No empty space motor module

Abstract

This invention discloses a zero-play motor module, comprising a main output shaft and multiple drive units, each drive unit having a secondary output shaft; the main output shaft is provided with a force take-off component, and each secondary output shaft is provided with a transmission component engaging with the force take-off component; each drive unit can apply driving force to the main output shaft through the transmission component and the force take-off component; when the main output shaft output force is 0, a portion of the drive units apply a positive driving force to the main output shaft, and another portion of the drive units apply a reverse driving force equal in magnitude to the positive driving force; when the main output shaft output force is not 0, when the load on the main output shaft is not higher than a threshold, a portion of the drive units apply a positive driving force to the main output shaft, and another portion of the drive units apply a reverse driving force less than the positive driving force to the output shaft; when the load on the main output shaft is higher than the threshold, the drive units apply a positive driving force to the main output shaft. This is a low-cost, zero-play actuator.

Description

Technical Field

[0001] The present invention relates to the field of actuators, and in particular to a motor module without dead space. Background Art

[0002] Servo actuators are a very important part of robotics technology. Currently, the following servo actuators are commonly used in the field of robotics:

[0003] 1. Motor plus harmonic reducer plus encoder, such as multi-degree-of-freedom collaborative robotic arms, arms and legs of large humanoid robots, most of which use harmonic deceleration;

[0004] 2. Motor plus ordinary reducer. Since ordinary reducers have virtual positions, this method is generally not used directly for robot joints, but is often used for wheel driving;

[0005] 3. Servo: commonly used in scenarios that do not require very high precision, such as model airplanes, model ships, and small robot joints.

[0006] Among them, the method of motor plus harmonic reducer has the best performance and can achieve zero gear clearance, but the manufacturing cost of harmonic reducer is high and the price has remained high; the method of motor plus ordinary reducer has low cost, but due to the gear clearance, the final output shaft has virtual position and low output accuracy; the servo has low price and convenient control, but also has the disadvantage of virtual position. The above three types of actuators are difficult to balance cost and performance, which limits their respective application scenarios. Summary of the invention

[0007] In order to overcome the deficiencies in the prior art, the present invention provides a motor module without virtual position, which has the advantages of simple structure and low cost, and can effectively eliminate the virtual position of the output shaft.

[0008] The purpose of the present invention is achieved through the following technical solutions:

[0009] A non-empty motor module comprises a main output shaft and a plurality of drive units, each of the drive units having a secondary output shaft capable of outputting a rotational motion;

[0010] The main output shaft is provided with a power take-off member, each of the auxiliary output shafts is provided with a transmission member engaged with the power take-off member, and each of the driving units can apply driving force to the main output shaft through the transmission member and the power take-off member;

[0011] The output force of the main output shaft is 0, a part of the driving units applies a positive driving force to the main output shaft, and another part of the driving units applies a reverse driving force equal to the positive driving force to the main output shaft;

[0012] When the output force of the main output shaft is not 0 and the load on the main output shaft is not higher than a threshold value, a part of the drive units apply a positive driving force to the main output shaft, and another part of the drive units apply a reverse driving force less than the positive driving force to the output shaft. When the load on the main output shaft is higher than a threshold value, the drive units apply a positive driving force to the main output shaft.

[0013] As a further optional solution of the zero-dummy motor module, the driving unit is a motor.

[0014] As a further optional solution of the zero-dummy motor module, the main output shaft is arranged in parallel with the auxiliary output shaft, and the auxiliary output shaft is evenly or symmetrically distributed along the circumference of the main output shaft.

[0015] As a further optional solution of the zero-dummy motor module, a plurality of the motors are closely distributed around the circumference.

[0016] As a further optional scheme of the zero-dead space motor module, the number of the motors is an even number, and when the motors have a forward driving force and a reverse driving force on the main output shaft, the output forces of adjacent motors are opposite or the motors that are spaced provide output forces.

[0017] As a further optional solution of the zero-dead-position motor module, the power take-off member and the transmission member are mutually meshing gears, and the tooth diameter of the power take-off member is larger than the tooth diameter of the transmission member.

