Drive device

Abstract

The invention provides a driving device, which comprises a driving mechanism and a variable speed transmission mechanism, the driving mechanism comprises a stator part and a rotor part, the rotor part comprises a mounting part and a plurality of magnetic steels, the variable speed transmission mechanism comprises an input part and an output part, and the input part and the output part are in transmission fit; the mounting part is connected with the input piece, the magnetic steel is connected with the mounting part, at least one piece of magnetic steel comprises at least two magnetic steel split bodies, and the multiple magnetic steel split bodies of the same magnetic steel are arranged in the radial direction of the mounting part. According to the driving device provided by the invention, the mounting part of the rotor part is connected with the input piece of the variable speed transmission mechanism, the overall size is reduced, and at least one magnetic steel of the rotor part comprises at least two magnetic steel split bodies, so that the power density of the driving device can be improved.

Description

Technical Field

[0001] The present application belongs to the field of driving, and specifically, relates to a driving device. Background Art

[0002] In engineering machinery, the differential transmission mechanism is driven by the motor to obtain the required speed and torque. In the related art, the rotor structure of the motor of some drive devices has magnetic steel arranged in sections on the rotor to reduce eddy current loss. The rotor of the motor is connected to the shaft, and the shaft then transmits torque to the input member of the differential transmission mechanism. The overall size of the drive device is large and its power density is low. Summary of the invention

[0003] The present application aims to provide a driving device, aiming to improve the power density of the driving device.

[0004] In order to achieve the above-mentioned object, the present application provides a driving device, including a driving mechanism and a speed-changing transmission mechanism, wherein the driving mechanism includes a stator part and a rotor part, the rotor part includes a mounting part and a plurality of magnetic steels, and the speed-changing transmission mechanism includes an input member and an output member, wherein the input member and the output member are in transmission cooperation;

[0005] The mounting portion is connected to the input member, the magnetic steel is connected to the mounting portion, at least one magnetic steel includes at least two magnetic steel splits, and the multiple magnetic steel splits of the same magnetic steel are arranged along the radial direction of the mounting portion.

[0006] The drive device provided in the present application connects the mounting portion of the rotor part with the input member of the speed transmission mechanism, thereby reducing the overall size. In addition, at least one magnet of the rotor part includes at least two separate magnets, which can improve the power density of the drive 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 is a three-dimensional diagram of a driving device provided by the present application;

[0009] Figure 2 is a cross-sectional view of a driving device provided by the present application;

[0010] Figure 3 is a cross-sectional view of the rotor portion and the input member in the present application;

[0011] Figure 4is another cross-sectional view of the rotor portion and the input member in the present application;

[0012] Figure 5 It is a three-dimensional diagram of the magnetic steel and the input member in this application;

[0013] Figure 6 It is a bottom view of the magnetic steel and the input member in the present application;

[0014] Figure 7 It is a structural diagram of a magnetic steel split in this application;

[0015] Figure 8 yes Figure 2 A magnified view of part A;

[0016] Fig. 9 It is a cross-sectional view of the speed change transmission mechanism in this application. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] In engineering machinery, the motor drives the differential transmission mechanism to obtain the required speed and torque. In the related art, the rotor structure of the motor of some drive devices has magnetic steel arranged in segments on the rotor to reduce eddy current loss. The rotor of the motor is connected to the shaft, and the shaft then transmits torque to the input member of the differential transmission mechanism. The overall size of the drive device is large and its power density is low. In order to improve the power density of the drive device, the present application provides a drive device, see Figures 2 to 4The drive device includes a drive mechanism 2 and a speed transmission mechanism 4. The drive mechanism 2 includes a stator part 21 and a rotor part 22. The rotor part 22 includes a mounting part 221 and a plurality of magnets 222. The speed transmission mechanism 4 includes an input member 41 and an output member 42. The input member 41 and the output member 42 are in transmission cooperation. The mounting part 221 is connected to the input member 41. The magnet 222 is connected to the mounting part 221. At least one magnet 222 includes at least two magnet splits 2220. The plurality of magnet splits 2220 of the same magnet 222 are arranged along the radial direction of the mounting part 221. In the present application, by connecting the mounting part of the rotor part with the input member of the speed transmission mechanism, the distance between the rotor part and the input member is reduced to a certain extent, so that the structure of the drive device is more compact, the number of parts is reduced, and the assembly dimension chain and tolerance are reduced. When the magnetic steel grade is determined, the use of multiple magnetic steel parts can increase the rotational speed and thus increase the power. Since at least part of the magnetic steel of the rotor part adopts a multi-section structure formed by multiple magnetic steel parts, the structure of the drive device is made more compact while the power is increased, thereby improving the power density of the drive device.

