Self-anti-backlash transmission device and holder

Abstract

The invention relates to a self-anti-backlash transmission device and a holder. The self-anti-backlash transmission device comprises a worm gear; the hollow worm is meshed with the worm gear; the elastic worm shaft is arranged in the hollow worm in a penetrating mode and fixed to the hollow worm, and the elastic worm shaft is extruded by the worm gear to be bent. According to the self-clearance-eliminating transmission device, after the worm gear and the hollow worm are abraded, the elastic worm shaft can still enable the hollow worm to be tightly attached to the worm gear.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical transmission, and in particular to a self-backlash eliminating transmission device and a pan / tilt platform. Background Art

[0002] Worm gear transmission mechanisms are widely used in various transmission devices. They have smooth transmission, a large transmission ratio that can provide a large axial force, are flexible in application and have many functions.

[0003] In traditional worm gear transmission, there is a gap between the worm gear and the worm gear, which greatly reduces the transmission accuracy. For example, in the camera pan / tilt structure, the existence of the gap will lead to unstable image jitter, poor positioning accuracy, target offset in the picture, and failure to meet the requirements of video shooting and multi-point positioning monitoring.

[0004] People try to manufacture precision parts to reduce the gap, but as the use time increases, the meshing gap between the worm wheel and the worm will increase due to wear or other factors. The working performance of the worm gear mechanism will decline due to the influence of use time. Summary of the invention

[0005] Based on this, it is necessary to provide a self-backlash eliminating transmission device and a pan / tilt head to solve the problem of gap between the meshing of the worm wheel and the worm.

[0006] On the one hand, an embodiment of the present disclosure provides a self-eliminating backlash transmission device, which includes: a worm wheel; a hollow worm meshing with the worm wheel; and an elastic worm shaft passing through the hollow worm and fixed to the hollow worm, and the elastic worm shaft is squeezed and bent by the worm wheel.

[0007] By providing an elastic worm shaft that is squeezed and bent, the hollow worm can be ensured to be close to the worm wheel, and after the worm wheel and the hollow worm are worn, the elastic worm shaft can still make the hollow worm close to the worm wheel. The self-backlash-eliminating transmission device of the disclosed embodiment has at least one of the following beneficial effects: high transmission accuracy, long service life, automatic adjustment, and real-time backlash elimination.

[0008] In some embodiments, the self-eliminating backlash transmission device also includes a housing, a worm wheel rotatably connected to a worm wheel hole of the housing, and an elastic worm shaft rotatably connected to the worm hole of the housing; the center distance between the worm wheel hole and the worm hole is smaller than the center distance between the pitch circle of the worm wheel and the hollow worm.

[0009] In this way, the size of the housing is designed to make the elastic worm shaft close to the worm wheel, and then the worm wheel squeezes the hollow worm to cause the elastic worm shaft to bend. The parts of the self-anti-backlash transmission device are easy to manufacture, and then after assembly, the elastic worm shaft can be reliably bent to press the hollow worm toward the worm wheel.

[0010] In some embodiments, the elastic worm shaft includes a first mounting section, an elastic section, and a second mounting section that are sequentially connected, and the elastic section runs through the hollow worm.

[0011] With such arrangement, the elastic worm shaft can ensure positioning accuracy and transmission accuracy while eliminating backlash.

[0012] In some embodiments, the elastic worm shaft has a load relief hole extending through the elastic section.

[0013] Such an arrangement can reduce the deformation of the shaft end of the elastic worm shaft and prevent the shaft end from getting stuck. In addition, it is also beneficial to increase the service life.

[0014] In some embodiments, the load-reducing hole passes through the second installation section; the self-eliminating backlash transmission device further includes a shaft plug, which is disposed in the load-reducing hole and fills the second installation section.

[0015] With such arrangement, the elastic worm shaft is easy to manufacture and the structural strength of the second installation section can be ensured.

[0016] In some embodiments, the elastic worm shaft includes a collar located between the elastic section and the second mounting section, and the collar is used to limit the axial position of the hollow worm; the hollow worm is key-connected to the elastic section.

