Heat dissipation structure of actuator and actuator

Abstract

The present invention discloses a heat dissipation structure of an actuator and an actuator, wherein the heat dissipation structure of the actuator comprises a housing and a motor; the motor comprises a stator and a rotor, a first air guide channel is formed between the stator and the rotor, and the outer periphery of the motor cooperates with the housing gap to form a second air guide channel between the motor and the housing; an air inlet and an air outlet are arranged on the housing, the air inlet is connected to one end of the first air guide channel and the second air guide channel, and the air outlet is connected to the other end of the first air guide channel and the second air guide channel; a plurality of blades extending radially along the rotor are fixedly connected to the rotor, and the plurality of blades rotate with the rotor so that the airflow at the air outlet flows from the inside of the housing to the outside of the housing. The present invention utilizes the centrifugal effect generated when the blades rotate with the rotor to form a negative pressure environment, so that the air flow in the air flow channel cools the motor, so that the motor always works at a relatively low temperature, and the working efficiency of the motor is high.

Description

Technical Field

[0001] The present invention relates to the field of robot driving technology, and in particular to a heat dissipation structure of an actuator and the actuator. Background Art

[0002] The actuator of a robot is usually used in the joint part of the robot to drive the relevant parts of the robot to make corresponding movements. The actuator usually uses a motor as a driving mechanism. In order to meet the movement requirements of the robot joint, the actuator is required to have a compact structure and a large output torque. Therefore, most of the existing actuators use a frameless torque motor. The frameless torque motor includes a stator fixedly matched with the actuator housing and a rotor matched with the stator. The stator is generally composed of an iron core and a winding. The frameless torque motor will generate a lot of heat when working, and the heat generation of the stator is particularly obvious. In the prior art, a heat-conducting component is usually configured on the stator, and the heat-conducting component is used to transfer the heat of the stator to the outside of the housing. However, due to the compact internal structure of the actuator, a large space cannot be reserved for arranging the heat-conducting component. The smaller the volume of the heat-conducting component, the slower the heat transfer speed, resulting in the operating temperature of the frameless torque motor being difficult to reduce to a normal state, affecting the working stability and accuracy of the actuator. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a heat dissipation structure of an actuator and an actuator to solve the problem of poor heat dissipation of the motor inside the existing actuator.

[0004] The purpose of the present invention is achieved by the following technical solutions:

[0005] The heat dissipation structure of the actuator, including the housing and the motor;

[0006] The motor includes a stator and a rotor matched with the stator, a first air guide channel is formed between the stator and the rotor, and an outer periphery of the motor is gap-matched with the housing to form a second air guide channel between the motor and the housing;

[0007] An air inlet and an air outlet are arranged on the housing, the air inlet is connected to one end of the first air guiding channel and the second air guiding channel, and the air outlet is connected to the other end of the first air guiding channel and the second air guiding channel;

[0008] A plurality of blades extending in the radial direction of the rotor are fixedly connected to the rotor, and the plurality of blades rotate with the rotor so that the airflow at the air outlet flows from the inside of the shell to the outside of the shell.

[0009] According to the actuator heat dissipation structure of the embodiment of the present invention, an air flow channel is formed between the interior of the actuator and the external environment through the air inlet, the first air guide channel, the second air guide channel, and the air outlet. The centrifugal effect generated by the blades as the rotor rotates forms a negative pressure environment to make the air in the air flow channel flow, and then the air exchanges heat with the stator and the rotor when flowing through the first air guide channel and the second air guide channel, so as to achieve the purpose of continuous cooling. When the actuator is working, the motor is always kept working at a relatively low temperature, and the motor has a high working efficiency.

