WO2023216247A1

WO2023216247A1 - Actuator and gear shifting system

Info

Publication number: WO2023216247A1
Application number: PCT/CN2022/092774
Authority: WO
Inventors: 雷鹰; 王书元; 吉裕兰; 甘伟彪
Original assignee: 舍弗勒技术股份两合公司
Priority date: 2022-05-13
Filing date: 2022-05-13
Publication date: 2023-11-16

Abstract

An actuator comprises: a speed reduction mechanism (9), a motor (10) and a rotating hub (11). The speed reduction mechanism (9) is rotatably connected to the motor (10) and the rotating hub (11) respectively. The outer peripheral surface of the rotating hub (11) is provided with a groove having an inclination angle in a circumferential direction. The rotating hub (11) converts rotational motion in the circumferential direction into linear motion by means of the groove so as to output power. The speed reduction mechanism (9) and the motor (10) are at least partially integrated inside the rotating hub (11). The motor (10) supports the rotating hub (11). In the actuator, the speed reduction mechanism and the motor are integrated inside the rotating hub to save the arrangement space of the actuator. Moreover, the transmission efficiency is higher, a large speed ratio can be achieved in a limited space, and at the same time large output power is provided. Further disclosed is a gear shifting system.

Description

Actuator and gear shifting system

Technical field

The invention relates to the field of vehicle transmission technology, and in particular to an actuator and a gear shifting system.

Background technique

In the field of vehicle transmission technology, actuators for transmission shifting systems drive the shift forks and parking mechanisms. In the current actuator, the external motor amplifies the torque and transmits it to the rotating hub through a set of spur gears. The rotating hub converts the rotational motion into the dial and parking drive on the drive fork shaft through the grooves on its surface. The linear movement of the shift finger on the bracket drives the shift fork to complete the shifting action. By driving the axial movement of the connecting rod, connecting rod spring, and parking gear, the engagement or disengagement of the pawl and the ratchet wheel is completed, and the parking locking and unlocking functions are completed.

The existing motor is arranged outside the actuator, and the motor and reduction mechanism occupy a large space. Under the same space, the actuator speed ratio and output torque have greater limitations.

Contents of the invention

In order to solve the above technical problems, the present invention provides an actuator and a shifting system.

The actuator provided by the embodiment of the present invention includes: a reduction mechanism, a motor and a rotating hub. The reduction mechanism is rotatably connected to the motor and the rotating hub respectively. The outer circumferential surface of the rotating hub has a groove with an inclination angle along the circumferential direction, and the rotating hub converts rotational motion in the circumferential direction into linear motion through the groove to provide power output. Wherein, the reduction mechanism and the motor are at least partially integrated inside the rotating hub, and the motor supports the rotating hub.

According to some embodiments of the present invention, the motor includes a motor housing, a motor coil assembly, a motor back cover, a rotor assembly and an electromagnetic sensor; wherein, the motor housing, the motor coil assembly, and The rotor assembly is integrated inside the motor housing, the electromagnetic sensor is integrated inside the main body of the motor back cover; and the motor housing is at least partially disposed inside the rotating hub to support the Turn the hub.

According to some embodiments of the present invention, the actuator further includes a first bearing, and the first bearing is disposed between the motor housing and the rotating hub to carry the load between the motor housing and the rotating hub. radial load.

According to some embodiments of the present invention, the deceleration mechanism is a planetary gear train deceleration mechanism, including a planet carrier, a planet wheel and a sun gear; wherein the planet carrier of the deceleration mechanism is integrated with the motor housing. In the structure, the planet gear is interference-fitted on the rotating hub through a pin shaft for power output, and the sun gear is interference-fitted on the rotor assembly to transmit the torque output by the motor.

According to some embodiments of the present invention, the deceleration mechanism is a harmonic reducer, including a wave generator, a flexspline, a fixed wheel and a driving wheel; wherein, the inner ring of the wave generator and the rotor assembly connection, the input torque of the motor is transmitted to the outer ring of the wave generator through the steel ball of the wave generator, and the outer ring transmits the torque to the flexspline, and the flexspline meshes with the fixed wheel and the driving wheel respectively. , the fixed wheel is connected to the motor housing, the driving wheel is connected to the rotating hub through a convex structure in the circumferential direction of the rotating hub, and the torque is transmitted to the hub.