[0017] With such arrangement, the shaft ring can be used to improve the structural strength of the second mounting section, and effective synchronous rotation of the elastic worm shaft and the hollow worm can be ensured.

[0018] In some embodiments, the deviation of the axis of the hollow worm relative to the line connecting the two ends of the elastic worm shaft ranges from 0.1 mm to 0.5 mm.

[0019] Such setting can work safely and reliably.

[0020] In some embodiments, the material of the elastic worm shaft includes an amorphous alloy.

[0021] With such arrangement, the elastic worm shaft has high hardness and high wear resistance and can have sufficient elasticity and smoothness.

[0022] In some embodiments, the material of the elastic worm shaft includes a resin material to which a metal element is added.

[0023] With this arrangement, the elastic worm shaft can self-lubricate, achieve better elasticity, and improve hardness and wear resistance.

[0024] On the other hand, the disclosed embodiment also provides a pan-tilt platform, which includes: a base; the aforementioned self-backlash eliminating transmission device; and a mounting seat, which is transmission-connected to the base via the self-backlash eliminating transmission device.

[0025] The pan / tilt head of the disclosed embodiment can realize precise movement between the base and the mounting seat, and has good use effect and long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of a self-backlash-eliminating transmission device according to one or more embodiments;

[0027] Figure 2 is a schematic front view of a self-backlash eliminating transmission device according to one or more embodiments;

[0028] Figure 3 is a schematic top view of a self-backlash eliminating transmission device according to one or more embodiments;

[0029] Figure 4 is a schematic assembly diagram of a hollow worm and an elastic worm shaft according to one or more embodiments;

[0030] Figure 5 is a structural principle diagram of a self-backlash-eliminating transmission device according to one or more embodiments;

[0031] Figure 6 is a schematic structural diagram of a gimbal according to one or more embodiments.

[0032] Description of reference numerals: 1. worm wheel; 2. hollow worm; 3. elastic worm shaft; 31. first mounting section; 32. elastic section; 33. second mounting section; 34. collar; 35. input section; 36. transition section; 301. load-reducing hole; 4. housing; 5. bearing; 6. pin key; 7. bushing; 8. shaft plug; 9. end cover;

[0033] 100. self-backlash eliminating transmission device; 200. base; 300. mounting seat; 400. camera; 1000. pan / tilt head. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and understandable, the specific implementation of the embodiments of the present disclosure is described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the embodiments of the present disclosure. However, the embodiments of the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the embodiments of the present disclosure, so the embodiments of the present disclosure are not limited by the specific examples of the embodiments disclosed below.

[0035] In the description of the embodiments of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "perpendicular", "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 embodiments of the present disclosure 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 a limitation on the embodiments of the present disclosure.

[0036] In the embodiments of the present disclosure, 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.

[0037] In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. Exemplarily, the first installation segment may also be referred to as the second installation segment, and the second installation segment may also be referred to as the first installation segment. In the description of the embodiments of the present disclosure, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a flexible connection, or a rigid connection along at least one direction; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or directly connected with the presence of an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly limited. The terms "installed", "set", "fixed", etc. can be broadly understood as connection. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to the specific circumstances.

[0039] As used in the present disclosure, the terms "layer" and "region" refer to a portion of a material that includes an area with a certain thickness. The layer can extend horizontally, vertically and / or along a tapered surface. A layer can be an area of ​​a uniform or non-uniform continuous structure, and its thickness perpendicular to the extension direction may not be greater than the thickness of the continuous structure. A layer can include multiple layers, which can be multiple stacked layers or multiple layers extending discretely. The shapes of various areas and layers in the drawings and their relative sizes and positional relationships are only exemplary, and may actually deviate due to manufacturing tolerances or technical limitations, and the design can be adjusted according to actual needs.

