integrates the first damping device 10 and the second damping device 20 simultaneously, ensuring the working performance of the actuator assembly 100.

[0150] Meanwhile, by connecting the piston rod 211 to the movable shell 121, the movable shell 121 can also support the piston rod 211 and the piston assembly 212, thereby improving the positional stability of the piston rod 211 and the piston assembly 212, so that the piston assembly 212 and the second cylinder 2222 can move relative to each other effectively.

[0151] In a specific example, since the piston assembly 212 is located in the inner cavity a and slides with the inner wall of the second cylinder 2222, the inner cavity a is divided into a second sub-cavity a2 and a first sub-cavity a1 that are connected to each other. In this way, when the piston assembly 212 is controlled to move relative to the second cylinder 2222, the second sub-cavity a2 and the first sub-cavity a1 can be used to provide resistance to the relative movement of the piston assembly 212, so as to achieve the purpose of vibration reduction by using the second damping device 20, thereby ensuring the working performance of the second damping device 20.

[0152] The above can also be understood as the piston assembly 212 slidingly engaging with the inner wall of the second cylinder 2222 to divide the mating cavity into a second sub-cavity a2 and a first sub-cavity a1 with variable volumes.

[0153] In some embodiments, as shown in Figures 4, 9, and 10, the piston rod 211 has a fastening thread 2111 at one end of the piston assembly 212. A fixing member (e.g., a nut) is fixedly connected to the piston rod 211 through the fastening thread 2111. The piston assembly 212 is sleeved on the piston rod 211 and is located between at least a portion of the piston rod 211 and the fixing member, so as to fix the piston assembly 212 to the piston rod 211, reduce the difficulty of connecting the piston assembly 212 and the piston rod 211, and improve the connection strength.

[0154] It should also be noted that the interconnection between the second sub-cavity a2 and the first sub-cavity a1 means that the hydraulic oil in the second sub-cavity a2 can flow into the first sub-cavity a1, and correspondingly, the hydraulic oil in the first sub-cavity a1 can also flow into the second sub-cavity a2. This allows the hydraulic oil to flow between the second sub-cavity a2 and the first sub-cavity a1, so as to use the damping force generated by the hydraulic oil during the flow to buffer the vibration, thereby enabling the second damping device 20 to filter out high-frequency, low-amplitude vibrations and ensure the working performance of the second damping device 20.

[0155] In a specific example, when the piston assembly 212 slides against the inner wall of the second cylinder 2222, the volume of the second sub-cavity a2 can be reduced or increased, thereby making the volumes of the second sub-cavity a2 and the first sub-cavity a1 variable. Specifically, when the piston assembly 212 slides relative to the second cylinder 2222 and reduces the volume of the second sub-cavity a2, the volume of the first sub-cavity a1 increases, and the hydraulic oil in the second sub-cavity a2 can flow into the first sub-cavity a1. When the piston assembly 212 slides relative to the second cylinder 2222 and increases the volume of the second sub-cavity a2, the volume of the first sub-cavity a1 decreases, and the hydraulic oil in the first sub-cavity a1 can flow into the second sub-cavity a2. The hydraulic oil generates damping force when flowing, enabling the second damping device 20 to filter out high-frequency, low-amplitude vibrations.

[0156] In some embodiments, the piston assembly 212 is provided with a first connecting hole (not shown in the figure) and a second connecting hole (not shown in the figure) connecting the second sub-cavity a2 and the first sub-cavity a1. The first connecting hole is configured to deliver the pressure medium in the first sub-cavity a1 to the second sub-cavity a2, and the second connecting hole is configured to deliver the pressure medium in the second sub-cavity a2 to the first sub-cavity a1.

[0157] The pressure medium mentioned here can be understood as hydraulic oil. That is, the first connecting hole and the second connecting hole are configured with different flow directions. This not only enables the connection between the second sub-cavity a2 and the first sub-cavity a1, but also allows the hydraulic oil in the second sub-cavity a2 to flow into the first sub-cavity a1 when the piston assembly 212 slides relative to the second connecting shell 222 and reduces the volume of the second sub-cavity a2, and the hydraulic oil in the first sub-cavity a1 to flow into the second sub-cavity a2 when the piston assembly 212 slides relative to the second connecting shell 222 and increases the volume of the second sub-cavity a2. The hydraulic oil generates damping force when flowing, which enables the second damping device 20 to filter out high-frequency, low-amplitude vibrations and ensure the working performance of the second damping device 20.

[0158] In some embodiments, a one-way valve is provided in the first connecting hole and the second connecting hole, and the flow guiding directions of the one-way valve in the first connecting hole and the one-way valve in the second connecting hole are different, so that the flow guiding directions of the first connecting hole and the second connecting hole are different, so as to ensure the flow guiding performance of the first connecting hole and the second connecting hole.

[0159] In a specific example, the one-way valve in the first connecting hole is used to guide the hydraulic oil in the first sub-cavity a1 to the second sub-cavity a2, and the one-way valve in the second connecting hole is used to guide the hydraulic oil in the second sub-cavity a2 to the first sub-cavity a1, so that the guiding directions of the first connecting hole and the second connecting hole are different, thus ensuring the guiding performance of the first connecting hole and the second connecting hole.

[0160] In other embodiments, the first and second connecting holes may be arranged radially spaced apart on the piston assembly 212 (not shown in this example figure). A first valve plate is provided on the side of the piston assembly 212 facing the first sub-cavity a1, covering and abutting the second connecting hole. A second valve plate is provided on the side of the piston assembly 212 facing the second sub-cavity a2, covering the first connecting hole and having a relief hole thereon to abut the second connecting hole. When the piston assembly 212 slides relative to the second connecting shell 222 and reduces the volume of the second sub-cavity a2, some hydraulic oil in the second sub-cavity a2 can flow to the second connecting hole, and the second connecting... The hydraulic oil in the through hole can push open the first valve plate, so that some of the hydraulic oil in the second sub-cavity a2 can flow into the first sub-cavity a1; when the piston assembly 212 slides relative to the second connecting shell 222 and increases the volume of the second sub-cavity a2, some of the hydraulic oil in the first sub-cavity a1 can flow into the first connecting hole, and the hydraulic oil in the first connecting hole can push open the second valve plate, so that some of the hydraulic oil in the first sub-cavity a1 can flow into the second sub-cavity a2, and make the flow directions of the first connecting hole and the second connecting hole different, ensuring the flow performance of the first connecting hole and the second connecting hole, thereby ensuring the working performance of the second damping device 20200.

[0161] During the process of hydraulic oil opening the first and second valve plates, the hydraulic oil can generate damping force, which enables the second damping device 20200 to filter out high-frequency low-amplitude vibrations and ensure the working performance of the second damping device 20.

[0162] In some embodiments, the first valve plate and the second valve plate are connected to the piston assembly 212 by fasteners (such as bolts). This not only enables the first valve plate and the second valve plate to be placed on the piston assembly 212, but also reduces the difficulty of fixing the first valve plate and the second valve plate, thereby ensuring the working performance of the first valve plate and the second valve plate, so that the flow directions of the first connecting hole and the second connecting hole are different.

[0163] In some embodiments, the first valve plate and the second valve plate are made of elastic material (such as rubber), so that when the first valve plate and the second valve plate are impacted by hydraulic oil, the first valve plate and the second valve plate can effectively undergo elastic deformation, thereby making the first connecting hole or the second connecting hole open. When the impact force disappears, the first valve plate and the second valve plate can also return to their original shape to block the first connecting hole or the second connecting hole.

