Miniature axial planetary enveloping worm and gear motor module

Abstract

The invention discloses a miniature axial planetary enveloping worm and gear motor module, and belongs to the technical field of motor modules, and the module comprises an axial magnetic flux motor which comprises an output upper shell and an output lower shell which are disposed at one side of the axial magnetic flux motor, and is used for supporting an assembly; the first-stage planetary speed reduction unit comprises a planetary retainer which is fixedly connected and arranged at the output end of the axial magnetic flux motor and is used for speed reduction transmission; according to the invention, the axial magnetic flux motor has the characteristic of high torque density, and the axial magnetic flux motor is matched with the primary torque increase of the first-stage planetary reduction unit and the ultimate torque increase of the second-stage enveloping worm and gear reduction unit, so that the step-by-step amplification of the torque is realized, and the large torque output requirement is met; meanwhile, due to the integrated shaft formed by integrally machining the planet retainer and the input enveloping worm and the direct connection design of the rotor and the sun gear, components such as a motor shaft, a two-stage speed reduction connecting shaft and a coupler in a traditional structure are eliminated, intermediate loss in the power transmission process is reduced, the transmission efficiency is greatly improved, and efficient power transmission is ensured.

Description

Technical Field

[0001] This invention belongs to the field of motor module technology, specifically a miniature axial planetary envelope worm gear motor module. Background Technology

[0002] Against the backdrop of rapid development in modern industrial technology, many fields, such as industrial automation, precision instruments, micro-actuators, robot joints, and medical devices, are placing increasingly stringent and diverse demands on the performance of core drive components. On the one hand, equipment miniaturization and lightweighting have become an irreversible development trend, requiring drive modules to achieve efficient power output within a limited space, making axial compactness a key design indicator. On the other hand, scenarios such as precision transmission and heavy-duty drives are experiencing continuously rising demands for torque density, transmission stiffness, reduction ratio, and operational stability, while also requiring additional functions such as reverse self-locking and precise control to ensure the safety and reliability of equipment operation.

[0003] However, most traditional drive solutions adopt a splicing structure of independent motor + coupling + split reducer. This design not only results in a long axial dimension and low space utilization, making it unsuitable for narrow installation environments, but also inevitably produces torsional clearance due to the presence of multiple connection interfaces in the transmission chain, causing insufficient transmission stiffness and positioning accuracy deviation. Summary of the Invention

[0004] The purpose of this invention is to provide a miniature axial planetary envelope worm gear motor module to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a miniature axial planetary envelope worm gear motor module, comprising:

[0006] An axial flux motor, including an upper output housing and a lower output housing mounted on one side of the axial flux motor, for supporting components;

[0007] A single-stage planetary reduction unit includes a planetary cage fixedly arranged at the output end of an axial flux motor for speed reduction transmission;

[0008] The two-stage envelope worm gear reducer includes an input envelope worm gear rotatably disposed within the upper and lower output housings for transmitting power.

[0009] As a further preferred embodiment of this technical solution, the first-stage planetary deceleration unit also includes:

[0010] The planetary internal gear ring is located on one side of the axial flux motor, and the planetary cage is rotatably connected inside the planetary internal gear ring.

[0011] The planetary gear is rotatably connected to the planetary cage and meshes with the teeth inside the planetary internal gear ring.

[0012] The sun gear is located on the side of the planetary cage away from the planetary gears;

[0013] The output cage is rotatably connected within the planetary internal gear ring.

[0014] A brass cage is fitted onto the end of the output cage furthest from the planetary cage;

[0015] A spacer ring is installed at the opening on one side of the output housing, and a copper retainer is embedded in the groove on one side of the spacer ring.

[0016] As a further preferred embodiment of this technical solution: the central gear of the sun gear is fixedly arranged on the output end of the planetary cage on the side away from the planetary gear, and the side gear of the sun gear is rotatably connected to the output cage and meshes with the teeth in the planetary internal gear ring.

[0017] As a further preferred embodiment of this technical solution: one end of the input envelope worm gear is rotatably connected to the spacer.