According to some embodiments of the present invention, a plurality of first window structures are provided at the front end of the rotating hub, and the first window structures are configured to allow lubricating oil to pass through and flow into the interior of the rotating hub.

According to some embodiments of the present invention, the rotating hub is provided with a protruding positioning portion for positioning the initial position of the rotating hub for rotation.

According to some embodiments of the present invention, a guide slope is provided on the outer circumferential surface of the front end of the motor housing; on the front end portion of the motor housing, the diameter of sections A to B of the motor housing Smaller than the diameter of sections C to D, sections C to D have an interference fit with the inner ring of the first bearing.

According to some embodiments of the present invention, a gap is provided between the rotating hub and the motor housing, and lubricating oil can enter the rotating hub through the gap to provide lubrication function for the deep groove ball bearing.

An embodiment of the present invention also provides a shifting system, including the actuator, shifting mechanism and parking mechanism as described above. Wherein, the shifting mechanism and the parking mechanism are movably engaged with the groove; the actuator converts its own rotational motion through the groove into the shifting mechanism and the parking mechanism along its own axial direction. linear motion in the direction.

The invention provides an actuator and a shifting system. By integrating the reduction mechanism and the motor inside the rotating hub, a highly integrated actuator is realized, which saves on the actuator and the shifting system using the above actuator. The layout space is smaller, and the transmission efficiency is higher. A larger speed ratio can be achieved in a limited space, and at the same time, it has a larger output torque. In addition, through the design of the groove on the rotating hub, one motor can provide multiple output functions.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 shows a perspective view of a gear shifting system according to an embodiment of the present invention;

Figure 2 shows a cross-sectional view of an actuator according to an embodiment of the invention;

Figure 3 shows a perspective view of an actuator according to an embodiment of the present invention;

Figure 4 shows a partial cross-sectional view of an actuator according to an embodiment of the invention;

Figure 5 shows a cross-sectional view of an actuator according to an embodiment of the invention;

Figure 6 shows a perspective view of a rotating hub according to an embodiment of the present invention;

Figure 7 shows a cross-sectional view of a motor housing according to an embodiment of the invention;

Figure 8 shows a perspective view of an actuator according to yet another embodiment of the present invention;

Figure 9 shows a partial cross-sectional view of an actuator according to yet another embodiment of the present invention;

Figure 10 shows a schematic cross-sectional view of an actuator according to yet another embodiment of the present invention;

Figure 11 shows a partial cross-sectional view of an actuator according to yet another embodiment of the present invention;

Figure 12 shows a partial cross-sectional view of an actuator according to yet another embodiment of the present invention;

Figure 13 shows a schematic diagram of a driving wheel according to yet another embodiment of the present invention.

It should be understood that the above-described drawings are schematic only and are not drawn to actual scale.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings of the embodiments of the present disclosure. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the described embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art fall within the scope of protection of the present invention.

Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this application shall have the usual meanings understood by those with ordinary skills in the field to which this invention belongs. Similar words such as "include" or "include" used in the embodiments of the present invention mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. . “Up”, “down”, etc. are only used with respect to the orientation of the components in the drawings. These directional terms are relative concepts and are used for relative description and clarification, which can be determined according to the drawings. The components change accordingly as the orientation in which they are placed changes.

The actuator provided by the present invention can be applied to the shifting system of a vehicle transmission. In addition, the actuator of the present invention is not limited to use in gear shifting systems, but can also be used in other actuators that convert circumferential rotational motion into linear motion.

The object of the present invention is to provide an actuator, which realizes a highly integrated actuator by integrating the reduction mechanism and the motor inside the rotating hub.