[0010] In a preferred embodiment, the rotor is wound around the periphery of the stator, and both the rotor and the stator are cylindrical, the second air guide channel is located between the rotor and the inner wall of the housing, and the upper end and lower end of the first air guide channel and the second air guide channel extend to the upper end face and the lower end face of the rotor respectively. According to the actuator heat dissipation structure of the embodiment of the present invention, since both the rotor and the stator are set to be cylindrical, the first air guide channel and the second air guide channel extend directly from the bottom to the top of the rotor, so that the length of the first air guide channel and the second air guide channel can cover the axial dimension of the entire rotor, that is, the first air guide channel 21 and the second air guide channel have a sufficiently large size to improve the heat dissipation efficiency and further reduce the working temperature of the motor.

[0011] In a preferred embodiment, the heat dissipation structure of the actuator also includes a planetary reducer, which includes an inner gear ring, a planetary gear, a sun gear, and a planetary bracket. The inner gear ring is fixed on the outer shell and connected to the inner edge of the stator. The planetary gear is installed on the planetary bracket and is meshed between the sun gear and the inner gear ring. A connecting bracket is fixed on the rotor, and the connecting bracket is synchronously connected to the sun gear so that the sun gear can rotate with the rotor. The middle part of the connecting bracket is pivotally connected to the inner gear ring or the outer shell through a bearing, and a plurality of blades are located on the outer edge of the connecting bracket. The heat dissipation structure of the actuator according to the embodiment of the present invention can avoid interference between the connecting bracket and the outer shell, making the structure of the entire actuator more compact.

[0012] In a preferred embodiment, an impeller is arranged above the outer edge of the connecting bracket, a plurality of blades are arranged on the impeller and are evenly distributed along the circumference of the impeller, the impeller is fixedly connected to the periphery of a connecting disk, and the connecting disk is fixedly connected to the middle of the connecting bracket to fix the plurality of blades to the connecting bracket. According to the actuator heat dissipation structure of the embodiment of the present invention, the plurality of blades are evenly distributed along the circumference of the impeller, so that the plurality of blades can form a stable and uniform negative pressure environment at the air outlet, the impeller is sleeved on the periphery of a connecting disk, and is fixedly matched with the connecting disk, and the diameter size of the connecting disk is appropriately set, so that after the impeller is fixed to the connecting disk, the blades thereon can be located above the periphery of the rotor, and then the blades can be sufficiently close to the air outlet.

[0013] In a preferred embodiment, the connecting bracket includes a rotating part located in the middle thereof and fixed to the connecting disk, and a connecting ring located at the outer edge thereof and fixedly connected to the upper end of the stator. The connecting ring and the rotating part are connected by a plurality of connecting arms, and the connecting arm is provided with at least one inclined section, which is gradually inclined downward from the inside to the outside so that the upper surface of the connecting ring is lower than the upper surface of the rotating part. According to the actuator heat dissipation structure of the embodiment of the present invention, the upper surface of the connecting ring is lower than the upper surface of the rotating part, and the sinking structure of the connecting ring is utilized to arrange a plurality of blades on the upper surface of the connecting ring, so that the connecting ring can leave a larger installation space for the blades, that is, larger blades can be installed without increasing the axial size of the actuator, thereby further improving the heat dissipation efficiency.

[0014] In a preferred embodiment, an upwardly recessed escape recess is provided on the bottom end surface of the blade, and the connecting ring is embedded in the escape recess so that the upper surface of the connecting ring abuts against the top surface of the escape recess, and the inner edge surface of the connecting ring abuts against the inner side surface of the escape recess. According to the actuator heat dissipation structure of the embodiment of the present invention, the escape recess cooperates with the upper surface and the inner edge surface of the connecting ring, so that the impeller can have a high coaxiality with the connecting bracket, and then when the blade rotates with the rotor, a stable and uniform negative pressure environment can be formed at the air outlet.

