A multi-layer sleeve rotary precision shaft system for an infinite rotation angle control platform

Abstract

The present invention discloses a multi-layer sleeve rotary precision shaft system of an infinite rotation angle control platform, the shaft system includes a fixedly connected inner static support and an outer shell; the central rotary support is rotatably matched between the inner static support and the outer shell; the photoelectric rotary connector is fixedly installed in the inner static support; the motor rotor upper pressure ring is rotatably matched between the upper bearing outer ring pressure cover and the inner static support; the motor rotor is fixedly connected between the motor rotor upper pressure ring and the central rotary support; the motor stator is fixedly connected to the outer shell; the driving gear is fixedly installed on the central rotary support; the driven gear is rotatably installed on the inner static support; the side gear is meshed with the driving gear and the driven gear; the optical code disk stator is fixedly installed on the inner static support; the optical code disk rotor is fixedly connected to the outer end of the driven gear. The above shaft system has the characteristics of simple structure, easy assembly, convenient maintenance, large torque transmission and high precision of the shaft system.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control platforms, and in particular to a multi-layer sleeve rotary precision shaft system of an infinite angle control platform, which can be used for servo stable infinite angle and limited angle servo control platforms in various military and civilian industries and fields. Background Art

[0002] In the infinite angle servo control platform, the components of the rotary shaft system include a servo motor, an angle measuring device, an optoelectronic rotary connector, a pair of bearings, a platform sleeve, and a platform shaft. The platform shaft needs to be fixedly connected to the servo motor, the rotating ring of the angle measuring device, the inner ring of the bearing, etc., and the platform sleeve needs to be fixedly connected to the servo motor, the angle measuring device, the stationary ring of the rotary connector, the outer ring of the bearing, etc.

[0003] Inside a servo stabilization platform of a certain project, it is necessary to realize an infinite angle precision rotation shaft system control platform solution in the horizontal direction, and to achieve the goal of small size and multiple functions. Precision angle measurement optical encoder, electric rotation, and torque motor need to be installed in the shaft system. Because of the characteristics and technical index requirements of the servo stabilization platform itself, the platform needs to have high stability accuracy, so the horizontal shaft system and the components installed inside it are required to have high coaxiality, that is, high radial accuracy requirements, and high axial installation dimensional accuracy.

[0004] In order to meet the high-precision requirements of shaft system installation, it is necessary to develop a gear-driven multi-layer sleeve 360-degree infinite angular rotation precision mechanism. Summary of the invention

[0005] In view of this, the present invention provides a multi-layer sleeve rotary precision shaft system for an infinite rotation angle control platform, which organically combines the gear transmission and the rotary shaft system to achieve a three-layer sleeve surrounding and interlocking rotation motion transmission form, and has the characteristics of simple structure, easy assembly, convenient maintenance, large shaft system transmission torque and high precision.

[0006] The present invention adopts the following specific technical solutions:

[0007] A multi-layer sleeve rotary precision shaft system of an infinite rotation angle control platform, the multi-layer sleeve rotary precision shaft system comprising:

[0008] An inner stationary support is provided with a central hole and a transverse partition layer;

[0009] An outer shell is fixedly connected to the outer peripheral side of the inner stationary support;

[0010] The central rotary support is rotatably fitted between the inner stationary support and the outer shell;

[0011] The upper bearing outer ring gland is fixedly connected to one end of the outer shell;

[0012] The photoelectric rotary connector is fixedly installed in the center hole of the inner stationary support;

[0013] The upper pressing ring of the motor rotor is rotatably fitted between the outer ring pressure cover of the upper bearing and the inner stationary support;

[0014] The motor rotor is fixedly connected between the upper pressing ring of the motor rotor and the central rotating support along the axial direction of the inner stationary support;

[0015] The motor stator is arranged between the motor rotor and the outer shell along the radial direction of the inner stationary support and is fixedly connected to the outer shell;

[0016] The driving gear is fixedly mounted on the other end of the central rotating support;

[0017] The driven gear is rotatably mounted on the inner stationary support and is separated from the driving gear on both sides of the transverse partition layer;

[0018] The side gear is arranged through the transverse partition layer and is rotatably mounted on the inner stationary support around its central axis, and meshes with the driving gear and the driven gear;

[0019] The optical code disc stator is fixedly mounted on the inner stationary support;

[0020] The optical encoder rotor is sleeved on the inner circumference of the optical encoder stator and is fixedly connected to the outer end of the driven gear.