[0018] As a further preferred embodiment of this technical solution: the two-stage envelope worm gear reduction unit further includes:

[0019] One enveloping worm gear output shaft bearing is installed in the mounting hole between the upper output housing and the lower output housing;

[0020] The input envelope worm gear is fixedly arranged at one end of the output cage, and the input envelope worm gear is rotatably connected in the spacer ring;

[0021] The planetary connector is installed in the mounting hole on the side of the upper and lower output housings away from the spacer ring.

[0022] An enveloping worm bearing is fitted onto the end of the input enveloping worm that is furthest from the spacer, and the enveloping worm bearing is mounted on the planetary connector.

[0023] The second enveloping worm gear output shaft bearing is installed in the mounting hole between the upper and lower output housings, away from the first enveloping worm gear output shaft bearing.

[0024] As a further preferred embodiment of this technical solution: the two-stage envelope worm gear reduction unit further includes:

[0025] The enveloping output worm gear has one end inserted through and installed in the first bearing of the enveloping worm gear output shaft, and the other end inserted through and installed in the second bearing of the enveloping worm gear output shaft.

[0026] As a further preferred embodiment of this technical solution: an encoder is provided on the inner side of the upper output shell, and an encoding ring is provided on the inner side of the lower output shell.

[0027] As a further preferred embodiment of this technical solution: the output end of the planetary cage and the input envelope worm gear are integrally machined to form an inseparable integral shaft, and the integral shaft serves as the intermediate rotor of the entire transmission system.

[0028] As a further preferred embodiment of this technical solution: the stator winding and rotor permanent magnet of the axial flux motor are located in radial space, and the planetary gears and planetary internal gear rings of the first-stage planetary reduction unit are arranged to overlap with the rotor portion of the axial flux motor in the axial direction.

[0029] As a further preferred embodiment of this technical solution: the integral shaft formed by the planetary cage and the input envelope worm gear adopts a three-point support to form a statically determinate support system. The first support point is located near the sun gear of the rotor of the axial flux motor and adopts a deep groove ball bearing; the second support point is located in the middle of the planetary cage and adopts an angular contact ball bearing; the third support point is located at the input end of the input envelope worm gear and adopts an angular contact ball bearing.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. In this invention, the axial flux motor itself has high torque density characteristics. Combined with the primary torque amplification of the first-stage planetary reduction unit and the ultimate torque amplification of the second-stage envelope worm gear reduction unit, the torque is amplified step by step to meet the demand for high torque output. At the same time, the integrated shaft formed by the integrated machining of the planetary cage and the input envelope worm gear, as well as the direct connection design between the rotor and the sun gear, eliminates components such as the motor shaft, the connecting shaft between the two-stage reduction and the coupling in the traditional structure. This reduces intermediate losses in the power transmission process, greatly improves transmission efficiency, and ensures efficient power transmission.

[0032] 2. In this invention, taking advantage of the extremely short axial dimension of the axial flux motor, the planetary gears and internal ring gears of the first-stage planetary reduction unit are partially overlapped with the motor rotor in the axial direction, realizing deep spatial nesting of the motor and the reduction unit; combined with the integrated design of direct rotor-sun gear connection and planetary carrier-worm gear integrated shaft, the axial length of the module is effectively reduced. Compared with the traditional motor + coupling + two-stage split reducer solution, the total axial length is shortened by more than 50%, significantly improving space utilization and adapting to miniaturized and confined space installation and use scenarios.

[0033] 3. In this invention, the integrated shaft formed by the planetary cage and the input envelope worm gear adopts a three-point support statically determinate system, which can withstand radial and axial forces in all directions, ensuring coaxiality and stability during high-speed operation and reducing vibration deformation. In addition, the module integrates multiple functions such as drive, two-stage reduction, right-angle steering, self-locking, feedback and heat dissipation, which greatly reduces the number of parts and assembly links, reduces the probability of failure, and improves overall reliability and environmental tolerance. Moreover, the envelope worm gear structure has the potential for reverse self-locking, further ensuring the safety of use. Attached Figure Description

[0034] Figure 1 This is a structural diagram of the miniature axial planetary envelope worm gear motor module of the present invention.

