Actuating device

Abstract

The present application provides an actuation device comprising a drive mechanism and a variable speed transmission mechanism, the variable speed transmission mechanism comprising an input member, the drive mechanism comprising a rotor and a stator, the rotor comprising a rotor yoke portion and a plurality of magnetic poles, the rotor yoke portion being connected to the input member, the magnetic poles being connected to the rotor yoke portion, at least one magnetic pole includes a plurality of magnets. According to the actuating device provided by the invention, the rotor magnet yoke part of the driving mechanism is connected with the input piece of the variable speed transmission mechanism, and at least one magnetic pole of the rotor comprises the plurality of magnets, so that the structural compactness of the actuating device is improved, and meanwhile, the magnetic poles are designed in a split manner, so that the eddy current loss is reduced, and the overall performance of the actuating device is improved.

Description

Technical Field

[0001] The present application belongs to the field of driving, and in particular, relates to an actuating device. Background Art

[0002] In contemporary industry, artificial machines can perform tasks to replace or assist human work. Actuators are one of the important components of artificial machines and are the key part of artificial machines to perform tasks.

[0003] With the development of technology, the requirements for artificial machine devices are getting higher and higher, and the requirements for actuators are also getting higher and higher. Actuators have put forward higher and higher requirements in terms of structural performance, performance, etc. Summary of the invention

[0004] The present application provides an actuating device, aiming to improve the overall performance of the actuating device.

[0005] In order to achieve the above-mentioned purpose, the present application provides an actuating device, including a driving mechanism and a speed-changing transmission mechanism, wherein the speed-changing transmission mechanism includes an input member, the driving mechanism includes a rotor and a stator, the rotor includes a rotor yoke portion and a plurality of magnetic poles, the rotor yoke portion is connected to the input member, the magnetic pole is connected to the rotor yoke portion, at least one magnetic pole includes a plurality of connected magnets, and the plurality of magnets located at the same magnetic pole have the same polarity facing the same stator side.

[0006] The actuator device provided in the present application has a rotor yoke portion of a driving mechanism connected to an input member of a speed transmission mechanism, thereby improving the structural compactness of the actuator device. At least one magnetic pole of the rotor includes a plurality of connected magnets, and the plurality of magnets located at the same magnetic pole have the same polarity facing the same stator side, that is, a magnetic pole split design, which helps to reduce eddy current losses and thus helps to improve the overall performance of the actuator device. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0008] Figure 1 A three-dimensional diagram of the actuating device provided by the present application;

[0009] Figure 2 An exploded view of the actuating device provided for this application;

[0010] Figure 3 A cross-sectional view of the actuating device provided for the present application;

[0011] Figure 4 A three-dimensional diagram of the connection between the rotor and the input member in this application;

[0012] Figure 5 A three-dimensional diagram showing another perspective of the connection between the rotor and the input member in the present application;

[0013] Figures 6 to 9 The magnet distribution diagram in different embodiments of the present application;

[0014] Fig.10 This is a structural diagram of the magnetic pole of this application;

[0015] Fig.11 This is a cross-sectional view of the connection between the rotor and the input member in this application. DETAILED DESCRIPTION

[0016] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0017] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0018] In contemporary industry, artificial machines can perform assigned tasks to replace or assist human work. Actuators are one of the important components of artificial machines and are the key part of artificial machines to perform tasks. Figures 1 to 11 As shown, an actuating device provided in the present application includes a driving mechanism 1 and a speed-changing transmission mechanism 2. The driving mechanism 1 and the speed-changing transmission mechanism 2 are transmission-connected. The driving mechanism provides a rotation speed, and the speed-changing transmission mechanism 2 performs a speed-changing effect, so that the final output can meet the rotation speed and torque required for use. Among them, the speed transmission mechanism 2 includes an input member 21, and the driving mechanism 1 includes a rotor 11 and a stator 12. The rotor 11 includes a rotor yoke portion 111 and a plurality of magnetic poles 112. The magnetic poles 112 are connected to the rotor yoke portion 111, and the plurality of magnetic poles 112 are distributed around the center line X of the rotor yoke portion 111. The rotor yoke portion 111 is at least used to form a partial magnetic circuit of the generator, fix the magnetic poles, and generate rotational inertia. During operation, it is subjected to torque, centrifugal force and other forces. The rotor yoke portion 111 is connected to the input member 21. By connecting the rotor yoke portion 111 to the input member 21, that is, the distance between the rotor yoke portion 111 and the input member 21 can be reduced or even avoided, so that the overall structure of the actuator is more compact, which is conducive to the miniaturization of the actuator.