[0021] Furthermore, the photoelectric rotary connector is fixedly mounted on the inner stationary support by screws evenly distributed along the circumference;

[0022] The upper flange surface of the outer shell is fixedly connected to the upper bearing outer ring gland by screws evenly distributed along the circumference, and the lower flange surface is fixedly connected to the inner stationary support by screws evenly distributed along the circumference;

[0023] The driving gear is fixedly connected to the end flange surface of the central slewing support by screws evenly distributed along the circumference;

[0024] The motor stator is fixedly mounted on the inner circumferential surface of the outer shell by screws evenly distributed along the circumferential direction;

[0025] The motor rotor is fixedly connected to the upper flange surface of the central slewing support and the upper pressing ring of the motor rotor by screws evenly distributed along the circumferential direction.

[0026] Furthermore, the motor rotor upper pressing ring is rotatably mounted on the inner circumference of the upper bearing outer ring pressing ring through the upper bearing;

[0027] The side gear is mounted on the central shaft through a pair of first bearings, and the central shaft is fixedly connected to the seat plate through screws evenly distributed along the circumference;

[0028] The seat plate is fixedly connected to the inner static support; the mounting flange surfaces of the seat plate and the inner static support are rectangular surfaces, and are fixedly connected by screws distributed around the rectangular surfaces;

[0029] A lower bearing is installed between the central swivel support and the outer shell, and a second bearing is installed between the central swivel support and the inner stationary support;

[0030] The driven gear is rotatably supported on the inner stationary support through the third bearing.

[0031] Furthermore, the optical encoder rotor is fixedly connected to the outer end surface of the driven gear through the connecting bracket;

[0032] The optical code disc stator is installed in the inner stationary support through the connecting transition plate;

[0033] The connecting transition plate is fixedly connected to the optical code disc stator and the inner stationary support by screws evenly distributed along the circumferential direction.

[0034] Furthermore, the side gear is a double gear, including an upper gear and a lower gear that can rotate synchronously;

[0035] The upper gear is meshed with the driving gear, and the lower gear is meshed with the driven gear.

[0036] Furthermore, the side gear is a backlash-eliminating gear, comprising an upper gear, an upper compression spring, a double gear, a lower compression spring and a lower gear sequentially distributed along the axial direction of the central axis;

[0037] The upper gear and the duplex gear are both meshed with the driving gear, and the lower gear and the duplex gear are both meshed with the driven gear;

[0038] An upper compression spring is connected between the duplex gear and the upper gear;

[0039] A lower compression spring is connected between the duplex gear and the lower gear.

[0040] Beneficial effects:

[0041] (1) The multi-layer sleeve rotary precision shaft system of the present invention comprises an inner stationary support, an outer shell, a central rotary support, a side gear, an optical encoder stator, a photoelectric rotary connector, a motor rotor, a motor stator, a driving gear, a driven gear, an optical encoder rotor and an optical encoder stator. The central rotary support is rotatably matched between the inner stationary support and the outer shell, and the photoelectric rotary connector is fixedly installed in the center hole of the inner stationary support; along the axial direction of the inner stationary support, the motor rotor is fixedly connected between the motor rotor upper pressure ring and the central rotary support; along the radial direction of the inner stationary support, the motor stator is arranged between the motor rotor and the outer shell; the driving gear The wheel is fixedly installed on the central rotating support; the driven gear is rotatably installed on the inner static support; the side gear is meshed with the driving gear and the driven gear, and is used to transmit the rotational motion of the driving gear to the driven gear; the optical code disk stator is fixedly installed on the inner static support; the optical code disk rotor is fixedly connected to the outer end of the driven gear; the inner static support is stationary and is the innermost structure-a ring, which is used to install the photoelectric rotating connector at the upper end, and the lower end of the ring is used as the rotating support of the driven gear. The ring also serves as a fixed support for the optical code disk stator installed below; the central rotating support is an intermediate layer structure-a second ring, which is rotatably sleeved on the inner static support The second ring is used to install the motor rotor of the fixed torque motor, and is rotatably supported on the inner circumference of the outer shell, and the rotational motion of the second ring is transmitted to the optical code disk rotor below the first ring through gear transmission; the outer shell is the third layer structure - the third ring, which is also the static support. It is the outermost shell of the entire shaft system and is used for the fixed installation of the inner static support and the fixed bracket of the motor stator; the driving gear, the driven gear, and the side gear constitute the transmission gear set, which is used to transmit the rotational motion of the second ring to the optical code disk rotor at the bottom, and the rotational motion of the second ring represented by the driving gear is transmitted through the side gear. The meshing movement with the driving gear and the meshing movement with the side gear and the driven gear transmits the rotational motion of the two rings to the optical encoder rotor, thereby completing the motion transmission of the entire multi-layer sleeve rotary precision shaft system; the above-mentioned multi-layer sleeve rotary precision shaft system organically combines the gear transmission and the rotary shaft system, realizes the rotational motion transmission form of three-layer sleeves surrounding and nested, and achieves the structural design goal of a multi-layer sleeve rotary precision shaft system for an infinite angle control platform that integrates precision angle measuring optical encoders, electric rotation, and torque motors, and has the characteristics of simple structure, easy assembly, convenient maintenance, large torque transmission and high precision of the shaft system.