[0035] Legend: 1. Axial flux motor; 11. Upper output housing; 18. Lower output housing;

[0036] First-stage planetary reduction unit: 2. Planetary internal gear ring; 3. Planetary gears; 4. Planetary cage; 5. Sun gear; 6. Output cage; 7. Brass cage; 8. Spacer ring;

[0037] Two-stage envelope worm gear reducer unit: 9. Envelope worm gear output shaft bearing 1; 10. Input envelope worm; 12. Planetary connector; 13. Envelope worm bearing; 16. Envelope worm gear output shaft bearing 2; 17. Envelope output worm gear;

[0038] 14. Encoder; 15. Encoder ring. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] Example

[0043] Please see Figure 1 As shown, the present invention provides a technical solution: a miniature axial planetary envelope worm gear motor module, comprising:

[0044] An axial flux motor 1 includes an upper output housing 11 and a lower output housing 18 mounted on one side of the axial flux motor 1 for supporting components;

[0045] A first-stage planetary reduction unit includes a planetary cage 4 fixedly arranged at the output end of the axial flux motor 1 for speed reduction transmission;

[0046] The two-stage envelope worm gear reduction unit includes an input envelope worm 10 rotatably disposed within the upper output housing 11 and the lower output housing 18 for transmitting power.

[0047] It should be noted that the axial flux motor 1 provides the initial power, and the upper output shell 11 and the lower output shell 18 form a closed integrated shell, providing a stable mounting reference and protection for each functional unit; the first-stage planetary reduction unit realizes primary speed reduction and torque increase, and the second-stage envelope worm gear reduction unit completes secondary speed reduction and power steering transmission. The three work together to form a complete transmission chain. The integrated design reduces the gap between components, lays the foundation for a compact structure, and at the same time realizes the coordinated linkage of driving, deceleration and steering functions, improving the overall stability of the system.

[0048] In this embodiment, specifically: the first-stage planetary reduction unit further includes: a planetary internal gear ring 2, disposed on one side of the axial flux motor 1, and the planetary cage 4 is rotatably connected to the planetary internal gear ring 2; a planetary gear 3, rotatably connected to the planetary cage 4, and meshing with the teeth in the planetary internal gear ring 2; a sun gear 5, arranged on the side of the planetary cage 4 away from the planetary gear 3; an output cage 6, rotatably connected to the planetary internal gear ring 2; a copper cage 7, sleeved on the end of the output cage 6 away from the planetary cage 4; and a spacer 8, installed at the opening on one side of the output upper housing 11, and the copper cage 7 is embedded in the groove on one side of the spacer 8.

[0049] It should also be understood that the axial flux motor 1 transmits power to the sun gear 5, which drives the planetary gear 3 to revolve and rotate within the planetary internal gear ring 2. The power is integrated and output through the planetary cage 4. The output cage 6, together with the copper cage 7, realizes component positioning. The spacer 8 plays a role in axial limiting and accuracy assurance. The planetary transmission structure realizes primary torque increase. The copper cage 7 and the spacer 8 improve transmission accuracy, reduce component wear, and extend service life.

[0050] In this embodiment, specifically: the central gear of the sun gear 5 is fixedly arranged on the output end of the planetary cage 4 away from the planetary gear 3, and the side gear of the sun gear 5 is rotatably connected to the output cage 6 and meshes with the teeth in the planetary internal gear ring 2.

[0051] Among them, the central gear of the sun gear 5 rotates synchronously with the planetary cage 4, and the side gear, planetary gear 3, and planetary internal gear ring 2 form a multi-stage meshing transmission. The output cage 6 provides stable rotation support for the side gear, realizing the step-by-step transmission and deceleration of power. The multi-stage meshing design further improves the reduction ratio and torque amplification factor, while optimizing the transmission force distribution, reducing the load on a single component, and improving the transmission smoothness.

