PATENT DOCUMENT

Publication Number: US-11707961-B1
Application Number: US-202117194647-A
Country: US
Kind Code: B1

Title: Actuator with reinforcing structure for torsion resistance

Abstract:
A suspension actuator includes a first housing part, a second housing part, a ball screw actuator that is connected to the first housing part and to the second housing part, and an air spring membrane that is connected to the first housing part and to the second housing part. The air spring membrane includes a flexible material and a reinforcing structure that is disposed within the flexible material to resist torsion loads that are applied to the second housing part by the ball screw actuator.

Claims:
What is claimed is: 
     
       1. A suspension actuator, comprising:
 a first housing part; 
 a second housing part; 
 a ball screw actuator that is connected to the first housing part and to the second housing part; and 
 an air spring membrane that is connected to the first housing part and to the second housing part, 
 wherein the air spring membrane includes a flexible material and a reinforcing structure that is disposed within the flexible material to resist torsion loads that are applied to the second housing part by the ball screw actuator. 
 
     
     
       2. The suspension actuator of  claim 1 , wherein:
 the reinforcing structure includes cords that are arranged at a non-zero angle relative to an axial direction of the suspension actuator, 
 the cords are formed from a textile material, 
 the air spring membrane is connected to the first housing part and to the second housing part in a rolling lobe configuration, 
 the air spring membrane is part of an air spring that includes a working gas that is disposed in an internal chamber that is defined in the first housing part and the second housing part, 
 the ball screw actuator includes a rotor, 
 the ball screw actuator includes a stator that is operable to rotate the rotor as a result of electromagnetic interaction between the stator and the rotor, 
 the ball screw actuator includes a shaft that is connected to the second housing part, and 
 the ball screw actuator includes a ball nut that is connected to the rotor and engages the shaft to linearly translate the shaft with respect to the ball nut in response to rotation of the ball nut. 
 
     
     
       3. The suspension actuator of  claim 1 , wherein the reinforcing structure of the air spring membrane includes cords that are arranged at a non-zero angle relative to an axial direction of the suspension actuator. 
     
     
       4. The suspension actuator of  claim 3 , wherein the cords of the reinforcing structure of the air spring membrane are formed from a textile material. 
     
     
       5. The suspension actuator of  claim 3 , wherein the cords of the reinforcing structure of the air spring membrane are formed from metal. 
     
     
       6. The suspension actuator of  claim 1 , wherein the reinforcing structure of the air spring membrane includes a first reinforcing layer having first cords that are arranged at a first non-zero angle relative to an axial direction of the suspension actuator and the reinforcing structure of the air spring membrane includes a second reinforcing layer having second cords that are arranged at a second non-zero angle relative to the axial direction of the suspension actuator. 
     
     
       7. The suspension actuator of  claim 6 , wherein the first cords and the second cords define a crisscross pattern. 
     
     
       8. The suspension actuator of  claim 1 , wherein the air spring membrane is connected to the first housing part and to the second housing part in a rolling lobe configuration. 
     
     
       9. The suspension actuator of  claim 1 , wherein the ball screw actuator includes a rotor, a stator that is operable to rotate the rotor as a result of electromagnetic interaction between the stator and the rotor, a shaft that is connected to the second housing part, and a ball nut that is connected to the rotor and engages the shaft to linearly translate the shaft with respect to the ball nut in response to rotation of the ball nut. 
     
     
       10. The suspension actuator of  claim 1 , wherein the ball screw actuator does not include a ball spline nut that resists the torsion loads. 
     
     
       11. A suspension actuator, comprising:
 a top mount; 
 a bottom mount; 
 a first load path between the top mount and the bottom mount that includes an air spring; and 
 a second load path between the top mount and the bottom mount that includes a screw actuator having an output torque, 
 wherein the air spring includes an air spring membrane having a flexible material and a reinforcing structure that is disposed within the flexible material to react the output torque of the screw actuator. 
 
     
     
       12. The suspension actuator of  claim 11 , wherein the reinforcing structure of the air spring membrane includes cords that are oriented to resist the output torque. 
     
     
       13. The suspension actuator of  claim 12 , wherein the air spring membrane is an annular structure and the cords of the reinforcing structure of the air spring membrane extend in a circumferential direction of the air spring membrane. 
     
     
       14. The suspension actuator of  claim 12 , wherein the cords of the reinforcing structure of the air spring membrane are formed from a textile material. 
     
     
       15. The suspension actuator of  claim 12 , wherein the cords of the reinforcing structure of the air spring membrane are formed from metal. 
     
     
       16. The suspension actuator of  claim 11 , wherein the reinforcing structure of the air spring membrane includes a first reinforcing layer having first cords, the reinforcing structure of the air spring membrane includes a second reinforcing layer having second cords, and the first cords and the second cords are arranged in a grid pattern. 
     
     
       17. A vehicle, comprising:
 a vehicle body; 
 a wheel assembly; and 
 a suspension actuator that includes:
 a top mount that is connected to the vehicle body, 
 a bottom mount that is connected to the wheel assembly, 
 a first housing part that is connected to the top mount, 
 a second housing part that is connected to the bottom mount, 
 a ball screw actuator having a stator that is connected to the first housing part, a rotor that is rotated by electromagnetic interaction between the rotor and the stator, a shaft that is connected to the second housing part, and a ball nut that is connected to the stator and is engaged with the shaft to linearly translate the shaft in response to rotation of the ball nut, and 
 an air spring membrane that is connected to the first housing part and to the second housing part in a rolling lobe configuration, 
 wherein the air spring membrane includes a flexible material, a first layer of cords that are disposed in the flexible material, and a second layer of cords that are oriented at a non-zero angle with respect to the first layer of cords, wherein the first layer of cords and the second layer of cords cooperate to resist torsion loads that are applied to the second housing part by the ball screw actuator. 
 