[0019] Under the influence of the external changing magnetic field, the magnetic pole 112 will generate an induced electromotive force inside and form eddy currents inside the metal. The Joule heating effect of the eddy currents will cause eddy current losses. When the eddy current losses are large, the magnet will heat up seriously, which will cause irreversible thermal demagnetization, affect the magnetic properties of the magnetic pole 112, and further affect the performance of the drive mechanism 1. With the development of technology, the requirements for artificial machine devices are getting higher and higher, and the requirements for actuators are also getting higher and higher. The actuators have put forward higher and higher requirements in terms of structural performance, performance, etc., and the actuators are required to have good performance in all aspects. The present application makes the actuator compact, but at the same time it also challenges the heat dissipation conditions of the rotor. In order to improve the overall performance of the actuator, eddy current losses are an issue that must be concerned about.

[0020] To do this, please refer again to Figures 4 to 10 , at least one magnetic pole 112 includes a plurality of connected magnets 11c, and the polarities of the plurality of magnets 11c located on the same magnetic pole 112 facing the same stator 12 are the same. In the present application, the magnetic pole 112 includes a first magnetic pole 11a and a second magnetic pole 11b, and at least one first magnetic pole 11a and / or at least one second magnetic pole 11b includes a plurality of magnets 11c. By dividing at least part of the magnetic poles in the magnetic pole 112, eddy current loss is reduced, heating of the magnet is reduced or avoided, the operating power of the drive mechanism is guaranteed or even improved, and the overall performance of the actuator is improved, and the power density of the actuator is improved.

[0021] The present application connects the rotor yoke portion 111 with the input member 21 and simultaneously splits some of the magnetic poles, thereby improving the compactness of the actuator and contributing to the miniaturization of the actuator, and reducing the eddy current loss of its driving mechanism, thereby ensuring or even increasing the power of the driving mechanism, thereby increasing the overall power density of the actuator and improving the overall performance of the actuator.

[0022] In this embodiment, the first magnetic pole 11a and the second magnetic pole 11b are alternately distributed with the center line X of the rotor yoke portion 111 as the center, and the polarities of the first magnetic pole 11a and the second magnetic pole 11b facing the stator 12 are opposite, that is, one of the first magnetic pole 11a and the second magnetic pole 11b is the N pole facing the stator 12, and the other is the S pole facing the stator 12.

[0023] In this embodiment, a surface perpendicular to the X direction of the center line of the rotor yoke portion 111 is defined as a projection surface, and the total projection area of ​​the magnets 11c of each of the first magnetic poles 11a on the projection surface is equal to the total projection area of ​​the magnets 11c of each of the second magnetic poles 11b on the projection surface, so as to ensure the symmetry of the magnetic field. Therefore, this embodiment does not specifically limit the division of the magnetic poles, and can be designed according to actual needs. Some of the magnetic poles can be divided and designed as a whole piece; all the magnetic poles can also be divided and designed, and the number and shape of the divided magnets 11c are not specifically limited, and can be designed and processed into regular shapes.

[0024] In this embodiment, in the magnetic pole including a plurality of magnets 11c, at least some of the magnets 11c are distributed along the circumferential direction of the rotor yoke portion 111, and / or at least some of the magnets 11c are distributed along a direction perpendicular to the center line X of the rotor yoke portion 111. An example is given below.

[0025] In some embodiments, in a magnetic pole including a plurality of magnets 11c, the plurality of magnets 11c are distributed along the circumference of the rotor yoke portion 111, such as Figures 4 to 6 As shown, the number of magnets 11c is not specifically limited, and can be 2, 3, or even more, and the number of magnets 11c between different poles can be the same or different.