[0015] In a preferred embodiment, the upper surface of the connecting ring is flush with the lower edge of the air outlet, the top surface of the blade is flush with or lower than the upper edge of the air outlet; the upper edge of the air inlet is higher than the bottom surface of the rotor or flush with the bottom surface of the rotor. According to the actuator heat dissipation structure of the embodiment of the present invention, the blade can cover the axial dimension of the air outlet as much as possible in the axial direction, thereby improving the heat dissipation efficiency; preventing the rotor from blocking the external environment airflow from entering the first air guide channel and the second air guide channel, increasing the rate at which the low-temperature air in the external environment enters the actuator, and also improving the heat dissipation efficiency.

[0016] In a preferred embodiment, a top wall extending radially inward is provided on the top of the housing, and an installation space is formed between the top wall and the top surface of the rotor, and the blade is located in the installation space. According to the actuator heat dissipation structure of the embodiment of the present invention, an installation space for installing the blade is configured on the housing, so that the blade is located between the rotor and the top wall, avoiding the blade from occupying the space of the rotor, and the rotor has a sufficient axial size to improve the output torque of the actuator.

[0017] In a preferred embodiment, an upper cover is fixedly connected to the top of the housing, and an installation chamber with a built-in PCB board is formed between the upper cover and the top of the housing. An air inlet is provided on the upper cover to connect the installation chamber with the external environment; multiple blades are fixed on an impeller located in the installation space and fixedly matched with the stator, and the impeller includes an annular connecting substrate, and multiple blades extend downward from the lower surface of the connecting substrate. An annular air guide gap is formed between the connecting substrate and the top wall, and the inner edge of the annular air guide gap is connected to the installation chamber through a through hole opened on the top wall, and the outer edge is connected to the air outlet. According to the actuator heat dissipation structure of the embodiment of the present invention, the heat dissipation of the motor inside the actuator and the heat dissipation of the electronic components that generate heat on the circuit board are all completed by the centrifugal blades on the rotor, and there is no need to configure a special heat dissipation structure for the circuit board, making the overall structure of the actuator more compact.

[0018] An actuator comprises the above-mentioned heat dissipation structure of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0020] Figure 1 It is a structural schematic diagram of the actuator of the present invention;

[0021] Figure 2 It is a schematic diagram of the assembly of the actuator of the present invention;

[0022] Figure 3 for Figure 1 A cross-sectional view of the actuator;

[0023] Figure 4 for Figure 3 Magnified view at A in the middle;

[0024] Figure 5 for Figure 3 A schematic diagram of the structure of the connecting bracket;

[0025] Figure 6 for Figure 3 Schematic diagram of the structure of the impeller.

[0026] In the figure: 10, housing; 101, second air guide channel; 11, air inlet; 12, air outlet; 13, top wall; 14, annular air guide gap; 200, motor; 20, rotor; 21, first air guide channel; 22, connecting bracket; 221, rotating part; 222, connecting ring; 2221, upper surface; 2222, inner edge surface; 223, connecting arm; 2231, inclined section; 23, connecting plate; 30, stator; 40, impeller; 41, blades; 411, avoidance recess; 42, connecting base plate; 51, inner gear ring; 52, bearing; 60, upper cover; 61, air inlet; 70, circuit board. DETAILED DESCRIPTION

[0027] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and the limitations of the present application cannot be understood.

