Driving device and actuator

Abstract

The driving device comprises a power mechanism, a gear box and a lead screw, the gear box comprises a shell, a gear assembly and an output gear, the gear assembly and the output gear are arranged in the shell, the power mechanism is arranged at one end of the shell and is in transmission connection with the gear assembly, the shell is provided with a through hole, and the through hole is communicated with the interior of the shell; the output gear is arranged in the through hole, the lead screw penetrates through the through hole, the output gear comprises an output gear shaft and an annular gear body arranged on the peripheral face of the output gear shaft, the output gear shaft is in threaded connection with the lead screw, the gear body is meshed with the gear assembly, and two end face bearings are arranged in the through hole. The two end face bearings are arranged on the periphery of the output gear shaft in a sleeving mode, the gear body is located between the two end face bearings, the two ends of the gear body are each provided with a protruding point structure, and the protruding point structures at the two ends of the gear body abut against the ends, close to the gear body, of the two end face bearings respectively. According to the invention, the axial displacement of the output gear can be eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular to a driving device and an actuator. Background Art

[0002] The driving device of the existing actuator generally includes a power mechanism, a gear box and a screw. The gear box includes a housing, a gear assembly and an output gear arranged in the housing. The power mechanism is arranged at one end of the housing and is transmission-connected to the gear assembly. The housing has a through hole, which is connected to the interior of the housing. The output gear is arranged in the through hole, and the screw passes through the through hole. The output gear includes an output gear shaft and an annular gear body arranged on the outer circumferential surface of the output gear shaft. The output gear shaft is threadedly connected to the screw, and the gear body is meshed with the gear assembly. During actual operation, the power mechanism drives the output gear shaft to rotate through the gear assembly, thereby driving the gear body to rotate, and then driving the screw to rotate. The rotation of the screw can drive the nut threadedly connected to it to move along the axial direction of the screw, thereby driving the load connected to the nut to move along the axial direction of the screw to perform corresponding actions. When the load is large, the large axial force generated by the axial movement of the load along the screw will be transmitted to the output gear through the screw, causing the output gear to move axially, thereby causing axial displacement of the output gear. The axial displacement of the output gear will affect the normal use of the drive device, such as reducing transmission accuracy, increasing wear, and reducing efficiency. During long-term use, the performance of the drive device may gradually decline due to wear and other reasons, requiring frequent maintenance and replacement of parts, which increases the cost of use.

[0003] Therefore, an improved driving device and actuator are urgently needed to solve the above technical problems. Summary of the Invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides a driving device and an actuator, which can eliminate the axial drift of the output gear, ensure the normal use of the driving device, and reduce the cost of use.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] The first aspect of the present invention provides a driving device, including a power mechanism, a gear box and a screw rod, the gear box including a housing, a gear assembly and an output gear arranged in the housing, the power mechanism is arranged at one end of the housing and is transmission-connected to the gear assembly, the housing has a through hole, the through hole is communicated with the interior of the housing, the output gear is arranged in the through hole, the screw rod passes through the through hole, the output gear includes an output gear shaft and an annular gear body arranged on the outer peripheral surface of the output gear shaft, the output gear shaft is threadedly connected to the screw rod, the gear body is meshed with the gear assembly, two end face bearings are provided in the through hole, the two end face bearings are respectively sleeved on the outer periphery of the output gear shaft, the gear body is located between the two end face bearings, and the two ends of the gear body are respectively provided with a convex point structure, and the convex point structures at both ends of the gear body respectively abut against one end of the two end face bearings close to the gear body.

[0007] As a preferred technical solution, two annular bosses are respectively provided at both ends of the gear body, and the bosses are arranged on the outer peripheral surface of the output gear shaft. The two bosses respectively correspond to the convex point structures at both ends of the gear body, and the convex point structure includes a plurality of convex points. The plurality of convex points are arranged in an annular manner around the output gear shaft and are respectively arranged at one end of the corresponding boss away from the gear body, and the plurality of convex points respectively abut against one end of the corresponding end face bearing close to the gear body.

[0008] As a preferred technical solution, a plurality of connection parts are arranged on the outer circumferential surface of the output gear shaft at intervals in the circumferential direction, and the gear body and the two bosses are respectively arranged on the outer circumferential surfaces of the plurality of connection parts.