[0026] In other embodiments, in a magnetic pole including a plurality of magnets 11c, the plurality of magnets 11c are distributed along a direction perpendicular to the center line X of the rotor yoke portion 111, that is, the magnets 11c are distributed along the radial direction of the rotor yoke portion 111, such as Figure 7 As shown, the number of magnets 11c is not specifically limited, and can be 2, 3, or even more, and the number of magnets 11c between different poles can be the same or different.

[0027] In some other embodiments, the multiple magnets 11c of some poles are distributed along a direction perpendicular to the center line X of the rotor yoke portion 111, and the multiple magnets 11c of other poles are distributed along the circumferential direction of the rotor yoke portion 111, such as Figure 8 As shown, in the same magnetic pole with multiple magnets 11c, the number of magnets 11c is not specifically limited, and can be 2, 3, or even more, and the number of magnets 11c between different magnetic poles can be the same or different.

[0028] In some other embodiments, in the same magnetic pole, a portion of the magnets 11c are distributed along a direction perpendicular to the center line X of the rotor yoke portion 111, and a portion of the magnets 11c are distributed along the circumferential direction of the rotor yoke portion 111, such as Fig. 9As shown, the number of magnets 11c between the same different magnetic poles can be the same or different.

[0029] In the above-mentioned embodiment, of course, the partial stimulation 112 may also be a whole-piece magnetic structure.

[0030] In some specific embodiments, in order to maximize the power of the driving mechanism, each first magnetic pole 11a and each second magnetic pole 11b include multiple magnets 11c, and the number of magnets 11c included in each first magnetic pole 11a is the same as the number of magnets 11c included in each second magnetic pole 11b. In addition, the distribution direction of the magnets 11c included in the first magnetic pole 11a and the distribution direction of the magnets 11c included in the second magnetic pole 11b are both distributed along the circumferential direction of the rotor yoke portion 111 or along the direction perpendicular to the center line X of the rotor yoke portion 111 (i.e., radially).

[0031] In the above embodiment, adjacent magnets 11c are connected, and the projection surface of each magnet 11c in the direction perpendicular to the center line X of the rotor yoke portion 111 is fan-shaped. Of course, the magnets 11c can also be designed and processed into other shapes (such as trapezoidal) or irregular shapes. Since there are many ways to achieve this, they are not listed here one by one.

[0032] See also Fig.10 In this embodiment, the magnetic pole 112 also includes an insulating layer 10. In a magnetic pole having a plurality of magnets 11c, the insulating layer 10 is at least partially located between adjacent magnets 11c. The plurality of magnets 11c are connected into a single magnetic pole through the insulating layer 10. The insulating layer 10 uses insulating glue to bond the plurality of magnets 11c. The spacing between adjacent magnets 11c is d, wherein 0<d≤0.15mm. In order to ensure insulation between adjacent magnets 11c, 0.1mm≤d≤0.15mm is required. At the same time, the bonding strength between adjacent magnets 11c can also be ensured.

[0033] Also, see Fig.11The rotor 11 further includes an adhesive layer 113, wherein the adhesive layer 113 connects the magnetic pole 112 and the rotor yoke portion 111, wherein the rotor yoke portion 111 has a mounting groove 11d, wherein the magnetic pole 112 is at least partially located in the mounting groove 11d, and the adhesive layer 113 is at least partially located in the mounting groove 11d. The magnetic pole 112 and the rotor yoke portion 111 are bonded by the adhesive layer 113, thereby achieving connection and fixation of the magnetic pole 112 and the rotor yoke portion 111. The provision of the mounting groove 11d improves the positioning effect of the magnetic pole 112, facilitates the assembly of the magnetic pole 112, and helps to improve the assembly efficiency of the actuator. In addition, the provision of the mounting groove 11d can also increase the contact area between the rotor yoke portion 111 and the magnetic pole 112, and can effectively improve the connection strength between the rotor yoke portion 111 and the magnetic pole 112 when connected by bonding. In this embodiment, the magnetic pole 112 and the rotor yoke portion 111 may be connected by mechanical connection in addition to bonding, for example, by connection devices such as connectors and clamps.

