Actuator

Abstract

Provided in the present application is an actuator, comprising a housing, an electric motor, a rotating assembly and a control circuit board, wherein the electric motor can drive the rotating assembly, and the rotating assembly can rotate relative to the housing; the actuator has a mounting cavity and a heat dissipation channel, the heat dissipation channel being located in the housing, and the heat dissipation channel communicating the mounting cavity with the outside of the actuator; the rotating assembly has a first channel, the first channel communicates the mounting cavity with the outside of the actuator, and the mounting cavity communicates the first channel with the heat dissipation channel; the actuator further comprises a spoiler portion driven by the electric motor; the control circuit board at least partially extends in the radial direction of the actuator; and in the axial direction of the actuator, at least part of the heat dissipation channel is located between the electric motor and the control circuit board. When the electric motor drives the spoiler portion to rotate, the spoiler portion can agitate the air between the electric motor and the control circuit board to accelerate the airflow inside the actuator, and perform air exchange with the air outside the actuator by means of the first channel or the heat dissipation channel each in communication with the mounting cavity, thereby improving a heat dissipation effect.

Description

Actuator Technical Field

[0001] This invention 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 invention is to provide an actuator that improves heat dissipation.

[0004] This invention provides an actuator, including a housing, a motor, a rotating assembly, and a control circuit board. The motor can drive the rotating assembly, which is rotatable relative to the housing. The actuator has a mounting cavity and a heat dissipation channel. The heat dissipation channel is located within the housing, and the mounting cavity is located inside the housing. The heat dissipation channel connects the mounting cavity and the outside of the actuator. The control circuit board is located in the mounting cavity. The rotating assembly has a first channel that connects the mounting cavity and the outside of the actuator. The mounting cavity connects the first channel and the heat dissipation channel. The actuator also includes a turbulence-disrupting part, which is driven by the motor and is located in the mounting cavity. The control circuit board extends at least partially radially along the actuator. In the axial direction of the actuator, at least a portion of the heat dissipation channel is located between the motor and the control circuit board.

[0005] The present invention includes a turbulence section, and a portion of the heat dissipation channel is located between the motor and the control circuit board. When the motor drives the turbulence section to rotate, the turbulence section can agitate the air between the motor and the control circuit board, accelerate the air flow inside the actuator, and exchange with the air outside the actuator through the first channel or heat dissipation channel connected to the mounting cavity, thereby improving the heat dissipation effect. Attached Figure Description

[0006] Figure 1 is a schematic diagram of the actuator of the present invention;

[0007] Figure 2 is a cross-sectional schematic diagram of the actuator of the first embodiment;

[0008] Figure 3 is a schematic diagram of the impeller in the first embodiment;

[0009] Figure 4 is a cross-sectional view of Figure 3 from another angle;

[0010] Figure 5 is a cross-sectional view of Figure 3 from one angle;

[0011] Figure 6 is a cross-sectional view of Figure 3 from another angle;

[0012] Figure 7 is a schematic diagram of the output shaft in the first embodiment;

[0013] Figure 8 is a cross-sectional schematic diagram with flow channel shown in the first embodiment;

[0014] Figure 9 is a cross-sectional schematic diagram of the actuator in the second embodiment;

[0015] Figure 10 is a structural schematic diagram of the first support in the second embodiment;

[0016] Figure 11 is a schematic diagram of the output shaft in the second embodiment;

[0017] Figure 12 is a schematic diagram of the input shaft in the second embodiment;

[0018] Figure 13 is a schematic diagram of the actuator of the second embodiment after the housing has been removed;

[0019] Figure 14 is a structural schematic diagram of the actuator of the second embodiment from another angle. Detailed Implementation

[0020] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] It should be understood that the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other technical solutions obtained by those skilled in the art based on the technical solutions of the present invention without creative effort are within the scope of protection of the present invention.

[0022] As shown in Figures 1-14, the present invention provides an actuator, including a housing 1, a motor 3, a rotating assembly 2, and a control circuit board 4. The motor 3 drives the rotating assembly 2, which is rotatable relative to the housing 1. The actuator has a mounting cavity 10 and a heat dissipation channel 11. The heat dissipation channel 11 is located within the housing 1, and the mounting cavity 10 is located inside the housing 1. The heat dissipation channel 11 connects the mounting cavity 10 and the outside of the actuator. The control circuit board 4 is located within the mounting cavity 10. The rotating assembly 2 has a first channel connecting the mounting cavity 10 and the outside of the actuator. The mounting cavity 10 connects the first channel and the heat dissipation channel 11. The actuator also includes a turbulence-disrupting part 51, which is driven by the motor 3 and is located within the mounting cavity 10. The control circuit board 4 extends at least partially radially along the actuator. In the axial direction of the actuator, at least a portion of the heat dissipation channel 11 is located between the motor and the control circuit board 4. When the actuator is working, the components on the control circuit board will generate heat, leading to excessively high temperatures inside the actuator. Excessive temperatures can cause component failure or trigger the driver's temperature protection, resulting in the actuator failing to operate. This invention includes a baffle section with a portion of the heat dissipation channel located between the motor and the control circuit board. When the motor drives the baffle section to rotate, the baffle section agitates the air between the motor and the control circuit board, accelerating the airflow inside the actuator. This airflow then exchanges heat with the air outside the actuator through a first channel connected to the mounting cavity or a heat dissipation channel, thereby improving heat dissipation. As the baffle section rotates, it agitates the air nearby, which then flows to the outside of the actuator through the heat dissipation channel. Alternatively, as the baffle section is agitated, a low-pressure area forms near it, drawing air from outside the actuator into the mounting cavity through the heat dissipation channel or the first channel, where it exchanges heat with the air between the motor and the control circuit board. Thus, when the baffle rotates, air can enter the mounting cavity through the first channel, agitate the air inside the cavity as the baffle rotates, and carry the hot air from inside the actuator out through the heat dissipation channel on the housing, completing the heat dissipation of the actuator's interior. It can also be in another form, in which, as the turbulence section rotates, air from outside the actuator is drawn into the mounting cavity through the heat dissipation channel, and then flows out of the actuator through the first channel.

[0023] The heat dissipation channel here includes multiple heat dissipation holes, which are distributed on the housing. Since the actuator housing is roughly cylindrical, the heat dissipation holes can be symmetrically arranged about the cylindrical housing or staggered. Of course, the heat dissipation holes can be arranged at the same height along the radial direction of the actuator or at different heights along the radial direction of the actuator. There is no restriction on the distribution of the heat dissipation holes here.

[0024] The actuator includes a first bracket 5 and a second bracket 7. The first bracket 5 is located in the mounting cavity 10 and is connected to the motor 3 in a driving connection. The turbulence part 51 is provided on the first bracket 5. In the axial direction of the actuator, the turbulence part 51 is located between the motor 3 and the control circuit board 4.