[0020] To reduce material costs, see Figures 5 to 7 In some embodiments, at least part of the magnetic steel adopts a plurality of magnetic steel splits 2220, wherein the magnetic steel split 2220 includes a first side surface portion 222a and a second side surface portion 222b, the first side surface portion 222a and the second side surface portion 222b are arranged opposite to each other, the first side surface portion 222a and the second side surface portion 222b are arranged along the radial direction of the mounting portion 221, and the first side surface portions 222a of any two adjacent magnetic steel splits 2220 of the same magnetic steel 222 are in the same plane, and the second side surface portions 222b of any two adjacent magnetic steel splits 2220 of the same magnetic steel 222 are in the same plane. By arranging the first side surface portion 222a of the same magnetic steel 222 in the same plane, and arranging the second side surface portion 222b in the same plane, the magnetic steel splits 2220 are arranged in order, so that the magnetic steel is more evenly distributed on the mounting portion 221. In a specific embodiment, all the magnetic steels 222 include a plurality of magnetic steel splits 2220 of the same number, thereby reducing the cost to a greater extent.

[0021] To improve assembly efficiency, please refer to Figures 5 to 7 In some embodiments, the joints of adjacent magnetic steel segments 2220 of the same magnetic steel 222 have the same profile for easy assembly. In addition, the joint structure with the same profile can shorten the width of the joint between adjacent magnetic steel segments 2220 and make more efficient use of space. Figures 5 to 7In some embodiments, there is a gap M between any two adjacent magnetic steel parts 2220 of the same magnetic steel 222, the side of the gap M close to the axis of the driving mechanism 2 is the first surface, and the side of the gap M away from the axis of the driving mechanism 2 is the second surface; the first surface and the second surface are both arc surfaces, and the axis center lines of the arc surfaces on which the two are located coincide with the axis of the driving mechanism 2; or, the first surface and the second surface are both planes, and the two are parallel. Of course, in addition to the plane and arc surface structures, other structures can also be used on both sides of the gap M, and when the contour shapes on both sides of the gap M match, it is more convenient to assemble and position, and the width of the gap M at the joint between the magnetic steel parts 2220 can be reduced accordingly.

[0022] Please refer again Figures 5 to 7 In some other embodiments, the magnetic steel split 2220 further includes a third side portion 222c and a fourth side portion 222d, the third side portion 222c is located on the side of the magnetic steel split 2220 facing the axis of the driving mechanism 2, and the fourth side portion 222d is located on the side of the magnetic steel split 2220 facing away from the axis of the driving mechanism 2; the third side portion 222c and the fourth side portion 222d are both arc surfaces, and the axis center lines of the arc surfaces where the third side portion 222c and the fourth side portion 222d are located coincide with the axis of the driving mechanism 2; in a specific embodiment, the projection of each magnetic steel split 2220 on the mounting portion 221 is a trapezoid with arc bottoms, such as Figure 6 As shown, the length of the third side portion 222c is less than the length of the fourth side portion 222d. In addition, the projections of the outer circles of any two circumferentially adjacent magnetic steel segments 2220 on the mounting portion 221 are located on the same circumference with the axis of the driving mechanism 2 as the center, and the projections of the inner circles of any two circumferentially adjacent magnetic steel segments 2220 on the mounting portion 221 are located on another circumference with the axis of the driving mechanism 2 as the center.

