Flat wire motor planetary reduction joint module

Abstract

This invention discloses a planetary gear reducer module for a flat wire motor, relating to the field of gear reducer technology. It includes a housing assembly, a motor assembly, a reducer assembly, and an electronic control assembly. The housing assembly includes a top cover, an upper shell, a motor housing, a lower shell, and a bottom end cover. The motor assembly is a frameless torque flat wire motor, including an iron core, flat wire windings, a rotor, and a magnetic ring. The motor shaft is rotatably connected to the interior of the motor housing. This planetary gear reducer module for a flat wire motor, through its frameless torque flat wire motor structure, directly presses the stator, composed of an iron core and flat wire windings, onto the inner wall of the motor housing. This eliminates the traditional motor housing and end cover, reducing radial dimensions. Simultaneously, the flat wire windings increase the stator slot fill factor, achieving optimal coordination between electromagnetic torque and reduction torque enhancement characteristics, resulting in a significant increase in output torque within the same volume.

Description

Technical Field

[0001] This invention relates to the field of deceleration joint technology, specifically to a planetary deceleration joint module for a flat wire motor. Background Technology

[0002] The flat wire motor planetary reducer joint module is the core integrated component for robot joint drive, integrating a frameless torque flat wire motor, a two-stage NGW planetary reducer, an integrated dual encoder, and a housing assembly.

[0003] Chinese patent CN109551482A discloses an integrated drive and control torque-measurable robot pivot joint module, including a base, joint output components, a drive controller, a transmission mechanism, a torque sensor, a first encoder, and a second encoder. The base includes a mounting section and a transmission section. The transmission section has a transmission cavity. The transmission mechanism includes a frameless motor, a drive shaft, and a harmonic reducer. The stator of the frameless motor is fixed in the transmission cavity. The drive shaft is connected to the rotor of the frameless motor. One end of the drive shaft transmits power to one end of the torque sensor through the harmonic reducer. The other end of the torque sensor is connected to the joint output components. The drive controller is located on the mounting section. The first encoder is used to measure the angular displacement of the torque sensor, and the second encoder is used to measure the angular displacement of the rotor. The control terminal of the frameless motor is electrically connected to the drive controller. The torque sensor, the first encoder, and the second encoder are respectively electrically connected to the drive controller. This invention achieves torque control of the joint and compliant control of the robot.

[0004] For example, Chinese patent CN217633687U discloses a two-stage NGW common gear ring lightweight robot joint planetary reducer. This invention mainly includes: input shaft sun gear, sun gear bearing, input shaft bearing, first-stage planetary carrier, first-stage planetary subcarrier, first-stage planetary bearing, first-stage planetary gear, first-stage planetary subcarrier bearing, internal gear ring, second-stage planetary carrier bearing, second-stage planetary gear, second-stage planetary bearing, second-stage planetary carrier, second-stage planetary subcarrier, second-stage sun gear bearing, bearing between first and second-stage planetary carriers, second-stage sun gear, and other components and spline structure. The planetary carrier is an integrated structure and is interference-fitted with the planetary subcarrier to increase system rigidity. Hollow and openwork components are used to reduce rotational inertia, and lightweight materials are used for the end caps to reduce weight.

[0005] Most of the existing technologies mentioned above improve the overall structure. However, the existing flat wire motor planetary reduction joint module has a split joint module where the motor, reducer, and encoder are installed independently and assembled through connectors, resulting in a large axial dimension and low space utilization. This makes it difficult to meet the requirements of robot miniaturization and lightweighting. The output torque is limited for the same volume, and the parameters of the motor and reducer lack a quantitative matching relationship, making it impossible to maximize torque density. Summary of the Invention