The present invention provides some embodiments, taking the application of the actuator in a shifting system of a vehicle transmission as an example for illustration. FIG. 1 shows a perspective view of a gear shifting system according to an embodiment of the present invention. As shown in Figure 1, the shift system includes: an actuator 1, a shift mechanism 2 and a parking mechanism 3; the outer peripheral surface of the actuator 1 has a groove with a certain inclination angle along the circumferential direction. The gear mechanism 2 and the parking mechanism 3 are movably engaged with the groove, and the actuator 1 converts its own rotational motion through the groove into the gear shift mechanism 2 and the parking mechanism 3 along its own axial direction. linear motion.

Specifically, the shift mechanism 2 also includes a shift finger 4 and a shift fork 5. The actuator 1 drives the shift finger 4 to move linearly along its own axial direction through the groove, thereby driving the The shift fork 5 moves linearly along the axial direction to realize the shifting function of the transmission. In addition, the parking mechanism 3 includes a parking lock bracket 6 , a parking pawl 7 and a parking gear 8 . The actuator 1 is also used to drive the parking lock bracket 6 to make linear motion along its own axial direction through the groove, and then drive the parking pawl 7 to rotate to engage or separate from the parking gear 8 to achieve parking. And release the parking function.

Figure 2 shows a cross-sectional view of an actuator according to an embodiment of the invention. As shown in Figure 2, the actuator 1 includes: a reduction mechanism 9, a motor 10 and a rotating hub 11. Wherein, the reduction mechanism 9 and the motor 10 are integrated inside the rotating hub 11; the reduction mechanism 9 is rotationally connected with the motor 10 and the rotating hub 11 respectively; the motor 10 supports the rotating hub 11. Wherein, the groove is provided on the outer peripheral surface of the rotating hub 11 .

Specifically, the motor 10 includes: a motor housing 20, a motor coil assembly 29, a motor back cover 26, a rotor assembly 27 and an electromagnetic sensor 28; the electromagnetic sensor 28 may be a Hall sensor (PCBA). The motor housing 20 , motor coil assembly 29 , and rotor assembly 27 are integrated inside the motor housing 20 , and the electromagnetic sensor 28 is integrated inside the main body of the motor back cover 26 . The motor housing 20 is at least partially disposed inside the rotating hub 11 to support the rotating hub 11 . The motor housing 20 and the motor back cover 26 can be made of plastic materials or metal materials that meet strength requirements. Optionally, the motor 10 further includes a motor bearing 25 , which is disposed between the motor housing 20 and the rotor assembly 27 to support the rotational motion of the rotor assembly 27 .

Furthermore, an oil slinger 24 is provided between the motor housing 20 and the rotor assembly 27 , and the oil slinger 24 may be made of metal material. A sealing ring 30 is provided between the motor housing 20 and the motor back cover 26. The sealing ring 30 may be made of rubber material. The oil deflector ring 24 and the sealing ring 30 are used to prevent external liquid and solid impurities from entering the interior of the motor 10 .

In some optional embodiments, the actuator 1 further includes a first bearing 12 , which is disposed between the motor housing 20 and the rotating hub 11 to carry the motor housing 20 and the radial load between the rotating hub 11. Wherein, the first bearing 12 may be a deep groove ball bearing. Furthermore, a retaining spring 21 is provided in the axial direction of the first bearing 12 to axially constrain the first bearing 12 . Optionally, the first bearing 12 is provided with circlips 21 on both the front and rear sides in the axial direction.

In some optional embodiments, the deceleration mechanism 9 is a planetary gear train deceleration mechanism, including a planet carrier, a planet gear and a sun gear. The planetary gear train deceleration mechanism is integrated into the inner front end of the motor housing 20 , and the inner front end of the motor housing 20 is disposed inside the rotating hub 11 . Furthermore, the external ring gear of the reduction mechanism 9 and the motor housing 20 are integrated into an integrated structure, and the planetary gear is interference-fitted on the rotating hub 11 through the pin 13 for power output. The sun gear of the reduction mechanism 9 is interference-pressed on the rotor assembly 27 to transmit the torque output by the motor 10.