[0023] Of course, in some other specific embodiments, the third side portion 222c and the fourth side portion 222d can also be planes, and the third side portion 222c and the fourth side portion 222d are parallel; in a specific embodiment, the projection of each magnetic steel split 2220 on the mounting portion 221 is trapezoidal, and the length of the third side portion 222c is less than the length of the fourth side portion 222d.

[0024] See also Figure 3 and Figure 4In some embodiments, the mounting portion 221 and the input member 41 are arranged along the axial direction of the driving mechanism 2, the mounting portion 221 extends in a direction perpendicular to the axis of the driving mechanism 2, the magnet 222 is located on the side of the mounting portion 221 facing the stator portion 21, and a plurality of magnets 222 are evenly distributed around the axis of the mounting portion 221. Among them, in this embodiment, there is no specific limitation on the connection method between the mounting portion 221 and the input member 41, which can be a detachable connection or a non-detachable connection. For example, the mounting portion 221 and the input member 41 are two separate parts before assembly, and are connected by one or a combination of bonding, riveting, welding, connecting member connection, and clamping during assembly. Among them, the connecting member can be a bolt, etc., and the bolt connection can prevent loosening by increasing the preload, will not cause phase change of the material composition at the connection, is easy to disassemble, and is convenient for maintenance; the welding connection does not require drilling, the cross-section is not weakened, and no additional connecting members are required. The structure is simple, the welding structure has good airtightness, and the rigidity and integrity are both large; the internal stress of the bonding is evenly distributed, different materials can be connected, and it is suitable for connecting thin materials. Materials of different thicknesses can be connected, the adhesive can better isolate external corrosive media, and it is also an insulating material itself, which can reduce the electrochemical corrosion of the substrate, and there is no problem of weakening the strength of the substrate similar to riveting and screw holes. There is no need to consider the size matching problem of the components. The adhesive can have a certain elasticity and can be used in places with vibration.

[0025] Of course, the mounting portion 221 and the input member 41 can also be directly processed into one piece during the processing, for example, through one or more combinations of machining, casting, powder metallurgy, metal powder injection molding, and stamping to form an integrated piece. For example, it can be machined into an integrated piece, or it can be formed into an integrated piece through casting, powder metallurgy, metal powder injection molding, stamping, etc., and it can also be processed again by machining after being formed into an integrated piece. In a specific embodiment, both are processed by machining, so that the same positioning processing can be performed on the machine tool to ensure the positioning accuracy of the two and reduce the error.

[0026] Please refer again to 5 and Figure 6 In some embodiments, multiple magnetic steels 222 are evenly distributed around the axis of the driving mechanism 2, the opposite side walls of two adjacent magnetic steels 222 are parallel, and the thickness of each magnetic steel 222 is the same, so that the magnetic field distribution is more uniform. For further information, please refer to Figure 5 and Figure 6, each magnetic steel 222 includes the same number of magnetic steel segments 2220, and the magnetic steel segments 2220 of the same magnetic steel 222 have the same length in the radial direction of the mounting portion 221. Of course, magnetic steel segments 2220 with different radial lengths may also be used. In a specific embodiment, all magnetic steels 222 include multiple magnetic steel segments 2220, and the raw material cost is reduced by dividing the magnetic steel 222 into two or more magnetic steel segments 2220 with uniform or variable width in the radial direction.