[0006] The purpose of this invention is to provide a flat wire motor planetary reduction joint module to solve the problems of the existing flat wire motor planetary reduction joint modules in the background art, which have separate joint modules for motor, reducer and encoder, and are assembled by connectors, resulting in large axial dimensions and low space utilization, making it difficult to meet the requirements of robot miniaturization and lightweighting, limited output torque in the same volume, and lack of quantitative matching relationship between motor and reducer parameters, making it impossible to maximize torque density.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a flat wire motor planetary reduction joint module, comprising a housing assembly, a motor assembly, a reducer assembly, and an electronic control assembly; The housing assembly includes a top cover, an upper shell, a motor housing, a lower shell, and a bottom cover; the motor assembly is a frameless torque flat wire motor, including an iron core, flat wire windings, a rotor, and a magnetic ring, and the motor shaft is rotatably connected to the inside of the motor housing; The reducer assembly is composed of two NGW planetary gears stacked axially, including a first-stage sun gear, a first-stage planetary gear, a first-stage internal gear ring, a first-stage output shaft, a first-stage output disc, a planetary gear cover, a second-stage sun gear, a second-stage planetary gear, a second-stage internal gear ring, a second-stage output shaft, a second-stage output disc, a bottom cover, a central shaft, a magnet, an end cover, a first bearing, an adjusting washer, a second bearing, a third bearing, a fourth bearing, and a fifth bearing; The electrical control components include a drive board, a dual encoder board, a first hanging block, and a second hanging block, which are used for motor drive and control and are installed in the upper housing.

[0008] Furthermore, the outer diameter of the motor stator is The stator inner diameter is The length of the iron core is The width of the slot is The air gap of the motor is The maximum output torque value is The number of teeth on the first-stage internal gear ring is The number of teeth on the first-stage sun gear is The number of teeth on the second-stage internal gear ring is The number of teeth on the second-stage sun gear is Its characteristics satisfy: .

[0009] Furthermore, the number of motor slots is S, and the number of motor poles is P. The characteristics satisfy: P=S±2, P=S±4, and satisfy GCD=2m, GCD=m, where m is a multiple of 2.

[0010] Furthermore, the electronic control scheme adopts an integrated dual encoder sensing scheme. The center of the dual encoder board is a magnetic encoder chip, with a pair of pole magnets in the middle working in conjunction with the magnetic induction chip. On the outside are two linear Hall effect sensors, and next to the linear Hall effect sensors is a magnetic ring. The number of poles of the magnetic ring is the same as the number of poles of the motor. The magnetic ring works in conjunction with the linear Hall effect sensors. The magnets are connected to the output terminal and work with the magnetic induction chip to generate an output signal. The magnetic rings are connected to the motor rotor and work with the linear Hall effect sensors to generate an input signal, thus achieving a dual encoder scheme that senses both the input and output terminals.

[0011] Furthermore, the rotor clearance is used as the allowable axial movement of the motor rotor. A central shaft is installed and fixed in the middle of the second-stage output disk. The shoulder of the central shaft head is used to limit the inner ring of the third intermediate bearing (36). With the cooperation of the central shaft, the bearing and the second bearing, the axial movement limit of the rotor is completed.

[0012] Furthermore, the motor housing adopts a stepped shaft structure. The upper annular groove is used to accommodate the lower end of the flat wire winding, and the bottom groove is used to install the first-stage NGW planetary gear structure and the fifth bearing. The fifth bearing is used to fix the first-stage output disk of the first-stage NGW planetary gear structure. The inner diameter of the fifth bearing is larger than the outer diameter of the first-stage internal gear ring, so that the first-stage internal gear ring and the first-stage output disk can be installed inside the fifth bearing. The radial space is staggered and the axial space is overlapped.

[0013] Furthermore, the second-stage output disk serves as the bottom of the module and as a direct connector for external transmission.

[0014] Furthermore, the central shaft runs through the two-stage NGW planetary reducer and the rotor, and is fixed to the second-stage output disc by the bottom cover.

[0015] Furthermore, there is an adjusting washer between the bottom cover and the first bearing for adjusting the overall dimensional chain.

[0016] Furthermore, the second-stage output disc is tightly fitted to the inner ring of the fourth bearing, while the end cover is loosely fitted to the inner ring of the fourth bearing. The lower end face of the end cover presses against the upper end face of the fourth bearing, thus fixing the internal reducer components to the fourth bearing.