[0009] As a preferred technical solution, the gear body, output gear shaft, two bosses, multiple connecting parts and the protrusion structures at both ends of the gear body are an integrally molded overall structure, which is a plastic part, and the end face bearing is a metal bearing.

[0010] As a preferred technical solution, two sliding bearings are provided in the through hole, the two sliding bearings are respectively sleeved on the outer circumference of the output gear shaft, and the two end bearings are located between the two sliding bearings.

[0011] As a preferred technical solution, the inner wall of the through hole has two first step surfaces and two second step surfaces, the two first step surfaces are located between the two second step surfaces, the ends of the two end face bearings away from the gear body are respectively in contact with the two first step surfaces, the ends of the two sliding bearings close to the gear body are respectively in contact with the ends of the two end face bearings away from the gear body, and the ends of the two sliding bearings away from the gear body are respectively in contact with the two second step surfaces.

[0012] As a preferred technical solution, the interior of the shell has a first chamber and a second chamber separated from each other by a partition, one end of the shell is provided with an opening, the opening is connected to the first chamber, the through hole is located on one side of the second chamber and is connected to the second chamber; the gear assembly includes an inner ring gear, a planetary carrier, a plurality of planetary gears and a connecting gear, the inner ring gear is arranged in the first chamber, the planetary carrier is arranged in the second chamber, and the end of the planetary carrier close to the power mechanism passes through the through hole of the partition and extends into the inner ring gear, planetary carrier teeth are provided on the outer peripheral surface of the planetary carrier, the planetary carrier teeth are located in the second chamber, a plurality of planetary gears are respectively arranged on the planetary carrier and respectively mesh with the inner teeth of the inner ring gear, and the connecting gear is arranged in the second chamber and respectively meshes with the planetary carrier teeth and the gear body of the output gear.

[0013] As a preferred technical solution, the power mechanism includes a driving member, which is arranged at one end of the shell, and the output end of the driving member extends into the inner gear ring through the opening and a driving gear is provided on its outer periphery, and multiple planetary gears are respectively engaged with the driving gear.

[0014] As a preferred technical solution, a support bearing is provided in the through hole, and the support bearing is sleeved on the outer periphery of the planet carrier and located below the planet carrier teeth.

[0015] A second aspect of the present invention provides an actuator, comprising the driving device described in the above technical solution.

[0016] The beneficial effects of the present invention are as follows: the present invention provides two end face bearings and convex point structures respectively provided at both ends of the gear body, and the convex point structures at both ends of the gear body respectively abut against one end of the two end face bearings close to the gear body. When the load is large, the two end face bearings can provide axial holding force for the output gear, and the convex point structures at both ends of the gear body respectively abut against one end of the two end face bearings close to the gear body, thereby fixing the gear body between the two end face bearings. This can prevent the output gear from axial movement, thereby eliminating the axial displacement of the output gear, ensuring the normal use of the drive device, extending the service life of the drive device, and protecting the performance of the drive device. Frequent maintenance and replacement of parts are not required, thereby reducing the cost of use. The present invention has a simple structure and is easy to assemble, which improves production efficiency and reduces production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and examples.

[0018] Figure 1 This is a schematic structural diagram of a driving device provided by an embodiment of the present invention at a first angle;

[0019] Figure 2 yes Figure 1 A schematic structural diagram of a second angle of the driving device shown;

[0020] Figure 3 yes Figure 1 A schematic top view of the driving device shown;

[0021] Figure 4 yes Figure 3 A schematic cross-sectional view at AA is shown;

[0022] Figure 5 yes Figure 3 A schematic cross-sectional view at BB is shown;

[0023] Figure 6 yes Figure 1 The schematic diagram of the structure of the driving device shown is after removing the gear box housing;

[0024] Figure 7 yes Figure 6 The schematic cross-sectional view of the drive device shown is shown with the gearbox housing removed;

[0025] Figure 8 yes Figure 1 A schematic structural diagram of a housing of a gearbox of the drive device shown;

[0026] Figure 9 yes Figure 8 A schematic cross-sectional view of the housing shown;

[0027] Figure 10 yes Figure 1 An exploded schematic diagram of a gear assembly of a gearbox of the drive device shown;

[0028] Figure 11 yes Figure 1 A schematic structural diagram of a first angle of the output gear and the lead screw of the driving device shown;

[0029] Figure 12 yes Figure 1 A schematic structural diagram of the second angle of the output gear and the lead screw of the driving device shown.