[0027] Please refer again to 1 to Figure 3 In some embodiments, the stator portion 21 and the rotor portion 22 are arranged along the axial direction of the driving mechanism 2, and an air gap S is provided between the stator portion 21 and the rotor portion 22; the stator portion 21 includes a stator core 211 and a coil winding 212, the stator core 211 includes a plurality of stator teeth 211b, the plurality of stator teeth 211b are evenly distributed around the axis of the driving mechanism 2, and the coil winding 212 is located outside the stator teeth 211b; specifically, the stator core 211 also includes a chassis portion 211a, a stator tooth portion 211b The stator tooth portion 211b is connected to the chassis portion 211a, and is located between the chassis portion 211a and the rotor portion 22. The stator tooth portion 211b extends from the chassis portion 211a toward the rotor portion 22, and the extension direction of the stator tooth portion 211b is parallel to the axial direction of the driving mechanism 2. In this embodiment, the chassis portion 211a is connected and fixed to the housing 1. This embodiment does not specifically limit the connection method between the chassis portion 211a and the housing 1, and can be one or a combination of connection with bolts or other connecting parts, clamping, bonding, and welding.

[0028] See also Figure 2 In some embodiments, the driving device further comprises a housing 1, an end cover 3, an output part 5 and a bearing member 6, wherein the output part 5 and the end cover 3 are respectively located at two ends of the housing 1, the output member 42 is connected to the output part 5, the bearing member 6 is arranged between the output part 5 and the housing 1, and the end cover 3 is assembled and connected to the housing 1 or connected as a whole; the input member 41 comprises an elliptical disk 411a, the mounting portion 221 is assembled and connected to the elliptical disk 411a or connected as a whole; the input member 41 further comprises a flexible bearing 411b, the output member 42 comprises a flexible wheel 421, the flexible wheel 421 comprises an outer tooth portion 421a ... The bearing 411b is located between the elliptical disk 411a and the outer tooth portion 421a; the driving device also includes a fixing member 43, the fixing member 43 includes a rigid wheel 431, the rigid wheel 431 is connected to the housing 1, the outer tooth portion 421a is located between the flexible bearing 411b and the rigid wheel 431, the rigid wheel 431 includes an inner tooth portion 431a, the inner tooth portion 431a is partially meshed with the outer tooth portion 421a, and the number of teeth of the outer tooth portion 421a is less than the number of teeth of the inner tooth portion 431a; the flexible wheel 421 also includes a connecting portion 421b, the connecting portion 421b connects the outer tooth portion 421a and the output portion 5.

[0029] In this embodiment, the flexible bearing 411b is sleeved on the outer periphery of the elliptical disk 411a to form a wave generator. When the driving mechanism 2 is powered on, the rotor part 22 drives the elliptical disk 411a to rotate. When the elliptical disk 411a rotates, the flexible bearing 411b undergoes elastic deformation, and the shapes of the flexible bearing 411b and the elliptical disk 411a of the wave generator are consistent. The flexible bearing 411b contacts the flexible wheel 421, so that the flexible wheel 421 stretches outward in two opposite directions along the long axis of the elliptical disk 411a. The rigid wheel 431 is connected and fixed to the housing 1. Due to the extrusion force, the outer tooth portion 421a of the flexible wheel 421 and the inner tooth portion 431a of the rigid wheel 431 are meshed at the two end points of the long axis of the elliptical disk 411a of the wave generator. Every time the wave generator rotates one circle, each tooth of the flexible wheel 421 and the rigid wheel 431 meshes once, but due to the difference in the number of teeth between the outer tooth portion 421a and the inner tooth portion 431a, the reduction ratio i is: the difference in the number of teeth / the number of teeth of the outer tooth portion 421a, where the difference in the number of teeth = the number of teeth of the outer tooth portion 421a - the number of teeth of the inner tooth portion 431a, therefore, the angle rotated by the outer tooth portion 421a is i×360°, thereby achieving a reduction effect. For example: assuming that the number of teeth of the outer tooth portion 421a is 200 and the number of teeth of the inner tooth portion 431a is 202, then i=-2 / 200=-0.01, that is, the rotation speed of the flexible wheel 421 is 1 / 100 of the rotation speed of the elliptical disk 411a, achieving a reduction effect, and "-" indicates that the output direction of the flexible wheel 421 is opposite to the rotation direction of the elliptical disk 411a. In this embodiment, the difference in the number of teeth can be 1, 2, or 3. Since there are many possible examples, they are not listed here one by one.