[0017] Compared with existing technologies, the beneficial effects of the invention are: This flat wire motor planetary gear reducer module utilizes a frameless torque flat wire motor structure. The stator, composed of an iron core and flat wire windings, is directly press-fitted onto the inner wall of the motor housing. This eliminates the traditional motor housing and end cover, reducing radial dimensions. Simultaneously, the flat wire windings improve the stator slot fill factor, facilitating the matching of motor and reducer parameters. The matching relationship between the number of motor slots and poles is P=S±2 or P=S±4 and GCD(S,P)=2m or m (m is a multiple of 2), which achieves the optimal combination of electromagnetic torque and deceleration and torque increase characteristics, and significantly improves the output torque under the same volume.

[0018] The motor housing adopts a stepped shaft structure. The upper annular groove accommodates the lower end of the flat wire winding, and the bottom groove simultaneously installs the first-stage internal gear ring and the bearing. The inner diameter of the bearing is larger than the outer diameter of the first-stage internal gear ring, so that the first-stage internal gear ring and the first-stage planetary carrier are intersected in radial space and overlapped in axial space. There is no need to reserve independent axial installation space for each of them, which greatly shortens the total axial length of the module.

[0019] The integrated dual encoder sensing solution integrates a central magnetic encoder chip and two external linear Hall sensors on the same dual encoder board. These sensors cooperate with the magnet fixed on the central shaft and the magnetic ring fixed on the rotor, respectively. The solution simultaneously detects the absolute position of the joint output end and the relative position of the motor rotor, supports high-precision force control and torque feedback, and also has fault redundancy function.

[0020] The rotor axial movement is controlled by using the upper shoulder of the central shaft in conjunction with two bearings, eliminating the need for additional limiting parts. This keeps the rotor axial movement within the allowable range and prevents the rotor from colliding with the stator or other parts.

[0021] An adjusting washer is installed between the bottom cover and the bearing. The overall dimensional chain error can be compensated by replacing the washer with one of different thicknesses, which reduces the requirements for the machining accuracy of the parts. At the same time, the fixing method of the second-stage output disc being tightly fitted with the inner ring of the bearing and the end cover being loosely fitted with the inner ring of the bearing facilitates the disassembly and maintenance of the bearing. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the cross-sectional structure of the present invention; Figure 3 This is a schematic diagram of the overall structure of the stator winding of the present invention; Figure 4 This is a schematic diagram of the installation structure of the motor stator winding and the first-stage internal gear ring in the motor housing according to the present invention. Figure 5 This is a schematic diagram of the flat wire winding installation structure of the present invention; Figure 6 This is a schematic diagram of the first-stage output disk mounting structure of the present invention; Figure 7 This is a schematic diagram of the combined structure of the dual encoder, magnetic ring, and induction magnet of the present invention. Figure 8 This is a schematic diagram of the shaft limiting method structure of the present invention; Figure 9 This is a schematic diagram of the housing assembly structure of the present invention; Figure 10 This is a schematic diagram of the motor assembly structure of the present invention; Figure 11 This is a schematic diagram of the electronic control component structure of the present invention; Figure 12 This is a schematic diagram of the reducer assembly structure of the present invention; Figure 13 This is a schematic diagram of the influence curve of current on torque in the present invention and the prior art.

[0023] In the diagram: 1. Housing assembly; 2. Motor assembly; 3. Reducer assembly; 4. Electronic control assembly; 5. Bottom cover; 6. Lower housing; 7. Motor housing; 8. Top cover; 9. Upper housing; 10. Iron core; 11. Flat wire winding; 12. Rotor; 13. Magnetic ring; 14. Drive board; 15. Dual encoder board; 16. Hanging block one; 17. Hanging block two; 18. First-stage sun gear; 19. First-stage planetary gears; 20. First-stage internal gear ring; 21. 21. First-stage output shaft; 22. First-stage output disc; 23. Planetary gear cover; 24. Second-stage sun gear; 25. Second-stage planetary gears; 26. Second-stage internal gear ring; 27. Second-stage output shaft; 28. Second-stage output disc; 29. ​​Bottom cover; 30. Central shaft; 31. Magnet; 32. End cover; 33. First bearing; 34. Adjusting washer; 35. Second bearing; 36. Third bearing; 37. Fourth bearing; 38. Fifth bearing. Detailed Implementation

[0024] 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.