[0028] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Please refer to Figure 1-6As shown, a heat dissipation structure of an actuator of the present invention is shown, which includes a housing 10 and a motor 200. The housing 10 is an appearance component of the actuator. The motor 200 is installed inside the housing 10, and includes a stator 30 and a rotor 20. The stator 30 includes an iron core and a winding. When powered, the rotor 20 matched with the stator 30 can rotate relative to the stator 30. In a preferred embodiment, the rotor 20 is located at the periphery of the stator 30, that is, the rotor 20 is arranged in an annular structure around the stator 30, that is, in the radial direction of the actuator, the housing 10, the rotor 20, and the stator 30 are arranged in sequence from the outside to the inside, and a first air guide channel 21 is formed between the stator 30 and the rotor 20. The outer periphery of the motor 200 is clearance-matched with the housing 10, thereby forming a second air guide channel 21 between the motor 200 and the housing 10. Channel 101, the first air guiding channel 21 and the second air guiding channel 101 are both annular in structure and extend along the axial direction of the actuator; an air inlet 11 and an air outlet 12 are arranged on the shell 10, wherein the air inlet 11 is located near the bottom of the shell 10, and the air outlet 12 is located near the top of the shell 10, and the height difference between the two is equivalent to the axial size of the rotor 20, wherein the air inlet 11 is connected to the bottom end of the first air guiding channel 21 and the second air guiding channel 101, and is used to introduce low-temperature air in the external environment into the first air guiding channel 21 and the second air guiding channel 101, and the air outlet 12 is connected to the top end of the first air guiding channel 21 and the second air guiding channel 101, and is used to guide the hot air in the first air guiding channel 21 and the second air guiding channel 101 to the external environment. A plurality of blades 41 extending radially along the rotor 20 are fixedly connected to the rotor 20, and the plurality of blades 41 can form a mechanism similar to a centrifugal fan as the rotor 20 rotates, so that at the air outlet 12, the air flow flows from the inside of the housing 10 to the outside of the housing 10, that is, through the centrifugal effect generated by the high-speed rotation of the blades 41, a negative pressure environment is formed at the position near the air outlet 12 inside the housing 10, that is, a negative pressure environment is formed at the top of the first air guiding channel 21 and the second air guiding channel 101, so that the air flow inside the first air guiding channel 21 and the second air guiding channel 101 moves upward, and the low-temperature air in the external environment continuously enters the first air guiding channel 21 and the second air guiding channel 101 from the air inlet 11, and the low-temperature air exchanges heat with the stator 30 and the rotor 20 inside the first air guiding channel 21 and the second air guiding channel 101, and then flows out from the air outlet 12, and then the heat generated by the operation of the motor 200 is transferred to the external environment, so as to reduce the operating temperature of the motor 200.

[0032] In the present invention, an air flow channel is formed between the interior of the actuator and the external environment through the air inlet 11, the first air guide channel 21, the second air guide channel 101, and the air outlet 12. The centrifugal effect generated by the blades 41 as the rotor 20 rotates forms a negative pressure environment, so that the air in the air flow channel flows, and then the air exchanges heat with the stator 30 and the rotor 20 when flowing through the first air guide channel 21 and the second air guide channel 101, so as to achieve the purpose of continuous cooling. When the actuator is working, the motor 200 is always kept working at a relatively low temperature, and the working efficiency of the motor 200 is relatively high, which can increase the output torque of the actuator by more than 15%.

[0033] In a preferred embodiment, the rotor 20 and the stator 30 are both cylindrical structures, the rotor 20 is wound around the outer periphery of the stator 30, the second air guide channel 101 is located between the rotor 20 and the inner wall surface of the outer casing 10, and the upper end and lower end of the first air guide channel 21 and the second air guide channel 101 extend to the upper end surface and the lower end surface of the rotor 20 respectively. Since the rotor 20 and the stator 30 are both set to be cylindrical structures, the first air guide channel 21 and the second air guide channel 101 extend directly from the bottom to the top of the rotor 20, so that the length of the first air guide channel 21 and the second air guide channel 101 can cover the axial dimension of the entire rotor 20, that is, the first air guide channel 21 and the second air guide channel 101 have a sufficiently large size to improve the heat dissipation efficiency and further reduce the operating temperature of the motor 200. In fact, in some other embodiments, a motor 200 with a built-in rotor 20 may be used, and a second air guide channel is formed by the outer edge surface of the stator 30 and the inner wall surface of the housing 10. In short, the housing 10, the stator 30, and the rotor 20 are spaced radially of the actuator to form two parallel air guide channels.