[0052] In this embodiment, specifically, one end of the input envelope worm gear 10 is rotatably connected to the spacer 8.

[0053] In addition, the spacer 8 provides end rotation support for the input envelope worm gear 10, so that the input envelope worm gear 10 maintains coaxiality stability when receiving power from the first-stage planetary reduction unit, avoids transmission offset, improves the rotational accuracy of the input envelope worm gear 10, reduces axial movement, ensures the accuracy of meshing with the subsequent worm wheel, and reduces transmission noise.

[0054] In this embodiment, specifically: the two-stage envelope worm gear reduction unit further includes: an envelope worm gear output shaft bearing 9, installed in a mounting hole between the output upper housing 11 and the output lower housing 18; an input envelope worm 10, fixedly arranged at one end of the output retainer 6, and rotatably connected to the spacer 8; a planetary connector 12, disposed in a mounting hole on the side of the output upper housing 11 and the output lower housing 18 away from the spacer 8; an envelope worm bearing 13, sleeved on the end of the input envelope worm 10 away from the spacer 8, and the envelope worm bearing 13 is mounted on the planetary connector 12; and an envelope worm gear output shaft bearing 16, installed in a mounting hole between the output upper housing 11 and the output lower housing 18 away from the envelope worm gear output shaft bearing 9.

[0055] It should be noted that the output retainer 6 transmits the power after the first-stage reduction to the input envelope worm gear 10. The envelope worm gear bearing 13 and the planetary connector 12 cooperate to provide stable support for the other end of the input envelope worm gear 10. The envelope worm gear output shaft bearing 9 and the envelope worm gear output shaft bearing 16 provide double-end rotational support for the subsequent worm gear output shaft, forming a multi-point support system, which improves the transmission rigidity of the second-stage reduction unit, effectively disperses the axial and radial forces generated by the worm gear transmission, and ensures high-speed operation stability.

[0056] In this embodiment, specifically, the two-stage envelope worm gear reduction unit further includes an envelope output worm gear 17, one end of which is disposed through the envelope worm gear output shaft bearing 9, and the other end of which is disposed through the envelope worm gear output shaft bearing 16.

[0057] The input worm gear 10 meshes with the output worm wheel 17 to convert horizontal power into vertical output. The output shaft bearing 9 and the output shaft bearing 16 of the worm wheel ensure the smooth rotation of the output worm wheel 17, achieving ultimate speed reduction and torque increase. The worm gear and worm wheel structure features a high reduction ratio and strong self-locking capability. At the same time, the dual bearing support design further improves the output accuracy and load-bearing capacity, meeting the requirements of high torque output.

[0058] In this embodiment, specifically: an encoder 14 is provided on the inner side of the upper output shell 11, and an encoder ring 15 is provided on the inner side of the lower output shell 18.

[0059] It should also be understood that the encoder 14 works in conjunction with the encoder ring 15 to rotate synchronously with the motor shaft, collect operating parameters such as motor speed and angle in real time, and feed them back to the control system to form a closed-loop control, thereby achieving precise monitoring and regulation of the module's operating status, improving positioning accuracy and dynamic response speed, and meeting the needs of high-precision drive scenarios.

[0060] In this embodiment, specifically: the output end of the planetary cage 4 and the input envelope worm gear 10 are integrally processed to form an inseparable integral shaft, and the integral shaft serves as the intermediate rotor of the entire transmission system.

[0061] It should be noted that the integrated shaft directly integrates the transmission functions of the planetary cage 4 and the input envelope worm gear 10, eliminating the connecting shaft and coupling between the two-stage reduction gears. Power is directly transmitted from the planetary cage 4 to the input envelope worm gear 10 without intermediate transmission loss, which greatly reduces the number of transmission components and connection interfaces, reduces torsional clearance, improves the rigidity and efficiency of the transmission chain, and shortens the axial length of the module to achieve a compact design.

[0062] In this embodiment, specifically: the stator winding and rotor permanent magnet of the axial flux motor 1 are located in the radial space, and the planetary gear 3 and planetary internal gear ring 2 of the first-stage planetary reduction unit overlap with the rotor portion of the axial flux motor 1 in the axial direction.