[0025] Example 1: As Figure 1 and Figure 2 As shown, the motor planetary reduction joint module adopts an axial stacked integrated design. From bottom to top, it consists of bottom cover 5, lower shell 6, motor shell 7, upper shell 9 and top cover 8. It integrates motor assembly 2, two-stage NGW reducer assembly 3 and electronic control assembly 4. It features compact space, extremely high space utilization, and multiple structures with axial spatial interleaving and stacking.

[0026] By establishing a matching relationship between the motor and reducer parameters, the torque density is maximized. Motor parameters such as the stator outer diameter, stator inner diameter, core length, slot width, and air gap, together with reducer parameters such as the number of teeth on the first and second stage planetary gears, jointly determine the maximum output torque of the module. Their relationship satisfies the inequality given in the above invention. The matching relationship between the number of motor slots and the number of poles satisfies P=S±2 or P=S±4, and satisfies GCD(S,P)=2m or m (m is a multiple of 2), effectively reducing cogging torque and improving the smoothness of motor operation.

[0027] like Figure 13 As shown, under the same current conditions, the output torque is significantly better than that of existing technologies, demonstrating the torque density advantage brought about by the matching of the flat wire motor and the optimized reducer.

[0028] Example 2: Figure 9 As shown, housing assembly 1 adopts a split design, with each component fixedly connected by hexagonal bolts. The motor housing 7 is the core supporting component, made of die-cast aluminum alloy, and features a unique stepped shaft structure internally. Figure 3 As shown, the upper annular groove is used to accommodate the lower end of the flat wire winding 11 to avoid interference between the winding and the reducer; the bottom groove is used to simultaneously install the first-stage internal gear ring 20 and the fifth bearing 38 that supports the first-stage output disc 22.

[0029] like Figure 4 and 6 As shown, the fifth bearing 38 is used to fix the planet carrier of the first-stage NGW planetary gear structure. Since the inner ring diameter of the first bearing 33 is larger than the outer diameter of the first-stage internal gear ring 20, the first-stage internal gear ring 20 can be completely embedded in the internal space of the first bearing 33, achieving radial spatial interlacing and axial spatial overlap. This design significantly saves axial space, making the overall module structure more compact.

[0030] Example 3: Figure 10 As shown, the motor assembly 2 adopts a frameless design. The stator consists of an iron core 10 and a flat wire winding 11, which is directly press-fitted onto the inner wall of the motor housing 7. The rotor 12 adopts a surface-mount permanent magnet structure and is supported on the central shaft 30 and the motor housing 7 by the second bearing 35 and the third bearing 36. The frameless torque flat wire motor has the advantages of high torque and high efficiency. Compared with the round wire frameless torque motor, the use of flat wire can achieve smaller space under the same performance, or stronger performance under the same space utilization.

[0031] The magnetic ring 13 is made of permanent magnet material and has the same number of poles as the motor. It is fixed on the upper end face of the rotor 12 and works in conjunction with the linear Hall effect sensor on the dual encoder board 15 to detect the real-time position of the motor rotor 12.

[0032] Example 4: Figure 12 As shown, the reducer assembly 3 adopts a two-stage NGW planetary gear transmission, which has the advantages of high transmission efficiency, strong load-bearing capacity and compact structure.

[0033] First-stage transmission: The first-stage sun gear 18 is connected to the lower end of the rotor 12. The first-stage planetary gears 19 are distributed around the sun gear and mesh with both the sun gear and the first-stage internal gear ring 20 fixed on the motor housing 7. The planetary gears are mounted on the pins of the first-stage output disk 22, which is supported at the bottom of the motor housing 7 by the first bearing 33. Second-stage transmission: The second-stage sun gear 24 is connected to the first-stage output disk 22. The second-stage planetary gears 25 mesh with both the second-stage sun gear and the second-stage internal gear ring 26 fixed on the lower housing 6, ultimately outputting torque through the second-stage output disk 28.

[0034] The central shaft 30 runs through the entire reducer and motor rotor. Its lower end is fixed to the second-stage output disc 28 via a bottom cover 29 and bolts, while its upper end is supported at the center of the dual encoder plate 15 via a first bearing 33. An adjusting washer 34 is provided between the bottom cover 29 and the first bearing 33. By replacing the washer with one of different thicknesses, the axial clearance of the entire transmission chain can be precisely adjusted to compensate for machining errors in the parts. The second-stage output disc 28 serves as the output end of the module and is used to connect to an external load. The output disc and the inner ring of the first bearing 33 are tightly fitted, while the end cover 32 and the inner ring of the bearing are loosely fitted. Axial fixation is achieved by pressing the lower end face of the end cover against the upper end face of the bearing. This fixing method facilitates disassembly and maintenance.

