Actuator and robot with same

Abstract

The utility model discloses an actuator and a robot with the actuator. The actuator comprises a shell, an upper cover, a motor and a circuit board. A plurality of heat dissipation convex ribs are arranged on the outer surface of the shell; the motor comprises a stator and a rotor, and the outer edge surface of the stator is attached to the inner surface of the shell; the upper cover covers an opening in the top of the shell in a sealing mode, a heat dissipation groove is formed in the upper cover, the periphery of the heat dissipation groove is separated from an inner cavity of the shell through a blocking wall connected to the upper cover, the bottom of the heat dissipation groove is separated from the inner cavity of the shell through a heat conduction bottom plate connected to the lower edge of the blocking wall, and a plurality of heat dissipation columns connected to the upper surface of the heat conduction bottom plate are densely distributed in the heat dissipation groove. The upper cover or the shell is fixedly connected with a mounting frame, and the circuit board is fixed on the mounting frame and located below the heat conduction bottom plate, so that at least one part of heat generated by the circuit board can be transmitted to the heat conduction bottom plate. According to the utility model, the circuit board in the actuator can be always in a suitable temperature environment, and each electronic device on the circuit board can be ensured to work normally.

Description

Technical Field

[0001] The utility model relates to the technical field of robot driving, in particular to an actuator and a robot with the actuator. Background Art

[0002] The actuator is an important part of the robot joint, which is used to provide power for the relative movement between the two moving parts of the robot joint and accurately control the movement angle of the two moving parts in the robot joint. The actuator is usually equipped with a motor, a reduction mechanism and a control circuit board. The motor and the electronic devices on the circuit board generate a certain amount of heat during operation. This heat accumulates inside the actuator housing, causing the internal temperature of the actuator to be too high, affecting the normal operation of the motor. In addition, the electronic devices on the circuit board work at a higher ambient temperature, resulting in reduced accuracy in the speed detection of the motor and the speed detection of the actuator output end, affecting the accuracy of the actuator.

[0003] In order to dissipate the internal heat of the actuator to the external environment in time, a heat dissipation structure is usually set on the actuator housing. These heat dissipation structures are usually set to match the frameless torque motor configured inside the actuator, so that the stator of the motor and the actuator housing can exchange heat. Although it can take away some of the heat generated during the operation of the stator, the rotor of the motor stirs the air inside the actuator when it rotates, causing the hot air inside the actuator to flow to the circuit board, making the self-heating circuit board in a relatively high temperature environment, affecting the normal operation of the electronic components on the circuit board, causing the electronic components on the circuit board to easily malfunction. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model aims to provide an actuator and a robot having the actuator to solve the problem of poor heat dissipation of the actuator circuit board in the prior art.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] The actuator comprises a housing, an upper cover, a motor and a circuit board;

[0007] The shell is in the shape of a cylinder with an open top, and a plurality of heat dissipation ribs are arranged on the outer surface of the shell; the motor is located inside the shell, and comprises a stator, and a rotor which matches the stator and can rotate relative to the stator, and the outer edge surface of the stator is in contact with the inner surface of the shell so that the stator and the shell are matched in a way that heat transfer can be achieved;

[0008] The upper cover is sealed at the opening at the top of the shell and is fixed to the top of the shell in a detachable manner. The upper cover is provided with a heat dissipation groove which is recessed from the outer side thereof toward the inner cavity of the shell. The periphery of the heat dissipation groove is separated from the inner cavity of the shell by a baffle wall connected to the upper cover. The bottom of the heat dissipation groove is separated from the inner cavity of the shell by a heat-conducting bottom plate connected to the lower edge of the baffle wall. The heat dissipation groove is densely distributed with a plurality of heat dissipation columns connected to the upper surface of the heat-conducting bottom plate.

[0009] A mounting frame is fixedly connected to the upper cover or the shell, and the circuit board is fixed on the mounting frame and is located below the heat-conducting bottom plate, so that at least a part of the heat generated by the circuit board can be transferred to the heat-conducting bottom plate.