[0025] The rotating component 2 includes an output shaft 23 and an input shaft 22. The output shaft 23 includes a main body 232 and an output portion 233. The main body 232 is hollow and extends along the axial direction of the actuator. The first channel is at least partially located within the main body 232. The output portion 233 extends along the axial direction of the actuator, and the main body 232 is connected to the output portion 233. The input shaft and the output shaft are arranged along the axial direction of the actuator, with the input shaft sleeved on the outside of the output shaft.

[0026] The motor 3 includes a rotor 31 and a rotor support 32. The input shaft 22 is drivenly connected to the rotor 31. The rotor is located on the outside of the rotor support. The first support 5 is fixedly connected to the input shaft 22. The output shaft 23 has a connecting through hole 235, which is located at the connection between the output part 233 and the main body part 232. The connecting through hole 235 connects the first channel and the outside of the actuator. The first support 5 includes a connecting ring rib 56, which extends axially along the actuator. A turbulence-dissipating part 51 extends radially along the actuator. The connecting ring rib 56 is sleeved on the outside of the input shaft 22. The input shaft 22 is drivenly connected to the rotor support 32. Part of the turbulence-dissipating part 51 is arranged opposite to the heat dissipation channel 11. The actuator has a turbulence-dissipating area S, which is located between the turbulence-dissipating part 51 and the heat dissipation channel 11.

[0027] The actuator includes a reduction mechanism 6, which includes a flexure 61 and a first bearing 62. The rotating assembly 2 includes an input shaft 22 and an output shaft 23. The input shaft 22 is connected to the motor 3 and is sleeved on the outside of the output shaft 23. The input shaft 22 and the output shaft 23 extend along the axial direction of the actuator. 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 engaged with the flexure 61. The output shaft 23 is connected to the first movable member 621. The input shaft 22 has a cam portion 221, which is located inside the flexure 61 and connected to it. Here, the first bearing is a crossed roller bearing, the first movable member is the inner ring of the crossed roller bearing, and the first fixed member is the outer ring of the crossed roller bearing. The first movable member is rotatable relative to the first fixed member. The first fixed component and the flexible wheel are fixed to the housing by a unified locking component. The flexible wheel includes a meshing part and a fixing part. The meshing part is located on the open side of the flexible wheel, and the fixing part is set outward. The outside of the meshing part is connected to the first movable component, and the inside of the meshing part is connected to the cam part of the input shaft. The motor drives the input shaft to rotate, and the cam part rotates with the input shaft, thereby causing the open part of the flexible wheel to follow the rotation of the cam part and undergo elliptical deformation. Then, the flexible wheel and the first movable component of the first bearing meshing with it perform differential gear motion, ultimately achieving deceleration output by the first movable component of the first bearing.

[0028] As shown in Figures 1-8, in the first embodiment, the first channel includes a hollow channel 20 and an air passage. The hollow channel 20 is located within the main body 232 of the output shaft and extends axially along the actuator. The hollow channel 20 communicates with the outside of the actuator. The actuator includes an impeller 5 located in the mounting cavity 10. A turbulence-inducing part 51 is located in the impeller 5, which is situated 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 air passage connects the hollow channel 20 and the mounting cavity 10 and extends at least partially radially along the actuator. It should be noted that in this embodiment, the impeller is the first support. An air passage exists between the impeller and the rotating assembly, and the air passage communicates with the hollow channel. The air passage extends at least partially radially along the actuator. Thus, when the impeller rotates, it can agitate the air located between the motor and the control circuit board, ventilate along the radial direction of the actuator, and allow air to flow out from the heat dissipation channel of the housing or the hollow channel of the rotating assembly, thereby improving the heat dissipation effect.

[0029] The air passage includes a first passage 21 and a second passage 52, which are connected. The first passage 21 is connected to the hollow passage 20. The first passage 21 is located between the impeller 5 and the rotating assembly 2. The impeller 5 has a second passage 52, which extends radially along the actuator at least partially and is connected to the mounting cavity 10. The first passage between the impeller and the rotating assembly and the second passage of the impeller are connected, and the second passage extends radially along the actuator at least partially. This allows the air between the motor and the control circuit board to be agitated and ventilated radially when the impeller rotates, and the air can flow out through the heat dissipation channel of the housing, thereby improving the heat dissipation effect. Alternatively, when the impeller rotates, it agitates the air 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 mounting cavity through the heat dissipation channel or the hollow passage, exchanging the high-temperature air inside the mounting cavity with the outside air and enhancing the heat dissipation effect. The heat dissipation channel can be composed of heat dissipation holes, which are distributed on the side wall of the housing and located between the motor and the control circuit board.

[0030] In this embodiment, the actuator contains a reduction gear, a motor, an impeller, and a control circuit board arranged sequentially. The impeller is positioned between the motor and the control circuit board. The rotating assembly is arranged along the axial direction of the actuator and has a hollow channel that communicates with the outside of the actuator. When the impeller rotates, air can enter the hollow channel from the outside of the actuator, then sequentially enter the mounting cavity through the first passage and the second passage, and finally flow out of the actuator through the heat dissipation channel located on the housing. Here, the control circuit board extends at least partially radially along the actuator, and the second passage also extends at least partially radially along the actuator. After the air enters the hollow channel, it first flows into the first passage along the actuator's axial direction, and then flows into the second passage along the actuator's radial direction. The impeller can agitate the air in the radial direction of the control circuit board. In this way, an axial and radial airflow path is set in the actuator. This bent airflow path can control the radial airflow of the circuit board. Since the main heat source on the control circuit board is the electrical components, which are located on the radial side of the control circuit board, the bent axial and radial airflow path can be aimed at the heat source to blow air, thereby improving the heat dissipation effect.

[0031] The impeller 5 includes a first plate 53, a second plate 54, and a first through hole 55. The first through hole 55 penetrates the first plate 53 and connects the first passage 21 and the second passage 52. The first plate 53 is positioned closer to the motor 3 relative to the second plate 54, and the second plate 54 is positioned closer to the control circuit board 4 relative to the first plate 53. The first plate 53 and the second plate 54 are arranged along the axial direction of the actuator and extend radially along the actuator. The first plate 53 and the second plate 54 are connected, and the second passage 52 is located between the first plate 53 and the second plate 54.

[0032] The impeller 5 includes a connecting ring rib 56, which is connected to the rotating assembly 2. The impeller 5 is sleeved on the outside of the rotating assembly 2. The connecting ring rib 56 is connected to the first plate 54. A first through hole 55 is provided in the connecting ring rib 56. The second plate 54 has a second through hole 541. The first through hole 55 and the second through hole 541 are arranged opposite to each other. The projection of the second through hole 541 along the radial direction of the actuator is located on the first plate 53. The connecting ring rib 56 extends along the axial direction of the actuator. The impeller 5 is connected to the rotating assembly 2 through the connecting ring rib 56. The rotating assembly 2 is at least partially located in the second through hole 541. The first through hole and the second through hole are located at the center of the first plate and the second plate, respectively. The second through hole and the first through hole are concentrically arranged, and the diameter of the second through hole is larger than the diameter of the first through hole. In this way, the air entering the first passage can enter the second passage through the second through hole.