[0034] In this embodiment, by dividing the magnetic poles and providing an insulating layer 10 between the multiple magnets 11c, that is, insulating the dividing surface, the equivalent resistance of the magnetic poles 112 can be increased, and the eddy current loss in the magnetic poles can be reduced without affecting the electromagnetic performance of the driving mechanism 1, thereby ensuring or even improving the operating power of the driving mechanism 1. At the same time, the structure is compact, thereby improving the power density of the actuator.

[0035] Please refer again Figure 3In the above embodiment, the actuator device includes a housing 3, and the housing 3 includes a cylinder 31 and an end cover 32. The drive mechanism 1 and the speed transmission mechanism 2 are both located in the housing 3. Specifically, the drive mechanism 1 and the speed transmission mechanism 2 are both connected to the cylinder 31. The drive mechanism 1 and the speed transmission mechanism 2 are both located in the same housing, and the actuator device has high integration. Further, the stator 12 is connected to the housing 3; the speed transmission mechanism 2 includes an output member 22 and a fixing member 23, and the fixing member 23 is connected to the housing 3, that is, the drive mechanism 1 and the speed transmission mechanism 2 are both connected to the same housing 3, and the drive mechanism 1 and the speed transmission mechanism 2 are positioned by the same housing 3, which improves the positioning accuracy between the drive mechanism 1 and the speed transmission mechanism 2, thereby improving the operating stability of the actuator device, reducing the mechanical loss of the actuator device, reducing noise, and extending the service life of the brake device. The input member 21, the fixing member 23 and the output member 22 are matched with each other in transmission; the actuator device further comprises an output part 4 and a bearing 5, wherein the output part 4 is connected to the output member 22, and the output part 4 is connected to the housing 3 through the bearing 5, that is, the output part 4 can rotate relative to the housing 3, and the output part 4 is used to connect an external load. During the operation of the actuator device, the stator 12 is energized, and the rotor 11 rotates under the action of the magnetic field. Since the rotor yoke part 111 is connected to the input member 21 or is an integral part, the input member 21 is driven to rotate. Due to the matching of the input member 21, the fixing member 23 and the output member 22, the required speed and torque are obtained, which are output by the output member 22 and finally transmitted to the load through the output part 4.

[0036] In this embodiment, in order to further improve the operational stability of the braking device, the actuator device further includes a shaft 6, at least one of the drive mechanism 1, the speed transmission mechanism 2 and the output part 4 is connected to the shaft 6, the shaft 6 is located at the center of the drive mechanism 1, the speed transmission mechanism 2 and the output part 4, and the shaft 6 can be fixed relative to the housing 3, or can rotate relative to the housing 3. When the shaft 6 is fixed relative to the housing 3, the shaft 6 is connected and fixed to at least one of the housing 3 and the stator 12, and at least one of the input member 21 and the output part 4 is connected to the shaft 6 through a roller bearing. When the shaft 6 rotates relative to the housing 3, the shaft 6 can be fixed to one of the input member 21 and the output part 4, and connected to the other through a roller bearing, and at this time, the shaft 6 can also be connected to the stator 12 for relative rotation through a roller bearing. In this embodiment, the coaxiality of at least one of the drive mechanism 1, the speed transmission mechanism 2 and the output part 4 is improved by setting the shaft 6, thereby improving the stability of the actuator during operation, reducing losses, and also achieving the effect of reducing sound and noise.

