Actuator

Abstract

The invention provides an actuator which comprises a shell, a rotating assembly, a motor and a control circuit board, the actuator is provided with a mounting cavity and a heat dissipation channel, the heat dissipation channel is located in the shell and communicates with the mounting cavity, the mounting cavity is located in the shell, the control circuit board is located in the mounting cavity, the rotating assembly is provided with a hollow channel, and the hollow channel extends in the axial direction of the actuator. The actuator further comprises an impeller, the impeller is located in the installation cavity and located between the motor and the control circuit board, at least part of the control circuit board extends in the radial direction of the actuator, the motor can drive the impeller to rotate, the actuator is provided with an air passing channel, and the air passing channel communicates with the hollow channel and the installation cavity. At least part of the air passing channel extends in the radial direction of the actuator. In the application, the air passing channel exists between the impeller and the rotating assembly, the air passing channel communicates with the hollow channel, and at least part of the air passing channel extends in the radial direction of the actuator, so that when the impeller rotates, air between the motor and the control circuit board can be stirred to be ventilated in the radial direction of the actuator; and the heat can flow out of the heat dissipation channel of the shell or the hollow channel of the rotating assembly, so that the heat dissipation effect is improved.

Description

Technical Field

[0001] This application relates to the field of robot joint transmission, and more particularly to an actuator. Background Technology

[0002] In the assembly design of robot structures, joint actuators are a crucial component. A joint actuator includes a motor, a drive mechanism, and a reduction mechanism. The drive mechanism drives the motor, which in turn drives the reduction mechanism to reduce speed. The drive mechanism includes a circuit board on which components are mounted. During actuator operation, the heat generated by these components can cause the internal temperature of the joint actuator to become too high. High temperatures can lead to component malfunction or trigger the driver's temperature protection, resulting in the actuator failing to function. Summary of the Invention

[0003] The purpose of this application is to provide an actuator that improves heat dissipation.

[0004] This application provides an actuator, including a housing, a rotating assembly, a motor, and a control circuit board. The actuator has a mounting cavity and a heat dissipation channel. The heat dissipation channel is located in the housing and communicates with the mounting cavity, which is located inside the housing. The control circuit board is located in the mounting cavity. The rotating assembly has a hollow channel that extends axially along the actuator and communicates with the outside of the actuator. The actuator also includes an impeller located in the mounting cavity and between the motor and the control circuit board. The control circuit board extends at least partially radially along the actuator. The motor is capable of driving the impeller to rotate. The actuator has an air passage that communicates with the hollow channel and the mounting cavity, and the air passage extends at least partially radially along the actuator.

[0005] In this application, there is an air passage between the impeller and the rotating assembly, the air passage is connected to the hollow channel, and the air passage extends at least partially along the radial direction of the actuator. In this way, when the impeller rotates, it can agitate the air located between the motor and the control circuit board along the radial direction of the actuator for ventilation, and can flow out from the heat dissipation channel of the housing or the hollow channel of the rotating assembly, thereby improving the heat dissipation effect. Attached Figure Description

[0006] Figure 1 This is a schematic diagram of the actuator of this application;

[0007] Figure 2 This is a cross-sectional schematic diagram of the actuator of this application;

[0008] Figure 3 This is a structural schematic diagram of the impeller at one angle of this application;

[0009] Figure 4 This is a structural schematic diagram of the impeller from another angle in this application;

[0010] Figure 5 This is a schematic diagram of the airflow direction inside the impeller of this application;

[0011] Figure 6 This is a cross-sectional schematic diagram of the impeller of this application;

[0012] Figure 7 This is a schematic diagram of the output shaft of this application;

[0013] Figure 8 This is a schematic diagram of the airflow direction inside the actuator of this application. Detailed Implementation