[0164] In some embodiments, as shown in Figures 3, 4, and 5, one of the bottom walls of the bottom valve assembly 2223 and the first cylinder 2221 is provided with a limiting protrusion 22233 and the other with a limiting groove 22212. The limiting protrusion 22233 is fitted within the limiting groove 22212. This achieves a limiting fit between the bottom valve assembly 2223 and the first cylinder 2221, ensuring a stable relative position between them. When the bottom valve assembly 2223 is connected to one axial end of the second cylinder 2222, the bottom valve assembly 2223 and the first cylinder 2221 can be used to support and limit the second cylinder 2222, thereby restricting the radial displacement of the second cylinder 2222 and improving its structural stability. This allows the piston assembly 212 and the second cylinder 2222 to move accurately along a predetermined path, ensuring the performance of the second damping device 20.

[0165] It should be noted that by using the limiting protrusion 22233 and the limiting groove 22212 to achieve the limiting fit between the bottom valve assembly 2223 and the first cylinder 2221, the difficulty of the limiting fit between the bottom valve assembly 2223 and the first cylinder 2221 can be reduced to a certain extent.

[0166] In some embodiments, as shown in Figures 3, 4 and 5, the bottom valve assembly 2223 is provided with a limiting protrusion 22233, and the bottom wall of the first cylinder 2221 is provided with a limiting groove 22212. The limiting protrusion 22233 is limited and fitted within the limiting groove 22212 to achieve a limiting fit between the bottom valve assembly 2223 and the first cylinder 2221.

[0167] Of course, in some other embodiments, a limiting groove 22212 can be provided on the bottom valve assembly 2223, and a limiting protrusion 22233 can be provided on the bottom wall of the first cylinder 2221. In this way, the limiting protrusion 22233 is limited and fitted in the limiting groove 22212, and the limiting fit between the bottom valve assembly 2223 and the first cylinder 2221 can also be achieved.

[0168] It should be noted that the limiting protrusion 22233 mentioned above can be an arc-shaped protrusion. Correspondingly, the limiting groove 22212 is formed as an arc-shaped groove so that the fit between the first cylinder 2221 and the bottom valve assembly 2223 is an arc-shaped fit, which is beneficial to the radial positioning of the bottom valve assembly 2223, improves the positional stability of the bottom valve assembly 2223, and thus improves the positional stability of the second cylinder 2222.

[0169] Furthermore, the bottom valve assembly 2223 is provided with a third connecting hole 22231 and a fourth connecting hole 22232 connecting the outer cavity b and the second sub-cavity a2. The third connecting hole 22231 is configured to transport the pressure medium in the second sub-cavity a2 to the outer cavity b to extract the pressure medium in the second sub-cavity a2. The fourth connecting hole 22232 is configured to transport the pressure medium in the outer cavity b to the second sub-cavity a2 to supply the pressure medium to the second sub-cavity a2.

[0170] In some embodiments, as shown in Figures 3 and 4, a bottom valve assembly 2223 is further provided on the second connecting shell 222. The bottom valve assembly 2223 is connected to one axial end of the second cylinder 2222. The bottom valve assembly 2223 is configured to connect the second sub-cavity a2 and the outer cavity b under pressure, so as to supply pressure medium to the second sub-cavity a2 or extract pressure medium from the second sub-cavity a2. This allows for the replenishment of hydraulic oil to the second sub-cavity a2 via the outer cavity b, or the discharge of some hydraulic oil from the second sub-cavity a2 into the outer cavity b, thereby effectively changing the volume of the second sub-cavity a2 and ensuring the working performance of the second damping device 20.

[0171] In some embodiments, as shown in Figures 3, 4 and 5, the bottom valve assembly 2223 is provided with a third connecting hole 22231 and a fourth connecting hole 22232 communicating with the outer cavity b and the second sub-cavity a2. The third connecting hole 22231 is configured to deliver the pressure medium in the second sub-cavity a2 to the outer cavity b, so as to extract the pressure medium in the second sub-cavity a2. The fourth connecting hole 22232 is configured to deliver the pressure medium in the outer cavity b to the second sub-cavity a2, so as to supply the pressure medium to the second sub-cavity a2. In other words, the third connecting hole 22231 and the fourth connecting hole 22232 are configured with different flow directions. This allows the second sub-cavity a2 and the outer cavity b to be connected, and also enables the hydraulic oil in the second sub-cavity a2 to flow to the outer cavity b through the bottom valve assembly 2223 when the piston assembly 212 slides relative to the second connecting shell 222 and reduces the volume of the second sub-cavity a2, and the hydraulic oil in the outer cavity b to flow to the second sub-cavity a2 through the bottom valve assembly 2223 when the piston assembly 212 slides relative to the second connecting shell 222 and increases the volume of the second sub-cavity a2. This allows the volume of the second sub-cavity a2 to change effectively, thereby ensuring the working performance of the second damping device 20.

[0172] In the description of this invention, features defined with "first", "second", "third" and "fourth" may explicitly or implicitly include one or more of these features, used to distinguish and describe features, without any order or importance.

[0173] In some embodiments, one-way valves are provided in the third connecting hole 22231 and the fourth connecting hole 22232, and the flow directions of the one-way valves in the third connecting hole 22231 and the fourth connecting hole 22232 are different, thereby making the flow directions of the third connecting hole 22231 and the fourth connecting hole 22232 different, so as to ensure the flow guiding performance of the third connecting hole 22231 and the fourth connecting hole 22232.

[0174] In a specific example, the one-way valve in the third connecting hole 22231 is used to transport the pressure medium in the second sub-cavity a2 to the outer cavity b, and the one-way valve in the fourth connecting hole 22232 is used to transport the pressure medium in the outer cavity b to the second sub-cavity a2, thereby making the flow directions of the third connecting hole 22231 and the fourth connecting hole 22232 different, ensuring the flow guiding performance of the third connecting hole 22231 and the fourth connecting hole 22232.

[0175] In other embodiments, as shown in Figures 3 and 5, the third connecting hole 22231 and the fourth connecting hole 22232 are arranged radially at intervals in the bottom valve assembly 2223. The bottom valve assembly 2223 has a third valve plate 22234 on the side facing the second sub-cavity a2, which covers the third connecting hole 22231 and avoids the fourth connecting hole 22232. The bottom valve assembly 2223 has a fourth valve plate 22235 on the side away from the second sub-cavity a2, which covers the fourth connecting hole 22232 and has an avoidance hole that avoids the third connecting hole 22231. When the piston assembly 212 slides relative to the second connecting shell 222 and reduces the volume of the second sub-cavity a2, some of the hydraulic oil in the second sub-cavity a2 can flow to the third connecting hole 22231. The hydraulic oil in the third connecting hole 22231 can push open the third valve plate 22234, so that some of the hydraulic oil in the second sub-cavity a2 can flow into the outer cavity b. When the piston assembly 212 slides relative to the second connecting shell 222 and increases the volume of the second sub-cavity a2, some of the hydraulic oil in the outer cavity b can flow into the fourth connecting hole 22232, and the hydraulic oil in the fourth connecting hole 22232 can push open the fourth valve plate 22235, so that some of the hydraulic oil in the outer cavity b can flow into the second sub-cavity a2, and the flow directions of the third connecting hole 22231 and the fourth connecting hole 22232 are different, ensuring the flow guiding performance of the third connecting hole 22231 and the fourth connecting hole 22232, thereby ensuring the working performance of the second damping device 20.