[0034] The heat dissipation structure of the actuator of the present invention also includes a planetary reducer, which includes an inner gear ring 51, a planetary gear, a sun gear and a planetary bracket. The inner gear ring 51 is fixedly connected to the housing 10, and the inner gear ring 51 is connected to the inner edge of the stator 30 by bonding or other fixing methods, so that the inner gear ring 51, the stator 30 and the housing 10 are connected together, and the planetary gear is installed on the planetary bracket and is meshed between the sun gear and the inner gear ring 51. The planetary reducer is a conventional structure and is not described in detail here; a connecting bracket 22 is fixedly connected to the rotor 20, and the connecting bracket 22 is synchronously connected with the sun gear, so that the power output by the motor 200 can be rotated to the sun gear via the connecting bracket 22, so that the sun gear can rotate with the rotor 20. The middle part of the connecting bracket 22 is pivotally connected to the inner gear ring 51 through a bearing 52, and a plurality of blades 41 are arranged at the outer edge of the connecting bracket 22. In other embodiments, the connecting bracket 22 can also be pivotally connected to the stator 30 or the housing 10 through a bearing. The rotor 20 and the sun gear are synchronously connected together through the connecting bracket 22 from the top of the rotor 20 and the stator 30, and the lower end of the stator 30 can be connected to the housing 10, so as to avoid interference between the connecting bracket 22 and the housing 10, making the structure of the entire actuator more compact. Of course, in other embodiments, the top of the stator 30 or the top of the inner gear ring 51 can be connected and fixed to the housing 10, and the connecting bracket 22 is radially arranged from the lower end of the rotor 20 to be fixed to the sun gear.

[0035] In the present invention, an impeller 40 is provided above the outer edge of the connecting bracket 22, and a plurality of the above-mentioned blades 41 are provided on the impeller 40, and the plurality of blades 41 are evenly distributed along the circumference of the impeller 40, so that the plurality of blades 41 can form a stable and uniform negative pressure environment at the air outlet 12, and the impeller 40 is sleeved on the periphery of a connecting disk 23, and is fixedly matched with the connecting disk 23, and the diameter size of the connecting disk 23 is appropriately set, so that after the impeller 40 is fixed to the connecting disk 23, the blades 41 thereon can be located above the periphery of the rotor 20, and then the blades 41 can be sufficiently close to the air outlet 12, and the connecting disk 23 is fixedly connected to the middle part of the connecting bracket 22, so that the plurality of blades 41 are fixedly connected to the connecting bracket 22, and the connecting disk 23 and the connecting bracket 22 are fixed by bolts and other connecting parts at the middle part thereof, so as to avoid setting bolts and other connecting parts at the edge of the connecting bracket 22 close to the impeller 40, so that the surface structure at the edge of the connecting bracket 22 is smoother, thereby avoiding affecting the airflow. The connecting bracket 22 includes a rotating part 221 located in the middle thereof and fixed to the connecting disk 23, and a connecting ring 222 located at the outer edge thereof. The connecting ring 222 is connected to the rotating part 221 by a plurality of connecting arms 223. The connecting arms 223 are provided with more than one inclined section 2231. The inclined section 2231 gradually inclines downward from the inside to the outside, that is, the inclined section 2231 gradually inclines downward from one end close to the rotating part 221 to one end close to the connecting ring 222, so that the upper surface 2221 of the connecting ring 222 can be lower than the upper surface of the rotating part 221; in this way, by utilizing the sinking structure of the connecting ring 222, a plurality of blades 41 are arranged on the upper surface 2221 of the connecting ring 222, so that the connecting ring 222 can leave a larger installation space for the blades 41, so that the blades 41 with larger size can be installed without increasing the axial size of the actuator, thereby further improving the heat dissipation efficiency.