Specifically, the planetary gear train deceleration mechanism may be a one-stage, two-stage or three-stage planetary gear train deceleration mechanism. Referring to Figure 2, the planetary gear train deceleration mechanism may be a three-stage planetary gear train deceleration mechanism. In the three-stage planetary gear train deceleration mechanism, the third-stage ring gear and the motor housing 20 are integrated into an integrated structure. , that is, the inner circumferential surface of the motor housing 20 has gear teeth that mesh with the third-stage planetary gear 14. The third-stage planetary gear 14 is interference-fitted on the rotating hub 11 through the pin 13 and serves as the power output end. The rotating hub 11 is equivalent to the third-stage planet carrier. The sun gear of the third-stage reduction mechanism and the planet carrier of the second-stage reduction mechanism are a common component, that is, the second-stage planet carrier 15. The sun gear of the second-stage reduction mechanism and The first-stage planetary carrier is a common component, namely the first-stage planetary carrier 17 . The rotor assembly 27 of the motor 10 is interference-pressed and installed on the first-stage sun gear 19. The rotor assembly 27 of the motor 10 transmits the input torque to the first-stage planetary gear of the first-stage reduction mechanism through the sun gear 19. 18, and then transmitted to the second-stage planetary gear 16 of the second-stage reduction mechanism through the first-stage planetary carrier 17 of the first-stage reduction mechanism, and then transmitted to the third-stage through the second-stage planetary carrier 15 of the second-stage reduction mechanism. The third-stage planetary gear 14 of the reduction mechanism is finally transmitted to the rotating hub 11 through the pin 13, causing the rotating hub 11 to rotate, thereby driving the shifting mechanism 2 and the parking mechanism 3.

Optionally, there are multiple pins 13 , such as three. The pins 13 can be made of metal material. The number of pins 13 matches the number of the third-stage planet gears 14 , especially the same number. .

Further, as shown in Figure 2, in the actuator 1 using a planetary gear train reduction mechanism, the actuator 1 also includes a second bearing 22, and the second bearing 22 is provided between the rotating hub 11 and the between the transmission housing to carry the radial load between the transmission housing and the rotating hub 11 .

Figure 3 shows a schematic perspective view of the actuator 1 according to an embodiment of the invention. In some embodiments, as shown in Figures 2-3, a plurality of first window structures 111 are provided at the front end of the rotating hub 11, and the first window structures 111 are configured to allow lubricating oil to pass and flow into the rotating hub 11 to provide lubrication function to the reduction mechanism 9 . Furthermore, the rotating hub 11 is also provided with a protruding positioning portion 112 to locate the initial position for the rotation of the rotating hub 11. For example, the positioning portion 112 can be set to rotate to a certain position as the initial position. In order to more accurately drive the shifting of the shifting mechanism 2 and the parking and releasing of the parking mechanism 3.

Figure 4 shows a partial cross-sectional view of the actuator 1 according to an embodiment of the invention. In some embodiments, as shown in FIG. 4 , a gap 41 is provided between the rotating hub 11 and the motor housing 20 , and lubricating oil can enter the rotating hub 11 through the gap 41 to provide lubrication to the first bearing 12 Function.

FIG. 5 shows a cross-sectional view of the actuator according to an embodiment of the present invention; FIG. 6 shows a perspective view of the rotating hub 11 according to an embodiment of the present invention. Referring to Figures 5-6, in some embodiments, a raised support surface 113 is provided on the inner end surface of the front end of the rotating hub 11 to provide support for the third-stage planetary gear 14 and the third-stage planetary gear 14 of the third-stage reduction mechanism. The third stage sun gear (ie, the second stage planet carrier 15) provides axial support. The number and position of the supporting surfaces 113 correspond to the number and position of the third-stage planet gears 14 and the second-stage planet carrier 15 . Specifically, for example, as shown in FIGS. 5-6 , the second-stage planetary carrier 15 has one, which is located on the axis of the reduction mechanism 9 , and the third-stage planetary gear 14 has three, which are evenly distributed on the third-stage planetary gear. The outer periphery of the second-stage planet carrier 15 is meshed with it, so four supporting surfaces 113 are provided at positions corresponding to the axial direction of the third-stage planet gear 14 and the second-stage planet carrier 15 . By providing these supporting surfaces 113, the processing area and cost can be reduced.