[0176] During the process of hydraulic oil opening the third valve plate 22234 and the fourth valve plate 22235, the hydraulic oil can generate damping force, which enables the second damping device 20 to filter out high-frequency low-amplitude vibrations and ensure the working performance of the second damping device 20.

[0177] In some embodiments, as shown in FIG5, the third valve plate 22234 and the fourth valve plate 22235 are connected to the bottom valve assembly 2223 by fasteners (such as connecting bolts). While realizing the placement of the third valve plate 22234 and the fourth valve plate 22235 on the bottom valve assembly 2223, the fixing difficulty of the third valve plate 22234 and the fourth valve plate 22235 can also be reduced, thereby ensuring the working performance of the third valve plate 22234 and the fourth valve plate 22235, so that the flow guiding directions of the third connecting hole 22231 and the fourth connecting hole 22232 are different.

[0178] In some embodiments, the third valve plate 22234 and the fourth valve plate 22235 are made of an elastic material (such as rubber). When the third valve plate 22234 and the fourth valve plate 22235 are impacted by hydraulic oil, they can effectively undergo elastic deformation, thereby making the third connecting hole 22231 or the fourth connecting hole 22232 open. When the impact force disappears, the third valve plate 22234 and the fourth valve plate 22235 can also return to their original shape to block the third connecting hole 22231 or the fourth connecting hole 22232.

[0179] In some embodiments, the bottom valve assembly 2223 engages with the first cylinder 2221 to limit the radial displacement of the second cylinder 2222. This improves the structural stability of the second cylinder 2222, thereby enabling the piston assembly 212 and the second cylinder 2222 to move accurately relative to each other along a predetermined path, ensuring the performance of the second damping device 20, and thus ensuring the overall vibration reduction performance of the actuator assembly 100.

[0180] In summary, the actuator assembly 100 of this application not only integrates the second damping device 20 and the first damping device 10, but also ensures the working performance of the second damping device 20, thereby ensuring that the actuator assembly 100 can meet the requirements of mitigating impact and reducing vibration, and improving the ride comfort of the vehicle 200.

[0181] In some embodiments, the bottom valve assembly 2223 can be connected to one axial end of the second cylinder 2222 by means of bolt connection, snap-fit, welding or bonding, so that the relative position of the bottom valve assembly 2223 and the second cylinder 2222 is stable, thereby facilitating the use of the bottom valve assembly 2223 to limit the second cylinder 2222, improving the structural stability of the second cylinder 2222, thereby enabling the piston assembly 212 and the second cylinder 2222 to move relatively accurately along a predetermined path, ensuring the working performance of the second damping device 20.

[0182] As shown in Figure 4, according to some embodiments of this application, a second flange 22211 is provided at one end of the first cylinder 2221 facing the first connecting shell 221, and the second flange 22211 is connected to the first connecting shell 221.

[0183] In other words, the first flange 2211 is connected to the second flange 22211 to realize the connection between the first connecting shell 221 and the second connecting shell 222, which can improve the structural strength and stability of the cavity 22 and make the working stability of the second damping device 20 higher.

[0184] According to some embodiments of this application, the second damping device 20 further includes a retainer 23, which is disposed between the first cylinder 2221 and the second cylinder 2222 and is adapted to fix the second cylinder 2222.

[0185] Specifically, an outer cavity b is defined between the first cylinder 2221 and the second cylinder 2222. The retainer 23 is disposed in the outer cavity b and located at one end on the same side of the first cylinder 2221 and the second cylinder 2222. The retainer 23 is connected to both the first cylinder 2221 and the second cylinder 2222 and seals the working cavity. It also limits the movement between the first cylinder 2221 and the second cylinder 2222 to maintain the coaxiality of the first cylinder 2221 and the second cylinder 2222, thereby improving the working stability of the second damping device 20.

[0186] In other words, the retainer 23 is located between the first cylinder 2221 and the second cylinder 2222, and the retainer 23 is used to fix the second cylinder 2222. This improves the positional stability of the second cylinder 2222, thereby ensuring the working performance of the second cylinder 2222 to a certain extent, which in turn ensures the working performance of the second damping device 20.

[0187] As shown in Figures 3 and 4, according to some embodiments of this application, a seal 24 is also provided on the side of the retainer 23 facing away from the second cylinder 2222.

[0188] Specifically, the side of the seal 24 adjacent to the first cylinder 2221 can be a static seal, while the side of the seal 24 adjacent to the piston rod 211 is a dynamic seal. This can seal high-pressure gas and pressure medium, and isolate external dust and foreign objects, thereby improving the sealing performance of the working chamber.

[0189] It is understandable that the seal 24 can achieve a sealing fit between the piston assembly 212 and the second cylinder 2222, ensuring the sealing of the inner cavity a, which is beneficial to ensuring the relative movement of the piston assembly 212 and the second cylinder 2222, and improving the working performance of the second damping device 20.

[0190] In addition, the seal 24 can also seal the hydraulic oil inside the inner cavity a and isolate the system from external media such as water, air, oil and dust, thus preventing external media from entering the inner cavity a to a certain extent.

[0191] Optionally, the seal 24 is disposed on the second cylinder 2222 and is movably engaged with the piston assembly 212. While ensuring the sealing effect of the piston assembly 212 and the second cylinder 2222 by using the seal 24, it can also avoid the seal 24 from hindering the relative movement of the second cylinder 2222 and the piston assembly 212 to a certain extent, thereby ensuring the working performance of the second damping device 20.

[0192] It is worth noting that this application places the seal 24 on the side of the retainer 23 away from the second cylinder 2222. This also allows the retainer 23 to support the seal 24, reducing the difficulty of fixing the seal 24 and improving the positional stability of the seal 24, thereby ensuring the working performance of the seal 24.

[0193] According to some embodiments of this application, the second damping device 20 further includes a limiting component configured to limit the relative range of movement between the piston assembly 212 and the second connecting shell 222.

[0194] In some embodiments, as shown in Figures 3 and 4, the second damping device 20 includes a limiting component configured to restrict the relative movement range between the piston assembly 212 and the second connecting shell 222 (second cylinder 2222). That is, during the relative movement of the piston assembly 212 and the second cylinder 2222, the limiting component restricts the relative movement range between them, thereby enabling the piston assembly 212 and the second connecting shell 222 to move relative to each other within a predetermined path. This ensures the positional accuracy of the piston assembly 212 and the second connecting shell 222 during relative movement, thus guaranteeing the operational performance of the second damping device 20.

[0195] In some embodiments, as shown in Figures 3 and 4, the limiting assembly includes a first limiting member (not shown). In the moving direction of the piston assembly 212, the first limiting member is disposed between the second connecting shell 222 and the movable shell 121. The first limiting member is used to limit the range of movement of the second connecting shell 222 and the movable shell 121 when they move towards each other. That is, when the second connecting shell 222 and the movable shell 121 move towards each other, the first limiting member can be used to limit their range of movement, thereby limiting the relative range of movement between the piston assembly 212 and the second connecting shell 222. This allows the piston assembly 212 and the second connecting shell 222 to move relative to each other within a predetermined path, ensuring the positional accuracy of the piston assembly 212 and the second connecting shell 222 during relative movement, thus guaranteeing the working performance of the second damping device 20.

[0196] In some embodiments, as shown in FIG3 and FIG4, the limiting component further includes a buffer 2123. In the moving direction of the piston assembly 212, the buffer 2123 is disposed between the second connecting shell 222 and the piston body 2121. The buffer 2123 is used to limit the range of movement when the second connecting shell 222 and the movable shell 121 move in opposite directions.