[0063] Furthermore, taking advantage of the short axial dimension of the axial flux motor 1, the planetary gear 3, the planetary internal gear ring 2, and the motor rotor are arranged in an overlapping manner in the axial space to achieve spatial nesting and integration of the motor and the first-stage reduction unit. This avoids dimensional redundancy caused by the axial arrangement of components, and shortens the total axial length of the module by more than 50% compared with the traditional solution, significantly improving space utilization and meeting the requirements of miniaturized installation.

[0064] In this embodiment, specifically: the integrated shaft formed by the planetary cage 4 and the input envelope worm gear 10 adopts a three-point support to form a statically determinate support system. The first support point is located near the sun gear 5 on the rotor of the axial flux motor 1 and is a deep groove ball bearing; the second support point is located in the middle of the planetary cage 4 and is an angular contact ball bearing; the third support point is located at the input end of the input envelope worm gear 10 and is an angular contact ball bearing.

[0065] It should be noted that the deep groove ball bearing bears the radial force at the first support point, the middle angular contact ball bearing bears the radial force and part of the axial force, and the input end angular contact ball bearing bears the main bidirectional axial force generated by the worm gear drive. The three-point support forms a stable statically determinate structure, ensuring the coaxiality and stability of the integrated shaft during high-speed operation, providing the integrated shaft with all-round mechanical support, greatly improving the torsional stiffness and axial stiffness of the transmission system, reducing operating vibration and deformation, and further ensuring transmission accuracy and service life.

[0066] Working principle or structural principle: After the axial flux motor 1 starts, its stator winding and rotor permanent magnet form a magnetic field in the radial space to generate rotational power. It provides strong initial driving force with its high torque density characteristics, and its axial short size advantage creates conditions for spatial integration.

[0067] Power is transmitted to the first-stage planetary reduction unit through the direct connection between the rotor and the sun gear 5. The central gear of the sun gear 5 is fixedly connected to the planetary cage 4 and rotates synchronously. The drive side gear drives the planetary gear 3 to revolve and rotate within the planetary internal gear ring 2. The planetary cage 4 integrates power output to achieve primary reduction and torque increase. The output cage 6, the copper cage 7 and the spacer 8 work together to ensure transmission accuracy and component positioning.

[0068] The integrated shaft of the planetary cage 4 and the input envelope worm gear 10 transmits the power after the first-stage reduction to the second-stage envelope worm gear reduction unit without loss. The input envelope worm gear 10 meshes with the envelope output worm gear 17 to complete the secondary reduction torque increase and right-angle steering. The first bearing 9 and the second bearing 16 of the envelope worm gear output shaft ensure the smooth operation of the envelope output worm gear 17. At the same time, the envelope structure has the potential for reverse self-locking.

[0069] The integrated shaft operates stably through a three-point support statically determinate system. The first support point (deep groove ball bearing) bears radial force, the second support point (angular contact ball bearing) bears radial and part of axial force, and the third support point (angular contact ball bearing / enveloping worm bearing 13) bears the main bidirectional axial force, ensuring transmission rigidity and coaxiality.

[0070] The encoder 14 and the encoder ring 15 work together to collect parameters such as speed and angle in real time and feed them back to the control system to achieve closed-loop control. The integrated housing consisting of the upper output housing 11 and the lower output housing 18 provides installation protection for each unit. Combined with the design of axially overlapping arrangement of motor and reduction unit and no additional connecting shaft, the module achieves compactness, high reliability and high precision drive in a coordinated manner.

[0071] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

[0073] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A micro axial planetary enveloping worm and wheel motor module, characterized by: Comprise: Axial flux motor (1), comprising the output upper shell (11) and the output lower shell (18) installed on one side of the axial flux motor (1), used for supporting the assembly; The first planetary reduction unit, comprising a planetary holder (4) arranged on the output end of the axial flux motor (1), used for speed reduction transmission; The second enveloping worm and gear reduction unit, comprising an input enveloping worm (10) rotatably arranged in the output upper shell (11) and the output lower shell (18), used for power transmission.

