CN110048543A - Without diastema motor mould group - Google Patents

Abstract

The invention discloses a motor module without virtual position, which comprises a main output shaft and a plurality of driving units, each of the driving units has an auxiliary output shaft; the main output shaft is provided with a force take-off part, each auxiliary output shaft There is a transmission member engaged with the power take-off, and each drive unit can apply a driving force to the main output shaft through the transmission member and the power take-off; the output force of the main output shaft is 0, and some of the driving units apply positive To the driving force, another part of the driving unit 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 the threshold, part of the driving unit A positive driving force is applied to the main output shaft, and another part of the drive unit applies a reverse driving force that is less than the forward driving force to the output shaft. When the load on the main output shaft is higher than the threshold, the driving unit applies a forward driving force to the main output shaft. Force is a low-cost, no-vacuum actuator.

Description

No virtual motor module

technical field

The invention relates to the field of actuators, in particular to a motor module with no virtual position.

Background technique

Servo actuators are a very important part of robotics. At present, the servo actuators commonly used in the field of robotics are as follows:

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

2. The motor is added with a common reducer, because the common reducer has a virtual position, so this method is generally not directly used as a robot joint, and is often used for driving wheels;

3. Steering gear, often used in scenarios that do not require high precision, such as small robot joints in model aircraft and ship models.

Among them, the motor plus the harmonic reducer has the best performance and can achieve no gear gap, but the manufacturing cost of the harmonic reducer is high, and the price has been high; the motor plus the ordinary reducer has low cost, but due to the gear The gap makes the final output shaft appear virtual position, and the output precision is low; the price of the steering gear is low, the control is convenient, and there is also the disadvantage of virtual position. The above three types of actuators are difficult to achieve a balance between cost and performance, which limits their respective application scenarios.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies in the prior art, the present invention provides a motor module with no virtual position, which has the advantages of simple structure and low cost, and can effectively eliminate the virtual position of the output shaft.

The object of the present invention is achieved through the following technical solutions:

A no-vacancy motor module, comprising a main output shaft and a plurality of drive units, each of the drive units has an auxiliary 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 pass the transmission member and the power take-off member. The force member applies a driving force to the main output shaft;

The output force of the main output shaft is 0, some of the driving units apply a positive driving force to the main output shaft, and another part of the driving units apply a reverse direction equal to the positive driving force to the main output shaft driving force;

When the output force of the main output shaft is not 0 and the load on the main output shaft is not higher than the threshold value, a part of the drive units apply a positive driving force to the main output shaft, and the other part of the drive units The output shaft applies a reverse driving force smaller than the forward driving force, and when the load on the main output shaft is higher than a threshold value, the driving unit applies a forward driving force to the main output shaft.

As a further optional solution of the non-virtual motor module, the drive unit is a motor.

As a further optional solution of the non-empty motor module, the main output shaft and the auxiliary output shaft are arranged in parallel, and the auxiliary output shafts are evenly or symmetrically distributed along the circumferential direction of the main output shaft.

As a further optional solution of the no-empty motor module, a plurality of the motors are closely distributed around the circumference.

As a further optional solution of the motor module with no virtual position, the number of the motors is an even number, and when the motors have a forward driving force and a reverse driving force to the main output shaft, adjacent The motors with opposite or spaced output forces provide output forces.

As a further optional solution of the non-empty motor module, the power take-off member and the transmission member are gears that mesh with each other, and the tooth diameter of the power take-off member is larger than the tooth diameter of the transmission member.

As a further optional solution of the no-empty motor module, the power take-off member is an inner gear coaxially connected with the main output shaft, and the transmission member is coaxial with the auxiliary output shaft connected gears.

As a further optional solution of the non-empty motor module, the non-empty motor module further includes a casing, a rolling bearing is provided between the main output shaft and the casing, and the main output shaft is provided with a rolling bearing. At least one end of the output shaft is exposed from the casing.

As a further optional solution of the non-empty motor module, the casing includes a cylinder, a top cover and a bottom cover, one side of the cylinder is open, the other side is provided with a support plate, and 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, the bottom cover and the A cavity for accommodating the driving unit is enclosed between the support plates.