[0197] In other words, when the second connecting shell 222 and the movable shell 121 move away from each other, the movement range of the second connecting shell 222 and the movable shell 121 can be limited by the buffer 2123, thereby limiting the relative movement range of the piston assembly 212 and the second connecting shell 222 by using the limiting component, so that the piston assembly 212 and the second connecting shell 222 can move relative to each other within a predetermined path, ensuring the positional accuracy of the piston assembly 212 and the second connecting shell 222 during relative movement, thereby ensuring the working performance of the second damping device 20.

[0198] In a specific example, as shown in Figures 3 and 4, in the direction of movement of the piston assembly 212, the first limiting member is provided on the side wall of the first flange 2211 facing the movable shell 121 or on the side wall of the movable shell 121 facing the first flange 2211, and the buffer member 2123 is provided on the side wall of the piston body 2121 facing the first flange 2211. In this way, when the second connecting shell 222 moves upward relative to the movable shell 121 and reaches its limit position, the first limiting member can be used to restrict the second connecting shell 222 from continuing to move upward, thereby achieving the purpose of limiting the movement range of the second connecting shell 222. When the second connecting shell 222 moves downward relative to the movable shell 121, the first flange 2211 can stop against the buffer member 2123. At this time, the buffer member 2123 is used to restrict the second connecting shell 222 from continuing to move downward, thereby achieving the purpose of limiting the movement range of the second connecting shell 222. Thus, the first limiting member and the buffer member 2123 work together to limit the movement range of the piston assembly 212 and the second connecting shell 222.

[0199] In some embodiments, both the first limiting member and the buffer member 2123 are formed as elastic members. This allows the first limiting member and the buffer member 2123 to play a limiting and buffering role during the relative movement of the piston assembly 212 and the second connecting shell 222, ensuring the positional accuracy of the piston assembly 212 and the second connecting shell 222 during relative movement, while also preventing the piston assembly 212 and the second connecting shell 222 from colliding with each other and causing damage, thereby extending the service life of the piston assembly 212 and the second connecting shell 222.

[0200] In a specific example, the first limiting member and the buffer member 2123 can be non-metallic materials such as rubber and polyurethane, or metallic materials such as metal springs.

[0201] As shown in Figure 4, according to some embodiments of this application, a buffer 2123 is also provided on the side of the piston body 2121 facing the first damping device 10.

[0202] Specifically, the buffer 2123 can be made of materials such as polyurethane or rubber. It can provide buffer protection for the piston assembly 212 when the second damping device 20 moves to the end of the stretching stroke. This can reduce abnormal noise from the second damping device 20 and extend the service life of the piston assembly 212, thereby extending the service life and service cycle of the actuator assembly 100 and reducing costs.

[0203] As shown in Figure 3, according to some embodiments of this application, the fixing part 11 includes a fixing shell 111, a power source 112, and a transmission assembly 113. The power source 112 is disposed inside the fixing shell 111, and the fixing shell 111 is movably connected to the movable shell 121. The transmission assembly 113 includes a power input end 1131 and a power output end 1132. The power input end 1131 is poweredly connected to the power source 112, and the power output end 1132 is disposed in the movable shell 121 and is poweredly connected to the power input end 1131.

[0204] Specifically, the motor can be a frameless motor, the rotor is on the inner side of the axial direction, and the cage 23 can be provided with threaded holes. The transmission assembly 113 can be constructed as a ball screw transmission unit, with the screw shaft and rotor coaxially nested, that is, the end of the screw shaft is poweredly connected to the rotor through a spline structure to form a power output end 1132. The screw shaft can be provided with a helical rolling groove for the balls to roll, and the ball nut meshes with the screw shaft, with the balls disposed between the ball nut and the screw shaft. The ball nut forms the power output end 1132. The fixed shell 111 and the movable shell 121 are constructed as a sleeve structure, and the ball nut is fixed to the movable shell 121 so that the transmission assembly 113 is driven by the power source 112, and the transmission assembly 113 drives the movable shell 121. The movable shell 121 rises and falls relative to the fixed shell 111 to realize the height adjustment of the actuator assembly 100.

[0205] Of course, the structure of the transmission assembly 113 in this application embodiment is not limited to this. In other embodiments, the transmission assembly 113 can be configured as a gear and rack transmission part, with the gear connected to the power source 112 and configured as a power output end 1132, and the rack connected to the movable housing 121 and configured as a power output end 1132.

[0206] According to some embodiments of this application, the power source 112 is used to drive the power input weaning, and the power output end 1132 is used to convert the rotation of the power input end 1131 into the movement of the power output end 1132 along a first direction.

[0207] Referring to Figures 2 and 3, the movable shell 121 is fixedly connected to the power output end 1132. The first damping device 10 includes a power source 112 and a power input end 1131 that cooperates with the power output end 1132. The power source 112 is used to drive the power input end 1131 to rotate, and the power output end 1132 is used to convert the rotation of the power input end 1131 into movement. This means that the power output end 1132 can convert the rotational motion of the power input end 1131 into linear movement of the power output end 1132 along a first direction. Thus, when the power source 112 drives the power input end 1131 to rotate, the relative movement of the power output end 1132 can be controlled by the power input end 1131, reducing the difficulty of moving the power output end 1132 and ensuring the working performance of the power output end 1132.

[0208] It is worth noting that the power output end 1132 is fixedly connected to the movable shell 121. In this way, when the power input end 1131 controls the relative movement of the power output end 1132, the power output end 1132 can be used to drive the movable shell 121 to move relative, thereby driving the movable part 12 to move relative, reducing the difficulty of moving the movable part 12, and ensuring the working performance of the movable part 12, thereby ensuring the working performance of the first damping device 10.

[0209] In some embodiments, as shown in FIG3, the fixed shell 111 is sleeved on the outer periphery of the movable shell 121. During the movement of the movable shell 121, the fixed shell 111 has a guide structure that guides the movement direction of the movable shell 121 to improve the positional accuracy of the movable shell 121 during movement and to a certain extent ensure the working performance of the first damping device 10.

[0210] As shown in Figure 3, the fixed housing 111 includes a motor housing 1111 and a guide housing 1112. The power source 112 is disposed in the motor housing 1111. One end of the guide housing 1112 is connected to the motor housing 1111, and the other end forms an opening. At least a portion of the movable housing 121 is disposed relatively movable within the guide housing 1112 through the opening.

[0211] Specifically, the guide shell 1112 includes a first shell section 11121, a second shell section 11122, and a third shell section 11123 that are connected sequentially in a first direction and whose outer diameters decrease sequentially. The first shell section 11121 is connected to the motor shell 1111 via a flange. The second shell section 11122 is adapted to accommodate the transmission assembly 113 and is used to limit the stroke of the transmission assembly 113. The third shell section 11123 is sleeved on the movable shell 121 and is adapted to provide motion guidance for the movable shell 121.

[0212] In other words, one end of the first housing segment 11121 in the first direction can form a flange edge, which is connected to the motor housing 1111 through the flange edge to improve the fixed stability and reliability of the power source 112. The other end of the first housing segment 11121 can form an annular disc structure, which is connected to one end of the second housing segment 11122. The other end of the second housing segment 11122 is connected to the third housing segment 11123 through another annular disc structure. This annular disc structure can be used to limit the stroke of the power output end 1132 of the transmission group 113, thereby improving the working stability of the transmission group 113. The third housing segment 11123 guides the movement of the movable housing 121, improving the smoothness of the movement of the first damping device 10 and improving the working stability of the actuator assembly 100.