[0033] The impeller 5 includes a connecting portion 57 located between the first plate 53 and the second plate 54. The first plate 53, the second plate 54, and the connecting portion 57 form a turbulence-inducing portion 51. The connecting portion 57 extends radially along the impeller 5 and connects the first plate 53 and the second plate 54. The connecting portion 57 includes a third end 571 and a fourth end 572. The third end 571 is located near the first through hole 55 relative to the fourth end 572, and the fourth end 572 is located near the peripheral edge of the first plate 53 and the second plate 54 relative to the third end 571. A plurality of connecting portions 57 are provided, and the plurality of connecting portions 57 are distributed between the first plate 53 and the second plate 54 with the first through hole 55 as the center. The connecting portion 57 includes a connecting section 573 connecting the third end 571 and the fourth end 572. The connecting section 573 is arc-shaped. The first plate 53 and the second plate 54 are approximately circular. The connecting portion 57 defines a second passage 52 between the first plate 53 and the second plate 54. Here, the connecting part defines a second passage between the first plate and the second plate. The connecting part consists of a third end near the first through hole, a fourth end near the peripheral edge of the first plate and the second plate, and a connecting section connecting the third end and the fourth end. The connecting section is arc-shaped, so the connecting part is roughly arc-shaped. The second passage defined by the connecting part, the first plate and the second plate also has an arc. In this way, the air enters the first passage through the first through hole and then enters the arc-shaped second passage. After passing through the axial airflow path, it enters the radial airflow path. The arc setting of the second passage can divert the axial airflow path at the main source along the arc. As the impeller rotates, the airflow of the arc-shaped second passage can cooperate with the rotating impeller, thereby forming a rotating airflow path, similar to a cyclone, which enhances the overall air volume and heat dissipation efficiency.

[0034] The output shaft 23 includes a first end 234 near the control circuit board 4, and the input shaft 22 includes a second end 222 near the control circuit board 4. The projection of the second end 222 along the axial direction of the actuator is located on the output shaft 23. A connecting ring rib 56 is connected to the second end 222, and a first passage 21 is formed between the output shaft 23 and the connecting ring rib 56. The arrangement of the second end of the input shaft projecting along the axial direction of the actuator onto the output shaft makes the input shaft end larger than the output shaft end, and the first end of the output shaft enters into the connecting ring rib, thus defining the first passage between the input shaft, the input shaft, and the output shaft.

[0035] The actuator 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 second 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 second bracket 7 facing the control circuit board 4. The mounting portion 71 is connected to the output shaft 23, and the low-speed disk 82 is mounted on the extension platform 72. The impeller 5 is connected to the outside of the input shaft 22, and the second bracket 7 is connected to the outside of the output shaft. The air passage is at least partially located between the second bracket 7 and the impeller 5. Specifically, a limiting step is provided on the second plate of the impeller, and the Gaussian disk is located at the limiting step.

[0036] The rotating assembly 2 has a flow channel 24 located between the input shaft 22 and the output shaft 23. The flow channel 24 extends axially along the actuator and connects the hollow channel 20 and the air passage. The output shaft 23 has a third through hole 231 communicating with the hollow channel 20. The input shaft 22 is connected to the impeller 5, which is sleeved on the outside of the input shaft 22. The third through hole 231 connects the first passage 21 and the hollow channel 20.

[0037] The housing includes a side wall 14 and a bottom cover 13. A heat dissipation channel 1 is located on the side wall 14, and a portion of the heat dissipation channel 11 is located between the motor 3 and the control circuit board 4. The bottom cover 13 includes heat dissipation ribs 132. The control circuit board 4 is fixed to the housing 1. The heat dissipation ribs 132 protrude from the bottom cover 13 towards the motor 3 and are positioned opposite to the control circuit board 4. The heat dissipation ribs are used to conduct heat from the vicinity of the control circuit board to the outside of the actuator.

[0038] The control circuit board 4 has a limiting hole that penetrates the control circuit board 4. The bottom cover 13 includes a first annular rib 131 that protrudes towards the motor 3. The bottom cover 13 has a fourth through hole 133 that penetrates the bottom cover 13 and connects the mounting cavity 10 to the outside of the actuator. The fourth through hole 133 is located inside the first annular rib 131, with a portion of the first annular rib 131 located within 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 positioned opposite to the hollow channel 20. One end of the first annular rib protrudes from the surface of the control circuit board towards the output shaft.

[0039] The actuator has a gap 90. The rotating component 2 can rotate 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. The gap 90 connects the mounting cavity 10 and the hollow channel 20. The bottom cover 13 includes a first annular rib 131, which protrudes towards the motor 3. The control circuit board 4 is sleeved on the outside of the first annular rib 131, and the first annular rib 131 protrudes from the surface of the control circuit board 4. A third passage 15 is formed inside the first annular rib 131, which communicates with the outside of the actuator. The third passage 15 extends along the axial direction of the actuator and is opposite to the hollow channel 20. The gap 90 is located between the first annular rib 131 and the output shaft 23, and in the axial direction of the actuator, the gap 90 is located on the side of the control circuit board 4 closer to the motor 3. The air entering the hollow channel can enter the installation chamber through the gap, and the air entering the third passage can enter the installation cavity through the gap. Since the end of the first ring rib protrudes from the control circuit board, and the gap is formed between the first ring rib and the output shaft, the air passing through the gap can flow directly into the side of the control circuit board facing the motor, and then flow out from the heat dissipation channel located in the housing along with the rotating impeller.

[0040] In this embodiment, the impeller is positioned between the motor and the control circuit board. The impeller consists of an axially arranged first plate, a connecting portion, and a second plate. A second passage is located between the first and second plates and extends radially along the actuator, divided into multiple passages by the connecting portion. Air enters the hollow channel from the outside of the actuator, then passes through the third through-hole into the flow channel, then through the first passage into the second passage, and finally flows out from the heat dissipation channel of the housing. The overall airflow path is axially and radially distributed. This zigzag airflow path disperses the air from the overall air supply source into a radially dispersed airflow path, agitating the air between the motor and the control circuit board. This accelerates airflow and effectively directs the agitation towards the main heat source, thereby improving heat dissipation. The impeller 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, forming a low-pressure zone near the anode, and then drawing in outside air, thus realizing the heat exchange process between the high-temperature gas and the outside air.