[0042] (2) In the multi-layer sleeve rotary precision shaft system of the present invention, the side gears are double gears, and the rotational motion of the driving gear is transmitted to the driven gear through the upper gear and the lower gear that can rotate synchronously. Since the side gears penetrate the transverse partition layer of the inner stationary support, the rotational motion of the central rotating support can be transmitted to the optical code disk rotor through the double gears, thereby realizing the measurement function of the optical code disk.

[0043] (3) In the multi-layer sleeve rotating precision shaft system of the present invention, the side gear adopts an anti-backlash gear, and is composed of an upper gear, an upper compression spring, a double gear, a lower compression spring and a lower gear which are distributed in sequence along the axial direction of the central axis. By connecting the compression spring between the gears, the inherent backlash between the gears is played, thereby further improving the transmission accuracy of the rotational motion of the multi-layer sleeve rotating precision shaft system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The present invention is a schematic structural diagram of a multi-layer sleeve rotary precision shaft system.

[0045] Figure 2 It is another structural schematic diagram of the multi-layer sleeve rotary precision shaft system of the present invention.

[0046] Among them, 1-inner stationary support, 2-upper bearing outer ring pressure cover, 3-outer shell, 4-center rotary support, 5-first bearing, 6-side gear, 7-seat plate, 8-connecting bracket, 9-connecting transition plate, 10-upper bearing, 11-photoelectric rotary connector, 12-motor rotor, 13-motor stator, 14-second bearing, 15-lower bearing, 16-driving gear, 17-third bearing, 18-driven gear, 19-optical code disk rotor, 20-optical code disk stator, 21-motor rotor upper pressure ring, 22-upper gear, 23-upper compression spring, 24-double gear, 25-lower compression spring, 26-lower gear DETAILED DESCRIPTION

[0047] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0048] The embodiment of the present invention provides a multi-layer sleeve rotary precision shaft system of an infinite angle control platform, such as Figure 1 and Figure 2 As shown in the structure, the multi-layer sleeve rotary precision shaft system includes an inner stationary support 1, an upper bearing 10, an outer ring pressure cover 2 of the upper bearing 10, an outer shell 3, a central rotary support 4, a side gear 6, a photoelectric rotary connector 11, a motor stator 13, a motor rotor 12, a driving gear 16, a driven gear 18, an optical code disk rotor 19, an optical code disk stator 20 and a motor rotor upper pressure ring 21; in the embodiment of the present invention, the upper is Figure 1 and Figure 2 The top of the page, the bottom Figure 1 and Figure 2 The lower side of the middle page;

[0049] The inner static support 1 is the innermost structure of the multi-layer sleeve rotary precision shaft system, which is stationary during operation and is provided with a center hole and a transverse partition layer;

[0050] The outer shell 3 is fixedly connected to the outer peripheral side of the inner static support 1; the outer shell 3 is the outermost structure of the multi-layer sleeve rotary precision shaft system, which is stationary during operation and is used for the fixed installation of the inner static support 1 and the fixed bracket of the motor stator 13; the lower flange surface of the outer shell 3 is fixedly connected to the inner static support 1 by screws evenly distributed along the circumference;