 
     
     
       18. The vehicle of  claim 17 , wherein the first layer of cords and the second layer of cords define a grid pattern. 
     
     
       19. The vehicle of  claim 17 , wherein the first layer of cords and the second layer of cords each include reinforcing cords that are formed from a textile material. 
     
     
       20. The vehicle of  claim 17 , wherein the first layer of cords and the second layer of cords each include reinforcing cords that are formed from metal.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of U.S. Patent Application No. 63/016,411, filed on Apr. 28, 2020, the content of which is hereby incorporated by reference in its entirety for all purposes. 
    
    
     TECHNICAL FIELD 
     This disclosure relates to actuators with reinforcing structures for torsion resistance. 
     BACKGROUND 
     Actuators can apply forces between a sprung mass and an unsprung mass. Using input from sensors, actuators can absorb energy to reduce vibrations experienced by occupants. Active Actuators can also control ride height. 
     SUMMARY 
     One aspect of the disclosed is a suspension actuator. The suspension actuator includes a first housing part, a second housing part, a ball screw actuator that is connected to the first housing part and to the second housing part, and an air spring membrane that is connected to the first housing part and to the second housing part. The air spring membrane includes a flexible material and a reinforcing structure that is disposed within the flexible material to resist torsion loads that are applied to the second housing part by the ball screw actuator. 
     In some implementations of the suspension actuator, the reinforcing structure includes cords that are arranged at a non-zero angle relative to an axial direction of the suspension actuator, the cords are formed from a textile material, the air spring membrane is connected to the first housing part and to the second housing part in a rolling lobe configuration, the air spring membrane is part of an air spring that includes a working gas that is disposed in an internal chamber that is defined in the first housing part and the second housing part, the ball screw actuator includes a rotor, the ball screw actuator includes a stator that is operable to rotate the rotor as a result of electromagnetic interaction between the stator and the rotor, the ball screw actuator includes a shaft that is connected to the second housing part, and the ball screw actuator includes a ball nut that is connected to the rotor and engages the shaft to linearly translate the shaft with respect to the ball nut in response to rotation of the ball nut. 
     In some implementations of the suspension actuator, the reinforcing structure of the air spring membrane includes cords that are arranged at a non-zero angle relative to an axial direction of the suspension actuator. 
     In some implementations of the suspension actuator, the cords of the reinforcing structure of the air spring membrane are formed from a textile material. In some implementations of the suspension actuator, the cords of the reinforcing structure of the air spring membrane are formed from metal. 
     In some implementations of the suspension actuator, the reinforcing structure of the air spring membrane includes a first reinforcing layer having first cords that are arranged at a first non-zero angle relative to an axial direction of the suspension actuator and the reinforcing structure of the air spring membrane includes a second reinforcing layer having second cords that are arranged at a second non-zero angle relative to the axial direction of the suspension actuator. 
     In some implementations of the suspension actuator, the first cords and the second cords define a crisscross pattern. 
     In some implementations of the suspension actuator, the air spring membrane is connected to the first housing part and to the second housing part in a rolling lobe configuration. 
     In some implementations of the suspension actuator, the ball screw actuator includes a rotor, a stator that is operable to rotate the rotor as a result of electromagnetic interaction between the stator and the rotor, a shaft that is connected to the second housing part, and a ball nut that is connected to the rotor and engages the shaft to linearly translate the shaft with respect to the ball nut in response to rotation of the ball nut. 
     In some implementations of the suspension actuator, the ball screw actuator does not include a ball spline nut that resists the torsion loads. 
     Another aspect of the disclosure is a suspension actuator that includes a top mount, a bottom mount, a first load path between the top mount and the bottom mount that includes an air spring, and a second load path between the top mount and the bottom mount that includes a screw actuator having an output torque. The air spring includes an air spring membrane having a flexible material and a reinforcing structure that is disposed within the flexible material to react the output torque of the screw actuator. 
     In some implementations of the suspension actuator, the reinforcing structure of the air spring membrane includes cords that are oriented to resist the output torque. 
     In some implementations of the suspension actuator, the air spring membrane is an annular structure and the cords of the reinforcing structure of the air spring membrane extend in a circumferential direction of the air spring membrane. 
     In some implementations of the suspension actuator, the cords of the reinforcing structure of the air spring membrane are formed from a textile material. 
     In some implementations of the suspension actuator, the cords of the reinforcing structure of the air spring membrane are formed from metal. 
     In some implementations of the suspension actuator, the reinforcing structure of the air spring membrane includes a first reinforcing layer having first cords, the reinforcing structure of the air spring membrane includes a second reinforcing layer having second cords, and the first cords and the second cords are arranged in a grid pattern. 
     Another aspect of the disclosure is a vehicle that includes a vehicle body, a wheel assembly, and a suspension actuator. The suspension actuator includes a top mount that is connected to the vehicle body, a bottom mount that is connected to the wheel assembly, a first housing part that is connected to the top mount, a second housing part that is connected to the bottom mount, a ball screw actuator and an air spring membrane. The ball screw actuator has a stator that is connected to the first housing part, a rotor that is rotated by electromagnetic interaction between the rotor and the stator, a shaft that is connected to the second housing part, and a ball nut that is connected to the stator and is engaged with the shaft to linearly translate the shaft in response to rotation of the ball nut. The air spring membrane is connected to the first housing part and to the second housing part in a rolling lobe configuration. The air spring membrane includes a flexible material, a first layer of cords that are disposed in the flexible material, and a second layer of cords that are oriented at a non-zero angle with respect to the first layer of cords, wherein the first layer of cords and the second layer of cords cooperate to resist torsion loads that are applied to the second housing part by the ball screw actuator. 
     In some implementations of the vehicle, the first layer of cords and the second layer of cords define a grid pattern. 
     In some implementations of the vehicle, the first layer of cords and the second layer of cords each include reinforcing cords that are formed from a textile material. 
     In some implementations of the vehicle, the first layer of cords and the second layer of cords each include reinforcing cords that are formed from metal. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram that shows a vehicle. 
         FIG.  2    is an illustration that shows connection of a wheel assembly of the vehicle to a vehicle body of the vehicle. 
         FIG.  3    is a schematic cross-section view of a suspension actuator in a first position. 
         FIG.  4    is a schematic cross-section view of the suspension actuator in a second position. 
         FIG.  5    is a cross-section detail view that shows a portion of the suspension actuator including an air spring membrane of an air spring. 
         FIG.  6    is a side view that shows a portion of the air spring membrane of the air spring. 
         FIG.  7    is a cross-section view of the air spring membrane of the air spring taken along line A-A of  FIG.  6   . 
         FIG.  8    is a block diagram that shows a controller. 
     