[0014] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0015] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other technical solutions obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0016] like Figures 1-8As shown, this application provides an actuator, including a housing 1, a rotating assembly 2, a motor 3, and a control circuit board 4. The actuator has a mounting cavity 10 and a heat dissipation channel 11. The heat dissipation channel 11 is located in the housing 1 and communicates with the mounting cavity 10, which is located inside the housing 1. The control circuit board 4 is located in the mounting cavity 10. The rotating assembly 2 has a hollow channel 20 that extends axially along the actuator and communicates with the outside of the actuator. The actuator also includes an impeller 5 located in the mounting cavity 10 and between the motor 3 and the control circuit board 4. The control circuit board 4 extends at least partially radially along the actuator. The motor 3 can drive the impeller 5 to rotate. The actuator has an air passage that communicates the hollow channel 20 and the mounting cavity 10 and extends at least partially radially along the actuator. The air passage includes a first passage 12 and a second passage 51, which are connected. The first passage 12 is connected to the hollow passage 20 and is located between the impeller 5 and the rotating assembly 2. The impeller 5 has a second passage 51, which extends at least partially radially along the actuator and is connected to the mounting cavity 10. In this application, an air passage exists between the impeller and the rotating assembly, and the air passage is connected to the hollow passage. The air passage extends at least partially radially along the actuator. This allows the air located between the motor and the control circuit board to be agitated and ventilated radially along the actuator when the impeller rotates, and the air can flow out from the heat dissipation channel of the housing or the hollow passage of the rotating assembly, thereby improving the heat dissipation effect. Specifically, the air passage includes a first passage and a second passage. The first passage 12 between the impeller 5 and the rotating assembly 2 and the second passage 51 of the impeller 5 are connected, and the second passage 51 extends at least partially along the radial direction of the actuator. Thus, when the impeller 5 rotates, it can agitate the air located between the motor 3 and the control circuit board 4, ventilating it radially along the actuator and allowing it to flow out through the heat dissipation passage 11 of the housing 1, thereby improving the heat dissipation effect. Alternatively, when the impeller rotates, it agitates the air located between the motor and the control circuit board, creating a negative pressure zone between them. This negative pressure zone draws air from outside the actuator into the actuator's mounting cavity through the heat dissipation passage or the hollow passage, exchanging the high-temperature air inside the mounting cavity with the outside air, thus enhancing the heat dissipation effect. The heat dissipation passage 11 can be composed of heat dissipation holes distributed on the side wall of the housing 1 and located between the motor 3 and the control circuit board 4.

[0017] In this application, the actuator sequentially includes a reduction mechanism 6, a motor 3, an impeller 5, and a control circuit board 4. The impeller 5 is positioned between the motor 3 and the control circuit board 4. A rotating assembly 2 is arranged along the axial direction of the actuator and has a hollow channel 20 located inside the rotating assembly 2 and extending along the axial direction of the actuator. The hollow channel 20 communicates with the outside of the actuator. A first channel 12 is provided between the impeller 5 and the rotating assembly 2, communicating with the hollow channel 20. The impeller 5 also has a second channel 51, which communicates with both the first channel 12 and the mounting cavity 10. Thus, when the impeller 5 rotates, air can enter the hollow channel 20 from the outside of the actuator, then sequentially pass through the first channel 12 and the second channel 51 into the mounting cavity 10, and finally exit the actuator through the heat dissipation channel 11 located on the housing 1. Here, the control circuit board 4 extends at least partially radially along the actuator, and the second channel 51 also extends at least partially radially along the actuator. Figure 2 and Figure 8 As shown, after the air enters the hollow channel 20, it first flows along the axial direction of the actuator into the first channel 12, and then flows along the radial direction of the actuator into the second channel 51. The fan blades can agitate the air in the radial direction of the control circuit board 4. In this way, an axial and radial airflow path is set in the actuator. This bent airflow path can deliver air to the radial direction of the control circuit board 4. Since the main heat source on the control circuit board 4 is the electrical components, which are located on the radial side of the control circuit board 4, the bent airflow path in the axial and radial direction can be aimed at the heat source and blow air, thereby improving the heat dissipation effect.

[0018] like Figures 2-4 As shown, the impeller 5 includes a first plate 52, a second plate 53, and a first through hole 54. The first through hole 54 connects the first channel 12 and the second channel 51. The first plate 52 is positioned closer to the motor 3 relative to the second plate 53, and the second plate 53 is positioned closer to the control circuit board 4 relative to the first plate 52. The first plate 52 and the second plate 53 are arranged along the axial direction of the actuator and extend radially along the actuator. The first plate 52 and the second plate 53 are connected. The second channel 51 is located between the first plate 52 and the second plate 53. The impeller 5 includes a first plate 52 and a second plate 53 arranged along the axial direction of the actuator. The second channel 51 is located between the first plate 52 and the second plate 53. The first through hole 54 connects the first channel 12 and the second channel 51, so that air enters the first channel 12 through the first through hole 54 and then enters the second channel 51 from the first channel 12.