[0010] According to the actuator of the embodiment of the utility model, a heat dissipation groove is arranged on the upper cover, and the heat-conducting base plate at the bottom of the heat dissipation groove is arranged at a position close to the circuit board. The heat generated by the electronic components on the circuit board during operation can be transferred to the upper cover and multiple heat dissipation columns via the heat-conducting base plate and then dissipated to the external environment. At the same time, most of the heat generated by the operation of the motor can be dissipated to the external environment via the multiple heat dissipation ribs on the shell, thereby preventing the hot air generated in the inner cavity of the shell when the motor is working from flowing to the circuit board. Therefore, the heat dissipation structure composed of the heat-conducting base plate and multiple heat dissipation columns can ensure that the circuit board can always be in a suitable temperature environment, thereby ensuring that the electronic components on the circuit board can work normally.

[0011] In a preferred embodiment, a plurality of heating devices are arranged on the upper surface of the circuit board, and the projections of the plurality of heating devices on the lower surface of the heat-conducting bottom plate all fall within the closed structure surrounded by the edge of the heat-conducting bottom plate, and the spacing between the heating devices and the lower surface of the heat-conducting bottom plate is 0 to 2.6 mm. By setting the heat-conducting bottom plate to cover the heating devices on the circuit board, the heat-conducting bottom plate can be directly transferred to the heating devices, and the heat on the circuit board can be quickly dissipated to the external environment.

[0012] In a preferred embodiment, a flexible sealing pad is provided between the periphery of the upper cover and the top surface of the shell, and the upper cover and the shell are fixed together by a plurality of connecting bolts passing through the two; the mounting frame is fixedly connected to the shell. The flexible sealing pad can ensure that the upper cover and the shell have better sealing performance at the joint. By rotating the connecting bolts to compress the flexible sealing pad, the gap between the upper cover and the top surface of the shell can be adjusted, that is, the spacing between the lower surface of the heat-conducting base plate and the circuit board can be changed to avoid the heat-conducting base plate from crushing the electronic components on the circuit board during installation. At the same time, a relatively small gap can be made between the lower surface of the heat-conducting base plate and the heating device, or the lower surface of the heat-conducting base plate can be made to contact the surface of the heating device by adjusting the connecting bolts, so as to ensure a higher heat transfer efficiency between the heat-conducting base plate and the heating device.

[0013] In a preferred embodiment, a step surface is provided on the inner surface of the housing, and the periphery of the mounting frame is clamped and fixed between the step surface and the periphery of the upper cover. During installation, the circuit board can be pre-fixed on the mounting frame, and then the mounting frame is placed in the housing through the top opening of the housing, and finally the upper cover is fixed to the housing, so that the circuit board can be assembled simply and quickly.

[0014] In a preferred embodiment, the mounting frame is provided with an escape groove which is recessed downward from its upper surface and a connecting portion which extends radially outward from the outer periphery of the top of the escape groove along the actuator, the outer edge of the connecting portion overlaps the step surface, and the bottom surface of the escape groove is provided with a plurality of support columns which protrude upward, and the circuit board is embedded in the escape groove and fixed to the top surface of the support column by screws. The escape groove is provided to accommodate the circuit board, and the installation height of the circuit board is reduced, so that the electronic devices on the circuit board can detect the output end of the motor and the actuator, and at the same time, the internal space of the actuator is fully utilized, and the axial size of the actuator is reduced. The circuit board is supported by a plurality of support columns to avoid heat transfer between the circuit board and the mounting frame, which is conducive to transferring more heat generated on the circuit board to the heat-conducting bottom plate.

[0015] In a preferred embodiment, the connecting portion is provided with two or more hollow grooves extending from the upper surface thereof to the lower surface thereof. The hollow grooves connect the space for placing the motor and the space for placing the circuit board in the housing, so that the heat dissipation structure formed by the upper cover and the housing can work together to dissipate the heat inside the housing to the external environment.

[0016] In a preferred embodiment, the heat dissipation ribs extend along the circumference of the actuator, a plurality of heat dissipation ribs are arranged along the axial direction of the actuator, and a heat dissipation groove is formed between adjacent heat dissipation ribs. The plurality of heat dissipation ribs and the plurality of heat dissipation grooves are arranged at intervals, which increases the contact area between the housing and the external environment, and is conducive to quickly dissipating the heat generated by the motor to the external environment.