[0040] refer to Figure 1 , Figure 1 The self-backlash-eliminating transmission device in the embodiment of the present disclosure is shown. The self-backlash-eliminating transmission device 100 provided in the embodiment of the present disclosure is a worm gear transmission device. The self-backlash-eliminating transmission device 100 can be integrated separately and then used for transmission, or it can be assembled in an integral device.

[0041] Combination Figure 2 and Figure 3 As shown, in an exemplary embodiment, the self-backlash-eliminating transmission device 100 includes a worm wheel 1, a hollow worm 2 and an elastic worm shaft 3. The elastic worm shaft 3 is penetrated by the hollow worm 2, and the two can form a worm, which is engaged with the worm wheel 1. Specifically, the hollow worm 2 is engaged with the worm wheel 1.

[0042] Along the radial direction of the worm wheel 1, the worm wheel 1 squeezes the hollow worm 2, and then squeezes and bends the elastic worm shaft 3. The two ends of the elastic worm shaft 3 squeeze toward the worm wheel 1, and the hollow worm 2 is tightly attached to the worm wheel 1 by using its own bending stress. By providing the elastic worm shaft 3 that is squeezed and bent, it can be ensured that the hollow worm 2 is attached to the worm wheel 1. After use, the worm wheel 1 and the hollow worm 2 will be worn. Since the elastic recovery of the elastic worm shaft 3 drives the hollow worm 2, the hollow worm 2 can still be tightly attached to the worm wheel 1.

[0043] The self-backlash-eliminating transmission device 100 of the disclosed embodiment has at least one of the following beneficial effects: high transmission accuracy, long service life, automatic adjustment, real-time backlash elimination, etc. In addition, the various limitations of the traditional backlash-eliminating structure are overcome, the transmission system accuracy is greatly improved, and the high-precision backlash-eliminating transmission mechanism can be widely used in various complex working conditions and traditional systems, improving industry standards and reducing the closed-loop control system and cost increased by eliminating backlash.

[0044] In some embodiments, the self-eliminating backlash transmission device 100 further includes a housing 4, the worm wheel 1 is rotatably connected to the worm wheel hole of the housing 4, and the elastic worm shaft 3 is rotatably connected to the worm hole of the housing 4. Exemplarily, the elastic worm shaft 3 is rotatably connected to the housing 4 via a bearing 5, and the worm wheel 1 can be rotatably connected to the housing 4 via other bearings 5.

[0045] refer to Figure 4 Exemplarily, the elastic worm shaft 3 includes a first mounting section 31 and a second mounting section 33 , and the two mounting sections of the elastic worm shaft 3 are respectively provided with bearings 5 ​​to be mounted to the housing 4 .

[0046] refer to Figure 5 , the housing 4 can be configured as follows: the hole center distance b between the worm wheel hole and the worm hole is smaller than the pitch circle center distance between the worm wheel 1 and the hollow worm 2, and then there is a negative displacement center distance. Through the size design of the housing 4, the theoretical axis L0 of the elastic worm shaft 3 or the connecting line of its two installation sections is close to the worm wheel 1, and then the worm wheel 1 squeezes the hollow worm 2 to cause the elastic worm shaft 3 to bend, and the actual axis of the elastic worm shaft 3 can be L1. The displacement distance of the negative displacement center distance is a, and then after the initial installation, the deviation value of the actual axis L1 compared to the theoretical axis L0 is also a value. As the worm wheel 1 and the hollow worm 2 wear, the actual deformation of the elastic worm shaft 3 will decrease.

[0047] The parts of the self-eliminating backlash transmission device 100 are easy to manufacture, the hole spacing is adjusted in the housing 4, the worm wheel 1, the elastic worm shaft 3 and the hollow worm 2 can all be manufactured normally, and then after assembly, the elastic worm shaft 3 can be reliably bent. When in use, the elastic worm shaft 3 presses the hollow worm 2 toward the worm wheel 1, and zero backlash can be achieved.

