Actuator and vehicle

Abstract

The invention relates to an actuator and a vehicle, and relates to the technical field of vehicles. The driving piece comprises a worm part arranged in the containing cavity, the transmission piece comprises a transmission shaft and a worm gear arranged on the transmission shaft in a sleeving mode, and spiral teeth meshed with the worm gear are arranged on the outer wall of the worm part. And the worm part and the worm gear transmission have the self-locking characteristic, so that the transmission is safer. After the brake applies braking force to the execution part, the transmission shaft connected with the execution part bears an acting force, the force sensor in contact with the transmission shaft gives a counter-acting force to the transmission shaft, the transmission shaft is kept in a relatively static state, the force sensor can respond to abutting of the execution part to generate a detection signal, and the magnitude of the counter-acting force is detected; therefore, the braking force is detected. Through the electric signal output by the force sensor and in combination with the pre-known corresponding relation between the force and the electric signal, the thrust applied to the braking part by the executing part can be known, so that the magnitude of power is adjusted and controlled in time, and the vehicle is safer in the using process.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to an actuator and a vehicle. Background Art

[0002] The actuator is a device that performs mechanical actions in a car. When the actuator becomes stuck, damaged, or has insufficient torque, it can easily cause the vehicle to slip, thus affecting the safety of the vehicle. Therefore, improving the safety performance of vehicle use is an issue worthy of attention. Summary of the invention

[0003] Based on this, the present application provides an actuator and a vehicle, which can detect the magnitude of the braking force, making the vehicle safer during use.

[0004] According to one aspect of the present application, an embodiment of the present application provides an actuator, comprising:

[0005] A housing having a receiving cavity;

[0006] A driving mechanism, comprising a driving member and a transmission member arranged at intervals along a first direction; the driving member is configured to rotate around a first axis, and the transmission member is configured to rotate around a second axis; the extension direction of the first axis, the extension direction of the second axis and the second direction are parallel to each other, and the first direction is perpendicular to the second direction; the driving member comprises a worm portion arranged in an accommodating cavity, and the transmission member comprises a transmission shaft and a worm wheel sleeved on the transmission shaft; the outer wall of the worm portion is provided with helical teeth meshing with the worm wheel;

[0007] An actuator, the actuator is movably connected to the housing along the second direction, a lead screw portion is further provided on the transmission shaft, the actuator includes a nut portion, the nut portion is threadedly connected to the lead screw portion; and the actuator has an output end extending out of the accommodating cavity, the output end is used to be rotatably connected to the braking portion of the brake; when the driving member is turned on, the output end moves toward the braking portion along the second direction to put the brake in a working state; and

[0008] The force sensor contacts the end of the transmission shaft away from the actuator, and can generate a detection signal in response to the contact of the actuator.

[0009] In one embodiment, the driving member includes a manual end extending out of the accommodating cavity, and the manual end is connected to the worm portion.

[0010] In one embodiment, the outer surface of the manual end includes an active surface, the active surface is configured as a plane, and the active surface is parallel to the second direction.

[0011] In one embodiment, the active surface includes a plurality of plane groups connected in pairs, and the plane group includes two planes parallel to each other.

[0012] In one embodiment, the actuator also includes a first bearing installed in the accommodating chamber, and the driving member is installed on the inner wall of the accommodating chamber through the first bearing. The inner ring of the first bearing abuts against the driving member, and the outer ring of the first bearing is fixed to the inner wall of the accommodating chamber; along the extension direction of the first axis, the first bearing is located between the worm part and the manual end.

[0013] In one embodiment, the actuator further includes a second bearing, the transmission shaft is mounted on the inner wall of the accommodating cavity through the second bearing, and the second bearing is located on at least one of the two sides of the worm gear along the second direction.

[0014] In one embodiment, the worm wheel has a first end face and a second end face that are relatively arranged along the extension direction of the second axis, and a protrusion is provided on at least one of the first end face and the second end face, the inner ring of the second bearing abuts against the protrusion, and the outer ring of the second bearing is fixed to the inner wall of the accommodating cavity.

[0015] In one embodiment, a limiting portion is provided on the inner wall of the accommodating cavity, and the outer peripheral surface of the actuator abuts against the limiting portion.

[0016] In one embodiment, the actuator further includes a preset component, which is movably connected to the housing along the second direction, and the preset component is in contact with the force sensor.

[0017] According to another aspect of the present application, an embodiment of the present application provides a vehicle, comprising the actuator in any of the above embodiments.