[0019] Specifically, the impeller 5 includes a connecting portion 57 located between the first plate 52 and the second plate 53. The connecting portion 57 extends radially along the impeller 5 and connects the first plate 52 and the second plate 53. The connecting portion 57 includes a third end 571 and a fourth end 572. The third end 571 is positioned closer to the first through hole 54 relative to the fourth end 572, and the fourth end 572 is positioned closer to the peripheral edge of the first plate 52 and the second plate 53 relative to the third end 571. A plurality of connecting portions 57 are provided, distributed between the first plate 52 and the second plate 53 with the first through hole 54 as the center. By connecting the first plate 52 and the second plate 53 with the connecting portions 57 respectively, the first plate 52 and the second plate 53 are connected, thereby defining a second channel 51 between the first plate 52, the second plate 53, and the connecting portions 57. The connecting portion 57 includes a third end 571 near the first through hole 54 and a fourth end 572 away from the first through hole 54 and near the peripheral wall edge of the first plate 52 and the second plate 53. The connecting portion 57 is distributed between the first plate 52 and the second plate 53 with the first through hole 54 as the center, so that the second channel 51 is distributed along the axial direction of the impeller 5 with the first through hole 54 as the center.

[0020] The connecting part 57 includes a connecting segment 573 that connects the third end 571 and the fourth end 572. The connecting segment 573 is arc-shaped. The first plate 52 and the second plate 53 are approximately circular. The connecting part 57 defines a second channel 51 between the first plate 52 and the second plate 53. Here, the connecting part 57 is composed of a third end 571 near the first through hole 54, a fourth end 572 near the peripheral wall edge of the first plate 52 and the second plate 53, and a connecting section 573 connecting the third end 571 and the fourth end 572. The connecting section 573 is arc-shaped, so the connecting part 57 is roughly arc-shaped. The second channel 51 defined between the connecting part 57, the first plate 52 and the second plate 53 is also arc-shaped. In this way, the air enters the first channel 12 through the first through hole 54 and then enters the arc-shaped second channel 51. After passing through the axial airflow path, it enters the radial airflow path. The arc setting of the second channel 51 can split the axial airflow path at the main source along the arc. As the impeller 5 rotates, the airflow pattern of the arc-shaped second channel 51 can cooperate with the rotating impeller 5, thereby forming a rotating airflow path, similar to a cyclone, which enhances the overall airflow and heat dissipation efficiency.

[0021] The impeller 5 includes a connecting ring rib 55, which is connected to the rotating assembly 2. The impeller 5 is located on the outside of the rotating assembly 2. The connecting ring rib 55 is connected to the first plate 52. A first through hole 54 is located inside the connecting ring rib 55. The second plate 53 has a second through hole 56. The first through hole 54 and the second through hole 56 are arranged opposite to each other. The projection of the second through hole 56 along the radial direction of the actuator is located on the first plate 52. The connecting ring rib 55 extends along the axial direction of the actuator. The impeller 5 is connected to the rotating assembly 2 through the connecting ring rib 55. At least part of the rotating assembly 2 is located in the second through hole 56. The rotating assembly 2 includes an input shaft 21 and an output shaft 22. The input shaft 21 is connected to the motor 3 for transmission. The input shaft 21 is sleeved on the outside of the output shaft 22. The output shaft 22 includes a first end 224 near the control circuit board 4. The input shaft 21 includes a second end 212 near the control circuit board 4. The projection of the second end 212 along the axial direction of the actuator is located on the output shaft 22. A connecting ring rib 55 is connected to the second end 212. A first channel 12 is formed between the output shaft 22 and the connecting ring rib 55.

