A driving device

Abstract

The present invention relates to a driving device, comprising a motor (30) and a planetary gearbox (80). The driving device comprises a cylindrical housing (10), a plurality of first radial connecting members (11), a plurality of second radial connecting members (12), a front end cover (21) and a rear end cover (31) accommodated in the housing (10). The first radial connecting member (11) passes through the housing (10) and is fixedly connected to the rear end cover (31), and the second radial connecting member (12) passes through the housing (10) and is fixedly connected to the front end cover (21). The planetary gearbox (80) and the motor (30) are respectively limited by the front end cover (21) and the rear end cover (31) and are fixedly accommodated in the housing (10), and are fixed to the housing (10) as a whole. The present invention positions the motor and the planetary gearbox by a common housing, thereby improving the coaxiality of the motor and the planetary gearbox; the housing, the motor and the planetary gearbox are fixed as a whole by radial connecting members, thereby reducing the assembly complexity of the driving device and simplifying the structure.

Description

Technical Field

[0001] The present invention relates to the field of electric driving, and more particularly to a driving device. Background Art

[0002] As people's living standards improve, the demand for household power tools such as vacuum cleaners is increasing. On the one hand, consumers hope that the size of power tools is small enough, and on the other hand, they hope that the power of power tools is large enough. Therefore, new requirements are put forward for the drive device. In addition, the requirements for NVH (Noise, Vibration, Harshness, that is, noise, vibration, and acoustic comfort) of power tools are also getting higher and higher. Existing drive devices usually include motors and planetary gearboxes, which are complicated to assemble and large in size. In addition, if the size is reduced, there may be poor heat dissipation. Therefore, an improvement plan is urgently needed. Summary of the invention

[0003] One object of the present application is to simplify the assembly of the drive device.

[0004] To this end, the present invention provides a driving device, including a motor and a planetary gearbox, wherein: the driving device includes a cylindrical outer shell, a plurality of first radial connecting members, a plurality of second radial connecting members, a front end cover and a rear end cover at least partially accommodated in the outer shell; the plurality of first radial connecting members pass through the outer shell and are fixedly connected to the rear end cover, and the plurality of second radial connecting members pass through the outer shell and are fixedly connected to the front end cover; the motor is installed in the outer shell, and the rotating shaft of the motor extends from the front end of the motor; the planetary gearbox is installed in the outer shell, the planetary gearbox is located at the front end of the motor, and is positioned and aligned with the motor under the constraint of the outer shell to receive the output of the rotating shaft; the planetary gearbox and the motor are respectively limited by the front end cover and the rear end cover and fixedly accommodated in the outer shell, and are fixed to the outer shell as a whole.

[0005] In one embodiment of the present invention, the planetary gearbox includes a sun gear fixedly mounted on the rotating shaft, a plurality of planetary gears surrounding the sun gear, an inner ring gear surrounding the plurality of planetary gears, and a gear rack on which the plurality of planetary gears are mounted; the inner ring gear is fixed to the front end cover or is fixed to the outer casing under the limit of the front end cover.

[0006] In one embodiment of the present invention, the motor includes a stator and a rotor; the stator includes an annular shell and a permanent magnet fixedly mounted to the inner wall of the annular shell, the annular shell is installed in the outer shell, and a plurality of positioning recesses are provided at one end of the annular shell close to the rear end cover; the rear end cover or the inner wall of the outer shell is provided with a plurality of positioning protrusions, and the positioning protrusions cooperate with the positioning recesses to limit the position of the stator.

[0007] In one embodiment of the present invention, the inner wall of the shell is provided with a first slide groove extending along the axial direction of the motor, and the outer wall of the inner gear ring is provided with a corresponding first slide rail, and the first slide rail slides in the first slide groove when the planetary gear box is assembled to the shell.

[0008] In one embodiment of the present invention: the driving device also includes an impeller fixedly mounted on the rotating shaft and accommodated in the outer shell, and the impeller can generate airflow as the rotating shaft rotates; a cooling air duct is formed in the driving device for the airflow to flow through; a first channel is formed between the inner wall of the outer shell and the outer wall of the inner gear ring, and the first channel serves as a part of the cooling air duct for the airflow to flow through; the gap between the stator and the rotor serves as a part of the cooling air duct; the rear end cover is provided with a first air flow port, and the front end of the planetary gear box is provided with a second air flow port; the first air flow port and the second air flow port are respectively connected to the two ends of the cooling air duct.