As a further optional solution of the non-virtual motor module, the non-virtual motor module further includes an encoder, and the main output shaft is provided with an encoder and/or each of the auxiliary output shafts The encoder is provided on it;

And/or, the non-virtual motor module further includes a driving circuit board, and the driving circuit board is used to drive each of the driving units to act.

The non-virtual motor module of the present invention has at least the following beneficial effects:

Multiple drive units can output driving forces in different directions to the main output shaft, so that there is no virtual position when the main output shaft is outputting force or not outputting force, with high positioning accuracy and driving accuracy, and multiple drive units. It can form dynamic compensation for the virtual position of the main output shaft, and is 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, which can evenly share the torque, and can have greater power under the same volume of the motor module.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 shows a schematic diagram of the axonometric structure of the motor module without virtual position provided in Embodiment 1 of the present invention;

FIG. 2 shows a schematic diagram of a cross-sectional first angle of the motor module without dummy position provided by Embodiment 1 of the present invention;

FIG. 3 shows a cross-sectional schematic diagram of a second angle of the motor module without dummy position provided by Embodiment 1 of the present invention.

Description of main component symbols:

100-motor module; 110-main output shaft; 111-flange plate; 120-drive unit; 121-auxiliary output shaft; 130-power take-off part; 131-connecting plate; 140-transmission part; 150-case; 151-cylinder; 151a-support plate; 152-top cover; 153-bottom cover; 160-encoder; 170-drive circuit board.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial , "radial", "circumferential" and other indicated orientations or positional relationships are 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, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations of the invention.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may be in direct contact between the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the 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 level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Example 1

As shown in FIG. 1 , this embodiment provides a motor module with no virtual position, hereinafter referred to as a motor module 100 . The motor module 100 can be used in aerospace, navigation, bionic machinery, machine tools, instruments, mining and metallurgy, transportation, hoisting machinery, petrochemical machinery, textile machinery, agricultural machinery, medical equipment, and robots. the actuating element. The output shaft of the motor module 100 has no virtual rotation position, which can meet the high-precision requirements of the mechanism operation.

Please refer to FIGS. 2 to 3 together. The motor module 100 includes a main output shaft 110 and a plurality of driving units 120 . Each driving unit 120 has an auxiliary output shaft 121 capable of outputting rotational motion. The main output shaft 110 is provided with a power take-off member 130, each auxiliary output shaft 121 is provided with a transmission member 140 engaged with the power take-off member 130, and each drive unit 120 can be driven by the transmission member 140 and the power take-off member 130. The output shaft 110 applies a driving force. The transmission member 140 transmits the power of the auxiliary output shaft 121 to the power take-off member 130 through the engagement with the power take-off member 130, and the power take-off member 130 is connected with the main output shaft 110, thereby driving the main output shaft 110 to act together, and the plurality of auxiliary output shafts 110. The power of the output shaft 121 is transmitted to the main output shaft 110 .

When the output force of the main output shaft 110 is 0, that is, when it maintains an angle, a part of the driving units 120 applies a positive driving force to the main output shaft, and the other part of the driving units 120 applies a reverse driving force equal to the positive driving force to the main output shaft. to the driving force. The main output shaft 110 outputs a rotary motion, and the forward driving force and the reverse driving force are equal in magnitude and opposite in direction, so that the sum of the driving forces of the driving unit 120 to the main output shaft 110 is 0, thereby causing the main output shaft 110 to be stressed Balance, keep its corners. The driving unit 120 providing the forward driving force eliminates the reverse rotation margin of the main output shaft 110, and the driving unit 120 providing the reverse driving force eliminates the forward rotation margin of the main output shaft 110, thereby eliminating the main output shaft 110 The static virtual position can ensure the positioning accuracy of the main output shaft 110.

As mentioned above, a part of the forward drive units 120 plus another part of the reverse drive units 120 may be all the drive units 120, or may be a part of the drive units 120, and when it is a part of the drive units 120, the rest of the drive units 120 may not be In operation, that is, no driving force is applied to the main output shaft 110, thereby achieving the effect of energy saving and consumption reduction.

It can be understood that when the output force of the main output shaft 110 is 0, the driving force for maintaining the rotation angle of the main output shaft 110 does not need to be too large, and the magnitude of the forward and reverse driving forces can be slightly larger than that when the main output shaft 110 is not rotating. to avoid unnecessary power consumption.

