Transmission device and robot

The invention discloses a transmission device and a robot, and relates to the technical field of speed reducers, the transmission device comprises a pin wheel housing, a cycloidal gear, a crankshaft, a motor assembly, an output flange, a shell and a plurality of pin shafts, and a stator iron core of the motor assembly is arranged around the outer side of the pin wheel housing; the permanent magnet is fixedly connected to the turntable seat of the bracket and is arranged around the outer side of the stator core, so that the motor assembly drives the bracket to rotate through the cooperation of the permanent magnet and the stator core. The mounting seat of the bracket is fixedly connected with the first main shaft part of the crankshaft, so that the bracket drives the crankshaft to rotate when rotating. The motor assembly and the speed reducer are integrally designed, an output shaft of an original motor is omitted, and the stator iron core is designed to surround the outer side of the pin wheel housing, so tha