[0037] In addition, the actuator device further comprises an inner limit flange and an outer limit flange, wherein the inner limit flange is connected to the output part 4, and the inner limit flange abuts against the outer end of the inner ring of the bearing 5 along the X direction and away from the input member 21, and the outer limit flange is connected to the housing 3, and the outer limit flange abuts against the outer end of the outer ring of the bearing 5 along the X direction and away from the input member 21. In addition, the inner end of the inner ring 61 of the bearing along the X direction abuts against the shoulder on the outer wall of the output part 4, and the inner end of the outer ring 62 of the bearing 5 along the X direction abuts against the shoulder provided on the inner wall of the housing 3. In this way, the inner ring and the outer ring of the bearing 5 are limited in the X direction, and the output part 4 is also limited in the axial direction of the driving mechanism 2, so as to avoid the jumping along the X direction (i.e., the circumferential direction of the actuator device) during operation, which is conducive to improving the stability during operation. In this embodiment, the bearing 5 adopts a cross roller bearing, which can not only obtain high-precision rotational motion, but also withstand loads in all directions.

[0038] In the above embodiment, the connection between the rotor yoke part 111 and the input part 21 can be a detachable connection, such as connection and clamping through connecting members such as bolts, screws, etc., or a non-detachable connection, such as bonding, welding, the rotor yoke part 111 and the input part 21 are an integral part, etc., or a combination of detachable connection and non-detachable connection. Specifically, the input part 21 includes a cam part 21a, and the connection between the cam part 21a and the rotor yoke part 111 can be a detachable connection, such as connection and clamping through connecting members such as bolts, screws, etc., or a non-detachable connection, such as bonding, welding, the cam part 21a and the rotor yoke part 111 are an integral part, etc. This embodiment does not specifically limit the method of forming an integral part, and can be one or a combination of welding, casting, metal powder injection molding, powder metallurgy, machining, etc. to obtain an integral part.

[0039] In the above embodiment, the output member 22 includes a flexible wheel 22a, the fixing member 23 includes a rigid wheel 23a, the actuating device includes a flexible bearing 21b, the cam portion 21a and the flexible bearing 21b are combined into a wave generator 211, the flexible bearing 21b is located between the cam portion 21a and the flexible wheel 22a, and the flexible bearing 21b connects the cam portion 21a and the flexible wheel 22a, the flexible wheel 22a is meshed with the rigid wheel 23a, and the flexible wheel 22a and the rigid wheel 23a have a difference in the number of teeth, and the rigid wheel 23a is connected and fixed to the housing 3; the flexible wheel 22a is connected to the output portion 4. During the operation of the actuator, the stator 12 is energized, the rotor 11 rotates, and the cam portion 21a is driven to rotate. The cam portion 21a is elliptical. When the cam portion 21a rotates, the flexible bearing 21b undergoes elastic deformation, and the shapes of the flexible bearing 21b and the cam portion 21a are consistent. The flexible bearing 21b contacts the flexible wheel 22a, so that the flexible wheel 22a is stretched outward in two opposite directions along the long axis of the elliptical cam portion 21a. Due to the effect of the squeezing force, the outer teeth of the flexible wheel 22a and the inner teeth of the rigid wheel 23a are meshed at the two end points of the long axis of the cam portion 21a. Every time the flexible wheel 22a rotates one circle, each tooth of the flexible wheel 22a and the rigid wheel 23a meshes once. Since there is a difference in the number of teeth between the flexible wheel 22a and the rigid wheel 23a, the reduction ratio i is: the difference in the number of teeth / the number of teeth of the flexible wheel 22a. Therefore, the angle rotated by the flexible wheel 22a is i×360°. For example: Assuming that the number of teeth of the flexible wheel 22a is 200, the number of teeth of the rigid wheel 23a is 202, and the difference in the number of teeth = 200-202 = -2, then i = -2 / 200 = -0.01, that is, the rotation speed of the flexible wheel 22a is 1 / 100 of the rotation speed of the cam part 21a, achieving the effect of deceleration, and "-" indicates that the output direction of the flexible wheel 22a is opposite to the rotation direction of the cam part 21a. In this embodiment, the difference in the number of teeth can be 1, 2, or 3. Since there are many examples, they are not listed here one by one.