It should be noted that, at the beginning of starting when the main output shaft 110 outputs force, the main output can be started without a virtual position due to the reverse torsion force received by the main output shaft 110 under static conditions.

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

1. When the load on the main output shaft 110 is not higher than the threshold value, some of the driving units 120 apply a forward driving force to the main output shaft 110, and another part of the driving units 120 apply a reverse drive that is less than the forward driving force to the main output shaft 110 When the load on the main output shaft 110 is higher than the threshold value, the driving unit 120 applies a positive driving force to the main output shaft 110 . When the load is small, a part of the drive units 120 can be set to provide reverse driving force to the main output shaft 110, so that the main output shaft 110 can have a certain tendency to output reverse force, and eliminate the main output shaft 110 in the direction of the output force. Dynamic dummy.

It can be understood that the reverse driving force applied by another 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 may be the driving force in the opposite direction to the forward driving force, and the passive reverse driving force may be that the drive unit 120 does not output power. Due to the relative power output between the main output shaft 110 and the main output shaft 110, no force is output. The driving unit 120 of the main output shaft 110 provides a relative reverse driving force.

2. When the load on the main output shaft 110 is higher than the threshold value, the driving unit 120 provides a positive driving force for the main output shaft 110, thereby ensuring that the driving unit 120 can provide a strong power to the main output shaft 110 to ensure that it can drive load action. Meanwhile, when the load is higher than the threshold value, the reverse torsion force of the load on the main output shaft 110 can eliminate the virtual position of the main output shaft 110 in the direction of the output force.

The load threshold on the main output shaft 110 needs to be set so that the torque of the main output shaft 110 can be loaded when the main output shaft 110 rotates and the clearance of the main output shaft 110 in the direction of the output force can be eliminated. Power and usage can be set flexibly.

The load on the main output shaft 110 can be detected in real time by the torque sensor provided on the main output shaft 110, so as to control the action of each driving unit 120, and can also directly control each driving unit 120 to adjust the main output shaft 110. magnitude of torque.

As mentioned above, the plurality of driving units 120 of the motor module 100 can output driving forces in different directions or different driving rotational speeds to the main output shaft 110, so that the main output shaft 110 does not have a virtual position when it outputs force or does not output force. It has high positioning accuracy and driving angular displacement accuracy.

Due to the reverse output force between the plurality of driving units 120, the virtual position of the main output shaft 110 is eliminated, and because the reverse output force is not affected by the wear and tear of the virtual motor module 100 due to long-term use, it is A method of dynamic virtual bit elimination, which can effectively eliminate virtual bits of different sizes.

In this embodiment, the driving unit 120 is a motor, and each motor has an independent auxiliary output shaft 121 so as to independently provide a 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 the power from the main output shaft 110 . A plurality of auxiliary output shafts 121 jointly drive one main output shaft 110 to share the torque equally. Under the same volume as a conventional motor, the motor module 100 can have greater power, or under the same power, the volume is smaller.

The main output shaft 110 and the auxiliary output shaft 121 are arranged in parallel, and a plurality of driving units 120 are arranged along the circumferential direction 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, so that the motor module 100 has a more regular appearance.

The plurality of drive units 120 are evenly or symmetrically distributed along the circumferential direction of the main output shaft 110 , and the uniform or symmetrical distribution is conducive to the even distribution of the output torque of the drive units 120 , so that the axial force of the main output shaft 110 is uniform, and the main output shaft is ensured The stability of the 110 power output.

The number of the driving units 120 , that is, the auxiliary output shafts 121 is multiple, and may 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.

When the main output shaft 110 is maintained at an angle, the adjacent auxiliary output shafts 121 output driving forces with equal magnitudes and opposite directions. When the main output shaft 110 outputs the force in one direction under the load not higher than the threshold value, the adjacent auxiliary output shaft 121 outputs the opposite driving force, and the forward driving force in the output force direction is greater than the reverse driving force; One of the two auxiliary output shafts 121 provides positive driving force to the main output shaft 110, and the other does not work. When the main output shaft 110 rotates, the auxiliary output shaft 121 that does not work forms a resistance to the positive output force to the main output shaft 110. . This arrangement can make the distribution of the forward driving force and the reverse driving force more uniform, and can eliminate the virtual rotation position of the main output shaft 110 in stages, effectively suppressing the rotation of the main output shaft 110 when the virtual position is eliminated. affect the positioning accuracy.

