Actuator

Abstract

An actuator, comprising a housing, a rotating assembly and a driving member. The actuator has an accommodating cavity. The rotating assembly has an air passage, which communicates the outside of the actuator with the accommodating cavity. The rotating assembly comprises a first rotating member; the driving member can drive the first rotating member; and the first rotating member has a flow passage that is in communication with the air passage. The housing comprises an inner wall. The actuator comprises a flow guide portion, wherein part of the flow guide portion is located between the inner wall and the first rotating member; and the flow guide portion is fixedly connected to the housing, or, the flow guide portion and the housing are integrally arranged. The flow guide portion has an air duct; the housing has a ventilation hole which penetrates through the inner and outer walls of the housing; and the air duct is arranged opposite the ventilation hole and is in communication with the ventilation hole. Part of the flow guide portion is arranged between the inner wall of the housing and the first rotating member; the first rotating member has a flow passage; and the flow guide portion has an air duct, which is arranged opposite the ventilation hole of the housing and is in communication with the ventilation hole. In this way, when the first rotating assembly rotates, the air formed thereby can enter the air duct of the flow guide portion via the flow passage, and then enter, via the air duct, the ventilation hole which is arranged opposite the air duct, and flow out of the actuator, thereby reducing the probability of turbulence formation and improving the heat dissipation efficiency.

Description

Actuator Technical Field

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

[0002] In the assembly design of robot structures, joint actuators are a crucial component. A joint actuator includes a drive mechanism and a reduction mechanism. The drive mechanism comprises a motor and a drive circuit board. The drive circuit board controls the motor's operation, and the motor drives the reduction mechanism for deceleration output. The drive circuit board houses components. During actuator operation, the heat generated by these components can lead to excessively high temperatures within the joint actuator. High temperatures can cause component malfunctions or trigger the driver's temperature protection. Therefore, related technologies often install cooling fans within the actuator to dissipate heat from the high-temperature areas. However, to ensure that the cooling fan's rotation does not interfere with other surrounding components, a gap exists between the cooling fan and the inner wall of the actuator housing. When the cooling fan rotates, turbulence forms within this gap, affecting the airflow and thus the cooling efficiency. Summary of the Invention

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

[0004] An actuator includes a housing, a rotating assembly, and a drive member. The actuator has a receiving cavity. The rotating assembly has an air passage connecting the outside of the actuator to the receiving cavity. The rotating assembly includes a first rotating member. The drive member is capable of driving the first rotating member. The first rotating member has a flow passage communicating with the air passage. The housing includes an inner wall. The actuator includes a guide portion, a portion of which is located between the inner wall and the first rotating member. The guide portion is fixedly connected to the housing or integrally formed with the housing. The guide portion has an air duct. The housing has a ventilation hole penetrating the inner and outer walls of the housing. The air duct is opposite to the ventilation hole and communicates with it.

[0005] A portion of the flow guide is disposed between the inner wall of the housing and the first rotating component. The first rotating component has a flow passage, and the flow guide has an air duct. The air duct is arranged opposite to and connected to the ventilation hole of the housing. In this way, when the first rotating component rotates, the air generated can enter the air duct of the flow guide through the flow passage, and then enter the ventilation hole arranged opposite to it through the air duct and flow out to the outside of the actuator, reducing the probability of turbulence formation and improving heat dissipation efficiency. Attached Figure Description

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

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

[0008] Figure 3 is a top-view cross-sectional view of the actuator according to one embodiment of this application;

[0009] Figure 4 is a top-view cross-sectional view of the actuator according to another embodiment of this application;

[0010] Figure 5 is a schematic diagram of the flow guide section of this application;

[0011] Figure 6 is a structural schematic diagram of the first support in this application;

[0012] Figure 7 is a cross-sectional view of Figure 6;

[0013] Figure 8 is a structural schematic diagram of the first rotating component of this application;

[0014] Figure 9 is a cross-sectional view of Figure 8;

[0015] Figure 10 is a cross-sectional view of the actuator of this application from another angle. Detailed Implementation