[0040] In the above embodiment, the stator 12 and the rotor 11 are distributed along the center line X direction of the rotor yoke part 111, that is, the stator 12 and the rotor 11 are distributed along the axial direction of the driving mechanism 1, and the rotor yoke part 111 is a plate-shaped annular structure, and the rotor yoke part 111 extends along the direction perpendicular to the center line X of the rotor yoke part 111. Fig.11, the dimension L1 of the rotor yoke part 111 along the X direction perpendicular to the center line of the rotor yoke part 111 is greater than the dimension L2 of the rotor yoke part 111 along the X direction of the center line of the rotor yoke part 111. The drive mechanism 1 adopts an axial flux motor (i.e., a disc motor) with a flat disc structure and a very thin axial dimension, which can further reduce the axial dimension of the actuator and improve the compactness of the structure of the actuator. Therefore, it can be well applied in various occasions, and the magnetic field action area is increased, so that the efficiency of the actuator is higher. Among them, the rotor yoke part 111 and the stator 12 are distributed along the X direction of the center line of the rotor yoke part 111, and the magnetic pole 112 is located between the rotor yoke part 111 and the stator 12. In addition, there is a spacing between the magnetic pole 112 and the stator 12 along the X direction of the center line of the rotor yoke part 111 to ensure that the rotor 11 will not interfere with the stator 12 during the rotation process.

[0041] In order to improve the stability of the operation of the driving mechanism 1, the first magnetic pole 11a and the second magnetic pole 11b are evenly distributed around the center line X of the rotor yoke portion 111. In order to ensure uniformity, the first magnetic pole 11a and the second magnetic pole 11b have the same projection shape on the projection plane, and the first magnetic pole 11a and the second magnetic pole 11b have the same projection area on the projection plane.

[0042] In addition, in the above embodiment, the housing 3 includes a first part 3a and a second part 3b, the stator 12 is installed on the first part 3a, and the fixing member 23 of the speed transmission mechanism 2 is installed on the second part 3b. The first part 3a and the second part 3b are an integral part, that is, the stator 12 and the speed transmission mechanism 2 are installed on the same support member, which has high integration and helps to improve the concentricity of the speed transmission mechanism 2 and the drive mechanism 1, thereby improving the stability of the speed transmission mechanism 2 and the drive mechanism 1 during operation, reducing the mechanical loss of the speed transmission mechanism 2 and the drive mechanism 1, extending their service life, and further improving the overall working stability of the actuator. This embodiment does not specifically limit the method of forming an integral part, and it can be a one-piece part obtained by one or a combination of welding, casting, metal powder injection molding, powder metallurgy, machining, etc. In a specific embodiment, the first part 3a and the second part 3b are formed as one piece at least by machining, that is, the first part 3a and the second part 3b used to install the stator 12 and the fixing member 23, respectively, can be processed using the same positioning, thereby reducing or avoiding positioning errors, helping to reduce the position errors of the stator 12 and the fixing member 23, improving the coaxiality, and thereby improving the output stability of the actuator.

[0043] The present application connects the rotor yoke part 111 with the input member 21 and splits some of the magnetic poles, which can not only improve the compactness of the actuator, contribute to the miniaturization of the actuator, but also reduce the eddy current loss of its drive mechanism, ensure or even increase the power of the drive mechanism, thereby improving the overall power density of the actuator and the overall performance of the actuator. In addition, after the magnetic pole splitting design, the area of ​​the divided magnet is smaller than that of the entire undivided magnet, and the small pieces are conducive to improving the flatness, thereby reducing the air gap with the rotor yoke part 111, which is conducive to reducing the magnetic resistance, and can further improve the performance of the drive mechanism 1, thereby improving the overall performance of the actuator. In addition, compared with a larger single-piece magnet, the size of the divided magnet is smaller, easier to process, and convenient to assemble.

[0044] Some technical implementations in the above embodiments may be combined or replaced.

[0045] The technical principles of the present application are described above in combination with specific implementations, but it should be noted that the above descriptions are only for explaining the principles of the present application and cannot be interpreted in any way as a specific limitation on the protection scope of the present application. Based on the explanation here, technicians in this field can think of other specific implementations or equivalent replacements of the present application without creative work, and they will all fall within the protection scope of the present application.