[0030] Reference numerals:

[0031] 10. Power mechanism; 11. Driving member; 12. Driving gear;

[0032] 20. Gearbox; 21. Housing; 21a. Lower housing; 21b. Upper housing; 211. Through hole; 2111. First step surface; 2112. Second step surface; 212. First chamber; 213. Second chamber; 214. Partition; 2141. Through hole; 221. Internal gear ring; 2211. Internal teeth of internal gear ring; 222. Planet carrier; 222a. Mounting groove; 222b. Accommodating chamber; 2221. Planet carrier teeth; 2222. Mounting shaft; 2223. Support bearing; 223. Planet gear; 2231. Planet gear shaft; 224. Connecting gear; 2241. Connecting gear shaft; 23. Output gear; 231. Output gear shaft; 232. Gear body; 2321. Protrusion; 2322. Boss; 2323. Connecting portion; 24. End bearing; 25. Sliding bearing;

[0033] 30. Screw rod; 31. Connecting sleeve; 32. Circlip; 33. Buffer pad. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the invention can be combined interactively without conflicting with each other.

[0035] Please refer to Figures 1 to 7 An embodiment of the present invention provides a driving device, including a power mechanism 10, a gear box 20 and a screw rod 30.

[0036] The gearbox 20 includes a housing 21, a gear assembly arranged in the housing 21, and an output gear 23. The housing 21 is composed of a lower shell 21a and an upper shell 21b. The power mechanism 10 is arranged at one end of the housing 21 and is transmission-connected to the gear assembly. The housing 21 has a through hole 211 passing through both ends thereof, and the through hole 211 is connected to the interior of the housing 21. The screw rod 30 passes through the through hole 211. The screw rod 30 is used to be threadedly connected to the nut, and the nut is used to be connected to the load. One end of the screw rod 30 is equipped with a connecting sleeve 31 for fixing the screw rod 30, and the other end of the screw rod 30 is equipped with a retaining spring 32 and a buffer pad 33 for limiting the movement of the nut. The output gear 23 is arranged in the through hole 211. The output gear 23 includes an output gear shaft 231 and an annular gear body 232 arranged on the outer circumference of the output gear shaft 231. The output gear shaft 231 is threadedly connected to the screw rod 30. In this embodiment, the inner wall of the output gear shaft 231 is provided with an internal thread, and the internal thread is threadedly connected to the external thread of the screw rod 30. The threaded connection between the output gear shaft 231 and the screw rod 30 can ensure the stability of the connection between the output gear 23 and the screw rod 30, and facilitate the assembly of the two. The gear body 232 is engaged with the gear assembly. Two end bearings 24 are provided in the through hole 211. The end bearings 24 are preferably ball bearings. The two end bearings 24 are respectively sleeved on the outer circumference of the output gear shaft 231. The gear body 232 is located between the two end bearings 24. The two end bearings 24 are used to provide axial retaining force to the output gear 23, thereby preventing the output gear 23 from moving axially along the through hole 211. Both ends of the gear body 232 are provided with convex structures. The convex structures at both ends of the gear body 232 correspond to the two end bearings 24 respectively. The convex structures abut against the ends of the corresponding end bearings 24 close to the gear body 232 .

[0037] During actual operation, the power mechanism 10 drives the gear body 232 of the output gear 23 to rotate through the gear assembly, thereby driving the output gear shaft 231 to rotate, and then driving the screw rod 30 to rotate. The rotation of the screw rod 30 can drive the nut threadedly connected to it to move along the axial direction of the screw rod 30, thereby driving the load to move along the axial direction of the screw rod 30 to perform the corresponding action. The present invention provides two end face bearings 24 and convex structures respectively provided at both ends of the gear body 232. The convex structures at both ends of the gear body 232 respectively abut against one end of the two end face bearings 24 close to the gear body 232. When the load is large, the two end face bearings 24 can provide an axial holding force to the output gear shaft 231, thereby providing an axial holding force to the output gear 23. Moreover, the convex structures at both ends of the gear body 232 respectively abut against one end of the two end face bearings 24 close to the gear body 232, thereby fixing the gear body 232 between the two end face bearings 24. This can prevent the output gear 23 from axial movement, thereby eliminating the axial displacement of the output gear 23, ensuring the normal use of the drive device, extending the service life of the drive device, and protecting the performance of the drive device. Frequent maintenance and replacement of components are not required, thereby reducing the cost of use. The present invention has a simple structure and is easy to assemble, thereby improving production efficiency and reducing production costs.