[0035] Example 5: Figure 11 As shown, the electronic control component 4 is integrated in the internal cavity of the upper shell 9. The drive board 14 and the dual encoder board 15 are fixed by two aluminum alloy hanging blocks 16 and 17, forming an independent electronic control module.

[0036] like Figure 7 As shown, this invention adopts an innovative integrated dual encoder sensing scheme, integrating two encoders on the same circuit board: Output end absolute encoder: A magnetic encoder chip is installed in the center of the dual encoder board 15, which cooperates with a pair of pole magnets 31 fixed on the upper end face of the central shaft 30 to detect the absolute position of the joint output end; Motor end incremental encoder: Two linear Hall sensors are symmetrically installed on the outer side of the dual encoder board 15, which cooperate with the magnetic ring 13 fixed on the rotor 12 to detect the relative position of the motor rotor.

[0037] This dual-encoder scheme can simultaneously acquire position information from both the motor input and joint output. By calculating the difference between the two positions, the control system can monitor the elastic deformation and load torque of the drive train in real time, thereby achieving high-precision force control and compliant control. Furthermore, the dual encoders provide fault redundancy; if one encoder fails, the other can still ensure the basic operation of the joint.

[0038] Example 6: Figure 8As shown, the upper end of the central shaft 30 is provided with a shoulder for limiting the inner ring of the intermediate bearing 36; the upper and lower ends of the rotor 12 are supported by the first bearing 33 and the third bearing 36 respectively. The inner ring of the upper first bearing 33 is clearance-fitted with the central shaft 30, and the outer ring is interference-fitted with the rotor 12; the inner ring of the lower second bearing 35 is interference-fitted with the rotor, and the outer ring is clearance-fitted with the motor housing.

[0039] By adjusting the axial distance between the two bearings on the central shaft, the axial movement of the rotor 12 can be controlled within the allowable range.

[0040] When the drive board 14 receives a command from the control system, it supplies three-phase alternating current to the motor windings, generating a rotating magnetic field that drives the rotor 12 to rotate. The rotor 12 drives the first-stage sun gear 18 to rotate, which in turn drives the first-stage output disk 22 to rotate at a reduced speed via the first-stage planetary gears 19. The first-stage output disk 22 drives the second-stage sun gear 24 to rotate, which in turn drives the second-stage output disk 28 via the second-stage planetary gears 25, outputting torque at a total reduction ratio to drive the external load.

[0041] During operation, the dual encoder board 15 acquires the motor rotor position and joint output position signals in real time and transmits them to the control system. The control system performs closed-loop control based on these two signals to achieve precise adjustment of joint position, speed, and torque.

[0042] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" or "linked" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can refer to a mechanical connection or an electrical connection; it can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0043] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the present invention.

Claims

1. A flat wire motor planetary reduction joint module, comprising a housing assembly (1), a motor assembly (2), a reducer assembly (3), and an electronic control assembly (4). Its features are: The housing assembly (1) includes a top cover (8), an upper shell (9), a motor housing (7), a lower shell (6), and a bottom cover (5); the motor assembly (2) is a frameless torque flat wire motor, including an iron core (10), a flat wire winding (11), a rotor (12), and a magnetic ring (13), and the motor shaft is rotatably connected to the inside of the motor housing (7); The reducer assembly (3) is formed by axially stacking two NGW planetary gears, including a first-stage sun gear (18), a first-stage planetary gear (19), a first-stage internal gear ring (20), a first-stage output shaft (21), a first-stage output disc (22), a planetary gear cover (23), a second-stage sun gear (24), a second-stage planetary gear (25), a second-stage internal gear ring (26), a second-stage output shaft (27), a second-stage output disc (28), a bottom cover (29), a central shaft (30), a magnet (31), an end cover (32), a first bearing (33), an adjusting washer (34), a second bearing (35), a third bearing (36), a fourth bearing (37), and a fifth bearing (38). The electrical control assembly (4) includes a drive board (14), a dual encoder board (15), a first hanging block (16), and a second hanging block (17), which are used for motor drive and control and are installed in the upper shell (9).