    
    
     DETAILED DESCRIPTION 
     In an active suspension system that utilizes a ball screw actuator, an electric motor is used to rotate a ball screw nut, which causes linear motion of a shaft that is engaged with the ball screw nut. Linear motion of the shaft occurs because the shaft is restrained from rotating. As an example, a ball spline nut can engage linear grooves that are formed in the shaft, which applies a reaction torque that restrains rotation of the shaft. If no reaction torque were applied to the shaft, the shaft would rotate in unison with the ball screw nut instead of translating linearly. 
     The active suspension actuators that are described herein include an air spring that is reinforced so that it has torsion load resistance that is sufficient to withstand torsional loads applied by the ball screw actuator. Thus, the reaction torque needed to restrain rotation of the shaft is generated by the air spring. Because the air spring restrains rotation of the shaft, the active suspension actuator does not include a mechanical element, such as a ball spline nut, that directly engages the shaft to restrain rotation of the shaft. By eliminating a mechanical element that directly engages the shaft to restrain rotation, the overall length of the active suspension actuator may be decreased, and the overall weight of the active suspension actuators may be decreased. 
       FIG.  1    is a block diagram that shows a vehicle  100 . As an example, the vehicle  100  may be a conventional road-going vehicle that is supported by wheels and tires (e.g., four wheels and tires). As an example, the vehicle  100  may be a passenger vehicle that includes a passenger compartment that is configured to carry one or more passengers. As another example, the vehicle  100  may be a cargo vehicle that is configured to carry cargo items in a cargo compartment. 
     In the illustrated implementation, the vehicle  100  includes a vehicle body  101 , a suspension system  102 , a propulsion system  103 , a braking system  104 , a steering system  105 , a sensing system  106 , and a control system  107 . These are examples of vehicle systems that are included in the vehicle  100 . Other systems can be included in the vehicle  100 . 
     The vehicle body  101  is a structural component of the vehicle  100  through which other components are interconnected and supported. The vehicle body  101  may, for example, include or define a passenger compartment for carrying passengers. The vehicle body  101  may include structural components (e.g., a frame, subframe, unibody, monocoque, etc.) and aesthetic components (e.g., exterior body panels). 
     The suspension system  102  supports a sprung mass of the vehicle  100  with respect to an unsprung mass of the vehicle  100 . The suspension system  102  is an active suspension system that is configured to control generally vertical motion of the wheels. Broadly speaking, the suspension system  102  controls vertical motion of the wheels of the vehicle  100  relative to the vehicle body  101 , for example, to ensure contact between the wheels and a surface of a roadway and to reduce undesirable movements of the vehicle body  101 . The suspension system  102  includes components (e.g., actuators) that are configured to transfer energy into and absorb energy from the wheels, such as by applying upward and downward forces to introduce energy into and absorb energy from the wheels. The components of the suspension system  102  may be operated in accordance with signals from sensors in the sensing system  106  and under control from the control system  107 , for example, in the form of commands transmitted from the control system  107  to the suspension system  102 . 
     The propulsion system  103  includes propulsion components that are configured to cause motion of the vehicle  100  (e.g., accelerating the vehicle  100 ). The propulsion system  103  may include components such that are operable to generate torque and deliver that torque to one or more wheels (e.g., road wheels that contact the road through tires mounted on the road wheels). Examples of components that may be included in the propulsion system  103  include motors, gearboxes, and propulsion linkages (e.g., drive shafts, half shafts, etc.). Motors included in the propulsion system  103  may be, as examples, an internal combustion engine powered by a combustible fuel or one or more electric motors that are powered by electricity (e.g., from a battery). Electric motors that are included in the propulsion system  103  may further be configured to operate as generators that charge the battery in a regenerative braking configuration. 
     The braking system  104  provides deceleration torque for decelerating the vehicle  100 . The braking system  104  may include friction braking components such as disk brakes or drum brakes. The braking system  104  may use an electric motor of the propulsion system to decelerate the vehicle by electromagnetic resistance, which may be part of battery charging in a regenerative braking configuration. 
     The steering system  105  is operable to cause the vehicle to turn by changing a steering angle of one or more wheels of the vehicle  100 . As one example, one or more wheels of the vehicle may each include an independently operated steering actuator. As another example, two wheels of the vehicle  100  may be connected by steering linkages to a single steering actuator or to a manually operated steering device. 
     The sensing system  106  includes sensors for observing external conditions of the environment around the vehicle  100  (e.g., location of the roadway and other objects) and conditions of the vehicle  100  (e.g., acceleration and conditions of the various systems and their components). The sensing system  106  may include sensors of various types, including dedicated sensors and/or components of the various systems. For example, actuators may incorporate sensors or portions of actuators may function as sensors such as by measuring current draw of an electric motor incorporated in an actuator. The suspension system  102  may, for example, be controlled using acceleration sensors that are connected to a sprung mass of the vehicle  100 , to an unsprung mass of the vehicle  100 , and/or to one or more suspension actuators of the vehicle  100 . 
     The control system  107  includes communication components (i.e., for receiving sensor signals and sending control signals) and processing components (i.e., for processing the sensor signals and determining control operations), such as a controller. The control system  107  may be a single system or multiple related systems. For example, the control system  107  may be a distributed system including components that are included in other systems of the vehicle  100 , such as the suspension system  102 , the propulsion system  103 , the braking system  104 , the steering system  105 , the sensing system  106 , and/or other systems. 
       FIG.  2    is an illustration that shows connection of a wheel assembly  210  of the vehicle  100  of the vehicle body  101 . The wheel assembly  210  is a road-contacting wheel assembly that include a wheel rim  212  and a tire  214  that is mounted on the wheel rim  212 . The wheel rim  212  is supported by connection to a wheel hub  216  so that the wheel assembly  210  is able to rotate (e.g., by a wheel bearing that is included in the wheel hub  216 ). The wheel hub  216  is connected to the vehicle body  101  so that the wheel assembly  210  is able to translate in a generally vertical direction. In the illustrated example, the wheel hub  216  is connected to the vehicle body  101  by a control arm  218  having an outer end that is pivotally connected to the wheel hub  216  and an inner end that is pivotally connected to the vehicle body  101 . 