[0038] In this embodiment, there are two screw rods 30, and the two screw rods 30 are arranged in parallel. The number of through holes 211 and output gears 23 corresponds to the number of screw rods 30, which are also two respectively. It can be understood that the number of screw rods 30, through holes 211, and output gears 23 can be set according to actual conditions.

[0039] In this embodiment, combined with Figure 11 and Figure 12As shown, two annular bosses 2322 are provided at each end of the gear body 232. The bosses 2322 are disposed on the outer circumference of the output gear shaft 231. The two bosses 2322 correspond to the protrusion structures at both ends of the gear body 232. The protrusion structures include multiple protrusions 2321, which are arranged in an annular pattern around the output gear shaft 231 and located at the ends of the corresponding bosses 2322 away from the gear body 232. The multiple protrusions 2321 abut against the ends of the corresponding end bearings 24 that are closer to the gear body 232. The protrusions 2321 preferably abut against the ends of the inner rings of the corresponding end bearings 24 that are closer to the gear body 232. By abutting the multiple protrusions 2321 at both ends of the gear body 232 against the ends of the two end bearings 24 that are closer to the gear body 232, the gear body 232 is secured between the two end bearings 24. The number and shape of the protrusions 2321 can be adjusted based on actual needs. The provided boss 2322 can reduce the friction between the two ends of the gear body 232 and the two end bearings 24 , thereby reducing the wear on the gear body 232 .

[0040] In this embodiment, the outer circumferential surface of the output gear shaft 231 is provided with a plurality of connecting portions 2323 spaced circumferentially therefrom. The gear body 232 and the two bosses 2322 are respectively provided on the outer circumferential surfaces of the plurality of connecting portions 2323. The number of connecting portions 2323 can be set according to actual conditions. This structure can reduce the weight of the output gear 23.

[0041] The gear body 232, output gear shaft 231, two bosses 2322, multiple connecting portions 2323, and the raised points at each end of the gear body 232 are integrally formed, making them easy to manufacture. This integral structure is made of a plastic component, such as POM (polyoxymethylene resin). The plastic material used for the output gear 23 has a certain degree of wear resistance and toughness, which can extend the service life of the output gear 23. The end bearing 24 is a metal bearing, such as a stainless steel bearing. The metal end bearing 24 has good rigidity and load-bearing capacity and can withstand large axial forces, such as a static axial load of 11,000 Newtons (N) and a dynamic axial load of 38,000 Newtons (N).

[0042] Furthermore, two sliding bearings 25 are disposed within the through-hole 211. The two sliding bearings 25 are respectively sleeved around the outer circumference of the output gear shaft 231, with the two end bearings 24 located between the two sliding bearings 25. The two sliding bearings 25 radially position the output gear shaft 231, thereby radially positioning the output gear 23, ensuring the rotational stability of the output gear 23, thereby ensuring the rotational stability of the screw shaft 30, and further ensuring the stability of the load movement.

[0043] In this embodiment, combined with Figure 9As shown, the inner wall of the through hole 211 has two first stepped surfaces 2111 and two second stepped surfaces 2112. The two first stepped surfaces 2111 are located between the two second stepped surfaces 2112. The ends of the two end bearings 24 away from the gear body 232 are in contact with the two first stepped surfaces 2111, respectively. The two first stepped surfaces 2111 and the protruding points at both ends of the gear body 232 can respectively limit the axial position of the two end bearings 24. The ends of the two sliding bearings 25 close to the gear body 232 are in contact with the ends of the two end bearings 24 away from the gear body 232, respectively. The ends of the two sliding bearings 25 away from the gear body 232 are in contact with the two second stepped surfaces 2112, respectively. The two end bearings 24 and the two second stepped surfaces 2112 can respectively limit the axial position of the two sliding bearings 25.

[0044] Combine Figures 8 to 10 As shown, the interior of the shell 21 has a first chamber 212 and a second chamber 213 separated from each other by a partition 214. An opening is provided at one end of the shell 21, which is connected to the first chamber 212. The through hole 211 is located on one side of the second chamber 213 and is connected to the second chamber 213.