[0016] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0017] As shown in Figures 1-10, an actuator includes a housing 1, a rotating assembly 2, and a driving assembly 3. The actuator has a receiving cavity 10. The rotating assembly 2 has an air passage 20 that connects the outside of the actuator to the receiving cavity. The rotating assembly 2 includes a first rotating member 21. The driving assembly 3 can drive the first rotating member 21. The first rotating member 21 has a flow passage 210 that connects to the air passage 20. The housing 1 includes an inner wall 11. The actuator includes a guide portion 4. A portion of the guide portion 4 is located between the inner wall 11 and the first rotating member 21. The guide portion 4 is fixedly connected to the housing 1 or is integrally formed with the housing 1. The guide portion 4 has an air duct 40. The housing 1 has a ventilation hole 12 that penetrates the housing 1. The air duct 40 and the ventilation hole 12 are arranged opposite to each other and are connected. A flow guide is provided between the inner wall of the housing and the first rotating member. The first rotating member has a flow passage, and the flow guide has an air duct. In the radial direction of the actuator, the air duct is arranged opposite to part of the flow passage. The air duct is arranged opposite to and connected to the ventilation hole of the housing. In this way, when the first rotating member rotates, the air generated can enter the air duct of the flow guide through the flow passage, and then enter the ventilation hole arranged opposite to it through the air duct and flow out to the outside of the actuator, reducing the probability of turbulence formation and improving heat dissipation efficiency.

[0018] The rotating component 2 extends along the axial direction of the actuator, and part of the air passage 20 extends along the axial direction of the actuator. The first rotating component 21 is hollow and includes a first shaft 214 and a first bracket 215. The first bracket 215 is connected to the first shaft 214, and the driving component 3 is connected to the first shaft 214. The first shaft 214 extends along the axial direction of the actuator, and the flow passage 210 is located in the first bracket 215.

[0019] As shown in Figures 2, 6, and 7, the first bracket 215 includes a first connecting portion 2151 and a first extension platform 2152. The first connecting portion 2151 extends axially along the actuator, and the first extension platform 2152 extends radially along the actuator. The flow channel 210 is located inside the first extension platform 2152. The first connecting portion 2151 is sleeved on the outside of the first shaft 214. The actuator also includes a first encoder 51, which is located on the side of the first extension platform 2152 away from the drive member 3. The first shaft 214 and the first bracket 215 can be a single piece or separate parts. As shown in Figure 2, when the first shaft 214 and the first support 215 are integral, the first rotating component 21 includes a first plate 211, a second plate 212, and a connecting rib 213. The first plate 211, the second plate 212, and the connecting rib 213 form the first support 215. The first plate 211 and the second plate 212 are arranged along the axial direction of the actuator. The connecting rib 213 connects the first plate 211 and the second plate 212. In the axial direction of the actuator, the connecting rib 213 is located between the first plate 211 and the second plate 212. A flow channel 210 is formed between the first plate 211, the second plate 212, and the connecting rib 213. The flow channel 210 is a channel sandwiched between the first plate 211 and the second plate 212. The plane perpendicular to the axial direction of the actuator is defined as the projection plane. When the actuator is not working, that is, when the motor is not rotating, the projection of the connecting rib 213 on this projection plane is tangent to the projection of the air duct 40 on this projection plane. When the rotating component rotates, most of the air flowing out of the first rotating component flows out along the tangential direction of the first support. The extension path of the flow channel in the first support is formed between adjacent connecting ribs. Therefore, the projection of the connecting ribs on the projection plane is tangent to the projection of the air duct, which can make the extension trend of the air duct in the guide part as consistent as possible with the flow direction trend of the air flowing out of the flow channel, thus ensuring the guiding effect of the guide part.

[0020] Specifically, the plane perpendicular to the axis of the actuator is defined as the projection plane. The projection of the first plate 211 on the projection plane and the projection of the second plate 212 on the projection plane partially overlap. Multiple connecting ribs 213 are provided. The connecting ribs 213 include a first end 2131 and a second end 2132 arranged radially along the actuator. The first end 2131 is arranged closer to the center of the first rotating member 21 than the second end 2132. The distance between the projections of the first ends 2131 of adjacent connecting ribs 213 on the projection plane is smaller than the distance between the projections of the second ends 2132 on the projection plane. As shown in Figure 3, in this application, the outer edges of the first plate 211 and the second plate 212 are flush with each other in the axial direction of the actuator. The distance between the first ends 2131 of the adjacent connecting ribs 213 is smaller than the distance between the second ends 2132. That is, the through hole near the center of the flow channel 210 is smaller than the through hole near the outer edge of the flow channel 210. In this way, a radial flow channel is formed in the flow channel from the center to the outside, so that the airflow can be avoided from being blocked when the air flows out of the flow channel 210.