[0048] In some embodiments, the elastic worm shaft 3 includes a first mounting section 31, an elastic section 32, and a second mounting section 33 connected in sequence. The elastic section 32 penetrates the hollow worm 2, or in other words, the hollow worm 2 is sleeved on the elastic section 32. The elastic worm shaft 3 can ensure positioning accuracy and transmission accuracy while eliminating backlash.

[0049] The rigidity of the hollow worm 2 is greater than that of the elastic worm shaft 3, and at least one of the rigidity of the first mounting section 31 and the rigidity of the second mounting section 33 can be greater than that of the elastic section 32. At this time, radial force is generated between the teeth to act on the elastic worm shaft 3, causing micro deformation of the elastic worm shaft 3. When the teeth are worn after long-term operation, the elastic worm shaft 3 gradually returns to the theoretical axis L0, and the restoring force of the elastic worm shaft 3 is used to eliminate the tooth gap caused by wear, so as to achieve self-clearing high-precision transmission.

[0050] The pitch radius of the hollow worm 2 is d1, and the pitch radius of the worm wheel 1 is d2. The normal center distance between the two should be d1+d2, but the spacing between the worm hole and the worm wheel hole is set to d1+d2-a, where a is called the anti-backlash index. When the worm wheel 1 and the hollow worm 2 are assembled, because the pitch distance is greater than the hole center distance, the gap between the teeth is zero and there is an interaction force between the teeth, which causes the elastic worm shaft 3 to deform and maintain zero gap between the teeth. Reference Figure 5, the hollow worm 2 and the elastic section 32 are roughly offset to the middle position of the actual axis L1, while the first mounting section 31 and the second mounting section 33 are maintained at the two end positions of the theoretical axis L0, which are also the two end positions of the actual axis L1. In some embodiments, the deviation range of the axis of the installed hollow worm 2 relative to the two end connecting lines of the elastic worm shaft 3 is 0.1mm to 0.5mm. The anti-backlash index a is set according to factors such as service life, equipment load, and rotation conditions. When the equipment load is large, the service life is long, and the working conditions are complex, the anti-backlash index needs to be large.

[0051] refer to Figures 2 to 4 In some embodiments, the elastic worm shaft 3 has a load-reducing hole 301 that penetrates the elastic section 32. When the elastic worm shaft 3 is subjected to radial force, a bow-shaped micro-deformation occurs here. The load-reducing hole 301 can reduce the deformation of the shaft end of the elastic worm shaft 3, avoid the shaft end from getting stuck, and is also conducive to improving the service life.

[0052] Exemplarily, the load-reducing hole 301 is a circular hole. The load-reducing hole 301 may be located at the center axis of the elastic worm shaft 3. The elastic worm shaft 3 has substantially the same bending characteristics along different radial directions, which is beneficial to reducing stress fluctuations. Before the elastic worm shaft 3 is assembled, the load-reducing hole 301 therein may be a straight hole.

[0053] Exemplarily, the inner diameter of the load-reducing hole 301 is smaller than one-third, for example, one-fifth, of the outer diameter of the elastic section 32. The thicker wall thickness of the elastic section 32 helps to maintain elastic force and facilitates rebound.

[0054] In some embodiments, the load-relief hole 301 runs through the second mounting section 33. One end of the load-relief hole 301 is connected to the outside of the elastic worm shaft 3. The load-relief hole 301 is easy to form well, and the elastic worm shaft 3 is easy to manufacture. The other end of the load-relief hole 301 may not extend into the first mounting section 31, which is conducive to ensuring that the first mounting section 31 has a higher rigidity than the elastic section 32. When the elastic section 32 is bent and deformed, the first mounting section 31 basically maintains its own shape, and the first mounting section 31 achieves stable installation and reliable positioning.

[0055] refer to Figure 3 , exemplarily, the self-eliminating backlash transmission device 100 further includes a shaft plug 8, which is disposed in the load-reducing hole 301. Specifically, the shaft plug 8 is filled in the second mounting section 33. After the elastic worm shaft 3 is manufactured, when the elastic worm shaft 3 is used, it is still desired that the second mounting section 33 has sufficient structural strength, and the shaft plug 8 helps to improve the structural strength of the second mounting section 33. Exemplarily, the shaft plug 8 can be interference-fitted in a section of the load-reducing hole 301 located in the second mounting section 33. The shaft plug 8 can also be glued to the second mounting section 33. The material of the shaft plug 8 can be the same as that of the second mounting section 33, and the material of the shaft plug 8 can also be harder.