[0022] The first through hole 54 and the second through hole 56 are located at the center of the first plate 52 and the second plate 53, respectively. The second through hole 56 and the first through hole 54 are concentrically arranged, and the diameter of the second through hole 56 is larger than that of the first through hole 54. This allows air entering the first channel 12 to enter the second channel 51 through the second through hole. Furthermore, the projection of the second end 212 of the input shaft 21 along the axial direction of the actuator is located on the output shaft 22, making the input shaft 21 shorter than the output shaft 22. The first end 224 of the output shaft 22 is inserted into the connecting ring rib 55, defining the first channel 12 between the impeller 5, the input shaft 21, and the output shaft 22. The actuator also includes a bracket 7, which is connected to the first end 224 of the output shaft 22, and the bracket 7 is at least partially located within the second through hole 56 of the impeller 5. The actuator also includes a high-speed disk 81 and a low-speed disk 82. The high-speed disk 81 is located on the side of the impeller 5 facing the control circuit board 4. The bracket 7 includes an axially extending mounting portion 71 and a radially extending extension platform 72. The extension platform 72 is connected to the mounting portion 71 and is located on the side of the bracket 7 facing the control circuit board 4. The mounting portion 71 is connected to the output shaft 22, and the low-speed disk 82 is mounted on the extension platform 72. Specifically, a limiting step 531 is provided on the second plate 53 of the impeller 5, and the high-speed disk 81 is located at the limiting step 531.

[0023] Furthermore, the hollow channel 20 is located inside the output shaft 22. The input shaft 21 is connected to the motor 3 via a drive, and the output shaft 22 is connected to the reduction mechanism 6. The input shaft 21 and the output shaft 22 are arranged along the axial direction of the actuator, and the input shaft 21 is sleeved on the outside of the output shaft 22. The output shaft 22 has a third through hole 221 communicating with the hollow channel 20. The input shaft 21 is connected to the impeller 5, and the third through hole 221 communicates with the first channel 12 and the hollow channel 20. The rotating assembly 2 has a flow passage 23, which is located between the input shaft 21 and the output shaft 22. The flow passage 23 extends along the axial direction of the actuator and communicates with the hollow channel 20 and the first channel 12. The flow passage 23 is at least partially located between the support 7 and the impeller 5. The first channel 12 is located between the input shaft 21 and the output shaft 22. The first channel 12 is connected to the hollow channel 20 through the third through hole 221 located on the output shaft 22. The air entering the hollow channel 20 enters the flow channel 23 through the third through hole 221, and then enters the impeller 5 through the first channel 12.

[0024] The housing 1 includes a side wall 14 and a bottom cover 13. A heat dissipation channel 11 is located on the side wall 14, with a portion of the channel located between the motor 3 and the control circuit board 4. The bottom cover 13 has a first annular rib 131 protruding towards the motor 3, and the control circuit board 4 is fitted onto the outside of the first annular rib 131. Specifically, the control circuit board 4 has a limiting hole in its center, which penetrates the control circuit board 4. The limiting hole of the control circuit board 4 is inserted into the first annular rib 131, limiting the control circuit board 4 onto the bottom cover 13. Then, a locking device secures the control circuit board 4 to the bottom cover 13. The bottom cover 13 has a fourth through hole 133, which penetrates the bottom cover 13 and connects the mounting cavity 10 and the outside of the actuator. The fourth through hole 133 is located inside the first annular rib 131, part of which is located in the limiting hole. The end of the first annular rib 131 protrudes from the surface of the control circuit board 4. The fourth through hole 133 is opposite to the hollow channel 20. A heat dissipation rib 132 is also provided on the bottom cover 13. The heat dissipation rib 132 protrudes from the bottom cover 13 towards the motor 3 and is partially opposite to the control circuit board 4. The heat dissipation rib 132 is used to conduct heat from the vicinity of the control circuit board 4 to the outside of the actuator.

[0025] Specifically, the actuator also has a gap 90. The housing 1 includes a bottom cover 13. The rotating component 2 is rotatable relative to the housing 1. In the axial direction of the actuator, the gap 90 is located between the rotating component 2 and the bottom cover 13, and the gap 90 connects the mounting cavity and the hollow channel 20. A third channel 15 is formed within the first annular rib 131, connecting to the outside of the actuator. The third channel 15 extends along the axial direction of the actuator and is positioned opposite to the hollow channel 20. The gap 90 is located between the first annular rib 131 and the output shaft 22, and in the axial direction of the actuator, the gap 90 is located on the side of the control circuit board 4 closest to the motor 3. Air entering the hollow channel 20 can enter the mounting cavity 10 through the gap 90, and air entering the third channel 15 can also enter the mounting cavity 10 through the gap 90. Since the end of the first annular rib protrudes from the control circuit board, and the gap is formed between the first annular rib and the output shaft, the air passing through the gap can directly flow into the side of the control circuit board facing the motor, and then flow out from the heat dissipation channel located in the housing as the impeller rotates.