[0030] In addition, in the present embodiment, there is no specific limitation on the connection method between the end cover 3 and the shell 1, which can be a detachable connection or a non-detachable connection. For example, the mounting portion 221 and the input member 41 are two separate parts before assembly, and are connected by bonding, riveting, welding, connecting member connection, and clamping during assembly, or a combination of several methods. Among them, the connecting member can be a bolt, etc. The bolt connection can prevent loosening by increasing the preload, will not cause phase change of the material composition at the connection, is easy to disassemble, and is convenient for maintenance; the welding connection does not require drilling, the cross section is not weakened, and no additional connecting members are required. The structure is simple, the welding structure has good airtightness, and the rigidity and integrity are both large; the internal stress of the bonding is evenly distributed, different materials can be connected, and it is suitable for connecting thin materials. Materials of different thicknesses can be connected, the adhesive can better isolate external corrosive media, and it is also an insulating material itself, which can reduce the electrochemical corrosion of the substrate, and there is no problem of weakening the strength of the substrate similar to riveting and screw holes. There is no need to consider the size matching problem of the components. The adhesive can have a certain elasticity and can be used in places with vibration.

[0031] Of course, the end cover 3 and the housing 1 can also be directly processed into one piece during the processing, for example, through one or more combinations of machining, casting, powder metallurgy, metal powder injection molding, and stamping to form an integrated piece. For example, it can be machined into an integrated piece, or it can be formed into an integrated piece through casting, powder metallurgy, metal powder injection molding, stamping and other processes, and it can also be processed again by machining after being formed into an integrated piece. In a specific embodiment, both are processed by machining, so that the same positioning processing can be performed on the machine tool to ensure the positioning accuracy of the two and reduce the error.

[0032] To improve the stability of the transmission, refer to Figure 2 and Figure 8 In some embodiments, the output part 5 is at least partially located inside the housing 1, the bearing member 6 is located between the output part 5 and the housing 1, the bearing member 6 includes a bearing inner ring 61, a bearing outer ring 62 and a rolling member 63, and the rolling member 63 is located between the bearing inner ring 61 and the bearing outer ring 62; the bearing inner ring 61 is connected to the outer wall of the output part 5, and the bearing outer ring 62 is connected to the inner wall of the housing 1; the driving device also includes an inner stop flange 71 and an outer stop flange 72, the inner stop flange 71 is connected to the output part 5, and the inner stop flange 71 abuts against the outer end of the bearing inner ring 61 along the axial direction of the driving mechanism 2 and away from the input member 41, and the outer stop flange 72 is connected to the housing 1, and the outer stop flange 72 abuts against the outer end of the bearing outer ring 62 along the axial direction of the driving mechanism 2 and away from the input member 41. In some embodiments, the housing 1 may include a plurality of sub-housings, which are assembled with each other, and the processing accuracy and assembly accuracy of the sub-housings meet the design requirements to ensure the transmission accuracy between the driving mechanism 2 and the speed change transmission mechanism 4. In other embodiments, the housing 1 includes a first part 11 and a second part 12, the stator part 21 is connected to the first part 11, and the fixing part 43 is connected to the second part 12. In order to further improve the transmission accuracy, the first part 11 and the second part 12 are an integral part, and the method of obtaining the integral part is not specifically limited. It can be obtained by one or more combinations of welding, casting, powder metallurgy, metal powder injection molding, etc., or it can be obtained by machining after welding or casting molding or powder metallurgy molding or metal powder injection molding, etc., or it can be obtained directly by machining. In a specific embodiment, the first part 11 and the second part 12 are both machined, so that the first part 11 and the second part 12 can be processed on the machine tool through the same positioning, ensuring the positioning accuracy of the first part 11 and the second part 12, reducing or avoiding the installation position deviation of the drive mechanism 2 and the speed transmission mechanism 4 to a high degree, and effectively improving the transmission accuracy between the drive mechanism 2 and the speed transmission mechanism 4.