The power take-off member 130 and the transmission member 140 are gears that mesh with each other, and a gear transmission pair is formed between the two, which can transmit the power of the auxiliary output shaft 121 to the main output shaft 110 stably, reliably and efficiently. At the same time, the use of gear transmission between the power take-off member 130 and the transmission member 140 also enables one power take-off member 130 to engage with multiple transmission members 140, and the transmission gears on the plurality of auxiliary output shafts 121 work together to take the last stage of power take-off. The gears not only compact the structure of the motor module 100, but also make the final output torque evenly distributed with each transmission gear, and the number of teeth meshing simultaneously increases when the force is applied, which reduces the load of the transmission gear.

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

In this embodiment, the power take-off member 130 is a ring gear coaxially connected to the main output shaft 110 , and the transmission member 140 is a gear coaxially connected to the auxiliary output shaft 121 . Internal meshing is formed between the power take-off member 130 and the transmission member 140, so that the transmission mechanism formed between the power take-off member 130 and the transmission member 140 has a large transmission ratio and occupies a small space, which is conducive to the realization of large Transmission ratio and compact structure design.

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

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.

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

As mentioned above, to eliminate the virtual position of the main output shaft 110, that is, to eliminate the gap between the power take-off ring gear and the drive gear, the reverse rotation of the drive gear is used under static conditions, so that the teeth of the power take-off ring gear and the drive gear are tight. engage.

In order to ensure the compact arrangement of the motor module 100 , the driving units 120 are closely arranged along the circumferential direction of the main output shaft 110 , that is, the casings of adjacent motors are in contact with each other or form a small gap. The inscribed cylindrical surfaces of the plurality of motors lie on the same cylindrical surface, and the circumscribed cylindrical surfaces lie on the same cylindrical surface, so that the motor module 100 can still have a smaller volume when there are more driving units 120 .

The motor module 100 further includes a casing 150 , a rolling bearing is arranged between the main output shaft 110 and the casing 150 , and at least one end of the main output shaft 110 is exposed from the casing 150 , thereby realizing power output. The casing 150 accommodates the driving unit 120 , the transmission member 140 and the power take-off member 130 therein, and only the main output shaft 110 is exposed from the casing 150 to realize power output, so that the motor module 100 becomes a whole.

Further, the casing 150 is a cylindrical casing including a cylinder 151 , a top cover 152 and a bottom cover 153 . One side of the cylinder 151 is open, and the other side is provided with a support plate 151a. The support plate 151a has a through hole for allowing the main output shaft 110 to pass through. The support plate 151a is provided with a rolling bearing, the inner ring of the rolling bearing is connected with a power take-off ring gear, and the top cover 152 is covered on the outer ring of the rolling bearing and fixed on the cylinder 151, so as to fix the rolling bearing and the power take-off member 130 on the cylinder 151. between the support plate 151a and the top cover 152 . The drive unit 120, the housing of the motor, is fixed on the bottom surface of the support plate 151a, and the auxiliary output shaft 121 protrudes from the top surface of the support plate 151a and is connected with the transmission gear, which meshes with the power take-off ring gear. The power take-off ring gear is arranged on the connecting plate 131, and the end of the main output shaft 110 is provided with a flange plate 111 connected with the connecting plate 131. The flange plate 111 is embedded in the connecting plate 131, and the two form the power output disc.

The bottom cover 153 is connected to the opening surface of the cylinder 151 to seal the opening surface of the cylinder 151 , thereby forming the casing 150 which is hollow inside and closed outside. In this embodiment, the main output shaft 110 protrudes from the bottom cover 153 and is provided with a rolling bearing between the bottom cover 153 and the inner ring of the rolling bearing.

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

The motor module 100 further includes an encoder 160 . The encoder 160 is disposed on the main output shaft 110 for sensing and controlling the rotation angle of the main output shaft 110 , so as to form precise angle positioning and rotation angle control of the main output shaft 110 .