[0009] In one embodiment of the present invention, the driving device also includes a bracket arranged in the outer shell, and the bracket is used to support the front end of the rotating shaft; the bracket is located between the motor and the planetary gear box, and the bracket is provided with a plurality of through holes for the airflow to flow through, one side of the through hole is connected to the gap, and the other side is connected to the first channel; the rear end cover and the bracket are respectively equipped with a first bearing and a second bearing, which are respectively used to support the rear end and the front end of the rotating shaft.

[0010] In one embodiment of the present invention, the teeth of the sun gear include a tooth top and two tooth surfaces, and the two tooth surfaces are respectively located on both sides of the tooth top; the tooth surface is trimmed near the tooth top to form an outer arch surface.

[0011] In one embodiment of the present invention, the angle formed by the tangent lines of the two tooth surfaces near the tooth top is 45 to 75 degrees.

[0012] In one embodiment of the present invention, the outer arch surface accounts for 50% to 90% of the surface area of ​​the tooth surface.

[0013] In one embodiment of the present invention, the angle formed by the tangents of the two tooth surfaces at symmetrical positions gradually increases in a direction away from the tooth top, and the maximum value of the angle is 45 to 75 degrees and the minimum value is 10 to 25 degrees.

[0014] The present invention positions the motor and the planetary gearbox through a common housing, thereby improving the coaxiality of the motor and the planetary gearbox; the housing, the motor, and the planetary gearbox are fixed as a whole through radial connectors, thereby reducing the assembly complexity of the drive device and simplifying the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] To further reveal the specific technical content of this case, please first refer to the attached drawings, among which:

[0016] Figure 1 is a schematic diagram of a driving device provided by an embodiment of the present invention;

[0017] Figure 2 yes Figure 1 An exploded schematic diagram of the drive device shown;

[0018] Figure 3 yes Figure 1 A longitudinal sectional schematic diagram of the drive device shown;

[0019] Figure 4 and Figure 5 yes Figure 1 Schematic diagrams of the drive device at different angles;

[0020] Figure 6 yes Figure 1 An exploded schematic diagram of the drive device shown with the casing removed;

[0021] Figure 7 yes Figure 1 A schematic diagram of the front end cover, drive head and thrust ring of the drive device shown;

[0022] Figure 8 yes Figure 1 A schematic plan view of the sun gear and planetary gears of the drive shown. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings of the present invention.

[0024] refer to Figure 1 and Figure 2 The driving device 100 provided in one embodiment of the present invention comprises a cylindrical housing 10, a motor 30 accommodated in the housing 10, and a planetary gearbox 80. A driving head 95 is provided at the front end of the driving device 100 for connecting to an external driven object (not shown in the figure), and a cable 15 of the motor 30 extends from the rear end of the driving device 100.

[0025] The motor 30 is installed in the housing 10, and the rotating shaft 51 of the motor 30 extends from the front end of the motor 30. A plurality of first radial connecting members 11 pass through the housing 10 and are fixedly connected to the motor 30 directly or indirectly.

[0026] The planetary gearbox 80 is installed in the housing 10, located at the front end of the motor 30, and is aligned with the motor 30 under the constraint of the housing 10 to receive the output of the rotating shaft 51. A plurality of second radial connectors 12 pass through the housing 10 and are fixedly connected to the planetary gearbox 80 directly or indirectly.

[0027] The present invention positions the motor 30 and the planetary gearbox 80 through a common housing 10, thereby improving the coaxiality of the motor 30 and the planetary gearbox 80; the housing 10, the motor 30, and the planetary gearbox 80 are fixed as a whole through radial connectors 11 and 12, thereby reducing the assembly complexity of the drive device 100, simplifying the structure, and reducing the size.