2. The micro axial planetary enveloping worm and wheel motor module according to claim 1, characterized in that: The first planetary reduction unit further comprises: The planetary inner ring (2) is arranged on one side of the axial flux motor (1), and the planetary holder (4) is rotatably connected in the planetary inner ring (2); The planetary gear (3) is rotatably connected on the planetary holder (4), and is meshingly connected on the teeth in the planetary inner ring (2); The sun gear (5) is arranged on the side of the planetary holder (4) away from the planetary gear (3); The output holder (6) is rotatably connected in the planetary inner ring (2); The copper holder (7) is sleeved on the end of the output holder (6) away from the planetary holder (4); The spacer (8) is installed on the opening of the output upper shell (11), and the copper holder (7) is embedded in the groove on one side of the spacer (8).

3. The micro axial planetary enveloping worm and wheel motor module according to claim 2, characterized in that: The central gear of the sun gear (5) is fixedly arranged on the output end of the side of the planetary holder (4) away from the planetary gear (3), and the side gear of the sun gear (5) is rotatably connected on the output holder (6) and is meshingly connected on the teeth in the planetary inner ring (2).

4. The micro axial planetary enveloping worm and wheel motor module according to claim 3, characterized in that: One end of the input enveloping worm (10) is rotatably connected on the spacer (8).

5. The micro axial planetary enveloping worm and wheel motor module according to claim 4, characterized in that: The second enveloping worm and gear reduction unit further comprises: The enveloping worm output shaft bearing one (9) is installed in the mounting hole between the output upper shell (11) and the output lower shell (18); The input enveloping worm (10) is fixedly arranged on one end of the output holder (6), and the input enveloping worm (10) is rotatably connected in the spacer (8); The planetary connector (12) is arranged in the mounting hole on the side of the output upper shell (11) and the output lower shell (18) away from the spacer (8); The enveloping worm bearing (13) is sleeved on the end of the input enveloping worm (10) away from the spacer (8), and the enveloping worm bearing (13) is installed on the planetary connector (12); The enveloping worm output shaft bearing two (16) is installed in the mounting hole between the output upper shell (11) and the output lower shell (18) on the side away from the enveloping worm output shaft bearing one (9).

6. The micro axial planetary enveloping worm and wheel motor module according to claim 5, characterized in that: The second enveloping worm and gear reduction unit further comprises: The enveloping output worm (17) is arranged in the enveloping worm output shaft bearing one (9) on one end, and in the enveloping worm output shaft bearing two (16) on the other end.

7. The micro axial planetary enveloping worm and wheel motor module according to claim 6, characterized in that: The inside of the output upper shell (11) is provided with an encoder (14), and the inside of the output lower shell (18) is provided with an encoder ring (15).

8. The micro axial planetary enveloping worm and wheel motor module according to claim 7, characterized in that: The output end of the planetary holder (4) and the input enveloping worm (10) are integrally machined to form an indivisible integral shaft, and the integral shaft serves as the intermediate rotor of the entire transmission system.

9. The micro axial planetary enveloping worm and wheel motor module according to claim 8, characterized in that: The stator winding and the rotor permanent magnet of the axial flux motor (1) are located in a radial space, and the planetary gear (3) and the planetary inner ring gear (2) of the first-stage planetary reduction unit are arranged in axial overlap with the rotor part of the axial flux motor (1).

10. The micro axial planetary enveloping worm and wheel motor module according to claim 9, characterized in that: The integrated shaft formed by the planetary holder (4) and the input enveloping worm (10) adopts three-point support to constitute a statically determinate support system, the first support point is located near the sun gear (5) close to the rotor of the axial flux motor (1), and a deep groove ball bearing is adopted; the second support point is located in the middle part of the planetary holder (4), and an angular contact ball bearing is adopted; and the third support point is located at the input end of the input enveloping worm (10), and an angular contact ball bearing is adopted.

Images