Imaginary-position-free motor module

Abstract

The invention discloses an imaginary-position-free motor module, which comprises a main output shaft and a plurality of driving units, and is characterized in that each driving unit is provided with an auxiliary output shaft; the main output shaft is provided with a power take-off piece, each auxiliary output shaft is provided with a transmission piece connected with the power take-off piece, andeach driving unit can apply driving force to the main output shaft through the transmission piece and the power take-off piece; and the output force of the main output shaft is zero, part of the driving units applies forward driving force to the main output shaft, and the other part of the driving units applies reverse driving force equal to the forward driving force to the main output shaft, theoutput force of the main output shaft is not zero, when the load on the main output shaft is not higher than the threshold value, one part of the driving units applies forward driving force to the main output shaft, the other part of the driving units applies reverse driving force smaller than the forward driving force to the output shaft, when the load on the main output shaft is higher than a threshold value, the driving units apply the forward driving force to the main output shaft, and the executing element is low in cost and free of imaginary position.

Description

technical field [0001] The invention relates to the field of actuators, in particular to a dummy-free motor module. Background technique [0002] Servo actuators are a very important part of robot technology. At present, the servo actuators commonly used in the field of robots are as follows: [0003] 1. Motors plus harmonic reducers plus encoders, such as multi-degree-of-freedom collaborative manipulators, arms and legs of large humanoid robots, mostly use harmonic deceleration; [0004] 2. The motor plus ordinary reducer, because the ordinary reducer has a vacant position, so this method is generally not directly used as a robot joint, and is often used to drive the wheel; [0005] 3. Steering gear, often used in scenes that do not require high precision, such as aircraft model ship model small robot joints. [0006] Among them, the method of motor plus harmonic reducer has the best performance and can achieve no gear gap, but the manufacturing cost of harmonic reducer i...

AI Technical Summary

Problems solved by technology

[0006] Among them, the method of motor plus harmonic reducer has the best performance and can achieve no gear gap, but the manufacturing cost of harmonic reducer is high, and the price has been high; the method of motor plus ordinary reducer has low cost, but due to The gap makes the final output shaft have a virtual position, and the output accuracy is low; the steering gear is low in price, easy to control, and has the disadvantage of a virtual position

The above three types of actuators are difficult to achieve a balance between cost and performance, which limits their respective application scenarios

Images