[0056] In some embodiments, the elastic worm shaft 3 includes a collar 34 located between the elastic section 32 and the second mounting section 33. The collar 34 is used to axially limit the hollow worm 2 to ensure the meshing of the hollow worm 2 with the worm wheel 1. Exemplarily, the collar 34 is also used to axially limit the bearing 5 at the second mounting section 33. Relative to the elastic section 32, the collar 34 located on the side close to the second mounting section 33 helps to improve the structural strength of the second mounting section 33, which is conducive to the accurate and reliable positioning and smooth rotation of the second mounting section 33.

[0057] Exemplarily, it can be considered that there is a transition section 36 between the elastic section 32 and the first mounting section 31. In other cases, it can also be considered that the elastic section 32 is longer, and then the hollow worm 2 is only sleeved on a part of the elastic section 32, and the elastic section 32 is also partially extended relative to the hollow worm 2. Exemplarily, the load-reducing hole 301 can extend into the transition section 36. The transition section 36 is conducive to ensuring the deformation of the elastic section 32, ensuring the displacement of the hollow worm 2, and ensuring the reliable positioning and rotation of the first mounting section 31. The transition section 36 helps to absorb deformation, manufacturing tolerance, and installation deviation.

[0058] The transition section 36 may be provided with a concave chamfer at the shoulder corresponding to the first mounting section 31, and the collar 34 may be provided with a concave chamfer at the shoulder corresponding to the second mounting section 33. The concave chamfer is conducive to absorbing deformation and ensuring smooth rotation of the first mounting section 31 or the second mounting section 33.

[0059] Exemplarily, the self-eliminating backlash transmission device 100 further includes a sleeve 7, which can be sleeved in a clearance fit on the transition section 36. The sleeve 7 can abut against the bearing 5 at the first mounting section 31 and abut against the hollow worm 2. The sleeve 7 helps to axially position the hollow worm 2 to ensure meshing, and can allow deformation of the elastic worm shaft 3.

[0060] The hollow worm 2 is key-connected with the elastic section 32. Exemplarily, the self-backlash-eliminating transmission device 100 further includes a pin key 6, which is engaged with the elastic section 32 and the hollow worm 2. After the hollow worm 2 is mounted on the elastic worm shaft 3, the accuracy of its own worm teeth needs to be maintained and transmission needs to be achieved. The key connection method can ensure that the elastic worm shaft 3 and the hollow worm 2 rotate effectively and synchronously.

[0061] The self-eliminating backlash transmission device 100 may include a plurality of bearings 5. Exemplarily, at least two bearings 5 ​​mounted on the first mounting section 31 and the second mounting section 33 may be angular contact ball bearings. The angular contact ball bearing mounted on the first mounting section 31 and the angular contact ball bearing mounted on the second mounting section 33 may be configured to be face-to-face. The bearings 5 ​​help to resist stress after the elastic worm shaft 3 is deformed.

[0062] The elastic worm shaft 3 may further include an input section 35. Exemplarily, the self-backlash-eliminating transmission device 100 further includes a pulley, which is sleeved on the input section 35, and the pulley may be a synchronous pulley. The input section 35 is used to input power to drive the hollow worm 2 to rotate.

[0063] The self-backlash-eliminating transmission device 100 may further include an end cover 9, which is mounted on the housing 4. The end cover 9 may be used to axially limit the bearing 5 at the second mounting section 33.

[0064] In some embodiments, the material of the elastic worm shaft includes an amorphous alloy. An amorphous alloy refers to a metal in a non-crystalline state, whose atomic arrangement does not have obvious periodicity or symmetry, or at least is different from the periodicity or symmetry of a metal material with a common crystal structure. The elastic worm shaft 3 of the amorphous alloy has high hardness and high wear resistance, and can have sufficient elasticity and smoothness.