[0017] In a preferred embodiment, the cross section of the heat dissipation column is square, circular, triangular or rhombus-shaped; the extension direction of the heat dissipation column is consistent with the depth direction of the heat dissipation groove, and the top surface of the heat dissipation column is offset downward by a distance d compared to the outer side surface of the upper cover, and d is 0-3.5 mm. The top surface of the heat dissipation column is flush with or lower than the outer side surface of the upper cover to prevent the heat dissipation column from protruding from the actuator, ensuring that the actuator can be installed at the joint of the robot. In other embodiments, the cross section of the heat dissipation column can also be set to be square, triangular or rhombus-shaped.

[0018] In a preferred embodiment, the stator surrounds the periphery of the rotor, a reducer is arranged inside the rotor, a connecting bracket is fixedly connected to the rotor, and the connecting bracket is located below the mounting frame and connected to the input end of the reducer. The rotor is connected to the input end of the reducer through the connecting bracket, so that the power output by the motor can be directly transmitted to the reducer, and the connecting bracket is placed below the mounting frame to prevent the mounting frame from interfering with the rotor, making the internal structure of the actuator more compact.

[0019] A robot comprising the actuator described above.

[0020] The drawings in the specification, which constitute a part of the present 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 a limitation on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the exploded structure of the actuator of the utility model;

[0022] Figure 2 It is a schematic diagram of the cutaway structure of the actuator of the utility model;

[0023] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0024] Figure 4 for Figure 2 Schematic diagram of the enlarged structure at point B in the middle.

[0025] In the figure: 10, shell; 11, heat dissipation rib; 12, heat dissipation groove; 13, step surface; 14, connecting bolts; 15, flexible sealing gasket; 20, upper cover; 201, outer side; 202, inner side; 203, heat dissipation groove; 21, retaining wall; 22, heat conductive base plate; 221, lower surface; 23, heat dissipation column; 30, motor; 31, stator; 32, rotor; 33, connecting bracket; 40, circuit board; 41, MOS tube; 50, mounting bracket; 51, avoidance groove; 52, connecting part; 53, support column; 54, hollow groove. DETAILED DESCRIPTION

[0026] Below, in conjunction with the accompanying drawings and specific embodiments, the utility model 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 numbers 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 cannot be understood as limiting the present application.

[0027] 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.

[0028] In the description of this application, it should be noted that, unless otherwise explicitly 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.

[0029] 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.

[0030] Please refer to Figure 1-4 As shown, an actuator of the utility model includes a shell 10, an upper cover 20, a motor 30 and a circuit board 40, wherein the shell 10 is a cylindrical structure with an open top, that is, the shell 10 is arranged around the periphery of the actuator, and the outer surface of the shell 10 is provided with a plurality of heat dissipation ribs 11, and the plurality of heat dissipation ribs 11 make the outer surface of the shell 10 have a larger contact area with the external environment.

[0031] The motor 30 is located inside the housing 10, and includes a stator 31 and a rotor 32. The outer edge surface of the stator 31 is abutted against the inner surface of the housing 10. The outer edge surface of the stator 31 and the inner surface of the housing 10 may be directly tightly fitted together, or the outer edge surface of the stator 31 and the inner surface of the housing 10 may be bonded together through thermal conductive silicone, so that after the stator 31 and the housing 10 are fixed, heat transfer can be performed between the stator 31 and the housing 10.

[0032] The upper cover 20 is sealed at the opening at the top of the shell 10, and the upper cover 20 is fixed to the shell 10 in a detachable manner. The upper cover 20 is provided with a heat dissipation groove 203 which is recessed from its outer side surface 201 toward the inner cavity of the shell 10. The periphery and bottom wall of the heat dissipation groove 203 are separated from the inner cavity of the shell 10 by a baffle wall 21 and a heat-conducting bottom plate 22, respectively. The baffle wall 21 extends downward from the inner side surface 202 of the upper cover 20, and the heat-conducting bottom plate 22 is connected to the lower edge of the baffle wall 21. The heat dissipation groove 203 is surrounded by the baffle wall 21 and the heat-conducting bottom plate 22, and the internal space of the heat dissipation groove 203 is isolated from the internal space of the shell 10, so as to ensure the integrity of the top structure of the actuator and ensure that the actuator has better sealing.