     The suspension system  102  includes a suspension actuator  220  that controls the motion (e.g., translation in the generally vertical direction) of the wheel assembly  210 . The suspension actuator  220  is an active suspension component that is operable to actively apply forces to the wheel assembly  210  as previously described. The suspension actuator  220  may be connected so that it is able to apply forces between the wheel assembly  210  and the vehicle body  101 , whether connected directly or indirectly to the wheel assembly  210  and/or the vehicle body  101 . In the illustrated example, an upper end of the suspension actuator  220  is connected to the vehicle body  101  and a lower end of the suspension actuator  220  is connected to the control arm  218 . Other configurations may be used to connect the suspension actuator  220  to apply forces between the wheel assembly  210  and the vehicle body  101 . For example, the upper end of the suspension actuator  220  may be connected to the vehicle body  101  and the lower end of the suspension actuator  220  may be connected, as examples to the wheel hub  216  or to a component that is connected to the wheel hub  216 , such as a steering knuckle. 
       FIG.  3    is a schematic cross-section view of the suspension actuator  220  in a first position, and  FIG.  4    is a schematic cross-section view of the suspension actuator  220  in a second position. The first position corresponds to a first length of the suspension actuator  220 . The second position corresponds to a second length of the suspension actuator  220 , and the second length is longer than the first length. The suspension actuator is configured to move between the first position and the second position by extension and retraction. The suspension actuator  220  is able to extend (e.g., lengthen) to move from the first position to the second position. The suspension actuator  220  is able to retract (e.g., shorten) to move from the second position to the first position. 
     The upper end of the suspension actuator  220  is connected to the sprung mass of the vehicle  100 , such as by connection to the vehicle body  101 . The lower end of the suspension actuator  220  is connected to the unsprung mass of the vehicle  100  by connection to a component that supports the wheel assembly  210 , such as the control arm  218  or the wheel hub  216 . The suspension actuator  220  defines a first load path between the vehicle body  101  and the wheel assembly  210  through an air spring  322 . The suspension actuator  220  also defines a second load path between the vehicle body  101  and the wheel assembly  210  through a ball screw actuator  324 . Thus, the suspension actuator  220  includes a first load path between the upper end and the lower end of the suspension actuator  220  that includes the air spring  322 , and the suspension actuator  220  includes a second load path between the upper end and the lower end of the suspension actuator  220  that includes a screw actuator having an output torque, such as the ball screw actuator  324 . 
     The first and second load paths cooperatively function to transfer force axially between the wheel assembly  210  and the vehicle body  101 . The first load path is configured to carry a gravity preload of the vehicle  100  (i.e., load due to gravity irrespective of any dynamic loading) along with a portion of a dynamic load between the vehicle body  101  and the wheel assembly  210 . The second load path is configured to carry another portion of the dynamic load between the vehicle body  101  and the wheel assembly  210  and, as compared to the first load path, provides primary damping functions of the suspension system  102 . Stated differently, the first load path is intended to set a ride height for the vehicle  100  and is intended to absorb low-frequency vibrations, while the second load path is intended to absorb high-frequency vibrations. 
     The suspension actuator  220  includes a first housing part  326  and a second housing part  328 . The first housing part  326  and the second housing part  328  are generally cylindrical structures that extend along a longitudinal axis of the suspension actuator  220 . The first housing part  326  extends from the upper end of the suspension actuator along the longitudinal axis of the suspension actuator  220  toward the second housing part  328 . The second housing part  328  extends upward from the lower end of the suspension actuator  220  along the longitudinal axis of the suspension actuator  220  toward the first housing part  326 . 
     A top mount  330  is connected to the upper end of the first housing part  326 . The top mount  330  is configured so that it is connectable (e.g., by fasteners, by a clamping structure, by a pin, by a ball joint, or by another fastening structure) to part of the sprung mass of the vehicle,  100  such as the vehicle body  101 , to transfer forces between the sprung mass of the vehicle  100  (e.g., including the vehicle body  101  of the vehicle  100 ) and the suspension actuator  220 . A bottom mount  332  is connected to the lower end of the second housing part  328 . The bottom mount  332  is configured so that it is connectable (e.g., by fasteners, by a clamping structure, by a pin, by a ball joint, or by another fastening structure) to part of the unsprung mass of the vehicle  100 , such as the control arm  218  or the wheel hub  216 , to transfer forces between the unsprung mass of the vehicle  100  (e.g., including the wheel assembly  210  of the vehicle  100 ) and the suspension actuator  220 . 
     The first housing part  326  and the second housing part  328  are telescopically related so that they can move longitudinally with respect to each other. Thus, the first housing part  326  and the second housing part  328  define an overlapping section in the longitudinal direction, wherein the overlapping section has a variable length according to extension and retraction of the suspension actuator  220 . In the overlapping region, the first housing part  326  is spaced from the second housing part  328  in a radial direction (e.g., outward relative to a radial center of the suspension actuator  220 ) by a radial gap  334 . 
     In the illustrated implementation, an inner diameter of the second housing part  328  is larger than an outer diameter of the first housing part  326  in the overlapping region so that a portion of the first housing part  326  is located inside the second housing part  328  within the overlapping region to define the telescopic relationship of the first housing part  326  and the second housing part  328 . Alternatively, the first housing part  326  and the second housing part  328  may be configured so that an inner diameter of the first housing part  326  is larger than an outer diameter of the second housing part  328  in the overlapping region so that a portion of the second housing part  328  is located inside the first housing part  326  within the overlapping region to define the telescopic relationship of the first housing part  326  and the second housing part  328 . 
     The first load path is defined between the top mount  330  and the bottom mount  332  of the suspension actuator  220  by an air spring  322 . The air spring  322  is defined by an internal chamber  336  that is defined inside the suspension actuator  220 , including by the first housing part  326  and the second housing part  328 . The volume (e.g., the amount of space enclosed within the internal chamber measured, for example, in cubic centimeters or other units) of the internal chamber  336  varies in accordance with relative movement of the first housing part  326  and the second housing part  328 . A working gas (e.g., air) is contained within the internal chamber  336  and increases and decreases in pressure in correspondence to relative movement of the first housing part  326  and the second housing part and the accompanying change in volume of the internal chamber  336 . The internal chamber  336  is sealed to contain the gas within the internal chamber  336 , for example, by inclusion of sealing structures included in the suspension actuator  220  that are, for example, connected to the first housing part  326  and the second housing part  328 . The internal chamber  336  may include connections, for example, by valves, gas lines, and/or other structures, that allow supply of part of the working gas to the internal chamber  336  and allow discharge of part of the working gas from the internal chamber  336 . This allows, for example, changes in the ride height of the vehicle  100 . 