[0021] The rotating assembly 2 also includes a second rotating member 22, which includes a second shaft 221. The second shaft 221 is partially located inside the first shaft 214 and is hollow. The second shaft 221 extends along the axial direction of the actuator. The air passage 20 includes an air passage gap 201, which is located between the first rotating member 21 and the second rotating member 22. The second rotating member 22 includes a first through hole 2211 and a second through hole 2212. The first through hole 2211 connects the outside of the actuator with the air passage 20. The second through hole 2212 connects the first through hole 2211 and the air passage gap 201. The air passage gap 201 connects the second through hole 2212 and the flow passage 210. The second rotating member 22 includes a second bracket 222, which is connected to the second shaft 221. The second bracket 222 includes a second connecting part 2221 and a second extension stage 2222. The second connecting part 2221 is sleeved on the outside of the second shaft 221. The second extension stage 2222 extends radially along the actuator. The actuator includes a second code disk 52, which is located on the side of the second extension stage 2222 away from the driving member 3.

[0022] Specifically, in this application, the driving component 3 is a motor, which includes a stator 31 and a rotor 32. The rotor 32 is located inside the stator 31 and includes a rotor core 321 and a rotor magnet 322. The rotor core 321 is interference-fitted onto the first rotating component 21, and the rotor magnet 322 is glued to the rotor core 321. The rotor magnet 322 conducts magnetic flux through the block-shaped rotor magnet 322, acting similarly to a magnetic conductor. In this application, the first rotating component 21 is an input shaft, the second rotating component 22 is an output shaft, the first code disk 51 is a high-speed magnetic code disk, and the second code disk 52 is a low-speed magnetic code disk. The second rotating component 22 is located inside the first rotating component 21, and the first rotating component 21 is connected to the rotor magnet 322. There is a gap between the first rotating component 21 and the second rotating component 22, which forms an air passage gap 201.

[0023] The second rotating component 22 includes an output platform 223, which is connected to the second shaft 221 and extends radially along the actuator. The output platform 223 has a first through hole 2211. The second rotating component 22 is hollow and has a second through hole 2212 on the second shaft 221. The second through hole 2212 connects the first through hole 2211 and the air passage 201, which in turn connects the second through hole 2212 and the flow channel 210. Air enters the second rotating component 22 through the first through hole 2211 and then through the second through hole 2212 into the air passage between the first and second rotating components. The overall air passage path forms the air passage. Driven by the drive component, the first rotating component rotates, and the air in the air passage enters the flow passage, then enters the air duct of the guide section, and finally flows from the air duct into the ventilation hole of the housing and then out to the outside of the actuator. In this way, the air can first flow axially along the second shaft of the second rotating component, and then enter the air passage gap, flow passage and air duct in sequence through the second through hole to form radial flow, until it flows out of the actuator through the ventilation hole, forming an axial air intake and radial air exhaust path.

[0024] The actuator includes a reduction gear assembly 7, which includes a first support member 71 and a flexible wheel 72. A first shaft 214 includes a cam 2141, and the flexible wheel 72 is connected to the cam 2141. The first support member 71 includes an inner ring 711 and an outer ring 712. The outer ring 712 is fixedly connected to the housing 1, and the inner ring 711 is rotatable relative to the outer ring 712. The inner ring 711 is meshed with the flexible wheel 72. Specifically, the flexible wheel 72 has meshing teeth on the side facing the inner ring 711, and the inner ring 711 has meshing teeth on the side opposite to the flexible wheel 72. The meshing of these meshing teeth enables the flexible wheel to mesh with the inner ring. In this application, a cam 2141 is integrated on the first shaft 214 of the first rotating member 21. The cam 2141 is inserted into the opening of the flexible wheel 72. A flexible bearing is also provided between the cam 2141 and the flexible wheel 72. As the driving member drives the first rotating member, the cam follows the rotation of the first rotating member, causing the opening of the flexible wheel to undergo elliptical deformation. Then, the flexible wheel performs differential gear motion with the inner ring of the first bearing it meshes with, ultimately achieving deceleration output through the inner ring of the first bearing. Here, the first bearing is a crossed roller bearing. The output platform 223 of the second rotating member 22 is connected to the inner ring of the first support member 71. The output platform 223 can achieve deceleration output and can also be used to connect external devices. The flexible wheel, the outer ring of the first support member, and the housing are connected by the same locking member.