[0018] As a further optional solution of the zero-dead-position motor module, the power take-off member is an inner gear ring coaxially connected to the main output shaft, and the transmission member is a gear coaxially connected to the auxiliary output shaft.

[0019] As a further optional solution of the zero-vacancy motor module, the zero-vacancy motor module also includes a casing, a rolling bearing is provided between the main output shaft and the casing, and at least one end of the main output shaft is exposed from the casing.

[0020] As a further optional scheme of the described zero-dead-position motor module, the casing includes a cylinder, a top cover and a bottom cover, the cylinder is open on one side and is provided with a support plate on the other side, the support plate is provided with a through hole allowing the main output shaft to pass through, the top cover and the support plate form a cavity for accommodating the transmission member and the power take-off member, and the bottom cover and the support plate form a cavity for accommodating the drive unit.

[0021] As a further optional solution of the non-empty position motor module, the non-empty position motor module further includes an encoder, and the main output shaft is provided with an encoder and / or each of the auxiliary output shafts is provided with the encoder;

[0022] And / or, the zero-dummy-position motor module further includes a driving circuit board, and the driving circuit board is used to drive each of the driving units to move.

[0023] The non-vacant position motor module of the present invention has at least the following beneficial effects:

[0024] Multiple drive units can output driving forces in different directions to the main output shaft, so that the main output shaft has no virtual position when it is outputting force or not, with high positioning accuracy and driving accuracy, and multiple drive units can dynamically compensate for the virtual position of the main output shaft, and are not affected by the wear of the motor module without virtual position due to long-term use. At the same time, multiple auxiliary output shafts jointly drive a main output shaft to evenly distribute the torque, and can have greater power under the same volume of the motor module. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 The isometric structural diagram of the motor module without virtual position provided in Embodiment 1 of the present invention is shown;

[0027] Figure 2 A schematic cross-sectional view at a first angle of a motor module without virtual positions provided in Embodiment 1 of the present invention is shown;

[0028] Figure 3 A second angle schematic cross-sectional view of a motor module without virtual positions provided in Embodiment 1 of the present invention is shown.

[0029] Description of main component symbols:

[0030] 100-motor module; 110-main output shaft; 111-flange; 120-drive unit; 121-secondary output shaft; 130-power take-off member; 131-connecting plate; 140-transmission member; 150-housing; 151-cylinder; 151a-support plate; 152-top cover; 153-bottom cover; 160-encoder; 170-drive circuit board. DETAILED DESCRIPTION

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0033] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0034] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0036] Example 1

[0037] like Figure 1 As shown, this embodiment provides a motor module without virtual position, hereinafter referred to as motor module 100. Motor module 100 can be applied to equipment such as aerospace, navigation, bionic machinery, machine tools, instruments, mining and metallurgy, transportation, lifting machinery, petrochemical machinery, textile machinery, agricultural machinery, medical equipment and robots as an actuating element of the equipment. The output shaft of motor module 100 does not have a rotation virtual position, which can meet the high-precision requirements of the mechanism operation.

[0038] Please also read Figures 2-3 The motor module 100 includes a main output shaft 110 and a plurality of drive units 120, each of which has a secondary output shaft 121 capable of outputting rotational motion. A power take-off member 130 is provided on the main output shaft 110, and a transmission member 140 engaged with the power take-off member 130 is provided on each secondary output shaft 121. Each drive unit 120 can apply driving force to the main output shaft 110 through the transmission member 140 and the power take-off member 130. The transmission member 140 transmits the power of the secondary output shaft 121 to the power take-off member 130 by engaging with the power take-off member 130. The power take-off member 130 is connected to the main output shaft 110, thereby driving the main output shaft 110 to move together, and transmitting the power of the plurality of secondary output shafts 121 to the main output shaft 110.