Figure 7 shows a cross-sectional view of the motor housing 20 according to an embodiment of the invention. In some embodiments, as shown in FIG. 7 , the motor housing 20 is generally in the shape of an axial combination of two cylinders with a diameter at the front end that is smaller than the diameter at the rear end. Wherein, the front end portion of the motor housing 20 is disposed inside the rotating hub 11 , and the inner peripheral surface of the front end portion of the motor housing 20 has gear teeth that mesh with the third-stage planetary gear 14 to simultaneously As the third-stage ring gear of the reduction mechanism 9, the motor 10 and the reduction mechanism 9 are integrated.

Further, as shown in FIG. 7 , in order to make it easier for the motor housing 20 to enter the inside of the rotating hub 11 and to make it easier to install the circlip 21 , the outer peripheral surface of the front end of the motor housing 20 has a Guide ramp 201. Furthermore, on the motor housing 20 , the diameters of the sections A to B of the motor housing 20 are smaller than the diameters of the sections C to D, so that the sections A to B are in contact with the first bearing. The inner ring of 12 is a clearance fit, and the sections C to D are an interference fit with the inner ring of the first bearing 12. This makes the first bearing 12 more convenient to assemble and has a shorter press-fitting stroke.

Further, as shown in FIG. 7 , the interior of the motor housing 20 has a limiting portion 23 protruding toward the reduction mechanism 9 in the axial direction to limit and support the reduction mechanism 9 in the axial direction. By providing the limiting portion 23, the processing area and cost can be reduced.

Figure 8 shows a perspective view of an actuator according to yet another embodiment of the present invention. In other optional embodiments, the deceleration mechanism 9 can also be a harmonic decelerator, including a wave generator, a flexspline 36, a fixed wheel 35 and a driving wheel 34; wherein, the inner ring of the wave generator 39 is connected to the rotor assembly 27, and transmits the input torque of the motor 10 to the outer ring 37 of the wave generator through the steel ball 40 of the wave generator, and the outer ring 37 transmits the torque to the flexspline 36, so The flexspline 36 meshes with the fixed wheel 35 and the driving wheel 34 respectively. There is a gap between the driving wheel 34 and the fixed wheel 35 . The fixed wheel 35 is connected to the motor housing 20 . The driving wheel 34 is connected to the rotating hub 11 through the convex structure in the circumferential direction of the rotating hub 11 , and transmits torque to the hub 11 .

Further, as shown in Figure 8, in the actuator 1 using a harmonic reducer, the actuator 1 also includes a third bearing 32, and the third bearing 32 is provided between the reduction mechanism 9 and the rotating hub 11. , to carry the radial load between the reduction mechanism 9 and the rotating hub 11 .

Further, FIG. 9 shows a partial cross-sectional view of the actuator according to yet another embodiment of the present invention, and FIG. 10 shows a cross-sectional schematic view of the actuator according to yet another embodiment of the present invention. The connection method between the fixed wheel 35 of the harmonic reducer and the motor housing 20 may be riveting, welding or threaded connection. As shown in Figures 8-10, the fixed wheel 35 is connected to the motor housing 20 through rivets 38. The inner hole of the fixed wheel 35 cooperates with the flange protruding from the front end of the motor housing 20 to achieve radial positioning.

Figure 11 shows a partial cross-sectional view of an actuator according to yet another embodiment of the present invention. As shown in Figure 11, in the actuator 1 using a harmonic reducer, the third bearing 32 and the fixed wheel 35 are connected by a press fit. The fixed wheel 35 has a first step portion 351 protruding toward the radially outer side. On the radially inner portion of the third bearing 32 , the axial side of the third bearing 32 is limited by the first step portion 351 , and the axial side of the third bearing 32 is A retaining spring 21 is provided on the other side to limit the third bearing 32 in the axial direction. The third bearing 32 is used to support the rotational motion of the rotating hub 11 and bear the shifting force in the axial direction.