[0213] It should be noted that the inner diameter of the third shell section 11123 can be slightly larger than or equal to the outer diameter of the movable shell 121 in order to guide the movement of the movable shell 121 and reduce the radial movement of the movable shell 121.

[0214] In some embodiments, the inner diameter of the third shell section 11123 is slightly larger than the outer diameter of the movable shell 121, and a guide bearing is provided between the third shell section 11123 and the movable shell 121. The guide bearing is used to achieve a guiding fit between the third shell section 11123 and the movable shell 121 to reduce the radial movement of the movable shell 121.

[0215] In some embodiments, as shown in Figures 3, 9, and 10, a second flange 22211 is provided at one end of the movable housing 121. The second flange 22211 has a connecting hole. The second flange 22211 is connected to the power output end 1132 through a fastener passing through the connecting hole, so as to realize the fixed connection between the power output end 1132 and the movable housing 121 and ensure the connection quality. This allows the movable housing 121 to be moved relative to the power output end 1132 when the power input end 1131 controls the relative movement of the power output end 1132, thereby reducing the difficulty of moving the movable housing 121.

[0216] The fasteners mentioned here can be fastening bolts, fastening screws, etc.

[0217] In some embodiments, as shown in FIG9, the third flange 1211 is provided with a plurality of first connection holes 1212. The plurality of first connection holes 1212 are arranged at intervals along the circumference of the third flange 1211. The plurality of first connection holes 1212 cooperate to enable the power output end 1132 and the movable housing 121 to be fixedly connected by a plurality of fastening connectors, thereby further ensuring the connection quality and improving the connection strength.

[0218] Of course, in some other embodiments, the third flange 1211 can also be connected to the power output end 1132 by means of bonding, snap-fitting or other connection methods.

[0219] In some embodiments, as shown in Figures 2 and 3, the power output end 1132 and the movable shell 121 are hollow inside. This allows the power output end 1132 and the movable shell 121 to be fitted onto the outer periphery of the power input end 1131, thereby facilitating the engagement of the power input end 1131 and the power output end 1132, reducing the difficulty of engaging the power input end 1131 and the power output end 1132, thus reducing the difficulty of moving the power output end 1132, and ensuring the working performance of the power output end 1132 and the working performance of the first damping device 10.

[0220] In some embodiments, the power input end 1131 is a lead screw shaft, and the power output end 1132 is formed as a ball nut that cooperates with the lead screw shaft, so that the power input end 1131 and the power output end 1132 form a ball screw assembly.

[0221] In a specific example, the power output end 1132 is sleeved on the outer periphery of the power input end 1131 and the thread on the power output end 1132 is engaged with the lead screw shaft to ensure that the power output end 1132 can move relative to the power input end 1131 along the extension direction of the power input end 1131 during rotation, thereby facilitating the control of the relative movement of the power output end 1132 by the power input end 1131 and reducing the difficulty of moving the power output end 1132.

[0222] In a specific example, the power source 112 is a rotary motor, which drives the lead screw shaft to rotate. During the rotation of the lead screw shaft, the power output end 1132 moves along the axial direction of the lead screw shaft, thereby allowing the movable part 12 and the fixed part 11 to move relative to each other, so as to ensure the working performance of the first damping device 10.

[0223] Of course, in some other embodiments, the power input end 1131 and the power output end 1132 may also be configured as a slide rail and a slider, or as a gear and rack.

[0224] Furthermore, the movable housing 121 has a receiving cavity adapted to receive at least a portion of the power output end 1132 and the power input end 1131, and the power input end 1131 is coaxially arranged with the piston portion 21 in a first direction.

[0225] In other words, the lead screw, roller nut, piston 21, and cavity 22 are all coaxially arranged in the first direction, resulting in higher coaxiality of the actuator assembly 100 and better coupling effect between the second damping device 20 and the first damping device 10. At the same time, at least a portion of the power input end 1131 can be accommodated in the accommodating cavity. That is, during the process of the lead screw driving the roller nut, the length of the part of the lead screw extending into the accommodating cavity gradually increases or decreases. Moreover, when the lead screw is in the maximum extension position and the minimum compression position, at least a portion of the lead screw is located in the accommodating cavity. This can also reduce the space occupied by the first damping device 10 and reduce the difficulty of arranging the actuator assembly 100.

[0226] As shown in Figures 1 and 2, according to some embodiments of this application, it also includes a lower fork arm 40, which is connected to the first cylinder 2221, or the first cylinder 2221 and the lower fork arm 40 are integrally formed.

[0227] In other words, in some embodiments, the lower fork 40 is fixedly connected to the first cylinder 2221, while in other embodiments, the two are integrally formed. The lower fork 40 is used to connect the wheel 400 or the axle, and the lower fork 40 is directly connected to the second damping device 20. This can further simplify the structure of the actuator assembly 100, reduce the cost of the actuator assembly 100, and improve the space occupied by the actuator assembly 100.

[0228] As shown in Figures 1, 3, and 4, the actuator assembly 100 also includes a lower fork arm 40, and the first cylinder 2221 is adapted to connect to the wheel 400 end via the lower fork arm 40. This enables the actuator assembly 100 to be connected to the wheel 400 end, reducing the difficulty of assembling the actuator assembly 100 with the vehicle 200, and facilitating the improvement of the comfort of the vehicle 200 using the actuator assembly 100.

[0229] In some embodiments, as shown in Figures 3 and 4, the first cylinder 2221 is provided with a connecting protrusion 22213, and the lower fork arm 40 is fixedly connected to the connecting protrusion 22213 to realize the fixed connection between the lower fork arm 40 and the first cylinder 2221, thereby realizing the mating connection between the actuator assembly 100 and the wheel 400 end and reducing the connection difficulty.

[0230] The fixed connection between the lower fork arm 40 and the connecting protrusion 22213 can be a threaded connection, or it can be an adhesive connection, a snap-fit ​​connection, etc.

[0231] With the above settings, when the actuator assembly 100 is subjected to road excitation, the road excitation is first transmitted to the lower fork arm 40 through the wheel 400, and then transmitted to the second damping device 20 through the lower fork arm 40. When the road excitation is transmitted to the second damping device 20, the piston assembly 212 of the second damping device 20 can move relative to the second cylinder 2222 to absorb some high-frequency vibrations and achieve the purpose of vibration reduction, thereby ensuring the working performance of the second damping device 20.

[0232] In some embodiments, the actuator assembly 100 further includes an upper connection end, which connects the first damping device 10 and the body end of the vehicle 200, thereby connecting the actuator assembly 100 between the wheel 400 end and the body end of the vehicle 200, reducing the difficulty of assembling and connecting the actuator assembly 100 and the vehicle 200, so as to improve the comfort of the vehicle 200 by using the actuator assembly 100.

[0233] In a specific example, when the vehicle 200 is in motion, when the road surface excitation triggers the suspension assembly to vibrate, the lower fork 40 has relative movement with respect to the piston assembly 212 of the second damping device 20. At this time, hydraulic oil flows between the first sub-cavity a1, the second sub-cavity a2 and the outer cavity b, thereby generating a damping force.

[0234] Specifically: when the lower fork arm 40 moves toward the piston assembly 212, the volume of the second sub-cavity a2 decreases and the oil pressure increases. The hydraulic oil in the second sub-cavity a2 flows to the first sub-cavity a1 and the outer cavity b, respectively. When the lower fork arm 40 moves away from the piston assembly 212, the volume of the second sub-cavity a2 increases. At this time, the hydraulic oil in the first sub-cavity a1 and the outer cavity b can flow to the second sub-cavity a2. The damping force generated by the hydraulic oil flowing through the first valve 2122 and the bottom valve assembly 2223 is used for buffering, which can filter out high-frequency low-amplitude vibrations. The remaining vibrations (such as low-frequency high-amplitude and low-frequency low-amplitude vibrations) are transmitted to the first damping device 10 through the second damping device 20. The first damping device 10 generates a damping force to suppress the linear motion of the ball screw assembly, thereby providing the main force and suppressing the body vibration.