[0036] In order to make the impeller 40 more stably cooperate with the connecting bracket 22, an upwardly recessed avoidance recess 411 is provided on the bottom end surface of the blade 41, and the connecting ring 222 is embedded in the avoidance recess 411. The upper surface 2221 of the connecting ring 222 abuts against the top surface of the avoidance recess 411, and the inner edge surface 2222 of the connecting ring 222 abuts against the inner side surface of the avoidance recess 411. The avoidance recess 411 cooperates with the upper surface 2221 and the inner edge surface 2222 of the connecting ring 222, so that the impeller 40 can have a high coaxiality with the connecting bracket 22, and then when the blade 41 rotates with the rotor 20, a stable and uniform negative pressure environment can be formed at the air outlet 12. The upper surface 2221 of the connecting ring 222 is flush with the lower edge of the air outlet 12, and the top surface of the blade 41 is flush with the upper edge of the air outlet 12 and then lower than the upper edge of the air outlet 12, so that the blade 41 can cover the axial dimension of the air outlet 12 as much as possible in the axial direction, thereby improving the heat dissipation efficiency; the upper edge of the air inlet 11 is higher than the bottom surface of the rotor 20 or flush with the bottom surface of the rotor 20, thereby preventing the rotor 20 from blocking the external ambient airflow from entering the first air guide channel 21 and the second air guide channel 101, thereby increasing the rate at which low-temperature air in the external environment enters the actuator, which can also improve the heat dissipation efficiency.

[0037] In a preferred embodiment, a top wall 13 extending radially inward is provided on the top of the housing 10, and an installation space is formed between the top wall 13 and the top end surface of the rotor 20. The blade 41 is installed on the rotor 20 and placed in the installation space. In this way, an installation space for installing the blade 41 is configured on the housing 10, so that the blade 41 is located between the rotor 20 and the top wall 13, avoiding the blade 41 from encroaching on the space of the rotor 20, and the rotor 20 has a sufficient axial dimension to improve the output torque of the actuator.

[0038] An upper cover 60 is fixedly connected to the top of the outer shell 10, and an installation chamber is formed between the upper cover 60 and the top of the outer shell 10, and one or more circuit boards 70 are fixedly installed in the installation chamber, and the circuit board 70 is provided with relevant modules for detecting and controlling the motor 200, and an air inlet 61 is provided on the upper cover 60 to connect the installation chamber with the external environment; multiple blades 41 are fixed on an impeller 40, and the impeller 40 is located in the installation space; the impeller 40 includes an annular connecting substrate 42, and multiple blades 41 extend downward from the lower surface of the connecting substrate 42, and an annular air guide gap 14 is formed between the connecting substrate 42 and the top wall 13, and the inner edge of the annular air guide gap 14 is connected to the installation chamber through a through hole opened on the top wall 13, and the outer edge extends to the air outlet 12 and connects with the air outlet 12. In this way, when the impeller 40 rotates with the rotor 20, the centrifugal effect of the blades 41 forms a negative pressure environment inside the annular air guide gap 14, and then the airflow inside the installation chamber flows through the annular air guide gap 14 to the air outlet 12, and the air in the external environment enters the installation chamber through the air inlet 61. The air with a lower temperature in the external environment flows through the circuit board 70 to dissipate the heat of the electronic components on the circuit board 70, and then is discharged through the annular air guide gap 14 and the air outlet 12. In this way, the heat dissipation of the motor 200 inside the actuator and the heat dissipation of the electronic components on the circuit board 70 are all completed by the centrifugal blades 41 on the rotor 20, and there is no need to configure a special heat dissipation structure for the circuit board 70, making the overall structure of the actuator more compact.

[0039] The actuator of the present invention includes the heat dissipation structure of the actuator described above. Other structures of the actuator are the same as those in the prior art and will not be described in detail here.