Further, as shown in FIG. 11 , the third bearing 32 and the rotating hub 11 are connected by a press fit. The rotating hub 11 has a second step portion 114 protruding radially inward. On the radially outer portion of the third bearing 32 , one axial side of the bearing 12 is limited by the second step portion 114 , and the other axial side of the third bearing 32 is limited. The side is limited by the driving wheel 34 stop. The plane of the first step portion 351 facing the third bearing 32 and the plane of the second step portion 114 facing the third bearing 32 are substantially on the same plane, and the circlip 21 faces the third bearing 32 . The plane of the bearing 32 is substantially on the same plane as the plane of the driving wheel 34 facing the third bearing 32 .

Further, the driving wheel 34 is connected to the shift drum 11 through a bending process on the rotating hub 11, that is, the rotating hub 11 forms an annular recessed structure 115 on the radial inner side corresponding to the driving wheel 34, so The recess structure 115 can accommodate the radially outer end of the driving wheel 34 and limit and engage the driving wheel 34 in the axial direction.

Figure 12 shows a partial cross-sectional view of an actuator according to yet another embodiment of the invention. As shown in Figure 12, the plane extending radially inward of the driving wheel 34 and the fixed wheel 35 is also used to limit the movement of the flexspline 36 and the outer ring 37 of the wave generator to avoid the flexspline 36 and the outer ring 37 of the wave generator. The outer ring 37 is separated from the reduction mechanism 9 . In addition, the inner ring 39 of the wave generator and the motor rotor 27 are connected by a press fit.

Figure 13 shows a schematic diagram of a driving wheel according to yet another embodiment of the present invention. As shown in Figure 13, in the actuator 1 using a harmonic reducer, the driving wheel 34 is also provided with a plurality of second window structures 341 arranged in the circumferential direction to allow lubricating oil to enter the reduction mechanism 9, and then Lubricate the reduction mechanism 9 and the third bearing 32.

According to the embodiment of the present application, by at least partially integrating the reduction mechanism 9 and the motor 10 inside the rotating hub 11, a highly integrated actuator 1 is achieved, saving the actuator and replacement of the actuator. It reduces the layout space of the transmission system, and the transmission efficiency is higher. A larger speed ratio can be achieved in a limited space, and at the same time, it has a larger output torque. In addition, through the design of the groove on the outer circumferential surface of the rotating hub 11, one motor can provide multiple output functions.

It should be understood that "front" in the present invention refers to the direction in which the motor faces the rotating hub in the axial direction, that is, the left direction in the schematic diagrams of Figures 1 and 8, and "rear" refers to the direction in the axial direction. The direction in which the above-mentioned motor is away from the rotating hub is the right direction in the schematic diagrams of Figures 1 and 8 .

Although possible embodiments are exemplarily described in the above description, it should be understood that there are still numerous variations of the embodiments through combinations of all known technical features and embodiments that are otherwise readily apparent to the skilled person. Furthermore, it should be understood that the exemplary embodiments are merely examples, and such embodiments do not limit the scope, application, and configuration of the present invention in any way. The foregoing description is intended to provide skilled persons with technical guidance for transforming at least one exemplary embodiment, in which various changes may be made without departing from the scope of the claims, especially regarding the Changes in the functionality and structure of components.

List of reference signs

1. Actuator; 2. Shift mechanism; 3. Parking mechanism; 4. Shift finger; 5. Shift fork; 6. Lock bracket; 7. Parking pawl; 8. Parking gear; 9. Reduction mechanism; 10. Motor; 11. Rotating hub; 111. First window structure; 112. Positioning part; 113. Supporting surface; 114. Second step part; 115. Recessed part structure; 12. First bearing; 13 .Pin shaft; 14. Third stage planet gear; 15. Second stage planet carrier; 16. Second stage planet wheel; 17. First stage planet carrier; 18. First stage planet wheel; 19. First stage sun wheel; 20. Motor housing; 201. Guide ramp; 21. Snap spring; 22. Second bearing; 23. Limiting part; 24. Oil retaining ring; 25. Motor bearing; 26. Motor back cover; 27. Rotor assembly; 28. Electromagnetic sensor; 29. Motor coil assembly; 30. Seal ring; 32. Third bearing; 34. Driving wheel; 341. Second window structure; 35. Fixed wheel; 351. First step part ; 36. Flexspline; 37. Outer ring; 38. Rivet; 39. Inner ring; 40. Steel ball; 41. Gap.