[0051] The central rotating support 4 is rotatably matched between the inner static support 1 and the outer shell 3; the central rotating support 4 is an intermediate layer structure of a multi-layer sleeve rotating precision shaft system, rotatably sleeved on the outer circumference of the inner static support 1 and the inner circumference of the outer shell 3, and performs a rotating motion, and is used to install the motor rotor 12 of the torque motor; a lower bearing 15 is installed between the central rotating support 4 and the outer shell 3, and a second bearing 14 is installed between the central rotating support 4 and the inner static support 1;

[0052] The outer ring gland 2 of the upper bearing 10 is fixedly connected to one end of the outer shell 3; the outer ring gland 2 of the upper bearing 10 is fixedly connected to the upper flange surface of the outer shell 3 by screws evenly distributed along the circumferential direction;

[0053] The photoelectric rotary connector 11 is fixedly installed in the center hole of the inner stationary support 1; the photoelectric rotary connector 11 can be fixedly installed on the inner stationary support 1 by screws evenly distributed along the circumference; the photoelectric rotary connector 11 is used to install the electric rotary;

[0054] The motor rotor upper pressing ring 21 is rotatably fitted between the upper bearing 10 outer ring pressure cover 2 and the inner stationary support 1; the motor rotor upper pressing ring 21 can be rotatably installed on the inner circumference of the outer ring pressing ring of the upper bearing 10 through the upper bearing 10;

[0055] The motor rotor 12 is fixedly connected between the motor rotor upper pressing ring 21 and the central rotating support 4 along the axial direction of the inner stationary support 1; the upper end of the motor rotor 12 is fixedly connected to the motor rotor upper pressing ring 21 by screws evenly distributed along the circumference, and the lower end is fixedly connected to the upper flange surface of the central rotating support 4 by screws evenly distributed along the circumference;

[0056] The motor stator 13 is arranged between the motor rotor 12 and the outer shell 3 along the radial direction of the inner stationary support 1, and is fixedly connected to the outer shell 3; the upper end of the motor stator 13 is fixedly mounted on the inner circumferential surface of the outer shell 3 by screws evenly distributed along the circumferential direction; the motor stator 13 and the motor rotor 12 form a torque motor;

[0057] The driving gear 16 is fixedly mounted on the other end of the central slewing support 4; the driving gear 16 can be fixedly connected to the end flange surface of the central slewing support 4 by screws evenly distributed along the circumference;

[0058] The driven gear 18 is rotatably mounted on the inner stationary support 1 and is separated from the driving gear 16 on both sides of the transverse partition layer; the driven gear 18 is rotatably supported on the inner stationary support 1 through the third bearing 17;

[0059] The side gear 6 is arranged through the transverse partition layer and is installed on the inner stationary support 1 so as to rotate around its central axis, and is meshed with the driving gear 16 and the driven gear 18; the side gear 6 is installed on the central axis through a pair of first bearings 5 ​​distributed along its axial direction, and the central axis is fixedly connected to the seat plate 7 through screws evenly distributed along the circumferential direction; the seat plate 7 is fixedly connected to the inner stationary support 1 through screws; the mounting flange surface of the seat plate 7 and the inner stationary support 1 is a rectangular surface, and is fixedly connected through screws distributed around the rectangular surface; the driving gear 16, the driven gear 18 and the side gear 6 form a gear transmission mechanism;

[0060] The optical code disk stator 20 is fixedly mounted on the inner stationary support 1; the optical code disk stator 20 is mounted in the inner stationary support 1 through the connecting transition plate 9; the outer peripheral side of the connecting transition plate 9 is fixedly connected to the inner stationary support 1 by screws evenly distributed along the circumferential direction, and the inner peripheral side of the connecting transition plate 9 is fixedly connected to the optical code disk stator 20 by screws evenly distributed along the circumferential direction;

[0061] The optical encoder rotor 19 is sleeved on the inner circumference of the optical encoder stator 20 and fixedly connected to the outer end of the driven gear 18; the optical encoder rotor 19 is fixedly connected to the outer end surface of the driven gear 18 through the connecting bracket 8. The optical encoder rotor 19 and the optical encoder stator 20 form an optical encoder.