[0025] The housing 1 includes a bottom cover 13 with a third through hole 131 connecting the exterior of the actuator and the receiving cavity 10. The third through hole 131 is disposed opposite to the second shaft 221. The bottom cover 13 includes a ring rib 132 extending toward the drive member 3, and the third through hole 131 is located within the ring rib 132. The actuator also includes an electronic control board 6 with a mounting hole 61 extending through it. Part of the ring rib 132 is located in the mounting hole 61. The electronic control board 6 is fixed to the housing 1, and the flow guide 4 is located on the side of the electronic control board 6 closer to the drive member 3. Thus, the actuator has a first through hole 2211, which is located on the output platform 223. The first through hole 2211 is opposite to the third through hole 131. When the first rotating member rotates, the area near the first bracket is in a low-pressure region. Air can be drawn into the actuator's receiving cavity through the first or third through hole. The air entering through the first through hole flows into the air passage and then into the flow passage. It then enters the air duct of the guide member through the flow passage, and then enters the ventilation hole of the housing through the air duct. Finally, it flows into the outside of the actuator. This air passage can bring the air inside the actuator into the outside of the actuator, thereby realizing heat exchange between the inside and outside of the actuator.

[0026] As shown in Figures 2-5, the flow guide 4 is generally annular and has a mounting through hole 41. Part of the first rotating member 21 is located in the mounting through hole 41. The flow guide 4 includes an inner wall 42 and an outer wall 43, which are arranged radially along the actuator. The flow guide 4 has a connecting groove 40 that penetrates the inner wall 42 and the outer wall 43, forming an air duct. The ventilation hole 12 is aligned with one end of the connecting groove 40 located on the outer wall 43. In this application, the flow guide 4 is a separate part. Specifically, the flow guide is hollow and annular. The flow guide can be connected to the housing 1 by adhesive or other connection methods. The flow guide needs to be fixed to the housing. The mounting through hole of the flow guide is located in the center. The flow guide 4 includes a first wall 44 and a second wall 45, which are arranged axially along the actuator. The mounting through hole 41 penetrates the first wall 44 and the second wall 45 of the flow guide 4, and the air duct is located between the first wall 44 and the second wall 45. The connecting groove 40 has a first opening 401 and a second opening 402, which are arranged radially along the actuator. A plane parallel to the actuator axis is defined as the projection plane. The first opening 401 is closer to the ventilation hole 12 than the second opening 402, and the projections of the first opening 401 and the second opening 402 are staggered on this projection plane. The first wall 44 and the second wall 45 of the guide section 4 are closed, and the connecting groove 40 is formed between the first opening 401, the second opening 402, and the first wall 44 and the second wall 45. The second opening 402 is aligned with the ventilation hole 12 located in the housing 1, which ensures that air enters the connecting groove 40 through the first opening 401, then directly enters the ventilation hole 12 through the second opening 402, and finally leaves the actuator through the ventilation hole 12. In this design, the projections of the first opening 401 and the second opening 402 onto a plane parallel to the actuator axis are staggered. This allows the connecting groove formed within the airflow guide to extend outward from the center of the airflow guide at a certain angle. The projection of the connecting groove onto a projection plane perpendicular to the actuator axis exhibits a scattering pattern from the center outward. As the rotating component rotates, the extension trend of the connecting groove within the airflow guide matches the airflow direction within the air passage, improving the airflow guiding effect. The connecting groove 40 includes a connecting section 403 connecting the first opening 401 and the second opening 402. The plane perpendicular to the actuator axis is defined as the projection plane, and the projection of the connecting section 402 onto this projection plane is either straight or curved. Here, the projection of the connecting section 403 being straight or curved indicates that the groove formation trend within the connecting groove is either straight or curved, preferably straight, because a straight connecting groove reduces the time air stays inside, further reducing airflow loss within the airflow guide and improving heat dissipation.

[0027] Preferably, as shown in Figure 4, a plane perpendicular to the actuator's axial direction is defined as the projection plane, and the extension line of the projection of the wall forming the connecting groove 40 onto the projection plane is collinear with the projection of the wall forming the ventilation hole onto the projection plane. Thus, on the projection plane perpendicular to the actuator's axial direction, the straight line of the extension path of the ventilation hole on the housing is collinear with the straight line of the extension path of the connecting groove within the guide section. This ensures that the extension paths of the connecting groove and the ventilation hole are consistent, allowing airflow from the connecting groove to directly enter the ventilation hole along its previous outflow trend, preventing wind obstruction due to changes in the ventilation hole's extension trend and further improving the airflow separation effect.