[0033] In some other embodiments, see Figure 1The housing 1 further includes a third part 13, which is connected to the bearing member 6. In other words, the output part 5 is rotatably connected to the third part 13 through the bearing member 6. The inner end of the bearing inner ring 61 along the axial direction of the driving mechanism 2 abuts against the shoulder on the outer wall of the output part 5, and the inner end of the bearing outer ring 62 along the axial direction of the driving mechanism 2 abuts against the shoulder set on the inner wall of the third part 13. In this way, the bearing inner ring 61 and the bearing outer ring 62 of the bearing member 6 are limited in the axial direction of the driving mechanism 2, and the output part 5 is also limited in the axial direction of the driving mechanism 2, so as to avoid the axial jumping of the driving mechanism 2 during operation, which is conducive to improving the stability during operation. In this embodiment, the bearing member 6 adopts a cross roller bearing, which can not only obtain high-precision rotational motion, but also withstand loads in all directions. Furthermore, the third part 13 and the second part 12 are an integral part. This embodiment does not specifically limit the method of obtaining the integrated part. It can be obtained by one or more combinations of welding, casting, powder metallurgy, metal powder injection molding, etc., or by machining after welding or casting molding or powder metallurgy molding or metal powder injection molding, etc., or directly by machining. In a specific embodiment, the third part 13 and the second part 12 are both processed by machining, so that the third part 13 and the second part 12 can be processed on the machine tool through the same positioning, ensuring the positioning accuracy of the third part 13 and the second part 12, reducing or avoiding the installation position deviation of the speed transmission mechanism 4 and the bearing member 6 to a high degree, and effectively improving the transmission accuracy between the speed transmission mechanism 4 and the bearing member 6. In this embodiment, the output part 5 is an output flange, and the output flange has many holes that can be used to connect external loads.

[0034] Some technical implementations in the above embodiments may be combined or replaced.

[0035] 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. A driving device, characterized in that: It includes a driving mechanism and a speed-changing transmission mechanism, wherein the driving mechanism includes a stator part and a rotor part, wherein the rotor part includes a mounting part and a plurality of magnetic steels, and the speed-changing transmission mechanism includes an input member and an output member, wherein the input member and the output member are in transmission cooperation; The mounting portion is connected to the input member, the magnetic steel is connected to the mounting portion, at least one magnetic steel includes at least two magnetic steel splits, and the multiple magnetic steel splits of the same magnetic steel are arranged along the radial direction of the mounting portion.

2. The driving device according to claim 1, characterized in that: The magnetic steel split body comprises a first side surface portion and a second side surface portion, the first side surface portion and the second side surface portion are arranged opposite to each other, and the first side surface portion and the second side surface portion are both arranged along the radial direction of the mounting portion; The first side surfaces of any two adjacent magnetic steel splits of the same magnetic steel are in the same plane, and the second side surfaces of any two adjacent magnetic steel splits of the same magnetic steel are in the same plane.

3. The driving device according to claim 1, characterized in that: There is a gap between any two adjacent magnetic steel parts of the same magnetic steel, the side of the gap close to the axis of the driving mechanism is the first surface, and the side of the gap away from the axis of the driving mechanism is the second surface; The first surface and the second surface are both arc surfaces, and the axis lines of the arc surfaces on which the two surfaces are located coincide with the axis line of the driving mechanism; Alternatively, the first surface and the second surface are both planes, and are parallel to each other.