[0033] A plurality of heat dissipation columns 23 are densely distributed inside the heat dissipation groove 203, and the inner ends of the heat dissipation columns 23 are integrally connected to the upper surface of the heat-conducting base plate 22, so that the plurality of heat dissipation columns 23 and the heat-conducting base plate 22 can transfer heat. A mounting frame 50 is fixedly connected to the upper cover 20 or the shell 10, and the circuit board 40 is fixed on the mounting frame 50, and the circuit board 40 is located below the heat-conducting base plate 22. By placing the circuit board 40 below the heat-conducting base plate 22, at least a portion of the heat generated by the circuit board 40 can be transferred to the heat-conducting base plate 22, and a portion of the heat on the heat-conducting base plate 22 is transferred to the external environment via the outer side surface 201 of the upper cover 20, and the other portion is transferred to the plurality of heat dissipation columns 23 via the heat-conducting base plate 22, and then transferred to the external environment via the heat dissipation columns 23.

[0034] In the utility model, a heat dissipation groove 203 is arranged on the upper cover 20, and the heat-conducting base plate 22 at the bottom of the heat dissipation groove 203 is arranged at a position close to the circuit board 40. The heat generated during the operation of the electronic components on the circuit board 40 can be transferred to the upper cover 20 and the plurality of heat dissipation columns 23 via the heat-conducting base plate 22 and then dissipated to the external environment. At the same time, most of the heat generated by the operation of the motor 30 can be dissipated to the external environment via the plurality of heat dissipation ribs 11 on the shell 10, thereby preventing the hot air generated in the inner cavity of the shell 10 when the motor 30 is working from flowing to the circuit board 40. Therefore, the heat dissipation structure composed of the heat-conducting base plate 22 and the plurality of heat dissipation columns 23 can ensure that the circuit board 40 can always be in a suitable temperature environment, thereby ensuring that the electronic components on the circuit board 40 can work normally.

[0035] In a preferred embodiment, a plurality of heating devices are arranged on the upper surface of the circuit board 40. The heating devices may be MOS tubes 41 or other heating devices located on the upper surface of the circuit board 40. The projections of the plurality of MOS tubes 41 on the lower surface 221 of the thermally conductive base plate 22 all fall within a closed structure surrounded by the edge of the thermally conductive base plate 22. That is, the shape of the thermally conductive base plate 22 matches the arrangement shape of the plurality of MOS tubes 41, and the thermally conductive base plate 22 covers all the MOS tubes 41 located on the upper surface of the circuit board 40. The heat generated by the MOS tubes 41 during operation can be transferred to the thermally conductive base plate 22 to a greater extent.

[0036] The spacing between the MOS tube 41 and the lower surface 221 of the thermally conductive base plate 22 is 0 to 2.6 mm, wherein preferably, the spacing between the MOS tube 41 and the lower surface 221 of the thermally conductive base plate 22 is 0, so that the thermally conductive base plate 22 directly contacts the surface of the MOS tube 41 to increase the heat transfer efficiency between the thermally conductive base plate 22 and the MOS tube 41. Of course, the feasibility of assembly needs to be considered during actual assembly. Generally, a smaller gap can be reserved between the lower surface 221 of the thermally conductive base plate 22 and the MOS tube 41 to ensure that heat transfer can be performed between the thermally conductive base plate 22 and the MOS tube 41.

[0037] The thermally conductive base plate 22 can not only cover the above-mentioned MOS tube 41, but also cover other heating devices on the circuit board 40. By setting the thermally conductive base plate 22 to cover the heating devices on the circuit board 40, heat transfer can be carried out more directly between the thermally conductive base plate 22 and the heating devices, and the heat on the circuit board 40 can be quickly dissipated to the external environment.