[0039] When the output force of the main output shaft 110 is 0, that is, when it is maintained at a certain angle, a part of the drive unit 120 applies a positive drive force to the main output shaft, and the other part of the drive unit 120 applies a reverse drive force equal to the positive drive force to the main output shaft. The main output shaft 110 outputs a rotational motion, and the positive drive force and the reverse drive force are equal in magnitude and opposite in direction, so that the sum of the drive forces of the drive unit 120 on the main output shaft 110 is 0, and the main output shaft 110 is balanced in force and maintains its rotation angle. The drive unit 120 that provides the positive drive force eliminates the reverse rotation margin of the main output shaft 110, and the drive unit 120 that provides the reverse drive force eliminates the positive rotation margin of the main output shaft 110, thereby eliminating the static virtual position of the main output shaft 110 and ensuring the positioning accuracy of the main output shaft 110.

[0040] As mentioned above, a part of the forward drive unit 120 plus another part of the reverse drive unit 120 can be all the drive units 120, or it can be part of the drive units 120. When it is part of the drive units 120, the remaining drive units 120 may not work, that is, no driving force is applied to the main output shaft 110, thereby achieving the effect of energy saving and consumption reduction.

[0041] It is understandable that when the output force of the main output shaft 110 is 0, the driving force used to maintain the rotation angle of the main output shaft 110 does not need to be too large. The magnitude of the forward and reverse driving force can be slightly larger than the load on the main output shaft 110 when it is not rotating, so as to avoid unnecessary power consumption.

[0042] It should be noted that at the beginning of the start when the main output shaft 110 outputs force, due to the reverse torque applied to the main output shaft 110 in a static state, the main output can be started without any dead space.

[0043] When the output force of the main output shaft 110 is not 0, there are two cases:

[0044] 1. When the load on the main output shaft 110 is not higher than the threshold, a part of the drive unit 120 applies a positive driving force to the main output shaft 110, and another part of the drive unit 120 applies a reverse driving force less than the positive driving force to the main output shaft 110. When the load on the main output shaft 110 is higher than the threshold, the drive unit 120 applies a positive driving force to the main output shaft 110. When the load is small, by setting a part of the drive unit 120 to provide a reverse driving force to the main output shaft 110, the main output shaft 110 can have a certain reverse force output trend, eliminating the dynamic virtual position of the main output shaft 110 in the output force direction.

[0045] It can be understood that the reverse driving force applied by the other part of the driving unit 120 to the main output shaft 110 is a driving force relative to the forward driving force, and the reverse driving includes active driving and passive driving. The active reverse driving force can be a driving force opposite to the forward driving force, and the passive reverse driving force can be that the driving unit 120 does not output power, and due to the relative power output of the main output shaft 110 and it, the driving unit 120 that does not output force provides a relative reverse driving force for the main output shaft 110.

[0046] 2. When the load on the main output shaft 110 is higher than the threshold, the drive unit 120 provides a positive driving force for the main output shaft 110, thereby ensuring that the drive unit 120 can provide strong power to the main output shaft 110 and drive the load to move. At the same time, when the load is higher than the threshold, the reverse torque of the load on the main output shaft 110 can eliminate the virtual position of the main output shaft 110 in the output force direction.

[0047] The setting of the load threshold on the main output shaft 110 needs to satisfy the requirement that the torque of the load can eliminate the gap of the main output shaft 110 in the output force direction when the main output shaft 110 rotates. It can be flexibly set according to the power and usage of the motor module 100.

[0048] The load on the main output shaft 110 can be detected in real time by a torque sensor disposed on the main output shaft 110 , thereby controlling the actions of each drive unit 120 , or directly controlling each drive unit 120 to adjust the torque of the main output shaft 110 .

[0049] As mentioned above, the multiple driving units 120 of the motor module 100 can output driving forces in different directions or different driving speeds to the main output shaft 110, so that there is no virtual position of the main output shaft 110 whether it is outputting force or not, and it has higher positioning accuracy and driving angular displacement accuracy.

[0050] Due to the reverse output force between the multiple drive units 120, the virtual position of the main output shaft 110 is eliminated. At the same time, since the reverse output force is not affected by the wear of the virtual position motor module 100 due to long-term use, it is a dynamic virtual position elimination method that can effectively eliminate virtual positions of different sizes.