[0041] Specifically, the heat dissipation channel is located between the motor and the control circuit board, and the first bracket is at least partially located between the motor and the control circuit board. In the radial direction of the actuator, the gap is located on the side of the control circuit board away from the heat dissipation channel. In this way, as the first bracket or the rotating assembly rotates, the air passage, the gap, and the heat dissipation channel can form a flow that allows air inside the actuator mounting cavity to flow to the outside of the actuator, thereby improving the heat dissipation effect.

[0042] The main body 232 includes a first end 234, which is located on the side of the output shaft 22 near the control circuit board 4. A gap 90 is located between the first end 234 and the bottom cover 13. In the axial direction of the actuator, a first annular rib 131 is disposed opposite to the main body 232, and there is a distance between the first annular rib 131 and the first end 234, which forms a gap. In this embodiment, there is a gap between the rotating component and the housing, which connects the air duct and the mounting cavity. The gap is located on the side of the control circuit board away from the heat dissipation channel. As the first bracket or the rotating component rotates, the air in the actuator mounting cavity can flow to the outside of the actuator through the air duct, the gap, and the heat dissipation channel, thereby improving the heat dissipation effect. In this invention, a heat dissipation channel is located within the housing, between the motor and the control circuit board. The actuator has a ventilation channel connecting the actuator's exterior and the mounting cavity. A gap exists between the rotating component and the housing, connecting the ventilation channel and the mounting cavity. This gap is located on the side of the control circuit board furthest from the heat dissipation channel. Thus, the ventilation channel, the gap, and the heat dissipation channel form a ventilation path connecting the inside and outside of the actuator. When the rotating component or the first bracket rotates, air inside and outside the actuator exchanges, improving heat dissipation. The gap is located between the end of the main body near the control circuit board and the bottom cover, allowing airflow through the gap to reach the vicinity of the control circuit board.

[0043] Specifically, the central control channel and the first through hole are located in the middle of the actuator, as is the gap. This allows air passing through the gap to be dispersed outwards into the mounting cavity. The air in the mounting cavity, after being agitated, flows out through the heat dissipation channel on the housing, following an axial intake, radial distribution, and ultimately radial exhaust airflow path. Alternatively, when the rotating component or the first bracket rotates, a negative pressure can be created within the mounting cavity. This pressure draws air from outside the actuator into the mounting cavity through the heat dissipation channel on the housing, and then, following the heated air within the mounting cavity, flows into the gap and out through the gap to the outside of the actuator, following a radial intake, radial distribution, and ultimately axial exhaust airflow path.

[0044] Specifically, the bottom cover includes heat dissipation fins. The control circuit board is fixed to the housing, and the heat dissipation fins protrude towards the control circuit board, with the fins positioned opposite to the control circuit board. The heat dissipation fins protrude towards the control circuit board and are positioned close to the electrical components on the control circuit board to conduct heat from the heat-generating electrical components to the heat dissipation fins. Heat is then exchanged between the heat dissipation fins and the outside of the actuator, thus achieving heat dissipation through heat conduction.

[0045] The first support includes a turbulence-dissipating part and a connecting ring rib. The connecting ring rib extends axially along the actuator, and the turbulence-dissipating part extends radially along the actuator. The connecting ring rib is located on the outside of the input shaft, which is connected to the rotor support for transmission. Part of the turbulence-dissipating part is positioned opposite to the heat dissipation channel. The actuator has a turbulence-dissipating area S, which is located between the turbulence-dissipating part and the heat dissipation channel. As shown in Figure 8, the motor also includes a stator. The rotor is attached to the outside of the rotor support, and the stator is fixedly installed on the inner wall of the housing. When the coils on the stator are energized, they drive the rotor to rotate, and the first support connected to the input shaft also rotates accordingly. The connecting ring rib has a connecting through hole, which is sleeved on the outside of the input shaft, and the first support is installed on the input shaft. The turbulence-dissipating part extends radially along the actuator, and part of the turbulence-dissipating part is positioned opposite to the heat dissipation channel. Thus, when the first support rotates, the turbulence-dissipating part can agitate the air located between the control circuit board and the motor, forming a turbulence-dissipating area between the turbulence-dissipating part and the heat dissipation channel. The air located in the turbulence-dissipating area is agitated as the turbulence-dissipating part rotates and flows into the outside of the actuator through the heat dissipation channel located in the housing.

[0046] The gap design allows for an alternative airflow path for the actuator: air within the hollow channel enters the mounting cavity through the gap. Since the gap is located between the control circuit board and the first bracket, the air entering through it can directly flow towards the vicinity of the control circuit board. As the first bracket rotates, the air entering through the gap may be drawn into the turbulence zone S, thus agitating the air between the control circuit board and the motor, before exiting the actuator through the heat dissipation channel. Specifically, after entering the hollow channel, the air first flows axially into the first passage, and then radially into the second passage. The turbulence zone agitates the radial airflow from the control circuit board. This combined axial and radial airflow path, with its bends, delivers air radially towards the control circuit board.

[0047] As shown in Figures 9-14, in the second embodiment, the output shaft 23 has a third through hole 231, and the input shaft 22 has a seventh through hole 223. The third through hole 231 is located in the main body 232, and the seventh through hole 223 connects the third through hole 231 with the mounting cavity 10. The first channel includes a flow channel 24 and a hollow channel 20. The flow channel 24 is located between the input shaft 22 and the output shaft 23, and the hollow channel 20 is located inside the output shaft 23. The flow channel 24 connects the seventh through hole 223 and the third through hole 231. The turbulence-disrupting part 51 extends radially along the actuator. In the axial direction of the actuator, at least a portion of the seventh through hole 223 is located on the side of the first bracket 5 away from the control circuit board 4, and the turbulence-disrupting part 51 is located on the side of the seventh through hole 223 closer to the control circuit board 4.

[0048] The seventh through hole is provided in multiple ways. The turbulence part extends radially along the actuator. In the axial direction of the actuator, some of the seventh through holes of the input shaft are located on the side of the turbulence part away from the control circuit board. Thus, the overall air supply path of the rotating assembly is as follows: the air enters the output shaft 23 from the connecting through hole 235, enters the flow channel 24 between the input shaft 22 and the output shaft 23 through the third through hole 231 on the output shaft 23, and then flows into the turbulence part 51 of the first bracket 5 through the seventh through hole 223 of the input shaft. Some of the seventh through holes 223 are located on the side of the turbulence part 51 away from the control circuit board 4. This arrangement forms an air supply path for the axial air intake of the turbulence part. The air flows into the turbulence part of the flow channel and then agitates the air near the control circuit board as the turbulence part rotates.