[0028] refer to Figure 2 and Figure 3 In this embodiment, the driving device 100 includes a front cover 21 and a rear cover 31, the front cover 21 is at least partially accommodated in the housing 10, and the rear cover 31 is at least partially accommodated in the housing 10. The first radial connecting member 11 passes through the housing 10 and is fixedly connected to the rear cover 31, and the second radial connecting member 12 passes through the housing 10 and is fixedly connected to the front cover 21. The planetary gearbox 80 and the motor 30 are respectively limited by the front cover 21 and the rear cover 31 and are fixedly accommodated in the housing 10. As an alternative, the front cover 21 can be a part of the planetary gearbox 80, or be fixedly connected to the planetary gearbox 80.

[0029] In this embodiment, the planetary gearbox 80 is a multi-stage reduction gear, and the first stage reduction gear includes a sun gear 81 fixedly sleeved on the rotating shaft 51, a plurality of planetary gears 82 surrounding the sun gear 81, an inner gear ring 83 surrounding the plurality of planetary gears 82, and a gear frame 85 on which the plurality of planetary gears 82 are installed; the inner gear ring 83 is fixed to the front end cover 21 or fixed to the housing 10 under the limit of the front end cover 21. The second stage reduction gear includes a sun gear 86 fixed to the gear frame 85, a plurality of planetary gears 87 surrounding the sun gear 86, and a gear frame 88 on which the plurality of planetary gears 87 are installed. The planetary gears 87 are also surrounded and meshed by the inner gear ring 83, that is, the planetary gears 82 and 87 of the two-stage reduction gears share the same inner gear ring 83. By axially connecting multiple stages of reduction gears, a larger reduction ratio can be obtained, and the radial dimension can be avoided from increasing. It can be understood that the planetary gearbox 80 can adopt one or more stages of reduction gears.

[0030] refer to Figures 2 to 5 The motor 30 includes a stator 40 and a rotor 50. The stator 40 includes an annular housing 41 and a plurality of permanent magnets 44 fixedly mounted to the inner wall of the annular housing 41, and a spring 45 is provided between adjacent permanent magnets 44 to reinforce the installation of the permanent magnets 44. The rotor 50 includes a rotating shaft 51, a commutator 52 fixed to the rotating shaft 51, a rotor core 53, and a rotor winding wound on the teeth of the rotor core 53, and the corresponding wire ends of the rotor winding are hooked to the corresponding commutator segments of the commutator 52 and form a conductive connection. The rotor core 53 is housed in the stator 40 and is surrounded by the plurality of permanent magnets 44. It can be understood that there is a gap 48 between the outer periphery of the rotor core 53 and the stator 40 to facilitate the rotation of the rotor 50 relative to the stator 40.

[0031] The annular housing 41 of the stator 40 is installed in the housing 10, and a plurality of positioning recesses 42 are provided at one end of the annular housing 41 close to the rear end cover 31. A plurality of positioning protrusions 33 are provided on the inner wall of the rear end cover 31 or the housing 10, and the positioning protrusions 33 cooperate with the positioning recesses 42 to limit the position of the stator 40, thereby preventing the motor stator 40 from rotating. In this embodiment, the motor 30 is a permanent magnet DC brushed motor, and a brush holder 32 is provided on the inner side of the rear end cover 31. The brush holder 32 is provided with positioning protrusions 33 and brushes for powering the commutator 52. It is understandable that the brush holder 32 can be made as a whole with the rear end cover 31.

[0032] A plurality of positioning recesses 43 may also be provided at one end of the annular housing 41 away from the rear end cover 31. Corresponding positioning protrusions 18 are provided on the inner wall of the outer shell 10 to cooperate with the positioning recesses 43. In this embodiment, a bracket 17 is also provided in the outer shell 10, and the bracket 17 is located between the motor 30 and the planetary gear box 80. A positioning protrusion 18 is provided on the side of the bracket 17 near the motor 30. In this way, during assembly, the motor 30 is limited between the bracket 17 and the rear end cover 31, and the planetary gear box 80 is limited between the bracket 17 and the front end cover 21. The rear end cover 31 and the bracket 17 are respectively installed with a first bearing 36 and a second bearing 37, which are respectively used to support the rear end and the front end of the rotating shaft 51.