[0051] In this embodiment, the drive unit 120 is a motor, and each motor has an independent secondary output shaft 121, thereby independently providing driving force for the main output shaft 110. The motor module 100 integrates the power of multiple motors through the transmission member 140 and the power take-off member 130 and outputs it through the main output shaft 110. Multiple secondary output shafts 121 jointly drive one main output shaft 110 to evenly distribute the torque. Under the same volume as the traditional motor, the motor module 100 can have greater power, or under the same power, a smaller volume.

[0052] The main output shaft 110 and the auxiliary output shaft 121 are arranged in parallel, and the plurality of drive units 120 are arranged along the circumference of the main output shaft 110, so that the transmission between the main output shaft 110 and the auxiliary output shaft 121 can be transmitted in parallel axial directions. The motors are distributed on the outer circumference of the main output shaft 110, so that the motor module 100 has a more compact structure and a more regular appearance.

[0053] Multiple drive units 120 are evenly or symmetrically distributed along the circumference of the main output shaft 110. The even distribution or symmetrical distribution is conducive to the even distribution of the output torque of the drive unit 120, so that the axial force of the main output shaft 110 is even, ensuring the stability of the power output of the main output shaft 110.

[0054] The number of the driving units 120, that is, the auxiliary output shafts 121, is multiple, and can be two, three, four, five, six or even more. Further, the number of the driving units 120 is an even number, that is, two, four, six or even more.

[0055] When the main output shaft 110 is kept at an angle, the adjacent secondary output shafts 121 output driving forces of equal magnitude and opposite directions. When the main output shaft 110 outputs force in one direction under a load not higher than a threshold value, the adjacent secondary output shafts 121 output opposite driving forces, and the positive driving force in the direction of the output force is greater than the reverse driving force; or one of the two adjacent secondary output shafts 121 provides a positive driving force for the main output shaft 110, and the other does not work. When the main output shaft 110 rotates, the non-working secondary output shaft 121 forms a resistance to the positive output force of the main output shaft 110. This setting can make the distribution of the positive driving force and the reverse driving force more uniform, and can eliminate the rotation virtual position of the main output shaft 110 in sections, effectively suppressing the rotation of the main output shaft 110 when eliminating the virtual position, affecting the positioning accuracy.

[0056] The power take-off member 130 and the transmission member 140 are mutually meshing gears, and a gear transmission pair is formed between the two, which can stably, reliably and efficiently transmit the power of the secondary output shaft 121 to the main output shaft 110. At the same time, the gear transmission method between the power take-off member 130 and the transmission member 140 can also make one power take-off member 130 engage with multiple transmission members 140, and the transmission gears on the multiple secondary output shafts 121 work together to form the last-stage power take-off gear, which not only makes the motor module 100 compact, but also makes the final output torque evenly distributed on each transmission gear. When the force is applied, the number of teeth meshing at the same time increases, which reduces the load on the transmission gear.

[0057] The tooth diameter of the power take-off member 130 is larger than the tooth diameter of the transmission member 140, so that a speed reduction mechanism is formed between the transmission member 140 and the power take-off member 130, and the motor module 100 is equivalent to integrating a speed reducer therein. The transmission member 140 and the power take-off member 130 not only transmit the power of the drive unit 120 to the main output shaft 110, but also reduce the speed and increase the torque of the power.

[0058] In this embodiment, the power take-off member 130 is an internal gear ring coaxially connected to the main output shaft 110, and the transmission member 140 is a gear coaxially connected to the secondary output shaft 121. The power take-off member 130 and the transmission member 140 form an internal meshing, so that the transmission mechanism formed between the power take-off member 130 and the transmission member 140 has a large transmission ratio while occupying a small space, which is conducive to achieving a large transmission ratio and a compact structural design.

[0059] In another embodiment, the power take-off member 130 may also be a gear coaxially connected to the main output shaft 110 , so that external meshing is formed between the power take-off member 130 and the transmission member 140 .

[0060] In yet another embodiment, the power take-off member 130 may also include a plurality of power take-off gears, and the plurality of power take-off gears may be coaxially arranged and meshed with different transmission gears.

[0061] In another embodiment, the power take-off gear may also be a gear pair to enhance its deceleration effect. Similarly, the transmission gear may also be a gear pair to increase the transmission stage.