[0235] Specifically: When the damping force can counteract the force input by the road vibration, the piston assembly 212 is stationary relative to the ground. When the maximum damping force is less than the force input by the road vibration or the road amplitude is greater than the maximum stroke of the second damping device 20, the piston assembly 212 will generate axial movement. However, since the piston assembly 212 is rigidly connected to the movable shell 121 on the ball screw assembly, this means that when the second damping device 20 cannot absorb the vibration caused by the road excitation, the movable shell 121 on the ball screw assembly will move, that is, the first damping device 10 will generate axial movement.

[0236] It should be noted that the first damping device 10 generates axial movement mainly through the power source 112. The power source 112 drives the lead screw shaft to rotate when energized, and the lead screw shaft drives the movable housing 121 to move, thereby causing the first damping device 10 to generate axial movement.

[0237] In summary, in the actuator assembly 100 of this application, vibrations caused by road surface excitation are first absorbed by the second damping device 20, and redundant vibrations are absorbed by the first damping device 10. When the road surface excitation causes high-frequency vibrations, the first damping device 10 cannot respond quickly, while the second damping device 20 can respond. This indicates that the series assembly of the second damping device 20 and the first damping device 10 has a wider frequency response bandwidth. In addition, it also shows that the second damping device 20 can reduce the workload of the first damping device 10, thus ensuring the lifespan and working accuracy of the actuator assembly 100.

[0238] In some embodiments, the actuator assembly 100 has a first operating mode in which the wheel 400 is excited by the road surface, and the first damping device 10 and the second damping device 20 work together to suppress vehicle body vibration. That is, in the first operating mode, when the wheel 400 is excited by the road surface, both the first damping device 10 and the second damping device 20 output damping forces to resist road surface vibration, thereby improving the vehicle 200's ability to absorb vibration.

[0239] Specifically, in the first operating mode, the second damping device 20 suppresses the vibration of the wheel 400 as follows: during the driving of the vehicle 200, the wheel 400 is excited by the road surface, and the vibration of the wheel 400 can be transmitted to the lower fork arm 40. Since the lower fork arm 40 is connected to the first cylinder 2221, it drives the first cylinder 2221 to move, so that the piston assembly 212 and the second cylinder 2222 move relative to each other. At this time, hydraulic oil flows between the first sub-cavity a1, the second sub-cavity a2 and the outer cavity b, thereby causing the second damping device 20 to generate hydraulic damping force. The generated hydraulic damping force suppresses the vibration of the lower fork arm 40, thereby suppressing the vibration of the vehicle body.

[0240] In the first operating mode, the first damping device 10 is in a passive working state. The first damping device 10 suppresses the vibration of the wheel 400 as follows: During the driving of the vehicle 200, the wheel 400 is excited by the road surface, and the vibration of the wheel 400 can be transmitted to the movable housing 121. Since the movable housing 121 is fixedly connected to the power output end 1132, the power output end 1132 will also generate linear motion, which will drive the power input end 1131 to generate a rotational tendency. Since the power input end 1131 is connected to the power source 112, the power source 112 will generate a rotational tendency. However, since the power source 112 has a stator and a rotor, there is magnetic resistance between the stator and the rotor. The magnetic resistance of the power source 112 prevents the power input end 1131 from rotating, thereby preventing the linear motion of the power output end 1132, thus preventing the linear motion of the movable housing 121, and thus suppressing the vehicle body vibration.

[0241] In some embodiments, the actuator assembly 100 has a second actuation mode in which the power source 112 rotates actively, driving the power output end 1132 to convert the rotational motion into the linear motion of the movable housing 121, thereby driving the wheel 400 to move linearly.

[0242] Understandably, in the second operating mode, when the vehicle 200's anti-sighting system detects undulations in the road surface ahead, the power source 112 actively rotates, causing the power input end 1131 to rotate, which in turn causes the power output end 1132 to move in the first direction. The power output end 1132 then causes the movable housing 121 to move linearly, which in turn causes the wheel 400 to move linearly, thereby achieving real-time control of the wheel 400's height to meet the vehicle 200's real-time requirements for adjusting the vehicle's height.

[0243] Specifically, when the vehicle 200's anti-sighting system detects an undulation in the road surface ahead, and the power source 112 detects a clockwise rotational tendency of the power input terminal 1131, the power source 112 can actively apply a counterclockwise rotational torque to suppress the rotational tendency of the power input terminal 1131; when the power source 112 detects a counterclockwise rotational tendency of the power input terminal 1131, the power source 112 actively applies a clockwise rotational torque to suppress the rotational tendency of the power input terminal 1131.

[0244] Specifically, in the second operating mode, the first damping device 10 suppresses the vibration of the wheel 400 as follows: When the wheel 400 is bumped, the force exerted by the wheel 400 on the lower fork arm 40 is converted into a rotational driving force on the power source 112 through the second damping device 20 and the transmission group 113. The power source 112 rotates, and the control device is connected to the power source 112. The control device obtains the current rotation parameters of the power source 112 and obtains the target rotation parameters based on the aforementioned current rotation parameters. The control device then controls the power source 112 to operate with the target rotation parameters, generating the force in this state. This force is then converted into a damping force on the lower fork arm 40 through the transmission group 113, the movable housing 121, and the second damping device 20. This damping force suppresses the vibration of the vehicle body, achieving the effect of vibration reduction and ensuring smooth vehicle operation.

[0245] The greater the bumps experienced by the wheel 400, the greater the displacement change of the movable housing 121, the faster the rotation speed of the power source 112, the greater the electromagnetic torque generated by the power source 112, and the greater the corresponding damping force, thus suppressing the vibration of the vehicle 200 to a greater extent.

[0246] Specifically, when the power source 112 is energized to cause the transmission assembly 113 to move actively, the rotational speed and direction of the rotor of the power source 112 are controlled by controlling the magnitude and direction of the current, generating a rotational torque to suppress the rotational motion, suppressing the rotation of the power input end 1131, suppressing road excitation, and realizing active tuning control of the vibration system. At the same time, according to the vehicle height sensor, when the vehicle height is too low, the output of the power source 112 is controlled to prevent the actuator assembly 100 from hitting the limit block.

[0247] It should be noted that in the second actuation mode, since the second damping device 20 and the first damping device 10 are connected in series, the piston assembly 212 of the second damping device 20 will move up and down, so that the pressure medium can flow between the first sub-cavity a1 and the second sub-cavity a2, generating a damping force. The damping force generated by the second damping device 20 is opposite to the active force, that is, the damping force of the actuator assembly 100 will be weakened. At this time, the movable shell 121 needs to overcome the damping force of the second damping device 20 in order to complete the active movement.

[0248] The operation of the actuator assembly 100 according to the embodiments of this application will be described in detail below:

[0249] When the first damping device 10 is actively controlled, as shown in Figures 3 and 4, the motor rotates and transmits power to the power input end 1131. The power input end 1131 rotates, driving the power output end 1132 to make linear motion. The power output end 1132 is fixedly connected to the movable shell 121, thereby directly driving the movable shell 121 to move. The movable shell 121 moves toward or away from the fixed shell 111 to realize the height adjustment of the suspension. The power source 112 is constructed as a motor.