[0018] In the above-mentioned actuator and vehicle, the actuator includes a housing, a driving mechanism, an actuator and a force sensor. The housing is provided with a receiving cavity, and the receiving cavity is used to install the driving mechanism, the actuator and the force sensor. The driving mechanism includes a driving member and a transmission member arranged at intervals along the first direction. The driving member includes a worm part arranged in the receiving cavity, and the transmission member includes a transmission shaft and a worm wheel sleeved on the transmission shaft. The outer wall of the worm part is provided with helical teeth meshing with the worm wheel. The worm part and the worm wheel transmission have a self-locking characteristic, making the transmission safer. When the actuator transmits power to the brake part connected thereto, the brake part is driven so that the brake is in a working state. After the brake applies a braking force to the actuator, the transmission shaft connected to the actuator will be subjected to an action force, and the force sensor in contact with the transmission shaft gives the transmission shaft a reaction force, so that the transmission shaft remains in a relatively static state. At this time, the reaction force and the action force are equal in magnitude and opposite in direction. The force sensor can respond to the pressure of the actuator and generate a detection signal to detect the magnitude of the reaction force, that is, to detect the magnitude of the braking force. By combining the electrical signal output by the force sensor with the previously known correspondence between the force and the electrical signal, the thrust applied by the actuator to the brake part can be known, so that the magnitude of the control power can be adjusted in time to make the vehicle safer during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the structure of an actuator provided in some embodiments of the present application.

[0020] Figure 2 for Figure 1 Schematic diagram of the cross section at AA in the middle.

[0021] Figure 3 for Figure 1 Schematic diagram of the cross section at BB in FIG.

[0022] Figure 4 for Figure 1 Schematic diagram of the structure of the actuator from another angle.

[0023] Figure 5 for Figure 4 A partial enlarged view of the actuator at position E.

[0024] Figure 6 for Figure 1 Schematic diagram of the matching point between the limiting part and the actuator of the actuator.

[0025] The reference numerals in the specific implementation manner are as follows:

[0026] 100, actuator, 10, housing, Q, accommodating chamber, 20, driving mechanism, 201, driving member, 2011, worm part, D2, manual end, ZM, action surface, PM1, first plane, PM2, second plane, PM3, third plane, PM4, fourth plane, PM5, fifth plane, PM6, sixth plane, 202, transmission member, 2021, transmission shaft, S, screw part, 2022, worm wheel, DM1, first end face, DM2, second end face, T, raised part, X, limit part, 30, actuator, LM, nut part, D1, output end, N, force sensor, BE1, first bearing, BE2, second bearing, Y, pre-adjusting member;

[0027] X1, first axis, X2, second axis, ZD, brake part;

[0028] F1, first direction, F2, second direction. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0031] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0032] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0034] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0035] See also Figure 1 , Figure 2 as well as Figure 3 , Figure 1 A schematic diagram of the structure of an actuator 100 provided in some embodiments of the present application, Figure 2 Shows Figure 1 Schematic diagram of the cross section at AA in the middle. Figure 3 Shows Figure 1 Schematic cross-sectional view at BB in the figure. The actuator 100 includes a housing 10, a driving mechanism 20 and an actuator 30. The driving mechanism 20 includes a driving member 201 and a transmission member 202 which are spaced apart along a first direction F1. The driving member 201 is configured to be rotatable around a first axis X1, and the transmission member 202 is configured to be rotatable around a second axis X2. The extension direction of the first axis X1, the extension direction of the second axis X2 and the second direction F2 are parallel to each other, and the first direction F1 is perpendicular to the second direction F2. With such a design, since the driving member 201 and the transmission member 202 are spaced apart along the first direction F1 and their respective rotation axes are parallel, the overall structure is more compact. In addition, the axes of the driving member 201 and the transmission member 202 are parallel to each other and perpendicular to the direction of force, which can reduce the transmission deviation caused by alignment errors and improve the accuracy of the transmission action.

[0036] The driving member 201 includes a worm part 2011 disposed in the accommodating cavity Q, and the transmission member 202 includes a transmission shaft 2021 and a worm wheel 2022 sleeved on the transmission shaft 2021. The outer wall of the worm part 2011 is provided with helical teeth meshing with the worm wheel 2022. The transmission of the worm part 2011 and the worm wheel 2022 has a self-locking characteristic. When the lead angle of the worm is less than the friction angle, the worm wheel 2022 will not reversely drive the worm part 2011, making the transmission safer. Since the worm and worm wheel 2022 can achieve a high reduction ratio, the same effect can be achieved in a more compact space compared to other transmission mechanisms.