[0062] As mentioned above, eliminating the virtual position of the main output shaft 110 means eliminating the gap between the power take-off inner gear ring and the transmission gear, and the teeth of the power take-off inner gear ring and the transmission gear are tightly engaged by the reverse rotation of the transmission gear in a static state.

[0063] In order to ensure the compactness of the motor module 100, the drive units 120 are closely arranged along the circumference of the main output shaft 110, that is, the housings of adjacent motors are in contact or form a small gap. The inscribed cylindrical surfaces of multiple motors fall on the same cylindrical surface, and the circumscribed cylindrical surfaces fall on the same cylindrical surface, so that the motor module 100 can still have a smaller volume when it has more drive units 120.

[0064] The motor module 100 further includes a housing 150, a rolling bearing is provided between the main output shaft 110 and the housing 150, and at least one end of the main output shaft 110 is exposed from the housing 150, thereby achieving power output. The housing 150 accommodates the drive unit 120, the transmission member 140 and the power take-off member 130, and only the main output shaft 110 is exposed from the housing 150 to achieve power output, so that the motor module 100 becomes a whole.

[0065] Furthermore, the housing 150 is a cylindrical housing, including a cylinder 151, a top cover 152 and a bottom cover 153. The cylinder 151 is open on one side and provided with a support plate 151a on the other side. The support plate 151a has a through hole for allowing the main output shaft 110 to pass through. A rolling bearing is provided on the support plate 151a, and the inner ring of the rolling bearing is connected to the power take-off inner gear ring. The top cover 152 covers the outer ring of the rolling bearing and is fixed on the cylinder 151, so that the rolling bearing and the power take-off member 130 are fixed between the support plate 151a and the top cover 152. The drive unit 120, i.e., the housing of the motor, is fixed on the bottom surface of the support plate 151a, and the secondary output shaft 121 extends from the top surface of the support plate 151a and is connected to the transmission gear, which is meshed with the power take-off inner gear ring. The power take-off inner gear ring is arranged on the connecting disk 131 , and the end of the main output shaft 110 is provided with a flange 111 connected to the connecting disk 131 , and the flange 111 is embedded in the connecting disk 131 , and the two form a power output disk.

[0066] The bottom cover 153 is connected to the opening surface of the cylinder 151 to block the opening surface of the cylinder 151, thereby forming a casing 150 that is hollow inside and closed outside. In this embodiment, the main output shaft 110 extends from the bottom cover 153, and a rolling bearing is provided between the bottom cover 153, that is, the inner ring of the rolling bearing is connected to the main output shaft 110, and the outer ring is connected to the bottom cover 153.

[0067] In this embodiment, the motor module 100 includes 6 drive units 120. A small gap is formed between the inscribed cylindrical surfaces of the 6 drive units 120 and the main output shaft 110. The gap is sufficient to not affect the rotation of the main output shaft 110. The circumscribed cylindrical surfaces of the 6 drive units 120 are in contact with or form a small gap with the housing 150, specifically the inner wall of the cylinder 151.

[0068] The motor module 100 further includes an encoder 160 , which is disposed on the main output shaft 110 and is used to sense and control the rotation angle of the main output shaft 110 , thereby forming precise angular positioning and rotation angle control for the main output shaft 110 .

[0069] The motor module 100 also includes a driving circuit board 170, which is used to drive each driving unit 120 to operate. By independently controlling the operation of each driving unit 120, the direction and size of the power output by each driving unit 120 can be controlled, and the main output shaft 110 of the motor module 100 can operate without dead space in static or dynamic conditions.

[0070] A certain gap is formed between the bottom cover 153 and the bottom of the driving unit 120, which can be used to accommodate the encoder 160 and the driving circuit board 170. The encoder 160 is coaxially connected to the main output shaft 110, and the driving circuit board 170 is connected to the bottom cover 153 and has a through hole allowing the main output shaft 110 to pass through.