[0049] Another embodiment exists in which the first bracket 5 is fixedly connected to the input shaft 22. The first channel includes a third through hole 231 located in the main body. The first bracket 5 has an eighth through hole 59, which connects the mounting cavity 10 and the flow channel 24. The flow channel 24 connects the third through hole 231, the seventh through hole 223, and the eighth through hole 59. The seventh through hole 223 communicates with the mounting cavity 10. The rotor bracket has a flow hole 321 that extends along the axial direction of the actuator. In the axial direction of the actuator, at least a portion of the seventh through hole 223 is located on the side of the flow hole 321 away from the control circuit board 4. The first bracket is mounted on the outside of the input shaft. The first bracket has an eighth through hole 59, which connects the mounting cavity 10 and the flow channel 24. Air enters the output shaft 23 through the connecting through hole 235, then enters the flow channel 24 through the third through hole 231 of the output shaft 23, flows axially along the output shaft to the eighth through hole 59 of the first bracket, and then enters the mounting cavity 10 through the eighth through hole 59. Since the turbulence section is located between the motor and the control circuit board, the air passing through the ninth through hole is agitated between the motor and the control circuit board by the turbulence section, and hot air is carried out from the heat dissipation channel located on the housing. With this arrangement, the air first flows axially along the rotating assembly to the turbulence section of the first bracket, then agitates the air between the motor and the control circuit board through the turbulence section, and flows radially along the actuator to the heat dissipation channel of the housing. Finally, the hot air flows out of the actuator through the heat dissipation channel.

[0050] The first bracket 5 includes a connecting ring rib 56 and a mounting platform 58. The connecting ring rib 56 is connected to the mounting platform 58 and extends axially along the actuator. The connecting ring rib 56 is sleeved on the outside of the rotating assembly 2 and extends radially along the actuator. The actuator includes a high-speed disk 81, which is located on the side of the mounting platform 58 facing the control circuit board 4. The first bracket 5 has an eighth through hole 59 located at the connecting ring rib 56. A turbulence-dispersing part 51 is located at the connection between the connecting ring rib 56 and the mounting platform 58, protruding from the surface of the mounting platform 58 and extending radially along the actuator. The actuator also includes a second bracket 7 and a low-speed disk 82. The first bracket 5 is fixedly connected to the outside of the input shaft 22, and the second bracket 7 is fixedly connected to the outside of the output shaft 23. The second bracket 7 is at least partially located inside the first bracket 5, and the low-speed disk 82 is located on the side of the second bracket 7 facing the control circuit board 4.

[0051] The high-speed disk is located on the mounting platform facing the control circuit board. This high-speed coded disk detects the motor's output speed, which is also the input speed of the reduction gear mechanism. A high-speed disk is located on the first bracket near the control circuit board, and a low-speed disk is located on the second bracket near the control circuit board. The control circuit board includes a radially extending board body containing components such as a controller, a low-speed disk read head, and a high-speed disk read head. The high-speed disk on the first bracket detects the motor speed, while the low-speed disk on the second bracket detects the output shaft speed. These speeds are then read by the high-speed and low-speed disk read heads on the control circuit board. An airflow channel is defined between the low-speed and high-speed disks and the control circuit board. Airflow from this gap can sweep laterally across the control circuit board through the airflow channel, carrying away the heat above it. Additionally, a heat dissipation fin protrudes from the bottom cover towards the motor, close to the components on the control circuit board. The fin dissipates heat from the components on the control circuit board through heat conduction.

[0052] Specifically, the first bracket 5 abuts against the side of the rotor bracket 32 ​​facing the control circuit board 4. Air enters the seventh through hole 223 of the input shaft 22 through the flow channel 24, and then moves along the axial direction of the actuator to the flow hole 321 of the rotor bracket 32. After passing through the flow hole 321, it moves to the turbulence section 51 of the first bracket 5, thus forming another axial air supply path. The specific air supply path is shown in Figure 9. Here, at least part of the seventh through hole 223 is located on the side of the flow hole 321 away from the control circuit board 5. This ensures that the air can first pass through the flow hole along the axial direction of the actuator and then flow to the turbulence section. Then, under the rotation of the turbulence section, it drives the hot air located between the motor and the control circuit board to flow radially along the control circuit board to the heat dissipation channel of the housing, and then flows out of the actuator through the heat dissipation channel. It should be noted that the rotation of the turbulence section not only agitates the air between the motor and the control circuit board, but also moves the air within the overall mounting cavity. Since the heat dissipation channel of the housing is at least partially located between the motor and the control circuit board in the axial direction of the actuator, the airflow at the turbulence section can form a radially sweeping airflow path along the control circuit board. Combined with the fact that the control circuit board includes a radially arranged plate, and most of the heat-generating electrical components are located on the plate, this radially arranged airflow path along the control circuit board can carry the hot air above the control circuit board and out of the actuator through the heat dissipation channel. This increases the sweeping airflow path for the control circuit board and improves the heat dissipation efficiency.

[0053] As shown in Figure 10, the eighth through hole 59 is located at the connecting ring rib 56. The mounting platform 58 extends radially along the first bracket 5. The turbulence section 51 is located at the mounting platform 58, between the connecting ring rib 56 and the mounting platform. Thus, when the first bracket is driven by the motor to start rotating, air enters axially through the turbulence section of the eighth through hole and flows radially out to the heat dissipation channel of the housing, and then flows out of the actuator through the heat dissipation channel. In this way, at the first bracket, between the motor and the control circuit board, an axial air intake and radial air exhaust path is formed, which can radially sweep the control circuit board, agitate the hot air above the control circuit board, remove heat, and improve heat dissipation efficiency.

[0054] 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. The bottom cover 13 has a first annular rib 131, which protrudes towards the motor 3. The bottom cover 13 has a fourth through hole 133, which penetrates the bottom cover 13 and is located inside the first annular rib 131. The fourth through hole 133 is opposite to the hollow channel 20. In the axial direction of the actuator, there is a gap 90 between the output shaft 23 and the first annular rib 131. The control circuit board 4 has a limiting hole, and the first annular rib 131 is at least partially located in the limiting hole, with a portion of the first annular rib 131 protruding from the surface of the control circuit board 4. The control circuit board 4 is fixed to the bottom cover 13. The fourth through hole 133 on the bottom cover allows air to enter from the third through hole of the output shaft or from the fourth through hole of the first annular rib. Air located in the output shaft and the first annular rib can flow into the mounting cavity through the gap.

[0055] The gap 90 is located on the side of the control circuit board 4 near the output shaft 23. The bottom cover 13 is provided with heat dissipation ribs 132, which protrude toward the motor 3. In the axial direction of the actuator, the heat dissipation ribs 132 are arranged opposite to the control circuit board 4.