[0037] The actuator 30 is movably connected to the housing 10 along the second direction F2, and a lead screw portion S is also provided on the transmission shaft 2021. The actuator 30 includes a nut portion LM, and the nut portion LM is threadedly connected to the lead screw portion S. The actuator 30 has an output end D1 extending out of the accommodating cavity Q, and the output end D1 is used to be rotatably connected to the brake portion ZD of the brake. When the driving member 201 is turned on, the output end D1 moves toward the brake portion ZD along the second direction F2 to put the brake in a working state. The threaded connection can more accurately adjust the relative position of the actuator 30 and the housing 10 in the second direction F2, and the threaded connection between the lead screw portion S and the nut portion LM can convert the rotational motion of the worm gear 2022 into a precise linear motion, further improving the transmission accuracy of the actuator 100. The lead screw portion S is directly connected to the nut portion LM, which reduces the transmission links and improves the transmission efficiency and response speed of the actuator 100. Among them, the brake can be a disc brake or a drum brake.

[0038] One end of the transmission shaft 2021 is in contact with the force sensor N, and the actuator 30 at the other end applies force to the transmission shaft 2021, so that the force sensor N can generate a detection signal, and then the magnitude of the braking force is obtained. Here, "contact" refers to the state in which two objects are physically in contact or in contact with each other. The contact state includes the abutment state and the non-abutment state. In the abutment state, it means that the contact force between the two objects is sufficient to overcome other external forces, so that they remain relatively still or in relative motion.

[0039] When the actuator 30 transmits power to the brake part ZD connected thereto, the brake part ZD is driven so that the brake is in working state. After the brake applies braking force to the actuator 30, the transmission shaft 2021 connected to the actuator 30 will be subjected to an action force, and the force sensor N in contact with the transmission shaft 2021 gives the transmission shaft 2021 a reaction force, so that the transmission shaft 2021 remains in a relatively static state. At this time, the reaction force and the action force are equal in magnitude and opposite in direction, and the force sensor N can generate a detection signal in response to the pressure of the actuator 30, detect the magnitude of the reaction force, and thus detect the magnitude of the braking force. Through the electrical signal output by the force sensor N, combined with the previously known correspondence between the force and the electrical signal, it can be known that the thrust applied by the actuator 30 to the brake part ZD can be adjusted in time to make the vehicle safer during use.

[0040] In some embodiments of the present application, continue to refer to Figures 1 to 3 The driving member 201 includes a manual end D2 extending out of the accommodating cavity Q, and the manual end D2 is connected to the worm portion 2011.

[0041] It is understandable that the actuator 100 usually relies on power control, and in the event of an emergency such as a power outage, the actuator 100 may lose the ability to operate normally. However, in the design of the present application, the driving member 201 is configured with an exposed portion, namely the manual end D2, which is located outside the accommodating cavity Q, so that the operator can directly manually manipulate the manual end D2 to drive the entire actuator 30 to move, so that the actuator 100 can also operate normally in special emergency situations such as power outages.

[0042] In some embodiments of the present application, continue to refer to Figure 2 , and combined with reference Figure 4 and Figure 5 , Figure 4 Shows Figure 1 A schematic structural diagram of the actuator 100 at another angle, Figure 5 Shows Figure 4 1 is a partial enlarged view of the actuator 100 at E. The outer surface of the manual end D2 includes an action surface ZM, the action surface ZM is configured as a plane, and the action surface ZM is parallel to the second direction F2.

[0043] In this way, the action surface ZM can be held by the operator and can also be used as a mating surface for mating with a force-applying tool. The action surface ZM is constructed as a plane, which is easier to process and produce than other curved surfaces, and is convenient for mass production. In some other embodiments, the shape of the action surface ZM can also be constructed as a curved surface, and the shape design of the action surface ZM matches the shape of the force-applying tool. The size of the mating surface can be designed according to the actual tool that is mated therewith, and is not limited here.

[0044] In some embodiments of the present application, continue to refer to Figure 2 , Figure 4 as well as Figure 5, the action surface ZM includes a plurality of plane groups connected in pairs, and the plane group includes two planes parallel to each other. In this way, when the tool is in operation, it can contact any two planes parallel to each other to realize the interaction between the tool and the manual end D2. In this way, when some planes are damaged, other plane groups can be used, and multiple plane groups can be used for multiple tools or multiple parts of a tool, which improves the convenience of operation. Specifically in this application, the action surface ZM includes a first plane PM1, a second plane PM2, a third plane PM3, a fourth plane PM4, a fifth plane PM5 and a sixth plane PM6 connected to each other in sequence. Among them, the first plane PM1 and the fourth plane PM4 constitute a plane group, which are parallel to each other, and the second plane PM2 and the fifth plane PM5 constitute a plane group, which are parallel to each other, and the third plane PM3 and the sixth plane PM6 constitute a plane group, which are parallel to each other. In this way, the size of each plane design can be sufficient to contact the tool, and sufficient action surfaces ZM can be provided for matching with the tool. It is understandable that if more planes are processed on the manual end D2, the area of ​​each plane can only be set smaller, and if the area of ​​the plane processed on the manual end D2 is large, the number of plane groups set will be small. Further, the applicant found that setting three plane groups can take into account the above two advantages.