     To contain the working gas within the internal chamber  336  while allowing relative motion of the first housing part  326  and the second housing part  328  at the radial gap  334 , the air spring  322  includes an air spring membrane  338 . The air spring membrane  338  is a thin sheet of flexible material having an annular, tube-like configuration (e.g., a flexible sleeve). The air spring membrane  338  is connected to the first housing part  326  and the second housing part  328  at the radial gap  334  to prevent the working gas from escaping the internal chamber  336  at the radial gap  334  while allowing relative motion of first housing part  326  and the second housing part  328 . The air spring membrane  338  may also be referred to as an air spring sleeve, an air sleeve, a diaphragm, or an air spring diaphragm. 
     The ball screw actuator  324  is a type of linear actuator that is utilized in the suspension actuator  220  as an active suspension component that is operable to apply forces between the top mount  330  and the bottom mount  332  of the suspension actuator  220 . The ball screw actuator  324  is an example of a screw actuator, in which rotation of a screw or nut is used to cause linear motion of the other one of the screw or the nut, which translates with respect to the rotating component because it is restrained from rotating. Although the description herein is made with respect to the ball screw actuator  324 , the suspension actuator  220  could be implemented using a screw actuator of another type, such as a lead screw actuator. 
     The ball screw actuator  324  defines the second load path through the suspension actuator  220  between the top mount  330  and the bottom mount  332  of the suspension actuator  220 . The ball screw actuator  324  may be backdrivable so that it can allow extension and retraction of the suspension actuator  220  in response to external forces with no contrary force or assisting force applied by the ball screw actuator  324 . 
     The ball screw actuator  324  includes a shaft  340 , a ball nut  342 , a rotor  344 , a stator  346 , a stator housing  348 , and a shaft coupler  350 . The ball screw actuator  324  does not include a structure that reacts torque applied to the shaft  340 . For example, the ball screw actuator does not include a ball spline nut that resists torsion loads. In addition, the suspension actuator does not include a component that in engagement with the shaft  340  and the first housing part  326  to react torque through a rigid load path between the shaft  340  and the first housing part  326 . In addition, the first housing part  326  and the second housing part  328  may be free from rigid structures that directly resist rotation of the second housing part  328  with respect to the first housing part  326 . Instead, torsion loads are resisted by the air spring  322  as will be described further herein. 
     The ball screw actuator  324  is disposed within the first housing part  326  and the second housing part  328 . The rotor  344  is a rotatable component in the form of a hollow, tubular structure that extends along the longitudinal axis of the suspension actuator  220 . The stator  346  is arranged around and radially outward from the rotor  344 . Using any suitable motor-generator configuration, the rotor  344  and the stator  346  are configured such that electromagnetic interaction of the rotor  344  and the stator  346  causes rotation of the rotor  344  when the stator  346  is energized (e.g., by selective energization of stator coils that are included in the stator  346 ). Thus, the stator  346  that is operable to rotate the rotor  344  as a result of electromagnetic interaction between the stator  346  and the rotor  344 . 
     The stator  346  may be disposed in the stator housing  348 . In addition to providing structural support for the stator  346 , the stator housing  348  absorbs heat generated by the stator  346  when it is energized. Cooling features may be included in the ball screw actuator  324 , for example, adjacent to the stator housing  348 . As one example, liquid channels may be defined around the stator housing  348  are defined on an outside periphery of the stator housing  348  for circulating a liquid coolant that is able to absorb heat from the stator housing  348 . 
     The ball nut  342  is a rotatable component of the ball screw actuator  324 . The ball nut  342  is connected to the rotor  344  and is rotated in unison with the rotor  344 . As the ball nut  342  is rotated by the rotor  344 , the ball nut  342  engages the shaft  340  through engagement of recirculating ball bearings that are disposed in the ball nut  342  with a helical groove  352  that is formed on at least part of the shaft  340 , which causes the shaft  340  to translate axially relative to the first housing part  326  in response to rotation of the ball nut  342 . Thus, the shaft  340  is a translatable shaft, since it is able to translate linearly relative to portions of the suspension actuator  220 , including the first housing part  326 . The shaft  340  extends downward from the first housing part to the shaft coupler  350 . The shaft coupler  350  connects the shaft  340  to the second housing part  328  near the lower end of the suspension actuator  220 . The shaft coupler  350  may connect the shaft  340  to the second housing part  328  so that the shaft  340  is not able to rotate or translate with respect to the second housing part  328 , for example, using conventional fasteners, coupling structures, welds, or other means. Thus, the shaft  340  is connected to the second housing part  328  by a fixed connecting structure. 
       FIG.  5    is a cross-section detail view that shows a portion of the suspension actuator  220  including the air spring membrane  338  of the air spring  322 . The air spring membrane  338  is connected to the first housing part  326  and the second housing part  328  in a rolling lobe air spring configuration, as is known in the art. The rolling lobe configuration is characterized by a u-shaped fold  560  that is defined by the air spring membrane  338 . The location of the u-shaped fold  560  along the longitudinal length of the air spring membrane  338  changes according to expansion and contraction of the suspension actuator  220 . 
     A first end  562  of the air spring membrane  338  is connected to the first housing part  326  so that the first end  562  moves in unison with the first housing part  326 . A second end  564  of the air spring membrane  338  is connected to the second housing part  328  so that the second end  564  moves in unison with the second housing part  328 . During relative movement of the first housing part  326  and the second housing part  328 , the first end  562  of the air spring membrane  338  and the second end  564  of the air spring membrane  338  translate axially (e.g., in the direction of the longitudinal axis of the suspension actuator  220 ) with respect to each other. The connections of the air spring membrane  338  to the first housing part  326  and the second housing part  328  may be made directly (e.g., without intervening components) or indirectly (e.g., through intervening components) using known structures to define a sealed interface between the air spring membrane  338  and each of the first housing part  326  and the second housing part  328 . Because the u-shaped fold  560  is located between the first end  562  and the second end  564  of the air spring membrane  338 , a first side  566  of the air spring membrane  338  faces a wall portion of the first housing part  326  and also faces a wall portion of the second housing part  328 , while a second side  568  of the air spring membrane  338  faces the internal chamber  336  of the air spring  322 . 
     As previously described, the shaft  340  of the ball screw actuator  324  is intended to translate axially with respect to the first housing part  326  in response to rotation of the ball nut  342 . However, the shaft will rotate in unison with the ball nut  342  instead of translating axially if the torque applied to the shaft  340  by rotation of the ball nut  342  is not reacted. 