[0056] The above examples illustrate the principles and implementation methods of the present invention. The descriptions of these embodiments are merely illustrative and are intended to aid in understanding the technical solutions and core ideas of the present invention. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. An actuator comprising a housing (1), a motor (3), a rotating assembly (2), and a control circuit board (4), wherein the motor (3) is capable of driving the rotating assembly (2), the rotating assembly (2) being rotatable relative to the housing (1), the actuator having a mounting cavity (10) and a heat dissipation channel (11), the heat dissipation channel (11) being located within the housing (1), the mounting cavity (10) being located within the housing (1), the heat dissipation channel (11) communicating with the mounting cavity (10) and the exterior of the actuator, and the control circuit board (4) being located within the mounting cavity (10). The rotating assembly (2) has a first channel that connects the mounting cavity (10) and the outside of the actuator. The mounting cavity (10) connects the first channel and the heat dissipation channel (11). The actuator also includes a turbulence-dissipating part (51). The motor (3) is capable of driving the turbulence-dissipating part (51). The turbulence-dissipating part (51) is located in the mounting cavity (10). The control circuit board (4) extends at least partially radially along the actuator. In the axial direction of the actuator, at least part of the heat dissipation channel (11) is located between the motor (3) and the control circuit board (4).

2. The actuator according to claim 1, wherein, The actuator includes a first bracket (5) located in the mounting cavity (10) and is connected to the motor (3) via a drive. The turbulence part (51) is disposed on the first bracket (5) and is located between the motor (3) and the control circuit board (4) in the axial direction of the actuator.

3. The actuator according to claim 2, wherein, The rotating component (2) includes an output shaft (23) and an input shaft (22). The motor (3) includes a rotor (31). The input shaft (22) is connected to the rotor (31) in a transmission manner. The output shaft (23) includes a main body (232) and an output part (233). The main body (232) is hollow and extends along the axial direction of the actuator. The first channel is at least partially located inside the main body (232). The output part (233) extends along the axial direction of the actuator. The main body (232) is connected to the output part (233). The output shaft (23) has a connecting through hole (235). The connecting through hole (235) is located at the connection between the output part (233) and the main body (232). The connecting through hole (235) communicates with the first channel and the outside of the actuator.

4. The actuator according to claim 3, wherein, The output shaft (23) has a third through hole (231), and the input shaft (22) has a seventh through hole (223). The third through hole (231) is located in the main body (232), and the seventh through hole (223) connects the third through hole (231) with the mounting cavity (10). The first channel includes a flow channel (24), which is located between the input shaft (22) and the output shaft (23). The flow channel (24) connects the seventh through hole (223) and the third through hole (231).

5. The actuator according to claim 4, wherein, The first bracket (5) is located between the motor (3) and the control circuit board (4). The turbulence part (51) extends radially along the actuator. In the axial direction of the actuator, at least a portion of the seventh through hole (223) is located on the side of the first bracket (5) away from the control circuit board (4), and the turbulence part (51) is located on the side of the seventh through hole (223) close to the control circuit board (4).

6. The actuator according to claim 3, wherein, The input shaft (22) has a seventh through hole (223), the first bracket (5) is fixedly connected to the input shaft (22), the output shaft (23) has a third through hole (231), the third through hole (231) is located in the main body (232), the first bracket (5) has an eighth through hole (59), the first channel includes a flow channel (24), the flow channel (24) is located between the input shaft (22) and the output shaft (23), the eighth through hole (59) connects the mounting cavity (10) and the flow channel (24), and the flow channel (24) connects the third through hole (231), the seventh through hole (223) and the eighth through hole (59).

7. The actuator according to claim 6, wherein, The seventh through hole (223) communicates with the mounting cavity (10). The motor (3) includes a rotor bracket (32) with a flow hole (321) extending along the axial direction of the actuator. At least a portion of the seventh through hole (223) is located on the side of the flow hole (321) away from the control circuit board (4) in the axial direction of the actuator.

8. The actuator according to any one of claims 1-7, wherein, The first bracket (5) includes a connecting ring rib (56) and a mounting platform (58). The connecting ring rib (56) is connected to the mounting platform (58). The connecting ring rib (56) extends along the axial direction of the actuator and is sleeved on the outside of the rotating assembly (2). The connecting ring rib (56) extends radially along the actuator. The actuator includes a high-speed disk (81). The high-speed disk (81) is located on the side of the mounting platform (58) facing the control circuit board (4). The first bracket (5) has an eighth through hole (59). The eighth through hole (59) is located on the connecting ring rib (56). The turbulence part (51) is located at the connection between the connecting ring rib (56) and the mounting platform (58). The turbulence part (51) protrudes from the surface of the mounting platform (58) and extends radially along the actuator.

9. The actuator according to claim 8, wherein, The actuator also includes a second bracket (7) and a low-speed disk (82). The rotating assembly (2) includes an output shaft (23) and an input shaft (22). The first bracket (5) is fixedly connected to the outside of the input shaft (22), and the second bracket (7) is fixedly connected to the outside of the output shaft (23). The second bracket (7) is at least partially located inside the first bracket (5). The low-speed disk (82) is located on the side of the second bracket (7) facing the control circuit board (4).

10. The actuator according to any one of claims 1-7, wherein, The rotating assembly (2) includes an output shaft (23), the first channel includes a hollow channel (20) located inside the output shaft (23), the housing (1) includes a side wall (14), and the heat dissipation channel (11) is located on the side wall (14).

11. The actuator according to claim 10, wherein, The housing (1) includes a bottom cover (13), the bottom cover (13) is provided with a first ring rib (131), the first ring rib (131) protrudes toward the motor (3), the bottom cover (13) has a fourth through hole (133), the fourth through hole (133) is provided through the bottom cover (13) and the fourth through hole (133) is located inside the first ring rib (131), the fourth through hole (133) is arranged opposite to the hollow channel (20), and in the axial direction of the actuator, there is a gap (90) between the output shaft (23) and the first ring rib (131).

12. The actuator according to claim 11, wherein, The control circuit board (4) has a limiting hole, the first ring rib (131) is at least partially located in the limiting hole, and part of the first ring rib (131) protrudes from the surface of the control circuit board (4), and the control circuit board (4) is fixed to the bottom cover (13).

13. The actuator according to claim 11, wherein, The housing (1) includes a bottom cover (13), the gap (90) is located on the side of the control circuit board (4) near the output shaft (23), the bottom cover (13) is provided with heat dissipation ribs (132), the heat dissipation ribs (132) are protruding towards the motor (3), and in the axial direction of the actuator, the heat dissipation ribs (132) are arranged opposite to the control circuit board (4).

14. The actuator according to claim 1, wherein, The first channel includes a hollow channel (20) and an air passage. The hollow channel (20) extends along the axial direction of the actuator and communicates with the outside of the actuator. The actuator includes an impeller (5) located in the mounting cavity (10). The turbulence part (51) is located in the impeller (5). 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) is capable of driving the impeller (5) to rotate. The air passage connects the hollow channel (20) and the mounting cavity (10) and extends at least partially along the radial direction of the actuator.