[0026] The reduction mechanism 6 includes a flexible wheel 61 and a first bearing 62. The first bearing 62 includes a first movable member 621 and a first fixed member 622. The first movable member 621 is rotatable relative to the first fixed member 622. The first fixed member 622 is fixedly connected to the housing 1. The first movable member 621 is meshed with the flexible wheel 61. The output shaft 22 is connected to the first movable member 621. The input shaft 21 has a cam portion 211, which is located inside the flexible wheel 61 and connected to it. Here, the first bearing 62 is a crossed roller bearing, the first movable member 621 is the inner ring of the crossed roller bearing, and the first fixed member 622 is the outer ring of the crossed roller bearing. The first movable member 621 is rotatable relative to the first fixed member 622. The first fixed member 622 and the flexible wheel 61 are fixed to the housing 1 by the same locking member. The flexible wheel 61 includes a meshing part 611 and a fixed part. The meshing part 611 is located on the opening side of the flexible wheel 61, and the fixed part is set outward. The outer side of the meshing part 611 meshes with the first movable member 621, and the inner side of the meshing part 611 is connected to the cam part 211 of the input shaft 21. The motor 3 drives the input shaft 21 to rotate, and the cam part 211 rotates with the input shaft 21, thereby causing the opening of the flexible wheel 61 to undergo elliptical deformation following the rotation of the cam part 211. Then, the flexible wheel 61 and the first movable member 621 of the first bearing 62 meshing with it perform differential gear motion, ultimately achieving deceleration output by the first movable member 621 of the first bearing 62.

[0027] In this application, the impeller 5 is disposed between the motor 3 and the control circuit board 4. The impeller 5 consists of an axially arranged first plate 52, a connecting part 57, and a second plate 53. The second channel 51 is located between the first plate 52 and the second plate 53, and extends radially along the actuator and is divided into multiple channels by the connecting part 57. Air enters the hollow channel 20 from the outside of the actuator, then enters the flow channel 23 through the third through hole 221, then enters the second channel 51 through the first channel 12, and finally flows out from the heat dissipation channel 11 of the housing 1. The overall airflow path is axial and radially distributed. This zigzag airflow path, which first runs axially and then radially, disperses the air from the overall air supply source into a radially dispersed airflow path, agitating the air between the motor 3 and the control circuit board 4. This accelerates airflow and effectively agitates the air above the main heat source, thereby improving the heat dissipation effect. In this application, the impeller 5 can be in the form of a centrifugal fan blade. When the centrifugal fan blade rotates, it can use centrifugal force to throw the high-temperature air inside the actuator out of the actuator through the heat dissipation channel, and then form a low-pressure zone near the impeller 5, thereby drawing in the outside air and realizing the heat exchange process between the high-temperature gas and the outside air.

[0028] The technical solutions described in this application should be understood by those skilled in the art. For example, directional descriptions such as "front," "back," "left," "right," "up," and "down" are only used to describe the relationship between objects and are not substantive limitations. "Multiple" means at least two or more.

[0029] Although this specification has described the present application in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present application, and all technical solutions and improvements that do not depart from the spirit and scope of the present application should be covered within the scope of the claims of the present application.

Claims

1. An actuator, characterized by The actuator comprises a shell (1), a rotating assembly (2), a motor (3) and a control circuit board (4), the actuator has a mounting cavity (10) and a heat dissipation channel (11), the heat dissipation channel (11) is located in the shell (1), the heat dissipation channel (11) communicates with the mounting cavity (10), the mounting cavity (10) is located in the shell (1), the control circuit board (4) is located in the mounting cavity (10), the rotating assembly (2) has a hollow channel (20), the hollow channel (20) extends along the axial direction of the actuator, the hollow channel (20) communicates with the outside of the actuator, the actuator further comprises an impeller (5), the impeller (5) is located in the mounting cavity (10), the impeller (5) is located between the motor (3) and the control circuit board (4), the control circuit board (4) extends at least partially along the radial direction of the actuator, the motor (3) can drive the impeller (5) to rotate, the actuator has a wind passing channel (12, 51), the wind passing channel (12, 51) communicates the hollow channel (20) with the mounting cavity (10), the wind passing channel (12, 51) extends at least partially along the radial direction of the actuator.