[0033] The inner wall of the housing 10 is provided with a first slide groove 19 extending along the axial direction of the motor, and the outer wall of the inner gear ring 83 is provided with a corresponding first slide rail 84, and the first slide rail 84 slides in the first slide groove 19 when the planetary gear box 80 is assembled to the housing 10. Through this structure, on the one hand, it is convenient to assemble the planetary gear box 80, and on the other hand, it is also convenient to limit the rotation of the inner gear ring 83 relative to the housing 10, that is, it is convenient to keep the inner gear ring 83 and the housing 10 fixed.

[0034] The present invention can improve the compactness of the structure. In order to facilitate the heat dissipation of the drive device, the present invention also provides a cooling air duct and an impeller for generating airflow. Specifically, the drive device 100 also includes two impellers 55 and 56 fixedly mounted on the rotating shaft 51 and accommodated in the housing 10. The impellers 55 and 56 are respectively fixed to both sides of the rotating shaft 51, located on both sides of the rotor 50, and can generate airflow as the rotating shaft 51 rotates. The aforementioned gap 48 between the stator 40 and the rotor 50 serves as part of the cooling air duct. When the motor 30 is working, the impellers 55 and 56 rotate with the rotating shaft 51 to form an airflow, and the airflow flows through the gap 48 between the stator 40 and the rotor 50 to help the motor 30 dissipate heat.

[0035] In this embodiment, a plurality of first channels 28 are formed between the inner wall 10a of the housing 10 and the outer wall 83a of the inner gear ring 83, and the first channels 28 are used as part of the cooling air duct for airflow to flow through. Therefore, the airflow can also help the planetary gear box 80 to dissipate heat. Preferably, the bracket 17 is provided with a plurality of through holes 20 for airflow to flow through, one side of the through hole 20 is connected to the gap 48 between the stator 40 and the rotor 50, and the other side is connected to the first channel 28 between the inner wall 10a of the housing 10 and the outer wall 83a of the inner gear ring 83.

[0036] In this embodiment, the rear cover 31 is provided with a first air flow opening 34 communicating with the gap 48. A plurality of second channels 29 are also formed between the front cover 21 and the inner wall of the housing 10, one end of the second channel 29 communicating with the first channel 28, and the other end communicating with the second air flow opening 26 at the front end of the planetary gear box 80.

[0037] The first air flow opening 34 and the second air flow opening 26 are connected to the two ends of the cooling air duct respectively. One of the first air flow opening 34 and the second air flow opening 26 serves as an air flow inlet, and the other serves as an air flow outlet. For example, the first air flow opening 34 serves as an air flow inlet, and the air flow sequentially flows through the gap 48, the through hole 20, the first channel 28, the second channel 29, and the second air flow opening 26. The gap 48, the through hole 20, the first channel 28, and the second channel 29 form a cooling channel.

[0038] In this embodiment, the motor 30 includes a stator 40 and a rotor 50. The stator 40 is fixedly mounted on the inner wall of the housing 10, and the rotor 50 is surrounded by the stator 40 and can rotate relative to the stator 40. The gap 48 between the stator 40 and the rotor 50 serves as a part of the cooling air duct. There are two impellers, which are respectively located at both ends of the motor 30. As an alternative, there can be one impeller, which is installed between the motor 30 and the rear end cover 31, or between the motor 30 and the bracket 17.

[0039] refer to Figures 2 to 7 The driving device 100 further includes a return spring 94, a driving rod 91 and a driving head 95. The driving rod 91 is connected to the final stage of the planetary gear box 80 and extends outward, and the driving rod 91 is driven by the planetary gear box 80 to rotate. The driving head 95 is slidably sleeved on the outer end of the driving rod 91, and rotates with the rotation of the driving rod 91, and the driving head 95 can slide along the driving rod 91 by a preset distance. The return spring 94 applies a return force to the driving head 95, so that the driving head 95 can be reset to a preset position.