Claims

1. An actuating device, characterized in that: It includes a driving mechanism and a speed-changing transmission mechanism, wherein the speed-changing transmission mechanism includes an input member, and the driving mechanism includes a rotor and a stator. The rotor includes a rotor yoke part and a plurality of magnetic poles, wherein the rotor yoke part is connected to the input member, and the magnetic poles are connected to the rotor yoke part. At least one magnetic pole includes a plurality of connected magnets, and the polarities of the plurality of magnets located at the same magnetic pole are the same when facing the same stator side.

2. The actuating device according to claim 1, characterized in that: The magnetic poles include a first magnetic pole and a second magnetic pole, the first magnetic pole and the second magnetic pole are alternately distributed around the center line of the rotor yoke portion, and the first magnetic pole and the second magnetic pole have opposite polarities toward the stator side; At least one first magnetic pole and / or at least one second magnetic pole comprises a plurality of magnets.

3. The actuating device according to claim 2, characterized in that: A plane perpendicular to the center line direction of the rotor yoke portion is defined as a projection plane, and the sum of the projection areas of the magnets of the first magnetic poles on the projection plane = the sum of the projection areas of the magnets of the second magnetic poles on the projection plane; The stator and the rotor are distributed along a center line direction of the rotor yoke portion.

4. The actuating device according to claim 2, characterized in that: The projection surface of the magnet in a direction perpendicular to the center line of the rotor yoke part is fan-shaped, and adjacent magnets are connected.

5. The actuating device according to claim 4, characterized in that: In a magnetic pole comprising a plurality of magnets, At least part of the magnets are distributed along the circumference of the rotor yoke part, and / or at least part of the magnets are distributed along a direction perpendicular to the center line of the rotor yoke part.

6. The actuating device according to claim 4, characterized in that: The pole further includes an insulating layer, the insulating layer being at least partially located between adjacent magnets; The distance between adjacent magnets is d, where 0<d≤0.15mm; The rotor further comprises an adhesive layer connecting the magnetic poles and a rotor yoke portion, wherein the rotor yoke portion has a mounting groove, the magnetic poles are at least partially located in the mounting groove, and the adhesive layer is at least partially located in the mounting groove.

7. The actuating device according to any one of claims 2 to 6, characterized in that: The first magnetic pole and the second magnetic pole each include a plurality of magnets.

8. The actuating device according to claim 7, characterized in that: The actuating device comprises a housing, and the driving mechanism and the speed-changing transmission mechanism are both located in the housing; The stator is connected to the housing; the speed change transmission mechanism includes an output member and a fixed member, the fixed member is connected to the housing, and the input member, the fixed member and the output member are in transmission cooperation; The housing comprises a first part and a second part, the stator is mounted on the first part, the fixing member is mounted on the second part, and the first part and the second part are an integral part; The actuating device further comprises an output portion and a bearing, wherein the output portion is connected to the output member, and the output portion is connected to the housing via the bearing; The actuating device further includes a shaft, and at least one of the driving mechanism, the speed change transmission mechanism, and the output portion is connected to the shaft.

9. The actuating device according to claim 8, characterized in that: The input member includes a cam portion, the cam portion is mechanically connected to the rotor yoke portion or the cam portion and the rotor yoke portion are an integral part; The rotor yoke part and the stator are distributed along the center line direction of the rotor yoke part, the magnetic pole is located between the rotor yoke part and the stator, and there is a distance between the magnetic pole and the stator along the center line direction of the rotor yoke part; The rotor yoke portion extends in a direction perpendicular to a center line of the rotor yoke portion, and a dimension of the rotor yoke portion in the direction perpendicular to the center line of the rotor yoke portion is greater than a dimension of the rotor yoke portion in the direction of the center line of the rotor yoke portion.

10. The actuating device according to claim 9, characterized in that: The output member includes a flexible wheel, the fixed member includes a rigid wheel, the actuating device includes a flexible bearing, the flexible bearing is located between the cam portion and the flexible wheel, and the flexible bearing connects the cam portion and the flexible wheel, the flexible wheel is meshed with the rigid wheel, and the rigid wheel is connected and fixed to the housing; The flexible wheel is connected to the output part.

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