[0028] As shown in Figures 5 and 10, the flow guide 4 has a clearance hole 46 that penetrates the first wall 44 and the second wall 45. The actuator also includes a circuit board 8, an electronic control board 6, and an electrical connector 9. The circuit board 8 is located between the drive member 3 and the flow guide 4, and the flow guide 4 is located between the circuit board 8 and the electronic control board 6. One end of the electrical connector 9 is connected to the electronic control board 6, and the other end of the electrical connector 9 is connected to the circuit board 8. Part of the electrical connector 9 is located within the clearance hole 46. The electrical connector is used to electrically connect the circuit board and the electronic control board. The circuit board has terminals for the stator windings of the motor electrically connected to it. The electrical connector allows the electronic control board to supply power to the circuit board, thereby driving the motor. Since the flow guide is located between the circuit board and the electronic control board in the axial direction of the actuator, the flow guide has a clearance hole for the power supply connector to pass through.

[0029] In this application, a guide section is provided between the first rotating component of the actuator and the inner wall of the housing, and the guide section has an air duct. The guide section is fixed to the housing, and the housing has ventilation holes. The air duct is aligned with the ventilation holes. The rotating assembly also includes a second rotating component. The first and second rotating components are arranged along the axial direction of the actuator. The second rotating component is located inside the first rotating component. The rotating assembly has an air passage, and the first rotating component has a flow passage. The air passage includes an air gap located between the first and second rotating components. The second rotating component has a first through hole and a second through hole. The second through hole connects the first through hole and the air gap, and the air gap connects the second through hole and the flow passage. When the driving component drives the first rotating component to rotate, a negative pressure is formed in the receiving cavity of the actuator at the first support of the first rotating component. Air can be drawn into the actuator from the first through hole, then enter the air gap through the second through hole, then enter the guide channel from the air gap, then enter the air duct of the guide component from the guide channel, and finally flow out of the actuator from the ventilation holes of the housing. The bottom cover of the housing has a third through hole. The first and third through holes are arranged opposite each other, allowing air to enter the actuator through the third through hole. This airflow guide guides the airflow from the flow channel of the first rotating component into the air duct, and then out of the actuator through the ventilation holes, reducing the likelihood of turbulence formation and improving heat dissipation efficiency.

Claims

1. An actuator, characterized in that, The actuator includes a housing, a rotating assembly, and a drive unit. The actuator has a receiving cavity, and the rotating assembly has an air passage connecting the outside of the actuator to the receiving cavity. The rotating assembly includes a first rotating member, and the drive unit is capable of driving the first rotating member. The first rotating member has a flow passage communicating with the air passage. The housing includes an inner wall, and the actuator includes a guide portion, a portion of which is located between the inner wall and the first rotating member. The guide portion is fixedly connected to the housing or integrally formed with the housing. The guide portion has an air duct, and the housing has a ventilation hole penetrating the housing. The air duct and the ventilation hole are opposite to each other and communicate with each other.

2. The actuator according to claim 1, characterized in that, The flow guide is generally annular and has a mounting through hole. A portion of the first rotating member is located in the mounting through hole. The flow guide includes an inner wall and an outer wall, which are arranged radially along the actuator. The flow guide has a connecting groove that penetrates the inner wall and the outer wall, forming the air duct. The ventilation hole is aligned with one end of the connecting groove located on the outer wall.

3. The actuator according to claim 2, characterized in that, The connecting groove has a first opening and a second opening, which are arranged radially along the actuator. A plane parallel to the axial direction of the actuator is defined as a projection plane. The first opening is closer to the ventilation hole than the second opening, and the projections of the first opening and the second opening on the projection plane are staggered.

4. The actuator according to claim 3, characterized in that, The connecting groove includes a connecting segment that connects the first opening and the second opening. A plane perpendicular to the axis of the actuator is defined as a projection plane, and the projection of the connecting segment onto the projection plane is either a straight line or an arc.