[0071] As mentioned above, the power take-off inner gear ring is fixed to the housing 150 through a large bearing. The structure between the power take-off inner gear ring and the connecting plate 131 can also be changed, and the connecting structure of the connecting plate 131 can be reduced, so that a smaller bearing can be used to fix it to the housing 150. The rolling bearing can be a deep groove ball bearing or a cross roller bearing. The inner ring of the rolling bearing can also be directly customized to have internal teeth as the inner gear ring, and the structure of the top cover 152 changes with the change of the structure of the power take-off member 130.

[0072] The main output shaft 110 may be a hollow shaft, fixed to the power take-off inner gear ring and can rotate with the power take-off inner gear ring, and both ends extend from the housing 150 as an output shaft. Of course, the main output shaft 110 may also be an output shaft inserted in a hollow shaft, the hollow shaft and the housing 150 are integrated, the main output shaft 110 is made into a single-sided output shaft, or no hollow shaft is provided.

[0073] The encoder 160 can be a magnetic encoder or a photoelectric encoder. In addition to being set on the main output shaft 110, it can also be set on the auxiliary output shaft 121. That is, a motor with its own encoder is used to control the output angular displacement of each auxiliary output shaft 121.

[0074] In addition to being integrated into the motor module 100 , the driving circuit board 170 can also be placed in an external driver to control the motor module 100 .

[0075] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0076] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. The motor module without dummy position is characterized by: It includes a main output shaft and a plurality of drive units, each of which has a secondary output shaft capable of outputting rotational motion; The main output shaft is provided with a power take-off member, each of the auxiliary output shafts is provided with a transmission member engaged with the power take-off member, and each of the driving units can apply driving force to the main output shaft through the transmission member and the power take-off member; The output force of the main output shaft is 0, a part of the driving units applies a positive driving force to the main output shaft, and another part of the driving units applies a reverse driving force equal to the positive driving force to the main output shaft; The output force of the main output shaft is not 0. When the load on the main output shaft is not higher than a threshold value, a part of the drive units apply a positive driving force to the main output shaft, and another part of the drive units apply a reverse driving force less than the positive driving force to the output shaft. When the load on the main output shaft is higher than a threshold value, the drive units apply a positive driving force to the main output shaft.

2. The motor module without dead space according to claim 1, characterized in that: The driving unit is a motor.

3. The motor module without dead space according to claim 2, characterized in that: The main output shaft is arranged in parallel with the auxiliary output shaft, and the auxiliary output shaft is evenly or symmetrically distributed along the circumference of the main output shaft.

4. The motor module without dead space according to claim 3, characterized in that: The plurality of motors are closely distributed around the circumference.

5. The motor module without dead space according to claim 3, characterized in that: The number of the motors is an even number. When the motors provide positive driving force and reverse driving force to the main output shaft, the output forces of the adjacent motors are opposite or the motors that are spaced apart provide output force.

6. The motor module without dead space according to claim 1, characterized in that: The power take-off member and the transmission member are gears meshing with each other, and the tooth diameter of the power take-off member is larger than the tooth diameter of the transmission member.

7. The motor module without dead space according to claim 6, characterized in that: The power take-off member is an inner gear ring coaxially connected to the main output shaft, and the transmission member is a gear coaxially connected to the auxiliary output shaft.

8. The motor module without dead space according to claim 1, characterized in that: The zero-dummy-position motor module further comprises a casing, a rolling bearing is arranged between the main output shaft and the casing, and at least one end of the main output shaft is exposed from the casing.

9. The motor module without dummy position according to claim 8, characterized in that: The casing includes a cylinder, a top cover and a bottom cover. The cylinder is open on one side and provided with a support plate on the other side. The support plate is provided with a through hole allowing the main output shaft to pass through. A cavity for accommodating the transmission member and the power take-off member is enclosed between the top cover and the support plate, and a cavity for accommodating the drive unit is enclosed between the bottom cover and the support plate.

10. The motor module without dead space according to claim 1, characterized in that: The zero-dummy-position motor module further comprises an encoder, and the main output shaft is provided with an encoder and / or each of the auxiliary output shafts is provided with the encoder; And / or, the zero-dummy-position motor module further includes a driving circuit board, and the driving circuit board is used to drive each of the driving units to move.

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