     The suspension actuator  220  does not include a mechanical component that directly engages the shaft  340  and is not rotatable with respect to the ball nut to restrain motion of the shaft  340  to translation relative to the ball nut  342 . As an example, known ball screw actuators may include a ball spline that is not rotatable with respect to a ball nut in order to restrain rotation of the ball nut. The suspension actuator  220  does not include a ball spline that functions to restrain rotation of the shaft  340  with respect to the ball nut  342 . 
     Because the shaft  340  is coupled to the second housing part  328  in a manner that does not allow relative rotation (e.g., by the shaft coupler  350 ), the torque applied to the shaft  340  is likewise applied to the second housing part  328 . Because the second housing part  328  is connected to the first housing part  326  by the air spring membrane  338 , the air spring membrane  338  reacts the torque applied to the shaft  340 . 
     In the suspension actuator  220 , the air spring membrane  338  is configured to resist torsion loads that are applied to the second housing part  328  by the ball screw actuator  324  in order to react the torque applied to the shaft  340 . In some implementations, the air spring membrane is the only component of the suspension actuator  220  through which torsion loads are reacted between the shaft  340  and the first housing part  326 . 
       FIG.  6    is a side view that shows a portion of the air spring membrane  338  of the air spring  322 . The description of the air spring membrane  338  will be made with respect to the orientation of the air spring membrane  338  as installed in the suspension actuator  220 , including the circumferential direction (e.g., around the longitudinal axis of the suspension actuator  220 , denoted in  FIG.  6    as X) and the axial direction (e.g., generally in alignment with the longitudinal axis of the suspension actuator  220 , denoted in  FIG.  6    as Y). The air spring membrane  338 , as installed in the suspension actuator  220  extends in the axial direction and in the circumferential direction except in the area of the u-shaped fold  560 , where the orientation changes. This description should be understood as describing orientations of portions of the air spring membrane  338  outside of the area of the u-shaped fold  560 . 
     The air spring membrane  338  is a thin sheet structure that includes a flexible material  670  and a reinforcing structure  672  that is disposed within the flexible material  670  to resist torsion loads that are applied to the air spring  322  by the ball screw actuator  324 . By resisting the torsion loads that are applied by the ball screw actuator  324 , the flexible material  670  restrains rotation of the shaft  340 , thereby allowing the shaft  340  to translate linearly instead of rotating with the ball nut  342 . 
     The flexible material  670  is a flexible and elastic material such as synthetic rubber. For example, the flexible material  670  may be an elastomer. Multiple types of materials may be combined (e.g., by layering) to define the flexible material  670  of the air spring membrane  338 . 
     The flexible material  670  allows the air spring membrane  338  to deform in the presence of an applied loading and elastically return to its original state when the applied loading is removed, which allows the air spring membrane  338  to define the u-shaped fold  560  of the rolling lobe air spring configuration. 
     The reinforcing structure  672  of the air spring membrane  338  is configured to resist loads that are applied to the air spring membrane  338 . The reinforcing structure  672  is configured to increase torsional stiffness of the air spring membrane  338  to allow the air spring membrane to resist torsion loads and react the torque applied by the ball screw actuator  324 . 
     The cords  674  of the reinforcing structure  672  are oriented to resist the output torque of the ball screw actuator  324 . In the illustrated implementation, the reinforcing structure  672  of the air spring membrane  338  includes cords  674  that are arranged at a non-zero angle relative to an axial direction of the suspension actuator  220 . As one example, at least a portion of the cords  674  may be oriented at a non-zero angle with respect to the suspension actuator  220 . As another example, the air spring membrane may be free from reinforcing cords that are aligned with the axial direction of the suspension actuator  220  so that none of the cords  674  extend in the axial direction of the suspension actuator  220 . 
     The angle that the cords  674  are arranged at may be, for example between twenty degrees and seventy degrees relative to the axial direction of the suspension actuator  220 . In the illustrated implementation, the cords  674  are arranged according to a first non-zero angle and a second non-zero angle relative to the axial direction of the suspension actuator  220 , where the first non-zero angle is different from the second non-zero angle. For example, a first portion of the cords  674  may be angled in a first direction relative to the axial direction of the suspension actuator  220  and a second portion of the cords  674  may be angled in a second direction (e.g., opposed to the first direction) relative to the axial direction of the suspension actuator  220 . This type of arrangement can be used to configure the cords  674  of the reinforcing structure  672  in a pattern, such as a crisscross pattern, a grid pattern, a diamond pattern, or another type of pattern. For example, a first group of the cords  674  may be arranged at a first non-zero angle relative to the longitudinal axis of the suspension actuator  220 , and a second group of the cords  674  may be arranged at a non-zero second angle relative to the longitudinal axis of the suspension actuator  220 , where the first and second non-zero angles are different. As an example, the first non-zero angle may be opposite of the second non-zero angle (e.g., the first angle is a reflection of the second non-zero angle relative to the axial direction of the suspension actuator  220 ). 
     The cords  674  are flexible to allow the cords to deform in accordance with deformation of the flexible material  670  as the air spring membrane  338  deforms during extension and retraction of the suspension actuator  220 . The cords  674  may be formed from a material that is stiffer than the flexible material  670  (e.g., a first stiffness of the cords  674  is greater than a second stiffness of the flexible material  670 ). The cords  674  may be formed from an inelastic material. As one example, the cords  674  of the reinforcing structure  672  of the air spring membrane  338  may be formed from a textile material (natural or synthetic). As another example, the cords  674  of the reinforcing structure  672  of the air spring membrane  338  may be formed from metal. 
       FIG.  7    is a cross-section view of the air spring membrane  338  of the air spring  322  taken along line A-A of  FIG.  6   . In the illustrated example, the air spring membrane  338  includes a first exterior layer  776 , a first reinforcing layer  778 , a second reinforcing layer  780 , and a second exterior layer  782 . As an example, the first exterior layer  776 , the first reinforcing layer  778 , the second reinforcing layer  780 , and the second exterior layer  782  may be separate sheets of material that are bonded together, e.g., by heat bonding or by adhesives. The first exterior layer  776 , the first reinforcing layer  778 , the second reinforcing layer  780 , and the second exterior layer  782  may each include the flexible material  670 . 
     The first exterior layer  776  and the second exterior layer  782  may be free from reinforcing structures. For example, the first exterior layer  776  and the second exterior layer  782  may be free from reinforcing cords such as the cords  674 . 