[0045] The gear assembly includes an inner ring gear 221, a planetary carrier 222, a plurality of planetary gears 223, and a connecting gear 224. The inner ring gear 221 is disposed in the first chamber 212, specifically, on the inner wall of the first chamber 212. The planetary carrier 222 is disposed in the second chamber 213. In this embodiment, a mounting hole is provided at the end of the planetary carrier 222 away from the power mechanism 10, and a mounting shaft 2222 is provided in the mounting hole. A slot is provided on the inner wall of the end of the second chamber 213 away from the partition 214, and one end of the mounting shaft 222 protrudes from the end of the planetary carrier 222 away from the power mechanism 10 and is rotatably disposed in the slot. The partition 214 is provided with a through hole 2141, which is connected to the first chamber 212 and the second chamber 213 respectively. The end of the planetary carrier 222 close to the power mechanism 10 passes through the through hole 2141 of the partition 214 and extends into the inner ring gear 221. Planet carrier 222 is provided with planet carrier teeth 2221 on its outer circumference. These teeth are located within second chamber 213, with portions of them extending into through-hole 2141. A plurality of planetary gears 223 are mounted on planet carrier 222 and mesh with the internal teeth 2211 of ring gear 221. A connecting gear 224 is disposed within second chamber 213 and meshes with both the planet carrier teeth 2221 and the gear body 232 of output gear 23.

[0046] The power mechanism 10 includes a drive member 11, which is mounted at one end of the housing 21. The output end of the drive member 11 extends through an opening into the inner ring gear 221. A drive gear 12 is mounted on its outer circumference. Multiple planetary gears 223 mesh with the drive gear 12. The drive member 11 is preferably a motor. The drive member 11 is used to rotate the drive gear 12, which in turn rotates the planetary carrier 222 via the multiple planetary gears 223. This, in turn, rotates the connecting gear 224 via the planetary carrier teeth 2221. The rotation of the connecting gear 224 then rotates the gear body 232.

[0047] In this embodiment, a receiving chamber 222b is provided at one end of the planetary carrier 222, near the power mechanism 10. The output end of the drive member 11 and the drive gear 12 are located within the receiving chamber 222b. A plurality of mounting grooves 222a are circumferentially spaced apart on the outer circumference of the planetary carrier 222, and the mounting grooves 222a are connected to the receiving chamber 222b. A plurality of planetary gears 223 correspond to the plurality of mounting grooves 222a and are disposed within the corresponding mounting grooves 222a. In this embodiment, two planetary carrier holes are provided on the inner walls at each end of the mounting grooves 222a. The planetary gears 223 are sleeved around the outer circumference of the planetary gear shaft 2231. The two ends of the planetary gear shaft 2231 are rotatably mounted within the two planetary carrier holes in the corresponding mounting grooves 222a. The planetary gears 223 partially protrude from the outer circumference of the planetary carrier 222 and partially extend into the receiving chamber 222b. The partition 214 is provided with a partition hole, and the inner wall of the second chamber 213 at one end away from the partition 214 is provided with a chamber hole. The connecting gear 224 is sleeved on the outer periphery of the connecting gear shaft 2241, and the two ends of the connecting gear shaft 2241 are respectively rotatably set in the partition hole and the chamber hole.

[0048] There are three planetary gears 223, and the number of mounting slots 222a corresponds to the number of planetary gears 223, which is also three. It can be understood that the number of planetary gears 223 and mounting slots 222a can be set according to actual conditions.

[0049] A support bearing 2223 is disposed within the through hole 2141. The support bearing 2223 is sleeved around the outer periphery of the planet carrier 222 and positioned below the planet carrier teeth 2221. The support bearing 2223 provides rotational support for the planet carrier 222, thereby improving the rotational stability of the planet carrier 222. The support bearing 2223 may be, for example, a ball bearing.

[0050] In this embodiment, the planet carrier teeth 2221, the teeth of the connecting gear 224, and the teeth of the gear body 232 are all helical teeth. Helical teeth provide a high transmission ratio, reduce noise and vibration, and have a long service life. It is understood that in other embodiments, the planet carrier teeth 2221, the teeth of the connecting gear 224, and the teeth of the gear body 232 may also be straight teeth.