2. The actuator of claim 1, wherein, The wind passing channel (12, 51) comprises a first channel (12) and a second channel (51), the first channel (12) and the second channel (51) communicate, the first channel (12) communicates with the hollow channel (20), the first channel (12) is located between the impeller (5) and the rotating assembly (2), the impeller (5) has the second channel (51), the second channel (51) extends at least partially along the radial direction of the actuator, the second channel (51) communicates with the mounting cavity (10).

3. The actuator of claim 2, wherein, The impeller (5) comprises a first plate body (52), a second plate body (53) and a first through hole (54), the first through hole (54) penetrates the first plate body (52), the first through hole (54) communicates the first channel (12) with the second channel (51), the first plate body (52) is arranged close to the motor (3) relative to the second plate body (53), the second plate body (53) is arranged close to the control circuit board (4) relative to the first plate body (52), the first plate body (52) and the second plate body (53) are arranged along the axial direction of the actuator, the first plate body (52) and the second plate body (53) extend along the radial direction of the actuator, the first plate body (52) and the second plate body (53) are connected, the second channel (51) is located between the first plate body (52) and the second plate body (53).

4. The actuator of claim 3, wherein, The impeller (5) comprises a connecting ring rib (55) connected with the rotating assembly (2), the impeller (5) is sleeved outside the rotating assembly (2), the connecting ring rib (55) is connected with the first plate body (52), the first through hole (54) is arranged in the connecting ring rib (55), the second plate body (53) has a second through hole (56), the first through hole (54) and the second through hole (56) are arranged oppositely, the projection of the second through hole (56) along the radial direction of the actuator is located on the first plate body (52), the connecting ring rib (55) extends along the axial direction of the actuator, the impeller (5) is connected with the rotating assembly (2) through the connecting ring rib (55), and the rotating assembly (2) is at least partially located in the second through hole (56).

5. The actuator of claim 4, wherein, The rotating assembly (2) comprises an input shaft (21) and an output shaft (22), the input shaft (21) is in driving connection with the motor (3), the input shaft (21) is sleeved outside the output shaft (22), the output shaft (22) comprises a first end (224) close to the control circuit board (4), the input shaft (21) comprises a second end (212) close to the control circuit board (4), the projection of the second end (212) along the axial direction of the actuator is located on the output shaft (22), the connecting ring rib (55) is connected to the second end (212), and the first channel (12) is formed between the output shaft (22) and the connecting ring rib (55).

6. The actuator of claim 3, wherein, The impeller (5) comprises a connecting part (57) between the first plate body (52) and the second plate body (53), the connecting part (57) extends along the radial direction of the impeller (5), the connecting part (57) connects the first plate body (52) and the second plate body (53), the connecting part (57) comprises a third end (571) and a fourth end (572), the third end (571) is arranged close to the first through hole (54) relative to the fourth end (572), the fourth end (572) is arranged close to the circumferential wall edge of the first plate body (52) and the second plate body (53) relative to the third end (571), and a plurality of connecting parts (57) are arranged between the first plate body (52) and the second plate body (53) with the first through hole (52) as the center.

7. The actuator of claim 6, wherein, The connecting part (57) comprises a connecting section (573) connecting the third end (571) and the fourth end (572), the connecting section (573) is arc-shaped, the first plate body (52) and the second plate body (53) are substantially circular, and the connecting part (57) defines the second channel (51) between the first plate body (52) and the second plate body (53).

8. The actuator of any one of claims 1-7, wherein, The actuator comprises a bracket (7), a high-speed disk (81) and a low-speed disk (82), the high-speed disk (81) is arranged on the side of the impeller (5) facing the control circuit board (4), the bracket (7) comprises an axial mounting portion (71) and a radial extension platform (72), the extension platform (72) is connected with the mounting portion (71), the extension platform (72) is located on the side of the bracket (7) facing the control circuit board (4), the mounting portion (71) is connected with the output shaft (22), and the low-speed disk (82) is mounted on the extension platform (72).