     The first reinforcing layer  778  includes a first group of cords  774   a  (e.g., first cords) that are arranged at a first non-zero angle relative to the axial direction of the suspension actuator  220 . The second reinforcing layer  780  includes a second group of cords  774   b  (e.g., second cords) that are arranged at a second non-zero angle relative to the axial direction of the suspension actuator  220 . Thus, the first reinforcing layer  778  defines a first layer of cords (e.g., the first group of cords  774   a ) and the second reinforcing layer  780  defines a second layer of cords (e.g., the second group of cords  774   b ), where the first layer of cords and the second layer of cords cooperate to resist torsion loads that are applied to the second housing part  328  of the suspension actuator  220  by the ball screw actuator  324 . 
       FIG.  8    is a block diagram that shows a controller  890  that may be used to implement the control system  107  and/or other control systems of the vehicle  100 . The controller  890  may include a processor  891 , a memory  892 , a storage device  893 , one or more input devices  894 , and one or more output devices  895 . The controller  890  may include a bus or a similar device to interconnect the components for communication. The processor  891  is operable to execute computer program instructions and perform operations described by the computer program instructions. As an example, the processor  891  may be a conventional device such as a central processing unit. The memory  892  may be a volatile, high-speed, short-term information storage device such as a random-access memory module. The storage device  893  may be a non-volatile information storage device such as a hard drive or a solid-state drive. The input devices  894  may include any type of human-machine interface such as buttons, switches, a keyboard, a mouse, a touchscreen input device, a gestural input device, or an audio input device. The output devices  895  may include any type of device operable to provide an indication to a user regarding an operating state, such as a display screen or an audio output, or any other functional output or control. 
     As used in the claims, phrases in the form of “at least one of A, B, or C” should be interpreted to encompass only A, or only B, or only C, or any combination of A, B and C. 
     As described above, one aspect of the present technology is suspension control, which may, in some implementations, include the gathering and use of data available from various sources to customize operation of an active suspension system based on user preferences. The present disclosure contemplates that in some instances, this gathered data may include personal information data that uniquely identifies or can be used to contact or locate a specific person. Such personal information data can include demographic data, location-based data, telephone numbers, email addresses, twitter ID&#39;s, home addresses, data or records relating to a user&#39;s health or level of fitness (e.g., vital signs measurements, medication information, exercise information), date of birth, or any other identifying or personal information. As one example, information describing a user of the vehicle may be collected and used to adjust the ride of the vehicle based on user preferences. As another example, the vehicle may include sensors that are used to control operation of the vehicle, and these sensors may obtain information (e.g., still pictures or video images) that can be used to identify persons present in the image. 
     The present disclosure recognizes that the use of such personal information data, in the present technology, can be used to the benefit of users. For example, the personal information data can be used to develop a user profile that describes user comfort levels for certain types of motion of the vehicle. 
     The present disclosure contemplates that the entities responsible for the collection, analysis, disclosure, transfer, storage, or other use of such personal information data will comply with well-established privacy policies and/or privacy practices. In particular, such entities should implement and consistently use privacy policies and practices that are generally recognized as meeting or exceeding industry or governmental requirements for maintaining personal information data private and secure. Such policies should be easily accessible by users and should be updated as the collection and/or use of data changes. Personal information from users should be collected for legitimate and reasonable uses of the entity and not shared or sold outside of those legitimate uses. Further, such collection/sharing should occur after receiving the informed consent of the users. Additionally, such entities should consider taking any needed steps for safeguarding and securing access to such personal information data and ensuring that others with access to the personal information data adhere to their privacy policies and procedures. Further, such entities can subject themselves to evaluation by third parties to certify their adherence to widely accepted privacy policies and practices. In addition, policies and practices should be adapted for the particular types of personal information data being collected and/or accessed and adapted to applicable laws and standards, including jurisdiction-specific considerations. For instance, in the US, collection of or access to certain health data may be governed by federal and/or state laws, such as the Health Insurance Portability and Accountability Act (HIPAA); whereas health data in other countries may be subject to other regulations and policies and should be handled accordingly. Hence different privacy practices should be maintained for different personal data types in each country. 
     Despite the foregoing, the present disclosure also contemplates embodiments in which users selectively block the use of, or access to, personal information data. That is, the present disclosure contemplates that hardware and/or software elements can be provided to prevent or block access to such personal information data. For example, the present technology can be configured to allow users to select to “opt in” or “opt out” of participation in the collection of personal information data during registration for services or anytime thereafter. In another example, users can select not to provide personal data for use in suspension control. In yet another example, users can select to limit the length of time personal data is maintained or entirely prohibit the use and storage of personal data. In addition to providing “opt in” and “opt out” options, the present disclosure contemplates providing notifications relating to the access or use of personal information. For instance, a user may be notified upon downloading an app that their personal information data will be accessed and then reminded again just before personal information data is accessed by the app. 
     Moreover, it is the intent of the present disclosure that personal information data should be managed and handled in a way to minimize risks of unintentional or unauthorized access or use. Risk can be minimized by limiting the collection of data and deleting data once it is no longer needed. In addition, and when applicable, including in certain health related applications, data de-identification can be used to protect a user&#39;s privacy. De-identification may be facilitated, when appropriate, by removing specific identifiers (e.g., date of birth, etc.), controlling the amount or specificity of data stored (e.g., collecting location data a city level rather than at an address level), controlling how data is stored (e.g., aggregating data across users), and/or other methods. 
     Therefore, although the present disclosure broadly covers use of personal information data to implement one or more various disclosed embodiments, the present disclosure also contemplates that the various embodiments can also be implemented without the need for accessing such personal information data. That is, the various embodiments of the present technology are not rendered inoperable due to the lack of all or a portion of such personal information data. For example, customized suspension control can be performed using non-personal information data or a bare minimum amount of personal information, other non-personal information available to the devices, or publicly available information.