[0250] When the actuator assembly 100 is in the first actuation mode, the road excitation is transmitted from the wheel 400 to the lower fork arm 40, and then to the cavity 22 of the second damping device 20. The cavity 22 and the piston assembly 212 generate relative motion. The first valve 2122 and the bottom valve assembly 2223 can be selectively opened or closed under pressure or electronic control. The volumes of the first sub-cavity a1 and the second sub-cavity a2 change. At the same time, the outer cavity b can replenish the pressure medium to the second sub-cavity a2 or contain the pressure medium discharged from the second sub-cavity a2, and generate damping force to counteract the high-frequency road excitation. Meanwhile, the piston assembly 212, through the piston rod 211 and... The movable shell 121 is connected, and the movable shell 121 can further transmit low-frequency road excitation and generate a tendency to rotate the power input end 1131. The motor suppresses the rotation of the power input end 1131 through its own electromagnetic damping force, thereby absorbing the low-frequency road excitation and eliminating the excitation transmitted from different road surfaces to obtain a better driving experience. It should be noted that the first damping device 10 is not energized here. The reverse torque generated by the first damping device 10 itself can be generated by the rotational inertia brought by the weight of the vehicle body, or it can be generated by the electromagnetic damping force between the stator and rotor of the motor itself in the first damping device 10.

[0251] In the first actuation mode, the road surface excitation (which may include high-frequency excitation, at least some low-frequency excitation, etc.) is filtered by the second damping device 20, while at least some of the remaining excitation (such as low-frequency high-amplitude or low-frequency low-amplitude vibration) can be further transmitted to the movable housing 121 and the power output end 1132 through the piston rod 211. The power output end 1132 converts the linear motion into the rotational tendency of the lead screw shaft, and the motor suppresses the rotational tendency of the power input end 1131 through its own generated reverse torque, thereby achieving the purpose of dissipating excitation energy.

[0252] For example, under low-frequency, low-amplitude excitation, both the first damping device 10 and the second damping device 20 may move. The second damping device 20 can be a soft damper (softer damping). After bearing the road excitation, the piston part 21 and the cavity part 22 generate relative movement and cancel the road excitation, so as to achieve vibration filtering through the second damping device 20. If the second damping device 20 is a hard damper (harder damping), then the second damping device 20 can be formed into a rigid body and push the movable part 12 to move towards the fixed part 11 in the first direction, so as to achieve vibration filtering through the first damping device 10. When the amplitude of the road excitation is within the bearing range of the second damping device 20, the one with relatively softer damping, the first damping device 10 or the second damping device 20, bears the road excitation. When both the first damping device 10 and the second damping device 20 reach their bearing limits, the road excitation is transmitted to the vehicle body.

[0253] In other words, the first damping device 10 and the second damping device 20 can achieve coupled vibration filtering, rather than fixedly having all high-frequency excitations filtered by the first damping device 10 and all low-frequency excitations filtered by the second damping device 20. Instead, they can dynamically couple vibration filtering based on the current damping state of the first damping device 10 and the second damping device 20, the road feedback state, etc.

[0254] In the second operating mode, when the wheel 400 experiences bumps, the force exerted by the wheel 400 on the lower fork arm 40 is transmitted to the movable housing 121 via the piston rod 211 of the second damping device 20. The movable housing 121 pushes the power output end 1132, generating a rotational tendency in the power input end 1131. The motor, when energized, generates a reverse torque to suppress the rotation of the power input end 1131, thus inhibiting this rotational tendency. However, the power input end 1131 can still rotate, ultimately achieving the goal of suppressing vehicle vibration. The control device of the actuator assembly 100 can be connected to the motor. The control device acquires the current rotation parameters of the motor and, based on these parameters, obtains the target rotation parameters. The control device then controls the motor to operate at the target rotation parameters to generate the target torque, further suppressing the rotational tendency of the power input end 1131, thereby achieving the effect of suppressing vehicle vibration and ensuring smooth vehicle operation.

[0255] The greater the bumps experienced by the wheel 400, the greater the displacement change between the power input end 1131 and the power output end 1132, the faster the motor rotates, and the greater the electromagnetic torque generated by the motor, which can suppress greater vibrations.

[0256] In other words, in the second operating mode, it can work with the vehicle 200 anti-sighting system to actively control the actuator assembly 100 based on the road surface undulations ahead. By controlling the magnitude and direction of the motor current, road excitation can be suppressed, thereby achieving active adjustment and control of the actuator assembly 100. At the same time, based on the vehicle height sensor, when the vehicle height is too low, the motor output force can be controlled to adjust the suspension height and prevent the suspension from impacting.

[0257] When the motor is powered on, since the second damping device 20 and the first damping device 10 are connected in series, the second damping device 20 will move up and down. The hydraulic oil in the first sub-cavity a1 and the second sub-cavity a2 flows through the first valve 2122, generating a damping force. The damping force generated by the second damping device 20 is opposite to the active force of the first damping device 10. At this time, the first damping device 10 needs to overcome the damping force of the second damping device 20 in order to complete the above-mentioned active adjustment.

[0258] Other configurations and operations of the actuator assembly 100 according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0259] The suspension system 300 of an embodiment of the present invention is described below.

[0260] As shown in Figure 12, a suspension system 300 according to an embodiment of the present invention includes: an actuator assembly 100.

[0261] Among them, the actuator assembly 100 is the aforementioned actuator assembly 100. The specific structure of the actuator assembly 100 will not be described in detail here. There are multiple actuator assemblies 100, and each wheel 400 is provided with one actuator assembly 100.

[0262] As can be seen from the above structure, the suspension system 300 of the present invention, by adopting the aforementioned actuator assembly 100, compensates for the deficiency of insufficient response bandwidth in the prior art suspension system 300, thereby ensuring the working performance of the suspension system 300.

[0263] Referring to FIG12, the vehicle 200 of an embodiment of the present invention will be described below.

[0264] A vehicle 200 according to an embodiment of the present invention includes a suspension system 300.

[0265] Among them, the suspension system 300 is the aforementioned suspension system 300, and the specific structure of the suspension system 300 will not be described in detail here.

[0266] As can be seen from the above structure, the vehicle 200 of this embodiment of the invention can improve the comfort of the vehicle 200 by adopting the aforementioned suspension system 300, thereby enhancing the driving experience.

[0267] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0268] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An actuator assembly, wherein, include: The first damping device (10) includes a fixed part (11) and a movable part (12) that are movable relative to each other in a first direction; A second damping device (20) includes a piston portion (21) and a cavity portion (22) that are relatively movable in the first direction. The piston portion (21) is connected to the movable portion (12), and one of the fixed portion (11) and the cavity portion (22) is adapted to be connected to the vehicle body, and the other is adapted to be connected to the axle or wheel (400). In the second damping device (20), the damping force generated by the relative movement of the piston (21) and the cavity (22) suppresses the road surface excitation of the wheel (400).

2. The actuator assembly according to claim 1, wherein, The movable part (12) and the piston part (21) are coaxially arranged in the first direction.

3. The actuator assembly according to claim 1 or 2, wherein, The second damping device (20) is a bi-tube damper, a mono-tube damper, or a magnetorheological damper.

4. The actuator assembly according to claim 3, wherein, The piston part (21) includes a piston rod (211) and a piston assembly (212), the piston assembly (212) being connected to the piston rod (211), the cavity part (22) including a first connecting shell (221) and a second connecting shell (222) being connected, the first connecting shell (221) and the second connecting shell (222) defining a working cavity, the piston assembly (212) being located in the working cavity, the piston rod (211) passing through the first connecting shell (221) and being connected to the movable part (12), and the cavity part (22) being adapted to move relative to the piston assembly (212) under the action of a pressure medium.