9. The actuator of claim 8, wherein, The rotating assembly (2) comprises an input shaft (21) and an output shaft (22), the hollow channel (20) is located in the output shaft (22), the input shaft (22) is drivingly connected with the motor (3), the input shaft (21) and the output shaft (22) are arranged in the axial direction of the actuator, the input shaft (21) is sleeved on the outer side of the output shaft (22), the impeller (5) is connected to the outer side of the input shaft (21), the bracket (7) is connected to the outer side of the output shaft (22), and the air passing channel (12, 51) is at least partially located between the bracket (7) and the impeller (5).

10. The actuator of any one of claims 1-7, wherein, The rotating assembly (2) comprises an input shaft (21) and an output shaft (22), the input shaft (21) is sleeved on the outer side of the output shaft (22), the rotating shaft assembly (2) has a flow passing channel (23), the flow passing channel (23) is located between the input shaft (21) and the output shaft (22), the flow passing channel (23) extends in the axial direction of the actuator, and the flow passing channel (23) communicates the hollow channel (20) and the air passing channel (12, 51).

11. The actuator of claim 10, wherein, The output shaft (22) has a third through hole (221) communicating with the hollow channel (20), the input shaft (21) is connected with the impeller (5), the impeller (5) is sleeved on the outer side of the input shaft (21), and the third through hole (221) communicates the first channel (12) and the hollow channel (20).

12. The actuator of any one of claims 1-7, wherein, The shell (1) comprises a side wall (14) and a bottom cover (13), the heat dissipation channel (11) is located on the side wall (14), part of the heat dissipation channel (11) is located between the motor (3) and the control circuit board (4), the bottom cover (13) comprises a heat dissipation rib (132), the control circuit board (4) is fixed to the shell (1), the heat dissipation rib (132) protrudes from the bottom cover (13) and faces the motor (3), and the heat dissipation rib (132) is arranged opposite to the control circuit board (4).

13. The actuator of claim 12, wherein, The control circuit board (4) has a limiting hole penetrating through the control circuit board (4), the bottom cover (13) comprises a first ring rib (131) which is arranged protruding towards the motor (3), the bottom cover (13) has a fourth through hole (133) penetrating through the bottom cover (13), the fourth through hole (133) is communicated with the mounting cavity (10) and the outside of the actuator, and the fourth through hole (133) is located in the first ring rib (131), the first ring rib (131) is partially located in the limiting hole, the end of the first ring rib (131) protrudes from the surface of the control circuit board (4), and the fourth through hole (133) is arranged opposite to the hollow channel (20).

14. The actuator of any one of claims 1-7, wherein, The actuator has a gap (90), the shell (1) comprises a bottom cover (13), the rotating assembly (2) can rotate relative to the shell (1), and in the axial direction of the actuator, the gap (90) is located between the rotating assembly (2) and the bottom cover (13), and the gap (90) is communicated with the mounting cavity (10) and the hollow channel (20).

15. The actuator of claim 14, wherein, The rotating assembly (2) comprises an output shaft (22), the bottom cover (13) comprises a first ring rib (131) which is arranged protruding towards the motor (3), the control circuit board (4) is sleeved on the outside of the first ring rib (131), and the first ring rib (131) protrudes from the surface of the control circuit board (4), a third channel (15) is formed in the first ring rib (131), the third channel (15) is communicated with the outside of the actuator, the third channel (15) extends along the axial direction of the actuator, the third channel (15) is arranged opposite to the hollow channel (20), the gap (90) is located between the first ring rib (131) and the output shaft (22), and in the axial direction of the actuator, the gap (90) is located on the side of the control circuit board (4) close to the motor (3).

16. The actuator of any one of claims 1-7, wherein, The reduction mechanism (6) comprises a flexible gear (61) and a first bearing (62), the rotating assembly (2) comprises an input shaft (21) and an output shaft (22), the input shaft (12) is sleeved on the outside of the output shaft (22), the input shaft (12) and the output shaft (22) extend along the axial direction of the actuator, the first bearing (62) comprises a first movable part (621) and a first fixed part (622), the first movable part (621) can rotate relative to the first fixed part (622), the first fixed part (622) is fixedly connected with the shell (1), the first movable part (621) is connected with the flexible gear (61), the output shaft (22) is connected with the first movable part (621), and the input shaft (21) is provided with a cam portion (211), the cam portion (211) is located on the inside of the flexible gear (61), and the cam portion (211) is connected with the flexible gear (6).

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