[0038] A flexible sealing pad 15 is arranged between the periphery of the upper cover 20 and the top end surface of the shell 10. The upper cover 20 and the shell 10 are fixedly connected together by a plurality of connecting bolts 14 passing through the two, and the mounting frame 50 is fixed on the shell 10; the flexible sealing pad 15 can ensure that the upper cover 20 and the shell 10 have better sealing at the joint. By rotating the connecting bolts 14 to compress the flexible sealing pad 15, the gap between the upper cover 20 and the top end surface of the shell 10 can be adjusted, that is, the spacing between the lower surface 221 of the heat-conducting base plate 22 and the circuit board 40 can be changed, so as to avoid the heat-conducting base plate 22 from crushing the electronic components on the circuit board 40 during the installation process, and at the same time, the lower surface 221 of the heat-conducting base plate 22 and the heating device can have a relatively small gap, or the lower surface 221 of the heat-conducting base plate 22 can be made to contact the surface of the heating device by adjusting the connecting bolts 14, so as to ensure that the heat transfer efficiency between the heat-conducting base plate 22 and the heating device is high.

[0039] A step surface 13 is provided on the inner surface of the shell 10, and the periphery of the mounting frame 50 overlaps the step surface 13. After the upper cover 20 is fixed to the shell 10, the upper cover 20 and the step surface 13 clamp and fix the periphery of the mounting frame 50. During installation, the circuit board 40 can be pre-fixed on the mounting frame 50, and then the mounting frame 50 is placed in the shell 10 through the top opening of the shell 10, and finally the upper cover 20 is fixed to the shell 10, and the assembly of the circuit board 40 can be completed simply and quickly.

[0040] The mounting frame 50 is provided with an avoidance groove 51 which is recessed downward from its upper surface, and a connecting portion 52 which extends radially outward from the top outer edge of the avoidance groove 51 along the actuator. The outer edge of the connecting portion 52 overlaps the step surface 13. The bottom surface of the avoidance groove 51 is provided with a plurality of support columns 53 which protrude upward. The circuit board 40 is embedded in the avoidance groove 51, and the circuit board 40 is fixed to the top end surface of the support column 53 by screws. The avoidance groove 51 is provided to accommodate the circuit board 40 and reduce the installation height of the circuit board 40 so that the electronic devices on the circuit board 40 can detect the motor 30 and the output end of the actuator, and at the same time make full use of the internal space of the actuator and reduce the axial size of the actuator. The circuit board 40 is supported by a plurality of support columns 53 to avoid heat transfer between the circuit board 40 and the mounting frame 50, which is beneficial to transfer more heat generated on the circuit board 40 to the heat-conducting base plate 22.

[0041] More than two hollow grooves 54 are provided on the connecting portion 52, and the hollow grooves 54 penetrate from the upper surface to the lower surface of the connecting portion 52. The space in the shell 10 for placing the motor 30 and the space for placing the circuit board 40 are connected through the hollow grooves 54, so that the heat dissipation structure formed by the upper cover 20 and the shell 10 can work together to dissipate the heat inside the shell 10 to the external environment.

[0042] In the utility model, the heat dissipation ribs 11 on the outside of the shell 10 extend along the circumference of the actuator, and multiple heat dissipation ribs 11 are arranged along the axial direction of the actuator. A heat dissipation groove 12 is formed between adjacent heat dissipation ribs 11. The multiple heat dissipation ribs 11 and the multiple heat dissipation grooves 12 are arranged at intervals, which increases the contact area between the shell 10 and the external environment, and is conducive to quickly dissipating the heat generated by the motor 30 to the external environment.

[0043] The cross section of the heat dissipation column 23 is set to be circular, and its extension direction is consistent with the depth direction of the heat dissipation groove 203. The top surface of the heat dissipation column 23 is offset downward by a distance d compared to the outer side surface 201 of the upper cover 20, where d is 0-3.5 mm, that is, the top surface of the heat dissipation column 23 is flush with or lower than the outer side surface 201 of the upper cover 20, so as to prevent the heat dissipation column 23 from protruding from the actuator, and ensure that the actuator can be installed at the joint of the robot. In other embodiments, the cross section of the heat dissipation column 23 can also be set to be square, triangular or rhombus.

[0044] The stator 31 is surrounded by the outer periphery of the rotor 32, and a reducer is arranged inside the rotor 32. A connecting bracket 33 is fixedly connected to the rotor 32, and the connecting bracket 33 is located below the mounting frame 50, and is connected to the input end of the reducer through the connecting bracket 33, so that the rotor 32 and the input end of the reducer are synchronously connected together. The rotor 32 is connected to the input end of the reducer through the connecting bracket 33, so that the power output by the motor 30 can be directly transmitted to the reducer, and the connecting bracket 33 is placed below the mounting frame 50, which can prevent the mounting frame 50 from interfering with the rotor 32, making the internal structure of the actuator more compact.