Claims

An actuator: including a reduction mechanism (9), a motor (10) and a rotating hub (11). The reduction mechanism (9) is rotatably connected to the motor (10) and the rotating hub (11) respectively;

Wherein, the outer circumferential surface of the rotating hub (11) is provided with at least partially grooves extending in the circumferential direction and the axial direction;

It is characterized by:

The reduction mechanism (9) and the motor (10) are at least partially integrated inside the rotating hub (11), and the motor (10) supports the rotating hub (11).
The actuator according to claim 1, characterized in that the motor (10) includes a motor housing (20), a motor coil assembly (29), a motor back cover (26), and a rotor assembly (27). and electromagnetic sensors (28);

Wherein, the motor coil assembly (29) and rotor assembly (27) are integrated inside the motor housing (20), and the electromagnetic sensor (28) is integrated on the back cover (26) of the motor. internally; and

The motor housing (20) is at least partially disposed inside the rotating hub (11) to support the rotating hub (11).
Actuator according to any one of the preceding claims, characterized in that

The actuator (1) also includes a first bearing (12), which is disposed between the motor housing (20) and the rotating hub (11) to carry the motor housing (20) and the radial load between the rotating hub (11).
Actuator according to any one of the preceding claims, characterized in that

The deceleration mechanism (9) is a planetary gear train deceleration mechanism, including a planet carrier, a planet wheel and a sun wheel; wherein the planet wheel is interference-fitted on the rotating hub (11) through a pin (13) for power. output, the sun gear is interference-pressed on the rotor assembly (27) to transmit the torque output by the motor (10), and the motor housing (20) serves as the planetary gear train deceleration mechanism. Ring gear; preferably, the deceleration mechanism (9) is a multi-stage planetary gear train deceleration mechanism, preferably two-stage, three-stage or four-stage, especially the planet carrier of the upper stage planetary gear train serves as the next stage planetary gear train. of the sun wheel.
The actuator according to any one of the preceding claims, characterized in that the deceleration mechanism (9) is a harmonic decelerator, including a wave generator, a flexspline (36), a fixed wheel (35) and a driving wheel. (34); wherein, the inner ring (39) of the wave generator is connected to the rotor assembly (27), and the input torque of the motor (10) is transmitted to the wave generator through the steel ball (40) of the wave generator. The outer ring (37) of the device transmits torque to the flexspline (36), and the flexspline (36) meshes with the fixed wheel (35) and the driving wheel (34) respectively. , the fixed wheel (35) is connected to the motor housing (20), the driving wheel (34) is connected to the rotating hub (11) through the convex structure in the circumferential direction of the rotating hub (11), And transmits the torque to the wheel hub (11).
The actuator according to any one of the preceding claims, characterized in that a plurality of first window structures (111) are provided at the front end of the rotating hub (11), and the first window structures (111) are configured In order to allow the lubricating oil to pass and flow into the inside of the rotating hub (11).
The actuator according to any one of the preceding claims, characterized in that the rotating hub (11) is provided with a protruding positioning portion (112) for locating the rotating hub (11). Rotate the initial position.
The actuator according to any one of the preceding claims, characterized in that the outer peripheral surface of the front end of the motor housing (20) is provided with a guide slope (201); On the front end part, the diameter of sections A to B of the motor housing (20) is smaller than the diameter of sections C to D, and the sections C to D interfere with the inner ring of the first bearing (12). Cooperate.
The actuator according to any one of the preceding claims, characterized in that a gap (41) is provided between the rotating hub (11) and the motor housing (20) through which lubricating oil can pass Enter the rotating hub to provide lubrication for the deep groove ball bearing (22).
A shifting system, including the actuator (1), shifting mechanism (2) and parking mechanism (3) as claimed in any one of claims 1 to 9;

Wherein, the shifting mechanism (2) and the parking mechanism (3) are movably engaged with the groove; the actuator (1) converts its own rotational motion into the shifting motion through the groove. The mechanism (2) and the parking mechanism (3) move linearly along their own axial direction.