[0040] The drive device 100 further includes a thrust ring 25 mounted on the front end of the housing 10. The thrust ring 25 is used to limit the maximum distance of the drive head 95 away from the planetary gear box 80. The return spring 94 is used to return the drive head 95 to the maximum distance. When the drive device 100 is driven externally, the drive head 95 retracts a certain distance toward the planetary gear box 80.

[0041] refer to Figure 6 and Figure 7 In this embodiment, a connector 92 is sleeved on the outer end of the driving rod 91, and the connector 92 is provided with a plurality of second slide grooves 93. The driving head 95 is sleeved on the connector 92, and a second slide rail 96 is provided in the driving head 95 to cooperate with the second slide groove 93. The connector 92 can slide relative to the driving rod 91, but cannot rotate relative to the driving rod 91. In this way, when the driving rod 91 rotates, the driving head 95 is driven to rotate through the connector 92. The reset spring 94 is compressed between the front end cover 21 and the connector 92. When the driving head 95 retracts toward the planetary gear box 80, the connector 92 is driven to retract and compress the reset spring 94; conversely, when the reset spring 94 is reset, the connector 92 is pushed outward, thereby driving the driving head 95 to reset. As an alternative, the connector 92 can be fixed to the driving rod 91, and the driving head 95 can be slidably sleeved on the connector 92. The reset spring 94 is compressed between the front end cover 21 and the driving head 95.

[0042] The front end cover 21 includes a ring body 24, a hub 22 located in the middle of the ring body 24, and a plurality of blocks 23 arranged on the outer periphery of the ring body 24. The surfaces of the blocks 23 are provided with inclined surfaces as guide surfaces. The hub 22 is provided with a third bearing 38 (see FIG. Figure 3 ), the third bearing 38 rollingly supports the driving rod 91. The thrust ring 25 is buckled onto the front end cover 21 from the outside, and the thrust ring 25 includes a ring body 2501 and a plurality of connecting parts 2503 extending from one side of the ring body 2501, and the connecting parts 2503 are provided with a clamping hole 2505. When the thrust ring 25 is buckled onto the front end cover 21 from the outside, the connecting parts 2503 cross the clamping block 23 under the guidance of the inclined surface of the clamping block 23, so that the clamping block 23 slides into the clamping hole 2505 of the connecting part 2503, thereby realizing the locking connection between the two.

[0043] The second air flow opening 26 is formed between the ring body 2501 of the thrust ring 25 and the front end cover 21. The drive head 95 is in the shape of a cap, including a cap body, a plurality of convex teeth 97 formed on the outer periphery of the cap body, and a flange 98 extending outward from the lower end of the cap body. When the drive head 95 is in the reset state, the flange 98 is close to the ring body 2501; when the drive head 95 is retracted toward the planetary gear box 80 by a certain distance, the flange 98 is away from the ring body 2501, thereby increasing the area of ​​the second air flow opening 26 and increasing the communication area between the housing 10 and the outside. As an alternative, when the drive head 95 is in the reset state, the flange 98 is close to the ring body 2501 to block the second air flow opening 26; when the drive head 95 is retracted toward the planetary gear box 80 by a certain distance, the flange 98 is away from the ring body 2501, thereby opening the second air flow opening 26 between the drive head 95 and the thrust ring 25 or equivalently forming the second air flow opening 26 between the two, so that the cooling channel can be connected to the outside.

[0044] refer to Figure 8In order to improve the NVH of the drive device 100 and improve the driving effect, the present invention also trims the teeth of the sun gear, planetary gear, and inner gear ring. The trimming method is to trim a certain proportion of the tooth surface on both sides of the tooth top of each tooth so that the tooth surface has an outer arch surface. The following is an explanation using the sun gear 81 and the planetary gear 82 as examples. The tooth 8101 of the sun gear 81 includes a tooth top 8103 and two tooth surfaces 8105, and the two tooth surfaces 8105 are respectively located on both sides of the tooth top 8103. The tooth surface 8105 is trimmed near the tooth top 8103 to form an outer arch surface 8105b.