Metadata:
Filing Date: 20210308
Publication Date: 20230725
Grant Date: 20230725
Priority Date: 20200428
Inventors: CARTER, TROY A.
Assignee: APPLE INC
CPC Classifications: [{"code": "F16F9/05", "inventive": true, "first": true, "tree": "[]"}, {"code": "F16F9/0472", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F15/03", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F2222/06", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/42", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/418", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2400/102", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/441", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/314", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G15/08", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G2500/30", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/152", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/424", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/013", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2600/20", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0521", "inventive": true, "first": true, "tree": "[]"}, {"code": "B60G11/27", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F9/0409", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F9/05", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16H25/2204", "inventive": true, "first": false, "tree": "[]"}, {"code": "B60G17/0155", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/15", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/126", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/419", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/62", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/42", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/7101", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2500/30", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2600/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2800/162", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2800/914", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F9/50", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2222/126", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2224/0241", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2228/066", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2230/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2232/08", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2234/02", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16H2025/2075", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0521", "inventive": true, "first": true, "tree": "[]"}, {"code": "F16F2230/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F9/0409", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16H25/2204", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16F9/05", "inventive": true, "first": false, "tree": "[]"}, {"code": "F16H2025/2075", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2234/02", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2232/08", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/126", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2202/15", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/419", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/42", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2206/7101", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2500/30", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2600/18", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2800/162", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2800/914", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G2204/62", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G17/0155", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2222/126", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F9/50", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2224/0241", "inventive": false, "first": false, "tree": "[]"}, {"code": "F16F2228/066", "inventive": false, "first": false, "tree": "[]"}, {"code": "B60G11/27", "inventive": true, "first": false, "tree": "[]"}]
Family ID: 87315087