15. The actuator according to claim 14, wherein, The air passage includes a first passage (21) and a second passage (52), the first passage (21) and the second passage (52) are connected, the first passage (21) is connected to the hollow passage (20), the first passage (21) is located between the impeller (5) and the rotating assembly (2), the impeller (5) has the second passage (52), the second passage (52) is at least partially located in the radial extension of the actuator, and the second passage (52) is connected to the mounting cavity (10).

16. The actuator according to claim 15, wherein, The impeller (5) includes a first plate (53), a second plate (54), and a first through hole (55). The first through hole (55) penetrates the first plate (53) and connects the first passage (21) and the second passage (52). The first plate (53) is positioned closer to the motor (3) relative to the second plate (54), and the second plate (54) is positioned closer to the control circuit board (4) relative to the first plate (53). The first plate (53) and the second plate (54) are arranged along the axial direction of the actuator and extend radially along the actuator. The first plate (53) and the second plate (54) are connected, and the second passage (52) is located between the first plate (53) and the second plate (54).

17. The actuator according to claim 16, wherein, The impeller (5) includes a connecting ring rib (56), which is connected to the rotating assembly (2). The impeller (5) is sleeved on the outside of the rotating assembly (2). The connecting ring rib (56) is connected to the first plate (53). The first through hole (55) is provided in the connecting ring rib (56). The second plate (54) has a second through hole (541). The first through hole (55) and the second through hole (541) are arranged opposite to each other. The projection of the second through hole (541) along the radial direction of the actuator is located on the first plate (53). The connecting ring rib (56) extends along the axial direction of the actuator. The impeller (5) is connected to the rotating assembly (2) through the connecting ring rib (56). The rotating assembly (2) is at least partially located in the second through hole (541).

18. The actuator according to claim 17, wherein, The rotating assembly (2) includes an input shaft (22) and an output shaft (23). The input shaft (22) is connected to the motor (3) for transmission. The input shaft (22) is sleeved on the outside of the output shaft (23). The output shaft (23) includes a first end (234) near the control circuit board (4). The input shaft (22) includes a second end (222) near the control circuit board (4). The projection of the second end (222) along the axial direction of the actuator is located on the output shaft (23). The connecting ring rib (56) is connected to the second end (222). The first passage (21) is formed between the output shaft (23) and the connecting ring rib (56).

19. The actuator according to claim 16, wherein, The impeller (5) includes a connecting portion (57) located between the first plate (53) and the second plate (54). The first plate (53), the second plate (54) and the connecting portion (57) form the turbulence portion (51). The connecting portion (57) extends radially along the impeller (5) and connects the first plate (53) and the second plate (54). The connecting portion (57) includes a third end (571) and a fourth end (572). The third end (571) is located near the first through hole (55) relative to the fourth end (572). The fourth end (572) is located near the peripheral wall edge of the first plate (53) and the second plate (54) relative to the third end (571). There are a plurality of connecting portions (57), and the plurality of connecting portions (57) are distributed between the first plate (53) and the second plate (54) with the first through hole (55) as the center.

20. The actuator according to claim 19, wherein, The connecting portion (57) includes a connecting segment (573) connecting the third end (571) and the fourth end (572). The connecting segment (573) is arc-shaped. The first plate (53) and the second plate (54) are generally circular. The connecting portion (57) defines the second passage (52) between the first plate (53) and the second plate (54).

21. The actuator according to any one of claims 14-20, wherein, The actuator includes a second bracket (7), a high-speed disk (81), and a low-speed disk (82). The rotating assembly (2) includes an input shaft (22) and an output shaft (23). The high-speed disk (81) is located on the side of the impeller (5) facing the control circuit board (4). The second 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 second bracket (7) facing the control circuit board (4). The mounting portion (71) is connected to the output shaft (23). The low-speed disk (82) is mounted on the extension platform (72).

22. The actuator according to claim 21, wherein, The hollow channel (20) is located inside the output shaft (23). The input shaft (22) is connected to the motor (3) for transmission. The input shaft (22) and the output shaft (23) are arranged along the axial direction of the actuator. The input shaft (22) is sleeved on the outside of the output shaft (23). The impeller (5) is connected to the outside of the input shaft (22). The second bracket (7) is connected to the outside of the output shaft (23). The air passage is at least partially located between the second bracket (7) and the impeller (5).

23. The actuator according to any one of claims 14-20, wherein, The rotating assembly (2) includes an input shaft (22) and an output shaft (23). The input shaft (22) is sleeved on the outside of the output shaft (23). The rotating assembly (2) has a flow passage (24) located between the input shaft (22) and the output shaft (23). The flow passage (24) extends along the axial direction of the actuator and connects the hollow channel (20) and the air passage.

24. The actuator according to claim 23, wherein, The output shaft (23) has a third through hole (231) communicating with the hollow channel (20). The input shaft (22) is connected to the impeller (5). The impeller (5) is sleeved on the outside of the input shaft (22). The third through hole (231) communicates with the first passage (21) and the hollow channel (20).

25. The actuator according to any one of claims 14-20, wherein, The housing includes a side wall (14) and a bottom cover (13). The heat dissipation channel (11) is located on the side wall (14), and part of the heat dissipation channel (11) is located between the motor (3) and the control circuit board (4). The bottom cover (13) includes a heat dissipation rib (132). The control circuit board (4) is fixed to the housing (1). The heat dissipation rib (132) protrudes from the bottom cover (13) toward the motor (3). The heat dissipation rib (132) is disposed opposite to the control circuit board (4).

26. The actuator according to claim 25, wherein, The control circuit board (4) has a limiting hole that penetrates the control circuit board (4). The bottom cover (13) includes a first ring rib (131) that protrudes toward the motor (3). The bottom cover (13) has a fourth through hole (133) that 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 ring rib (131). Part of the first ring rib (131) is located in the limiting hole. The end of the first ring rib (131) protrudes from the surface of the control circuit board (4). The fourth through hole (133) is opposite to the hollow channel (20).

27. The actuator according to any one of claims 14-20, wherein, The actuator has a gap (90), the housing (1) includes a bottom cover (13), the rotating assembly (2) is rotatable relative to the housing (1), the gap (90) is located between the rotating assembly (2) and the bottom cover (13) in the axial direction of the actuator, and the gap (90) connects the mounting cavity (10) and the hollow channel (20).

28. The actuator according to claim 27, wherein, The rotating assembly (2) includes an output shaft (23), the bottom cover (13) includes a first ring rib (131), the first ring rib (131) protrudes toward 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 passage (15) is formed in the first ring rib (131), the third passage (15) communicates with the outside of the actuator, the third passage (15) extends along the axial direction of the actuator, the third passage (15) is opposite to the hollow channel (20), the gap (90) is located between the first ring rib (131) and the output shaft (23), and in the axial direction of the actuator, the gap (90) is located on the side of the control circuit board (4) closer to the motor (3).