[0065] In some embodiments, the material of the elastic worm shaft 3 includes a resin material with added metal elements. The elastic worm shaft 3 can be self-lubricating, achieve good elasticity, and improve hardness and wear resistance. In addition, the elastic worm shaft 3 is light in weight.

[0066] refer to Figure 1 and Figure 6 The embodiment of the present disclosure also provides a pan / tilt platform 1000, which includes a base 200, a self-backlash-eliminating transmission device 100, and a mounting seat 300. The mounting seat 300 is connected to the base 200 through the self-backlash-eliminating transmission device 100.

[0067] For example, the worm wheel 1 is fixed to the base 200, and by driving the elastic worm shaft 3 and the hollow worm 2 to rotate, the hollow worm 2 can be made to revolve around the axis of the worm wheel 1, and the housing 4 can also be driven to rotate. The positive and negative revolutions can be achieved by positive and negative rotations, and then the mounting seat 300 can rotate forward or reverse relative to the base 200. Due to the design of the elastic worm shaft 3, zero backlash can be achieved.

[0068] The pan / tilt head 1000 of the disclosed embodiment can realize precise movement between the base 200 and the mounting seat 300, and has good use effect and long service life.

[0069] Exemplarily, the gimbal 1000 may include a camera 400, which may be disposed on a mounting base 300. The image captured by the camera 400 is stable and has no shaking, and has good positioning accuracy. The target is aligned in the picture and does not shift, which can meet the needs of video shooting and multi-point positioning monitoring.

[0070] The technical features of the embodiments disclosed above can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments disclosed above only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of patent protection required by the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. Self-backlash-eliminating transmission device, characterized in that: include: worm gear; a hollow worm, meshing with the worm wheel; as well as An elastic worm shaft is passed through the hollow worm and fixed to the hollow worm, and the elastic worm shaft is squeezed and bent by the worm wheel.

2. The self-backlash-eliminating transmission device according to claim 1, characterized in that: It also includes a housing, the worm wheel is rotatably connected to the worm wheel hole of the housing, and the elastic worm shaft is rotatably connected to the worm hole of the housing; The hole center distance between the worm wheel hole and the worm screw hole is smaller than the pitch circle center distance between the worm wheel and the hollow worm screw.

3. The self-backlash-eliminating transmission device according to claim 1, characterized in that: The elastic worm shaft comprises a first mounting section, an elastic section and a second mounting section which are connected in sequence, and the elastic section passes through the hollow worm.

4. The self-backlash-eliminating transmission device according to claim 3, characterized in that: The elastic worm shaft has a load relief hole penetrating through the elastic section.

5. The self-backlash-eliminating transmission device according to claim 4, characterized in that: The load-reducing hole runs through the second mounting section; The self-backlash eliminating transmission device further comprises a shaft plug, which is arranged in the load-reducing hole and is filled in the second installation section.

6. The self-backlash-eliminating transmission device according to claim 5, characterized in that: The elastic worm shaft comprises a collar located between the elastic section and the second mounting section, and the collar is used to limit the axial position of the hollow worm; The hollow worm is key-connected with the elastic section.

7. The self-backlash-eliminating transmission device according to claim 1, characterized in that: The deviation range of the axis of the hollow worm relative to the line connecting the two ends of the elastic worm shaft is 0.1mm to 0.5mm.

8. The self-backlash-eliminating transmission device according to claim 1, characterized in that: The material of the elastic worm shaft includes amorphous alloy.

9. The self-backlash-eliminating transmission device according to claim 1, characterized in that: The material of the elastic worm shaft includes a resin material to which a metal element is added.

10. A pan / tilt head, characterized in that: include: Base; The self-backlash-eliminating transmission device according to any one of claims 1 to 9; as well as The mounting seat is transmission-connected to the base through the self-backlash-eliminating transmission device.

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