[0062] The working principle of the above-mentioned multi-layer sleeve rotary precision shaft system is as follows: the inner static support 1 is stationary and is the innermost structure - a ring, which is used to install the photoelectric rotary connector 11 at the upper end, and the lower end of the ring is used as a rotary support for the driven gear 18, and the ring also serves as a fixed support for the optical code disk stator 20 installed below; the central rotary support 4 is an intermediate layer structure - a second ring, which is rotatably sleeved on the inner static support 1 and performs a rotary motion. The second ring is used to install the motor rotor 12 of the fixed torque motor, and is rotatably supported on the inner circumference of the outer shell 3, and the rotary motion of the second ring is transmitted to the optical code disk rotor 19 below the first ring through gear transmission; the outer shell 3 is the third layer structure The third ring is also the stationary support and is the outermost shell of the entire shaft system. It is used for the fixed installation of the inner stationary support 1 and the fixed bracket of the motor stator 13; the driving gear 16, the driven gear 18, and the side gear 6 constitute a transmission gear set, which is used to transmit the rotational motion of the second ring to the optical code disk rotor 19 at the bottom. The rotational motion of the second ring represented by the driving gear 16 is transmitted to the optical code disk rotor 19 through the meshing motion of the side gear 6 and the driving gear 16, and the meshing motion of the side gear 6 and the driven gear 18, thereby completing the motion transmission of the entire multi-layer sleeve rotary precision shaft system.

[0063] The above-mentioned multi-layer sleeve rotary precision shaft system organically combines the gear transmission and the rotary shaft system, realizing the rotational motion transmission form of three-layer sleeves surrounding and nesting each other, achieving the structural design goal of a multi-layer sleeve rotary precision shaft system for an infinite angle control platform that integrates precision angle measuring optical encoders, electric rotation, and torque motors, and has the characteristics of simple structure, easy assembly, convenient maintenance, large torque transmission and high precision of the shaft system.

[0064] In the above-mentioned multi-layer sleeve rotary precision shaft system, the following two implementation modes can be adopted according to the different side gears 6:

[0065] Method 1

[0066] like Figure 1 As shown in the structure, the side gear 6 can be a double gear, including an upper gear 22 and a lower gear 26 that can rotate synchronously; the upper gear 22 is meshed with the driving gear 16, and the lower gear 26 is meshed with the driven gear 18.

[0067] In the above-mentioned multi-layer sleeve rotating precision shaft system, the side gear 6 adopts a double gear, which transmits the rotational motion of the driving gear 16 to the driven gear 18 through the upper gear 22 and the lower gear 26 that can rotate synchronously. Since the side gear 6 passes through the transverse partition layer of the inner stationary support 1, the rotational motion of the central rotating support 4 can be transmitted to the optical code disk rotor 19 through the double gear, thereby realizing the measurement function of the optical code disk.

[0068] Method 2

[0069] like Figure 2 As shown in the structure, the side gear 6 can be a backlash-eliminating gear, including an upper gear 22, an upper compression spring 23, a double gear 24, a lower compression spring 25 and a lower gear 26 which are sequentially distributed along the axial direction of the central axis; the upper gear 22 and the double gear 24 are both meshed with the driving gear 16, and the lower gear 26 and the double gear 24 are both meshed with the driven gear 18; an upper compression spring 23 is connected between the double gear 24 and the upper gear 22; and a lower compression spring 25 is connected between the double gear 24 and the lower gear 26.

[0070] In the above-mentioned multi-layer sleeve rotating precision shaft system, the side gear 6 adopts an anti-backlash gear, and is composed of an upper gear 22, an upper compression spring 23, a double gear 24, a lower compression spring 25 and a lower gear 26 which are distributed in sequence along the axial direction of the center axis. By connecting the compression spring between the gears, the inherent backlash between the gears is played, thereby further improving the transmission accuracy of the rotational motion of the multi-layer sleeve rotating precision shaft system.

[0071] Compared with the circumferential rotating structure that requires precise synchronous transmission of the main rotor, this patent can provide a solution when the power of the main rotor cannot drive the synchronization mechanism through direct fixed connection.

[0072] In addition, with respect to the perihelastic rotating structure that requires precise proportional transmission of the main rotor, the power of the main rotor can be transmitted in high-precision proportion through the solution of this patent. For example, when the Dove prism with precise image tilt requirements has a precise one-half perihelical motion relative to the perihelastic reflector above, this solution is also a relatively ideal structural concept.