5. The actuator according to claim 2, characterized in that, A plane perpendicular to the axis of the actuator is defined as the projection plane, and the extension line of the projection of the wall forming the connecting groove on the projection plane is collinear with the projection of the wall forming the ventilation hole on the projection plane.

6. The actuator according to any one of claims 1-5, characterized in that, The first rotating component includes a first plate, a second plate, and a connecting rib. The first plate and the second plate are arranged along the axial direction of the actuator. The connecting rib connects the first plate and the second plate. In the axial direction of the actuator, the connecting rib is located between the first plate and the second plate. The flow channel is formed between the first plate, the second plate, and the connecting rib.

7. The actuator according to claim 6, characterized in that, A plane perpendicular to the axis of the actuator is defined as the projection plane, and the projection of the connector on the projection plane is tangent to the projection of the air duct on the projection plane.

8. The actuator according to claim 5, characterized in that, A plane perpendicular to the axis of the actuator is defined as the projection plane. The projection of the first plate on the projection plane partially overlaps with the projection of the second plate on the projection plane. Multiple connecting ribs are provided. Each connecting rib includes a first end and a second end arranged radially along the actuator. The first end is arranged closer to the center of the first rotating member than the second end. The distance between the projections of the first ends of adjacent connecting ribs on the projection plane is less than the distance between the projections of the second ends on the projection plane.

9. The actuator according to claim 6, characterized in that, Part of the air passage extends along the axial direction of the actuator. The first rotating member is hollow. The first rotating member includes a first shaft and a first bracket. The first bracket is connected to the first shaft. The driving member is connected to the first shaft. The first shaft extends along the axial direction of the actuator. The air passage is located inside the first bracket.

10. The actuator according to claim 9, characterized in that, The first bracket includes a first connecting portion and a first extension platform. The first connecting portion extends along the axial direction of the actuator, and the first extension platform extends along the radial direction of the actuator. The flow channel is located on the first extension platform. The first connecting portion is sleeved on the outside of the first shaft. The actuator also includes a first code disk, which is located on the side of the first extension platform away from the drive member.

11. The actuator according to claim 9, characterized in that, The rotating assembly includes a second rotating member, which includes a second shaft. The second shaft portion is located within the first shaft and is hollow. The second shaft extends along the axial direction of the actuator. The air passage includes an air passage gap located between the first rotating member and the second rotating member. The second rotating member includes a first through hole and a second through hole. The first through hole connects the outside of the actuator with the air passage, and the second through hole connects the first through hole and the air passage gap. The air passage gap connects the second through hole and the flow passage.

12. The actuator according to claim 11, characterized in that, The second rotating member includes a second bracket connected to the second shaft. The second bracket includes a second connecting portion and a second extension platform. The second connecting portion is sleeved on the outside of the second shaft. The second extension platform extends radially along the actuator. The actuator includes a second code disk located on the side of the second extension platform away from the driving member.

13. The actuator according to claim 11, characterized in that, The housing includes a bottom cover with a third through hole that connects the outside of the actuator to the receiving cavity, and the third through hole is disposed opposite to the second shaft.

14. The actuator according to claim 13, characterized in that, The bottom cover includes a ring rib extending toward the drive member, the third through hole is located within the ring rib, the actuator also includes an electronic control board, the electronic control board has a mounting hole through it, part of the ring rib is located in the mounting hole, the electronic control board is fixed to the housing, and the flow guide is located on the side of the electronic control board near the drive member.

15. The actuator according to claim 9, characterized in that, The actuator includes a reduction assembly, which includes a first support and a flexible wheel. The first shaft includes a cam, and the flexible wheel is connected to the cam. The first support includes an inner ring and an outer ring. The outer ring is fixedly connected to the housing, and the inner ring is rotatable relative to the outer ring. The inner ring is engaged with the flexible wheel.

16. The actuator according to claim 6, characterized in that, The flow guide includes a first wall and a second wall, which are arranged along the axial direction of the actuator. The air duct is located between the first wall and the second wall. The flow guide has a clearance hole that penetrates the first wall and the second wall.

17. The actuator according to claim 16, characterized in that, The actuator includes a circuit board, an electronic control board, and an electrical connector. The circuit board is located between the drive member and the flow guide, and the flow guide is located between the circuit board and the electronic control board. One end of the electrical connector is connected to the electronic control board, and the other end of the electrical connector is connected to the circuit board. Part of the electrical connector is located in the clearance hole.

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