2. The flat wire motor planetary reduction joint module according to claim 1, characterized in that: The outer diameter of the motor stator is The stator inner diameter is The length of the iron core (10) is The width of the slot is The air gap of the motor is The maximum output torque value is The number of teeth on the first-stage internal gear ring (20) is The number of teeth on the first-stage sun gear (18) is The number of teeth on the second-stage internal gear ring (26) is The second-stage sun gear (24) has the following number of teeth: Its characteristics satisfy: 1 * g D 1 D i 1 2 l e f s o l t 1 1 + Z b 1 Z a 1 1 + Z b 2 Z a 2 < T 2 < 3 * g D 1 D i 1 2 l e f s o l t 1 1 + Z b 1 Z a 1 1 + Z b 2 Z a 2 .

3. The flat wire motor planetary reduction joint module according to claim 2, characterized in that: The motor has S slots and P poles, and its characteristics satisfy: P=S±2, P=S±4, and GCD(S,P)=2m, GCD(S,P)=m, where m is a multiple of 2.

4. A flat wire motor planetary reduction joint module according to claim 3, characterized in that: The electronic control scheme adopts an integrated dual encoder sensing scheme. The center of the dual encoder board (15) is a magnetic encoder chip, and the middle pair of pole magnets (31) cooperate with the magnetic induction chip. On the outside are two linear Halls, and close to the linear Halls is a magnetic ring (13). The number of poles of the magnetic ring (13) is the same as the number of poles of the motor. The magnetic ring (13) is used in conjunction with the linear Hall. The magnet (31) is connected to the output end and cooperates with the magnetic induction chip to generate an output signal. The magnetic ring (13) is connected to the motor rotor (12) and cooperates with the linear Hall to generate an input signal, thus achieving a dual encoder scheme where both the input and output ends are sensed.

5. A flat wire motor planetary reduction joint module according to claim 4, characterized in that: The rotor (12) has a reserved gap as the allowable axial movement of the motor rotor (12). A central shaft (30) is installed and fixed in the middle of the second-stage output disk (28). The shoulder of the central shaft (30) is used to limit the inner ring of the middle third bearing (36). With the cooperation of the central shaft (30), the third bearing (36), and the second bearing (35), the axial movement limit of the rotor (12) is completed.

6. A flat wire motor planetary reduction joint module according to claim 5, characterized in that: The motor housing (7) adopts a stepped shaft structure inside. The upper annular groove is used to accommodate the lower end of the flat wire winding (11), and the bottom groove is used to install the first-stage NGW planetary gear structure and the fifth bearing (38). The fifth bearing (38) is used to fix the first-stage output disk (22) of the first-stage NGW planetary gear structure. The inner diameter of the fifth bearing (38) is larger than the outer diameter of the first-stage internal gear ring (20), so that the first-stage internal gear ring (20) and the first-stage output disk (22) can be installed inside the fifth bearing (38), with radial space intersecting and axial space overlapping.

7. A flat wire motor planetary reduction joint module according to claim 6, characterized in that: The second-stage output disk (28) serves as the bottom of the module and as a direct connector for external transmission.

8. A flat wire motor planetary reduction joint module according to claim 7, characterized in that: The central shaft (30) runs through the second-stage NGW planetary reducer and the rotor (12), and is fixed to the second-stage output disk (28) by the bottom cover (29).

9. A flat wire motor planetary reduction joint module according to claim 8, characterized in that: An adjusting washer (34) is located between the bottom cover (29) and the first bearing (33) for adjusting the overall dimensional chain.

10. A flat wire motor planetary reduction joint module according to claim 9, characterized in that: The second-stage output disc (28) is tightly fitted to the inner ring of the fourth bearing (37), and the end cover (32) is loosely fitted to the inner ring of the fourth bearing (37). The lower end face of the end cover (32) presses against the upper end face of the fourth bearing (37) to complete the fixing of the internal reducer parts to the fourth bearing (37).

Images