[0073] The above-mentioned multi-layer sleeve rotary precision shaft system adopts a multi-layer sleeve rotary shaft system method, which realizes the best matching of a small-diameter high-precision optical code disk and an infinite angle control platform.

[0074] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-layer sleeve rotary precision shaft system for an infinite angle control platform, characterized in that: include: An inner stationary support is provided with a central hole and a transverse partition layer; An outer shell is fixedly connected to the outer peripheral side of the inner stationary support; The central rotary support is rotatably fitted between the inner stationary support and the outer shell; The upper bearing outer ring gland is fixedly connected to one end of the outer shell; The photoelectric rotary connector is fixedly installed in the center hole of the inner stationary support; The upper pressing ring of the motor rotor is rotatably fitted between the outer ring pressure cover of the upper bearing and the inner stationary support; The motor rotor is fixedly connected between the upper pressing ring of the motor rotor and the central rotating support along the axial direction of the inner stationary support; The motor stator is arranged between the motor rotor and the outer shell along the radial direction of the inner stationary support and is fixedly connected to the outer shell; The driving gear is fixedly mounted on the other end of the central rotating support; The driven gear is rotatably mounted on the inner stationary support and is separated from the driving gear on both sides of the transverse partition layer; The side gear is arranged through the transverse partition layer and is rotatably mounted on the inner stationary support around its central axis, and meshes with the driving gear and the driven gear; The optical code disc stator is fixedly mounted on the inner stationary support; The optical encoder rotor is sleeved on the inner circumference of the optical encoder stator and is fixedly connected to the outer end of the driven gear.

2. The multi-layer sleeve rotary precision shaft system according to claim 1, characterized in that: The photoelectric rotary connector is fixedly mounted on the inner stationary support by screws evenly distributed along the circumference; The upper flange surface of the outer shell is fixedly connected to the upper bearing outer ring gland by screws evenly distributed along the circumference, and the lower flange surface is fixedly connected to the inner stationary support by screws evenly distributed along the circumference; The driving gear is fixedly connected to the end flange surface of the central slewing support by screws evenly distributed along the circumference; The motor stator is fixedly mounted on the inner circumferential surface of the outer shell by screws evenly distributed along the circumferential direction; The motor rotor is fixedly connected to the upper flange surface of the central slewing support and the upper pressing ring of the motor rotor by screws evenly distributed along the circumferential direction.

3. The multi-layer sleeve rotary precision shaft system according to claim 2, characterized in that: The motor rotor upper pressing ring is rotatably mounted on the inner circumference of the upper bearing outer ring pressure cover through the upper bearing; The side gear is mounted on the central shaft through a pair of bearings, and the central shaft is fixedly connected to the seat plate through screws evenly distributed along the circumference; The seat plate is fixedly connected to the inner static support; the mounting flange surfaces of the seat plate and the inner static support are rectangular surfaces, and are fixedly connected by screws distributed around the rectangular surfaces; A lower bearing is installed between the central swivel support and the outer shell, and a second bearing is installed between the central swivel support and the inner stationary support; The driven gear is rotatably supported on the inner stationary support via a third bearing.

4. The multi-layer sleeve rotary precision shaft system according to claim 1, characterized in that: The optical encoder rotor is fixedly connected to the outer end surface of the driven gear via a connecting bracket; The optical code disc stator is installed in the inner stationary support through a connecting transition plate; The connecting transition plate is fixedly connected to the optical code disc stator and the inner stationary support by screws evenly distributed along the circumferential direction.

5. The multi-layer sleeve rotary precision shaft system according to any one of claims 1 to 4, characterized in that: The side gear is a double gear, including an upper gear and a lower gear that can rotate synchronously; The upper gear is meshed with the driving gear, and the lower gear is meshed with the driven gear.

6. The multi-layer sleeve rotary precision shaft system according to any one of claims 1 to 4, characterized in that: The side gear is a backlash-eliminating gear, comprising an upper gear, an upper compression spring, a double gear, a lower compression spring and a lower gear sequentially distributed along the axial direction of the central axis; The upper gear and the duplex gear are both meshed with the driving gear, and the lower gear and the duplex gear are both meshed with the driven gear; An upper compression spring is connected between the duplex gear and the upper gear; A lower compression spring is connected between the duplex gear and the lower gear.

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