29. The actuator according to claim 2, wherein, The heat dissipation channel (11) is located between the motor (3) and the control circuit board (4). The actuator has an air passage (20) that communicates with the outside of the actuator. The first bracket (5) is at least partially located between the motor (3) and the control circuit board (4). In the axial direction of the actuator, there is a gap (90) between the rotating assembly (2) and the housing (1) that connects the air passage and the mounting cavity (10). In the radial direction of the actuator, the gap (90) is located on the side of the control circuit board (4) away from the heat dissipation channel (11).

30. The actuator according to claim 29, wherein, The housing (1) includes a bottom cover (13), the rotating assembly (2) includes an input shaft (22) and an output shaft (23), the input shaft (22) and the output shaft (23) are arranged along the axial direction of the actuator, and the input shaft (22) is sleeved on the outside of the output shaft (23), the first bracket (5) is sleeved on the outside of the input shaft (22), the first bracket (5) extends at least partially along the radial direction of the actuator, and the output shaft (23) includes a main body (232). The main body (232) extends along the axial direction of the actuator. The air passage includes a hollow channel (20) located inside the main body (232) and communicating with the outside of the actuator. The main body (232) includes a first end (234) located on the side of the output shaft (23) near the control circuit board (4). The gap (90) is located between the first end (234) and the bottom cover (13).

31. The actuator according to claim 30, wherein, The bottom cover (13) includes a first ring rib (131) and has a fourth through hole (133) therethrough, the fourth through hole (133) communicating with the mounting cavity (10) and the outside of the actuator, and the fourth through hole (133) is located inside the first ring rib (131), the first ring rib (131) extends along the axial direction of the actuator, the control circuit board (4) has a limiting hole, the first ring rib (131) is at least partially located in the limiting hole, and one end of the first ring rib (131) protrudes from the surface of the control circuit board (4) toward the output shaft (23). In the axial direction of the actuator, the first ring rib (131) is disposed opposite to the main body (232), and there is a distance between the first ring rib (131) and the first end (234), the distance forming the gap (90).

32. The actuator according to claim 31, wherein, The bottom cover (13) includes heat dissipation ribs (132), the control circuit board (4) is fixed to the housing (1), the heat dissipation ribs (132) protrude toward the control circuit board (4), and the heat dissipation ribs (132) are arranged opposite to the control circuit board (4).

33. The actuator according to claim 32, wherein, The output shaft (23) has a third through hole (231) located in the main body (232). The air passage includes a flow passage (24) located between the input shaft (22) and the output shaft (23). The third through hole (231) connects the hollow channel (20) and the flow passage (24). The projection of the input shaft (22) in the axial direction of the actuator falls on the output shaft (23). The air passage includes a first passage (21) located between the first bracket (5) and the output shaft (23). The first passage (21) connects the flow passage (24) and the mounting cavity (10).

34. The actuator according to any one of claims 29-33, wherein, The motor (2) includes a rotor (31) and a rotor support (32). The rotor (31) is located on the outside of the rotor support (32). The first support (5) includes a connecting ring rib (56). The connecting ring rib (56) extends along the axial direction of the actuator. The turbulence portion (51) extends along the radial direction of the actuator. The connecting ring rib (56) is sleeved on the outside of the input shaft (22). The input shaft (22) is connected to the rotor support (32) in a driving manner. Part of the turbulence portion (51) is arranged opposite to the heat dissipation channel (11). The actuator has a turbulence area (S). The turbulence area (S) is located between the turbulence portion (51) and the heat dissipation channel (11).

35. The actuator according to claim 34, wherein, The first support (5) includes a first plate (53), a second plate (54), and a connecting portion (57). The first plate (53) and the second plate (54) extend radially along the actuator and are arranged axially along the actuator. The connecting portion (57) is located between the first plate (53) and the second plate (54) and connects the first plate (53) and the second plate (54). The first plate (53), the second plate (54), and the connecting portion (57) form the turbulence portion (51). The air passage extends at least partially radially along the actuator. The first passage (21) is located between the first support (5) and the rotating assembly (2). The second passage (52) is located between the first plate (53) and the second plate (54). The first passage (21) connects the hollow channel (20) and the second passage (52).

36. The actuator according to claim 35, wherein, The connecting part (57) includes a third end (571), a fourth end (572) and a connecting segment (573). The first bracket (5) has a first through hole (55) that penetrates the first plate (53). The first through hole (55) is located inside the connecting ring rib (56). The connecting segment (573) connects the third end (571) and the fourth end (572). The third end (571) is closer to the first through hole (55) relative to the fourth end (572). The connecting segment (573) is arc-shaped.

37. The actuator according to claim 36, wherein, The actuator includes a second bracket (7) sleeved on the outside of the output shaft (23). The first bracket (5) has a second through hole (541) that passes through the second plate (54). The first through hole (55) and the second through hole (541) are arranged opposite to each other. A plurality of connecting parts (57) are provided. The plurality of connecting parts (57) are distributed between the first plate (53) and the second plate (54) with the first through hole (55) as the center. A portion of the second bracket (7) is located inside the first bracket (5), and the second bracket (7) is at least partially located inside the second through hole (541). A high-speed disk (81) is provided on the side of the second plate (54) facing the control circuit board (4), and a low-speed disk (82) is provided on the side of the second bracket (7) facing the control circuit board (4).

38. The actuator according to claim 34, wherein, The first bracket (5) further includes a mounting platform (58), the turbulence-disrupting part (51) is located between the mounting platform and the connecting part, and the turbulence-disrupting part protrudes towards the motor. The first bracket has a plurality of fifth through holes, the fifth through holes radially penetrating the connecting part. The input shaft has a sixth through hole, some of the fifth through holes are opposite to the sixth through hole, the fifth through holes connect the flow channel and the mounting cavity, some of the heat dissipation channel is opposite to the impeller part, and the actuator has a turbulence-disrupting area, the turbulence-disrupting area is located between the edge of the first bracket and the heat dissipation channel.

39. The actuator according to any one of claims 1-38, wherein, The actuator includes a reduction mechanism (6), which includes a flexible wheel (61) and a first bearing (62). The rotating assembly (2) includes an input shaft (22) and an output shaft (23). The input shaft (22) is connected to the motor (3) for transmission. The input shaft (22) is sleeved on the outside of the output shaft (23). The input shaft (22) and the output shaft (23) extend along the axial direction of the actuator. The first bearing (62) includes a first movable member (621) and a first fixed member (62). 2) 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 (23) is connected to the first movable member (621). The input shaft (22) is provided with a cam part (221). The cam part (221) is located inside the flexible wheel (61) and is connected to the flexible wheel (61).

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