The motor module 100 further includes a driving circuit board 170, and the driving circuit board 170 is used to drive each driving unit 120 to act. By independently controlling the motion of each driving unit 120, the direction and magnitude of the power output by each driving unit 120 can be determined Therefore, the main output shaft 110 of the motor module 100 can work without virtual position under static or dynamic conditions.

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.

As mentioned above, the power take-off ring gear and the casing 150 are fixed by a large bearing, and the structure between the power take-off ring gear and the connecting plate 131 can also be changed, and the connecting structure of the connecting plate 131 can be shortened so as to be connected with the machine. The shells 150 can be fixed by using smaller bearings. Rolling bearings can choose deep groove ball bearings or crossed roller bearings. It is also possible to directly customize the inner ring of the rolling bearing to have internal teeth. As the inner gear ring, the structure of the top cover 152 changes with the change of the structure of the power take-off member 130 .

The main output shaft 110 can be a hollow shaft, which is fixed with the power take-off ring gear and can rotate together with the power take-off ring gear, and both ends protrude from the casing 150 as the output shaft. Of course, the main output shaft 110 can also be an output shaft inserted in the hollow shaft, the hollow shaft and the casing 150 are integrated, and the main output shaft 110 is a single-sided output shaft, or no hollow shaft is provided.

The encoder 160 can be a magnetic encoder or a photoelectric encoder. In addition to being arranged on the main output shaft 110, it can also be arranged on the auxiliary output shaft 121, that is, a motor with its own encoder is used. The output angular displacement of the output shaft 121 is controlled.

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

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (10)

1. There is no virtual position motor module, characterized in that it comprises a main output shaft and a plurality of drive units, and each of the drive units 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 pass the transmission member and the power take-off member. The force member applies a driving force to the main output shaft; The output force of the main output shaft is 0, some of the driving units apply a positive driving force to the main output shaft, and another part of the driving units apply a reverse direction equal to the positive driving force to the main output shaft driving force; The output force of the main output shaft is not 0. When the load on the main output shaft is not higher than the threshold value, a part of the drive units apply a positive driving force to the main output shaft, and the other part of the drive units are The output shaft applies a reverse driving force smaller than the forward driving force, and when the load on the main output shaft is higher than a threshold value, the driving unit applies a forward driving force to the main output shaft. 2 . The motor module without dummy position according to claim 1 , wherein the driving unit is a motor. 3 . 3 . The motor module without dummy position according to claim 2 , wherein the main output shaft and the auxiliary output shaft are arranged in parallel, and the auxiliary output shaft is uniform or uniform along the circumferential direction of the main output shaft. 4 . symmetrical distribution. 4 . The motor module without virtual position according to claim 3 , wherein a plurality of the motors are closely distributed around the circumference. 5 . 5. The motor module without dummy position according to claim 3, wherein the number of the motors is an even number, and when the motor has a forward driving force and a reverse driving force to the main output shaft, The motors with opposite or spaced output forces of adjacent said motors provide output forces. 6 . The motor module without virtual position according to claim 1 , wherein the power take-off member and the transmission member are gears that mesh with each other, and the tooth diameter of the power take-off member is larger than that of the transmission member. 7 . tooth diameter. 7 . The motor module without virtual position according to claim 6 , wherein the power take-off member is an inner gear coaxially connected to the main output shaft, and the transmission member is connected to the auxiliary output shaft. 8 . Gears with shafts connected coaxially. 8 . The motor module without virtual position according to claim 1 , wherein the motor module without virtual position further comprises a casing, and a rolling bearing is provided between the main output shaft and the casing, and 8 . At least one end of the main output shaft is exposed from the casing. 9 . The motor module without virtual position according to claim 8 , wherein the casing comprises a cylinder, a top cover and a bottom cover, one side of the cylinder is open, and the other side is provided with a supporting plate, the supporting plate There is 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 the bottom cover A cavity for accommodating the driving unit is enclosed with the support plate. 10. The motor module without dummy position according to claim 1, wherein the motor module without dummy position further comprises an encoder, and the main output shaft is provided with an encoder and/or each of the The encoder is provided on the auxiliary output shaft; And/or, the non-virtual motor module further includes a driving circuit board, and the driving circuit board is used to drive each of the driving units to act.