[0051] The present invention Figure 4 、 Figure 5 、 Figures 10 to 12 The inner teeth 2211 of the inner ring gear 221 , the teeth of the planetary gears 223 , the teeth of the driving gear 12 , the planetary carrier teeth 2221 of the planetary carrier 222 , the teeth of the connecting gear 224 and the teeth of the gear body 232 are not shown.

[0052] The present invention also provides an actuator comprising the above-mentioned driving device.

[0053] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A driving device, comprising a power mechanism, a gear box and a screw, wherein the gear box comprises a housing, a gear assembly and an output gear arranged in the housing, the power mechanism is arranged at one end of the housing and is transmission-connected to the gear assembly, the housing has a through-hole, the through-hole is communicated with the interior of the housing, the output gear is arranged in the through-hole, the screw passes through the through-hole, the output gear comprises an output gear shaft and an annular gear body arranged on the outer circumference of the output gear shaft, the output gear shaft is threadedly connected to the screw, and the gear body is meshed with the gear assembly, characterized in that Two end bearings are provided in the through hole, and the two end bearings are respectively sleeved on the outer circumference of the output gear shaft. The gear body is located between the two end bearings. Both ends of the gear body are respectively provided with convex point structures, and the convex point structures at both ends of the gear body are respectively against one end of the two end bearings close to the gear body.

2. The driving device according to claim 1, characterized in that Two annular bosses are respectively provided at both ends of the gear body, and the bosses are provided on the outer peripheral surface of the output gear shaft. The two bosses respectively correspond to the convex point structures at both ends of the gear body, and the convex point structures include multiple convex points. The multiple convex points are arranged in an annular manner around the output gear shaft and are respectively provided at the end of the corresponding boss away from the gear body. The multiple convex points respectively abut against the end of the corresponding end face bearing close to the gear body.

3. The driving device according to claim 2, characterized in that A plurality of connection parts are arranged on the outer circumferential surface of the output gear shaft at intervals in the circumferential direction, and the gear body and the two bosses are respectively arranged on the outer circumferential surfaces of the plurality of connection parts.

4. The driving device according to claim 3, characterized in that The gear body, the output gear shaft, the two bosses, the multiple connecting parts and the convex point structures at both ends of the gear body are an integrally formed overall structure, the overall structure is a plastic part, and the end face bearing is a metal bearing.

5. The driving device according to claim 1, characterized in that Two sliding bearings are provided in the through hole. The two sliding bearings are respectively sleeved on the outer circumference of the output gear shaft, and the two end bearings are located between the two sliding bearings.

6. The driving device according to claim 5, characterized in that The inner wall of the through hole has two first step surfaces and two second step surfaces, the two first step surfaces are located between the two second step surfaces, the ends of the two end face bearings away from the gear body are respectively in contact with the two first step surfaces, the ends of the two sliding bearings close to the gear body are respectively in contact with the ends of the two end face bearings away from the gear body, and the ends of the two sliding bearings away from the gear body are respectively in contact with the two second step surfaces.

7. The driving device according to claim 1, characterized in that The shell has a first chamber and a second chamber separated from each other by a partition, an opening is provided at one end of the shell, the opening is connected to the first chamber, and the through hole is located on one side of the second chamber and is connected to the second chamber; The gear assembly includes an inner ring gear, a planet carrier, a plurality of planetary gears and a connecting gear. The inner ring gear is arranged in the first chamber, the planet carrier is arranged in the second chamber, and the end of the planet carrier close to the power mechanism passes through the through hole of the partition and extends into the inner ring gear. Planet carrier teeth are provided on the outer circumference of the planet carrier, and the planet carrier teeth are located in the second chamber. A plurality of planetary gears are respectively arranged on the planet carrier and respectively mesh with the inner teeth of the inner ring gear. The connecting gear is arranged in the second chamber and respectively mesh with the planet carrier teeth and the gear body of the output gear.

8. The driving device according to claim 7, characterized in that The power mechanism includes a driving member, which is arranged at one end of the housing. The output end of the driving member extends into the inner gear ring through the opening and is sleeved with a driving gear on its outer periphery. A plurality of planetary gears are respectively engaged with the driving gear.

9. The driving device according to claim 7, characterized in that A support bearing is provided in the through hole, and the support bearing is sleeved on the outer periphery of the planet carrier and is located below the planet carrier teeth.

10. An actuator, characterized in that: The device comprises a driving device according to any one of claims 1 to 9.

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