4. The driving device according to claim 1, characterized in that: The magnetic steel split also includes a third side portion and a fourth side portion, the third side portion is located on a side of the magnetic steel split facing the axis of the drive mechanism, and the fourth side portion is located on a side of the magnetic steel split facing away from the axis of the drive mechanism; The third side surface and the fourth side surface are both arc surfaces, and the axis center lines of the arc surfaces where the third side surface and the fourth side surface are located coincide with the axis line of the driving mechanism; Alternatively, the third side surface portion and the fourth side surface portion are both planes, and the third side surface portion and the fourth side surface portion are parallel.

5. The driving device according to claim 1, characterized in that: The mounting portion is directly connected to the input member, the mounting portion and the input member are arranged along the axial direction of the driving mechanism, the mounting portion extends in a direction perpendicular to the axis of the driving mechanism, the magnetic steel is located on the side of the mounting portion facing the stator portion, and a plurality of magnetic steels are evenly distributed around the axis of the mounting portion.

6. The driving device according to claim 1, characterized in that: The mounting portion is directly connected to the input member, a plurality of magnets are evenly distributed circumferentially with the axis of the driving mechanism as the center, the opposite side walls of two adjacent magnets are parallel, and the thickness of each magnet is the same.

7. The driving device according to claim 6, characterized in that: Each magnetic steel includes the same number of magnetic steel segments, and the magnetic steel segments of the same magnetic steel have the same length along the radial direction of the mounting portion.

8. The driving device according to claim 1, characterized in that: The mounting portion and the input member are fixed by at least one of assembly connection, integral connection, and welding connection, the stator portion and the rotor portion are arranged along the axial direction of the driving mechanism, and an air gap is provided between the stator portion and the rotor portion; The stator part includes a stator core and a coil winding, the stator core includes a plurality of stator teeth, the plurality of stator teeth are evenly distributed around the axis of the drive mechanism, and the coil winding is located outside the stator teeth; The stator core also includes a chassis portion, the stator teeth portion is connected to the chassis portion, the stator teeth portion is located between the chassis portion and the rotor portion, the stator teeth portion extends from the chassis portion toward the rotor portion, and the extension direction of the stator teeth portion is parallel to the axial direction of the driving mechanism.

9. The driving device according to any one of claims 1 to 8, characterized in that: The driving device further comprises a housing, an end cover, an output part and a bearing member, wherein the output part and the end cover are respectively located at two ends of the housing, the output member is connected to the output part, the bearing member is arranged between the output part and the housing, and the end cover is connected to the housing; The input member comprises an elliptical disk, and the mounting portion is connected to the elliptical disk; The input member further comprises a flexible bearing, the output member comprises a flexible wheel, the flexible wheel comprises an external tooth portion, and the flexible bearing is located between the elliptical disk and the external tooth portion; The driving device further comprises a fixing member, the fixing member comprises a rigid wheel, the rigid wheel is connected to the housing, the outer tooth portion is located between the flexible bearing and the rigid wheel, the rigid wheel comprises an inner tooth portion, the inner tooth portion is partially meshed with the outer tooth portion, and the number of teeth of the outer tooth portion is less than the number of teeth of the inner tooth portion; The flexible spline further includes a connecting portion, and the connecting portion connects the outer tooth portion and the output portion.

10. The driving device according to claim 9, characterized in that: The output part is at least partially located on the inner side of the housing, the bearing part is located between the output part and the housing, the bearing part includes a bearing inner ring, a bearing outer ring and a rolling component, and the rolling component is located between the bearing inner ring and the bearing outer ring; the bearing inner ring is connected to the outer wall of the output part, and the bearing outer ring is connected to the inner wall of the housing; the driving device also includes an inner limit flange and an outer limit flange, the inner limit flange is connected to the output part, and the inner limit flange abuts against the outer end of the bearing inner ring along the axial direction of the driving mechanism and away from the input part, and the outer limit flange is connected to the housing, and the outer limit flange abuts against the outer end of the bearing outer ring along the axial direction of the driving mechanism and away from the input part; The housing comprises a first part and a second part, the driving mechanism is at least partially located in the first part, the speed change transmission mechanism is at least partially located in the second part, and the first part and the second part are an integral part.

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