[0045] In some embodiments of the present application, continue to refer to Figures 1 to 3 The actuator 100 also includes a first bearing BE1 installed in the accommodating chamber Q. The driving member 201 is installed on the inner wall of the accommodating chamber Q through the first bearing BE1. The inner ring of the first bearing BE1 abuts against the driving member 201. The outer ring of the first bearing BE1 is fixed to the inner wall of the accommodating chamber Q. Along the extension direction of the first axis X1, the first bearing BE1 is located between the worm portion 2011 and the manual end D2.

[0046] The first bearing BE1 can be selected as a ball bearing, a roller bearing, a thrust bearing, a sliding bearing, a combined bearing, etc. The installation of the first bearing BE1 is intended to firmly support and fix the driving member 201 in the housing 10. By making the inner ring of the first bearing BE1 in close contact with the driving member 201, a firm combination of the driving member 201 and the inner ring is achieved, which can effectively reduce the risk of the driving member 201 moving in the axial direction, and has excellent axial positioning ability. This precise positioning improves the overall reliability of the automobile and its powertrain. In addition, the first bearing BE1 is located at the connection between the worm part 2011 and the manual end D2, and the setting of the first bearing BE1 helps to balance the forces between the two. In the balanced state, the forces on the manual end D2 and the worm part 2011 are balanced by the first bearing BE1, which helps to reduce the vibration and noise of the overall actuator 100 system. When the manual end D2 is subjected to external forces or torques, the first bearing BE1 can efficiently transmit these forces to the worm part 2011, thereby promoting the operation of the entire system.

[0047] In some embodiments of the present application, continue to refer to Figures 1 to 3 The actuator 100 further includes a second bearing BE2, through which the transmission shaft 2021 is mounted on the inner wall of the accommodating cavity Q, and the second bearing BE2 is located on at least one of the two sides of the worm gear 2022 along the second direction F2.

[0048] In this way, the second bearing BE2 provides support for the transmission shaft 2021, so that the transmission shaft 2021 can remain in the correct position when rotating, reducing the risk of axial or radial movement, thereby maintaining the stability and accuracy of the entire actuator 100 transmission system.

[0049] Among them, at least one side means that the second bearing BE2 can be provided on one side of the worm wheel 2022 along the second direction F2, and the second bearing BE2 can also be provided on both sides of the worm wheel 2022 along the second direction F2. The applicant has found that by providing two bearings on both sides of the worm wheel 2022 along the second direction F2, when the second bearing BE2 is located on both sides of the worm wheel 2022, the force can be better dispersed and balanced, and the deflection or damage of the worm wheel 2022 caused by the unilateral load can be reduced. The performance of the actuator 100 can be improved while making the overall structure of the actuator 100 have the advantage of being lightweight.

[0050] In some embodiments of the present application, continue to refer to Figure 3 The worm wheel 2022 has a first end face DM1 and a second end face DM2 that are relatively arranged along the extension direction of the second axis X2, and a protrusion T is provided on at least one of the first end face DM1 and the second end face DM2, the inner ring of the second bearing BE2 abuts against the protrusion T, and the outer ring of the second bearing BE2 is fixed to the inner wall of the accommodating cavity Q.

[0051] The shape and size of the protrusion T are not limited here, as long as it can cooperate and abut with the second bearing BE2. The protrusion T is provided on at least one of the first end surface DM1 and the second end surface DM2, including the case where the protrusion T is provided only on the first end surface DM1 for mounting one second bearing BE2, the case where the protrusion T is provided only on the second end surface DM2 for mounting one second bearing BE2, and the case where the protrusion T is provided on both the first end surface DM1 and the second end surface DM2 for mounting two second bearings BE2.

[0052] Compared with placing the bearing in the groove, the setting of the protrusion T can improve the structural stability of the actuator 100. The configuration of the protrusion T makes the connection between the inner ring and the worm wheel 2022 more stable, greatly reduces the risk of axial movement of the worm wheel 2022 relative to the inner ring, and improves the accuracy of axial positioning. The precise axial positioning of the worm wheel 2022 helps to further improve the overall reliability of the automobile and its powertrain.