[0045] Preferably, the portion of the tooth surface 8105 near the tooth root is substantially a plane 8105a, and the plane 8105a is connected to the outer arc surface 8105b. The outer arc surface 8105b accounts for 50% to 90% of the surface area of ​​the tooth surface 8105, and more preferably, the outer arc surface 8105b accounts for 70% to 85% of the surface area of ​​the tooth surface 8105.

[0046] Preferably, the angle A2 formed by the tangent lines of the two tooth surfaces 8105 near the tooth top 8103 is 45 to 75 degrees. More preferably, the angle A2 is 55 to 65 degrees.

[0047] Preferably, in the direction away from the tooth top 8103, the angle formed by the tangents of the two tooth surfaces 8105 at the symmetrical positions gradually increases, and the maximum angle is between 45 and 75 degrees, as shown in the angle A2; the minimum angle is 10 to 25 degrees, as shown in the angle A1. More preferably, the angle A2 is 55 to 65 degrees, and the angle A1 is 12 to 20 degrees.

[0048] The size and shape of the teeth 8201 of the planetary gear 82 are the same as the teeth 8101 of the sun gear 81, and will not be described in detail. Similarly, the size and shape of the teeth of the inner ring gear are the same as the teeth 8101 of the sun gear 81, and the size and shape of the teeth of other sun gears and planetary gears are also the same as the teeth 8101 of the sun gear 81.

[0049] After the tooth surface is trimmed by the present invention, the smoothness of the tooth surface 8105 is improved, the contact area of ​​the tooth surface 8105 is increased and the transition is smooth, the meshing degree is significantly improved, the wear between the gears is reduced during the working process, the noise and vibration are correspondingly reduced, and the NVH is significantly improved.

[0050] The drive device 100 is particularly suitable for a vacuum cleaner.

[0051] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A driving device, comprising a motor (30) and a planetary gearbox (80), characterized in that: The driving device comprises a cylindrical outer shell (10), a plurality of first radial connecting members (11), a plurality of second radial connecting members (12), a front end cover (21) and a rear end cover (31) at least partially accommodated in the outer shell (10); the plurality of first radial connecting members (11) pass through the outer shell (10) and are fixedly connected to the rear end cover (31), and the plurality of second radial connecting members (12) pass through the outer shell (10) and are fixedly connected to the front end cover (21); The motor (30) is installed in the housing (10), and the rotating shaft (51) of the motor (30) extends from the front end of the motor (30); The planetary gearbox (80) is installed in the housing (10), the planetary gearbox (80) is located at the front end of the motor (30), and is positioned and aligned with the motor (30) under the constraint of the housing (10), receiving the output of the rotating shaft (51); The planetary gearbox (80) and the motor (30) are respectively limited by the front cover (21) and the rear cover (31) and fixedly accommodated in the housing (10), and are fixed to the housing (10) as a whole; the planetary gearbox (80) comprises a sun gear (81) fixedly sleeved on the rotating shaft (51), a plurality of planetary gears (82) surrounding the sun gear (81), an inner gear ring (83) surrounding the plurality of planetary gears (82), and a gear rack (85) on which the plurality of planetary gears (82) are mounted; the inner gear ring (83) is fixed to the front cover (21) or is fixed to the housing (10) under the limitation of the front cover (21); The tooth (8101) of the sun gear (81) comprises a tooth top (8103) and two tooth surfaces (8105), wherein the two tooth surfaces (8105) are respectively located on both sides of the tooth top (8103); the tooth surface (8105) is trimmed near the tooth top (8103) to form an outer arch surface; The rear end cover (31) is provided with a first air flow opening (34), the front end of the planetary gear box (80) is provided with a second air flow opening (26), and the first air flow opening (34) and the second air flow opening (26) are respectively connected to two ends of the cooling channel; The driving device further comprises a driving rod (91), a return spring (94), a driving head (95) and a thrust ring (25) mounted on the front end cover (21); the driving rod (91) is connected to the final stage of the planetary gear box (80) and extends outward; the driving head (95) is slidably sleeved on the outer end of the driving rod (91), rotates with the rotation of the driving rod (91) and can slide along the driving rod (91) for a preset distance; the thrust ring (25) is used to limit the maximum distance of the driving head (95) away from the planetary gear box (80); the return spring (94) is used to apply a return force to the driving head (95) so that the driving head (95) can be returned to the maximum distance; When the drive device is driven outward, the drive head (95) retracts a certain distance toward the planetary gear box (80); when the drive head (95) retracts toward the planetary gear box (80), the return spring (94) is compressed, the return spring (94) is compressed between the front end cover (21) and the connecting head (92), and the flange (98) of the drive head (95) is away from the thrust ring (25), thereby opening or enlarging the second air flow port (26) between the drive head (95) and the thrust ring (25), so that the cooling channel is connected to the outside.