5. The actuator assembly according to claim 4, wherein, The piston rod (211) and the movable shell (121) of the movable part (12) are integrally formed.

6. The actuator assembly according to claim 4 or 5, wherein, The first connecting shell (221) is provided with a guide, which is configured to limit the relative movement direction of the cavity (22) relative to the movable shell (121).

7. The actuator assembly according to claim 6, wherein, The first connecting shell (221) includes a first flange (2211) and a first sleeve (2212). The first sleeve (2212) is configured as the guide. The first flange (2211) is connected to the second connecting shell (222). The first sleeve (2212) is connected to the side of the first flange (2211) away from the second connecting shell (222) and is at least partially sleeved on the outer periphery of the movable shell (121) and slides in cooperation with the movable shell (121).

8. The actuator assembly according to claim 7, wherein, A sliding bearing (30) is provided between the first sleeve (2212) and the movable shell (121).

9. The actuator assembly according to claim 7, wherein, The outer periphery of the first flange (2211) is provided with a connecting part (22111), which is connected to the second connecting shell (222) by fasteners.

10. The actuator assembly according to any one of claims 4-9, wherein, The second connecting shell (222) includes a first cylindrical body (2221) and a second cylindrical body (2222). The first cylindrical body (2221) and the second cylindrical body (2222) are radially spaced apart to divide the working chamber into an inner cavity (a) and an outer cavity (b) that are connected to each other. The second cylindrical body (2222), the first connecting shell (221), and the piston assembly (212) are slidably disposed in the inner cavity (a) and divide the inner cavity (a) into a first sub-cavity (a1) and a second sub-cavity (a2) that are connected to each other. The piston rod (211) is located in the first sub-cavity (a1).

11. The actuator assembly according to claim 10, wherein, The second cylinder (2222) is further provided with a bottom valve assembly (2223) at the end away from the first damping device (10). The bottom valve assembly (2223) is adapted to connect the second sub-cavity (a2) with the outer cavity (b) under pressure to supply pressure medium to the second sub-cavity (a2) or extract pressure medium from the second sub-cavity (a2).

12. The actuator assembly according to claim 11, wherein, One of the bottom walls of the bottom valve assembly (2223) and the first cylinder (2221) is provided with a limiting protrusion (22233) and the other is provided with a limiting groove (22212). The limiting protrusion (22233) is limited and fitted in the limiting groove (22212).

13. The actuator assembly according to claim 11 or 12, wherein, The bottom valve assembly (2223) is provided with a third connecting hole (22231) and a fourth connecting hole (22232) connecting the outer cavity (b) and the second sub-cavity (a2). The third connecting hole (22231) is configured to deliver the pressure medium in the second sub-cavity (a2) to the outer cavity (b) to extract the pressure medium in the second sub-cavity (a2). The fourth connecting hole (22232) is configured to deliver the pressure medium in the outer cavity (b) to the second sub-cavity (a2) to supply the pressure medium to the second sub-cavity (a2).

14. The actuator assembly according to claim 12, wherein, The first cylindrical body (2221) is provided with a second flange (22211) at one end facing the first connecting shell (221), and the second flange (22211) is connected to the first connecting shell (221).

15. The actuator assembly according to any one of claims 10-14, wherein, The second damping device (20) further includes a retainer (23), which is disposed between the first cylinder (2221) and the second cylinder (2222) and is adapted to fix the second cylinder (2222).

16. The actuator assembly according to claim 15, wherein, The retainer (23) is also provided with a seal (24) on the side opposite to the second cylinder (2222).

17. The actuator assembly according to any one of claims 10-16, wherein, The piston assembly (212) includes a piston body (2121) and a first valve (2122) disposed on the piston body (2121). The piston body (2121) is connected to the piston rod (211). The first valve (2122) is adapted to communicate the first sub-chamber (a1) and the second sub-chamber (a2) under pressure.

18. The actuator assembly according to claim 17, wherein, The second damping device (20) includes a limiting component configured to limit the relative range of movement between the piston assembly (212) and the second connecting shell (222).

19. The actuator assembly according to claim 18, wherein, The limiting assembly includes a first limiting member and a buffer member (2123) spaced apart. In the first direction, the first limiting member is located between the second connecting shell (222) and the movable shell (121), and the buffer member (2123) is located on the side of the piston body (2121) facing the first damping device (10). The first limiting member and the buffer member (2123) cooperate to limit the relative movement range of the piston assembly (212) and the cavity (22).

20. The actuator assembly according to claim 19, wherein, Both the first limiting member and the buffer member (2123) are formed as elastic members.

21. The actuator assembly according to any one of claims 17-20, wherein, The first valve (2122) is provided with a first connecting hole and a second connecting hole. The first connecting hole is configured to transport the pressure medium in the first sub-cavity (a1) to the second sub-cavity (a2), and the second connecting hole is configured to transport the pressure medium in the second sub-cavity (a2) to the first sub-cavity (a1).

22. The actuator assembly according to any one of claims 1-21, wherein, The fixed part (11) includes a fixed shell (111), a power source (112), and a transmission assembly (113). The power source (112) is disposed inside the fixed shell (111), and the fixed shell (111) is movably connected to the movable shell (121). The transmission assembly (113) includes a power input end (1131) and a power output end (1132). The power input end (1131) is poweredly connected to the power source (112), and the power output end (1132) is disposed in the movable shell (121) and poweredly connected to the power input end (1131).

23. The actuator assembly according to claim 22, wherein, The power source (112) is used to drive the power input end (1131), and the power output end (1132) is used to convert the rotation of the power input end (1131) into the movement of the power output end (1132) along the first direction.

24. The actuator assembly according to claim 22 or 23, wherein, The transmission assembly (113) is constructed as a ball screw transmission unit or a gear and rack transmission unit.

25. The actuator assembly according to any one of claims 22-24, wherein, The fixed housing (111) includes a motor housing (1111) and a guide housing (1112). The power source (112) is disposed in the motor housing (1111). One end of the guide housing (1112) is connected to the motor housing (1111), and the other end forms an opening. At least a portion of the movable housing (121) is disposed relatively movable within the guide housing (1112) through the opening.

26. The actuator assembly according to claim 25, wherein, The guide shell (1112) includes a first shell section (11121), a second shell section (11122), and a third shell section (11123) connected sequentially in the first direction. The first shell section (11121) is connected to the motor shell (1111) via a flange. The second shell section (11122) is adapted to accommodate the transmission assembly (113) and to limit the stroke of the transmission assembly (113). The third shell section (11123) is sleeved on the movable shell (121) and is adapted to provide motion guidance for the movable shell (121).

27. The actuator assembly according to any one of claims 22-26, wherein, The movable housing (121) has a receiving cavity adapted to receive at least a portion of the power output terminal (1132) and the power input terminal (1131).

28. The actuator assembly according to any one of claims 22-27, wherein, The power input end (1131) and the piston part (21) are coaxially arranged in the first direction.

29. The actuator assembly according to claim 10, wherein, It also includes a lower fork arm (40), which is connected to the first cylinder (2221), or the first cylinder (2221) and the lower fork arm (40) are integrally formed.

30. A suspension system, wherein, include: The actuator assembly according to any one of claims 1-29.

31. A vehicle, wherein, include: The suspension system of claim 30.

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