[0040] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0041] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. The heat dissipation structure of the actuator is characterized by: Including housing and motor; The motor includes a stator and a rotor matched with the stator, a first air guide channel is formed between the stator and the rotor, and an outer periphery of the motor is gap-matched with the housing to form a second air guide channel between the motor and the housing; An air inlet and an air outlet are arranged on the housing, the air inlet is connected to one end of the first air guiding channel and the second air guiding channel, and the air outlet is connected to the other end of the first air guiding channel and the second air guiding channel; A plurality of blades extending in the radial direction of the rotor are fixedly connected to the rotor, and the plurality of blades rotate with the rotor so that the airflow at the air outlet flows from the inside of the housing to the outside of the housing; The heat dissipation structure of the actuator also includes a planetary reducer, which includes an inner gear ring, a planetary gear, a sun gear, and a planetary bracket. The inner gear ring is fixed on the housing and connected to the inner edge of the stator. The planetary gear is installed on the planetary bracket and is meshed between the sun gear and the inner gear ring. A connecting bracket is fixed on the rotor, and the connecting bracket is synchronously connected with the sun gear so that the sun gear can rotate with the rotor. The middle part of the connecting bracket is pivotally connected to the inner gear ring or the housing through a bearing, and the plurality of blades are located at the outer edge of the connecting bracket. An impeller is arranged above the outer edge of the connecting bracket, and a plurality of blades are arranged on the impeller and are evenly distributed along the circumference of the impeller. The impeller is fixedly connected to the periphery of a connecting disk, and the connecting disk is fixedly connected to the middle part of the connecting bracket to fix the plurality of blades to the connecting bracket; the connecting bracket includes a rotating part located in the middle part and fixed to the connecting disk, and a connecting ring located at the outer edge and fixedly connected to the upper end part of the stator, the connecting ring and the rotating part are connected by a plurality of connecting arms, and at least one inclined section is arranged on the connecting arm, and the inclined section gradually inclines downward from the inside to the outside so that the upper surface of the connecting ring is lower than the upper surface of the rotating part.

2. The heat dissipation structure of the actuator according to claim 1, characterized in that: The rotor is wound around the periphery of the stator, and both the rotor and the stator are cylindrical in structure. The second air guide channel is located between the rotor and the inner wall surface of the shell. The upper end and lower end of the first air guide channel and the second air guide channel extend to the upper end surface and the lower end surface of the rotor respectively.

3. The heat dissipation structure of the actuator according to claim 1, characterized in that: The bottom end surface of the blade is provided with an upwardly recessed avoidance recess, and the connecting ring is embedded in the avoidance recess so that the upper surface of the connecting ring abuts against the top surface of the avoidance recess and the inner edge surface of the connecting ring abuts against the inner side surface of the avoidance recess.

4. The heat dissipation structure of the actuator according to claim 3, characterized in that: The upper surface of the connecting ring is flush with the lower edge of the air outlet, the top surface of the blade is flush with or lower than the upper edge of the air outlet; the upper edge of the air inlet is higher than the bottom surface of the rotor or flush with the bottom surface of the rotor.

5. The heat dissipation structure of the actuator according to claim 1, characterized in that: The top of the housing is provided with a top wall extending radially inwards, and an installation space is formed between the top wall and the top end surface of the rotor, and the blades are located in the installation space.

6. The heat dissipation structure of the actuator according to claim 5, characterized in that: An upper cover is fixedly connected to the top of the shell, and an installation chamber with a built-in PCB board is formed between the upper cover and the top of the shell. An air inlet is provided on the upper cover to connect the installation chamber with the external environment; multiple blades are fixed on an impeller located in the installation space and fixedly matched with the stator, and the impeller includes an annular connecting base plate, and multiple blades extend downward from the lower surface of the connecting base plate. An annular air guide gap is formed between the connecting base plate and the top wall, and the inner edge of the annular air guide gap is connected to the installation chamber through a through hole opened on the top wall, and the outer edge is connected to the air outlet.

7. An actuator, characterized in that A heat dissipation structure of an actuator comprising any one of claims 1 to 6.

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