2. The driving device according to claim 1, characterized in that: The motor (30) comprises a stator (40) and a rotor (50); the stator (40) comprises an annular shell (41) and a permanent magnet (44) fixedly mounted on the inner wall of the annular shell (41); the annular shell (41) is mounted in the outer shell (10); a plurality of positioning recesses (42) are provided at one end of the annular shell (41) close to the rear end cover (31); a plurality of positioning protrusions (33) are provided on the inner wall of the rear end cover (31) or the outer shell (10); the positioning protrusions (33) cooperate with the positioning recesses (42) to limit the position of the stator (40).

3. The driving device according to claim 2, characterized in that: The inner wall of the housing (10) is provided with a first slide groove (19) extending along the axial direction of the motor, and the outer wall of the inner gear ring (83) is provided with a corresponding first slide rail (84), and the first slide rail (84) slides in the first slide groove (19) when the planetary gear box (80) is assembled to the housing (10).

4. The driving device according to claim 2, characterized in that: The driving device further comprises an impeller fixedly sleeved on the rotating shaft (51) and accommodated in the housing (10), wherein the impeller can rotate with the rotating shaft (51) to generate airflow; a cooling channel is formed in the driving device for the airflow to flow through; A first channel (28) is formed between the inner wall (10a) of the housing (10) and the outer wall (83a) of the inner gear ring (83), the first channel (28) serving as a part of a cooling channel for the airflow to flow through; A gap (48) between the stator (40) and the rotor (50) serves as a part of the cooling channel.

5. The driving device according to claim 4, characterized in that: The drive device further comprises a bracket (17) arranged in the housing (10), the bracket (17) being used to support the front end of the rotating shaft (51); the bracket (17) being located between the motor (30) and the planetary gear box (80), the bracket (17) being provided with a plurality of through holes (20) for the airflow to flow through, one side of the through holes (20) being connected to the gap (48), and the other side being connected to the first channel (28); the rear end cover (31) and the bracket (17) are respectively provided with a first bearing (36) and a second bearing (37), respectively being used to support the rear end and the front end of the rotating shaft (51).

6. The driving device according to claim 1, characterized in that: The outer end of the driving rod (91) is sleeved with a connecting head (92), and the connecting head (92) is provided with a plurality of second slide grooves (93); the driving head (95) is sleeved on the connecting head (92), and a second slide rail (96) is provided in the driving head (95) to cooperate with the second slide groove (93); the connecting head (92) can slide relative to the driving rod (91) but cannot rotate relative to the driving rod (91), so that when the driving rod (91) rotates, the driving head (95) can be driven to rotate through the connecting head (92); the return spring (94) is compressed between the front end cover (21) and the connecting head (92); or the outer end of the driving rod (91) is fixed with a connecting head (92), the driving head (95) can be slidably sleeved on the connecting head (92) but cannot rotate relative to the driving rod (91), and the return spring (94) is compressed between the front end cover (21) and the driving head (95).

7. The driving device according to claim 1, characterized in that: The angle (A2) formed by the tangent lines of the two tooth surfaces (8105) near the tooth top (8103) is 45 to 75 degrees.

8. The driving device according to claim 1, characterized in that: The outer arch surface (8105b) accounts for 50% to 90% of the surface area of ​​the tooth surface (8105).

9. The driving device according to claim 1, characterized in that: In the direction away from the tooth top (8103), the angle formed by the tangents of the two tooth surfaces (8105) at symmetrical positions gradually increases, and the maximum value of the angle is 45 to 75 degrees, and the minimum value is 10 to 25 degrees.

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