[0053] In some embodiments of the present application, continue to refer to Figure 3 , and combined with reference Figure 6 , Figure 6 Shows Figure 1 Schematic diagram of the matching position of the limiting portion X of the actuator 100 and the actuator 30. The limiting portion X is provided on the inner wall of the accommodating cavity Q, and the outer peripheral surface of the actuator 30 abuts against the limiting portion X.

[0054] The limiting portion X is provided to prevent the actuator 30 from rotating, so that when power is transmitted to the actuator 30, the actuator 30 can only move along the extension direction of the second axis X2, wherein the shape and size of the limiting portion X may not be restricted here, and similarly, the shape of the outer peripheral surface is not restricted, and the two can be adapted to abut against each other.

[0055] In some embodiments of the present application, continue to refer to Figure 3 The actuator 100 further includes a pre-adjusting member Y, which is movably connected to the housing 10 along the second direction F2, and the pre-adjusting member Y is in contact with the force sensor N.

[0056] The “pre-adjustment component Y” refers to a component that adjusts the initial preload force generated and measured by the brake before driving the actuator 100. By moving the pre-adjustment component Y in the second direction F2, the interaction between the pre-adjustment component Y and the force sensor N is changed, and the detection signal received by the force sensor N is changed.

[0057] Based on the same inventive concept, an embodiment of the present application provides a vehicle, including the brake in any of the above embodiments and the brake, the brake including a braking part ZD, and the braking part ZD is rotatably connected to the output end D1 of the actuator 100.

[0058] The advantages possessed by the above actuator 100 are also possessed by the vehicle, which will not be elaborated here.

[0059] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An actuator, characterized in that: include: A housing having a receiving cavity; A driving mechanism, comprising a driving member and a transmission member spaced apart along a first direction; The driving member is configured to rotate around a first axis, and the transmission member is configured to rotate around a second axis; the extension direction of the first axis, the extension direction of the second axis, and the second direction are parallel to each other, and the first direction is perpendicular to the second direction; the driving member includes a worm portion arranged in the accommodating cavity, and the transmission member includes a transmission shaft and a worm wheel sleeved on the transmission shaft; the outer wall of the worm portion is provided with helical teeth meshing with the worm wheel; an actuator, the actuator is movably connected to the housing along the second direction, a lead screw portion is further provided on the transmission shaft, the actuator includes a nut portion, the nut portion is threadedly connected to the lead screw portion; and the actuator has an output end extending out of the accommodating cavity, the output end is used to be rotatably connected to the braking portion of the brake; when the driving member is turned on, the output end moves toward the braking portion along the second direction to put the brake in a working state; and A force sensor is in contact with an end of the transmission shaft away from the actuator, and the force sensor can generate a detection signal in response to the contact of the actuator.

2. The actuator according to claim 1, characterized in that The driving member comprises a manual end extending out of the accommodating cavity, and the manual end is connected to the worm part.

3. The actuator according to claim 2, characterized in that The outer surface of the manual end includes an action surface, the action surface is configured as a plane, and the action surface is parallel to the second direction.

4. The actuator according to claim 3, characterized in that The active surface includes a plurality of plane groups connected in pairs, and the plane group includes two planes parallel to each other.

5. The actuator according to claim 2, characterized in that: The actuator also includes a first bearing installed in the accommodating chamber, and the driving member is installed on the inner wall of the accommodating chamber through the first bearing. The inner ring of the first bearing abuts against the driving member, and the outer ring of the first bearing is fixed to the inner wall of the accommodating chamber; along the extension direction of the first axis, the first bearing is located between the worm part and the manual end.

6. The actuator according to any one of claims 1 to 5, characterized in that: The actuator further includes a second bearing, the transmission shaft is mounted on the inner wall of the accommodating cavity through the second bearing, and the second bearing is located on at least one of the two sides of the worm gear along the second direction.

7. The actuator according to claim 6, characterized in that The worm wheel has a first end face and a second end face that are arranged opposite to each other along the extension direction of the second axis, and a protrusion is provided on at least one of the first end face and the second end face, the inner ring of the second bearing abuts against the protrusion, and the outer ring of the second bearing is fixed to the inner wall of the accommodating cavity.

8. The actuator according to any one of claims 1 to 6, characterized in that: A limiting portion is disposed on the inner wall of the accommodating cavity, and the outer peripheral surface of the actuator abuts against the limiting portion.

9. The actuator according to any one of claims 1 to 6, characterized in that: The actuator further includes a preset component, which is movably connected to the housing along the second direction and is in contact with the force sensor.

10. A vehicle, characterized in that: include: An actuator as claimed in any one of claims 1 to 9; and The brake comprises a brake part, wherein the brake part is rotatably connected to the output end of the actuator.

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