[0045] The robot of the utility model includes the above-mentioned actuator, and other structures of the robot are the same as those in the prior art, which will not be described in detail here.

[0046] 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.

[0047] The above-mentioned implementation mode is only a preferred implementation mode of the embodiment of the utility model, and cannot be used to limit the scope of protection of the embodiment of the utility model. Any non-substantial changes and replacements made by technical personnel in this field on the basis of the embodiment of the utility model shall fall within the scope of protection required by the embodiment of the utility model.

Claims

1. An actuator, characterized in that It includes a housing, an upper cover, a motor and a circuit board; The shell is in the shape of a cylinder with an open top, and a plurality of heat dissipation ribs are arranged on the outer surface of the shell; the motor is located inside the shell, and comprises a stator, and a rotor which matches the stator and can rotate relative to the stator, and the outer edge surface of the stator is in contact with the inner surface of the shell so that the stator and the shell are matched in a way that heat transfer can be achieved; The upper cover is sealed at the opening at the top of the shell and is fixed to the top of the shell in a detachable manner. The upper cover is provided with a heat dissipation groove which is recessed from the outer side thereof toward the inner cavity of the shell. The periphery of the heat dissipation groove is separated from the inner cavity of the shell by a baffle wall connected to the upper cover. The bottom of the heat dissipation groove is separated from the inner cavity of the shell by a heat-conducting bottom plate connected to the lower edge of the baffle wall. The heat dissipation groove is densely distributed with a plurality of heat dissipation columns connected to the upper surface of the heat-conducting bottom plate. A mounting frame is fixedly connected to the upper cover or the shell, and the circuit board is fixed on the mounting frame and is located below the heat-conducting bottom plate, so that at least a part of the heat generated by the circuit board can be transferred to the heat-conducting bottom plate.

2. The actuator according to claim 1, characterized in that Multiple heating devices are arranged on the upper surface of the circuit board. The projections of the multiple heating devices on the lower surface of the thermal conductive base plate all fall within the closed structure surrounded by the edge of the thermal conductive base plate. The distance between the heating devices and the lower surface of the thermal conductive base plate is 0~2.6mm.

3. The actuator according to claim 2, characterized in that A flexible sealing pad is arranged between the periphery of the upper cover and the top end surface of the shell, and the upper cover and the shell are fixed together by a plurality of connecting bolts passing through the two; the mounting frame is fixedly connected to the shell.

4. The actuator according to claim 1, characterized in that: A step surface is arranged on the inner surface of the shell, and the periphery of the mounting frame is clamped and fixed between the step surface and the periphery of the upper cover.

5. The actuator according to claim 4, characterized in that: The mounting frame is provided with an avoidance groove which is recessed downward from its upper surface and a connecting portion which extends radially outward from the top periphery of the avoidance groove along the actuator. The outer edge of the connecting portion overlaps the step surface. The bottom surface of the avoidance groove is provided with a plurality of support columns which protrude upward. The circuit board is embedded in the avoidance groove and fixed to the top end surface of the support column by screws.

6. The actuator according to claim 5, characterized in that The connecting portion is provided with more than two hollow grooves penetrating from the upper surface to the lower surface.

7. The actuator according to claim 1, characterized in that: The heat dissipation ribs extend along the circumference of the actuator, a plurality of heat dissipation ribs are arranged along the axial direction of the actuator, and a heat dissipation groove is formed between adjacent heat dissipation ribs.

8. The actuator according to claim 1, characterized in that: The cross section of the heat dissipation column is square, circular, triangular or diamond-shaped; the extension direction of the heat dissipation column is consistent with the depth direction of the heat dissipation groove, and the top surface of the heat dissipation column is offset downward by a distance d compared to the outer side surface of the upper cover, and d is 0~3.5mm.

9. The actuator according to claim 1, characterized in that: The stator surrounds the periphery of the rotor, a reducer is arranged inside the rotor, a connecting bracket is fixedly connected to the rotor, the connecting bracket is located below the mounting frame and connected to the input end of the reducer.

10. A robot, characterized in that An actuator comprising any one of claims 1 to 9.

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