Self-adaptive anti-backlash planetary gear reducer and working method thereof

Abstract

The invention provides a self-adaptive anti-backlash planetary gear reducer and a working method thereof. The self-adaptive anti-backlash planetary gear reducer comprises an input shaft and a shell. An electromagnet coil, an electromagnet, a sliding block seat, a supporting seat, a sun gear and a second inner gear ring sequentially penetrate through one end of the input shaft from one end to the other end; the side, away from the input shaft, of the second inner gear ring is connected with an output shaft. A planet carrier is slidably arranged on the supporting seat in the radial direction, a first planet gear and a second planet gear are coaxially arranged on the planet carrier, a first inner gear ring is arranged on the inner side of the shell, and the sun gear, the first planet gear and the second planet gear are engaged with the first planet gear, the first inner gear ring and the second inner gear ring correspondingly; the electromagnet is fixed to the sliding block base, the sliding block base, the supporting base and the second inner gear ring are all rotationally connected with the input shaft, and the sliding block base can slide on the input shaft in the axial direction. And the sliding block seat is hinged with the planet carrier through a connecting rod. The speed reducer is simple in structure, has the self-adaptive anti-backlash capability, and can realize self-adaptive real-time elimination of the transmission backlash.

Description

Technical Field

[0001] The invention belongs to the technical field of transmission mechanisms and relates to an adaptive backlash-eliminating planetary gear reducer and a working method thereof. Background Art

[0002] The reducer is the core component of the power transmission unit of CNC machine tools and robots. The transmission accuracy and transmission efficiency of the reducer have an important impact on its performance.

[0003] Planetary gear reducers are widely used in power transmission units of various vehicles, robots, CNC machine tools and other equipment due to their advantages of high transmission efficiency, large load capacity and low cost. Through the optimization of the number of teeth and tooth shape, planetary gear reducers can achieve a wide range of transmission ratios and high transmission efficiency.

[0004] However, due to the inherent characteristics of the internal gear pairs of traditional planetary gear reducers, there is tooth side clearance when the gear teeth are engaged, resulting in transmission clearance, which makes the transmission mechanism prone to switching shock, transmission accuracy and transmission efficiency decrease, making the planetary gear reducer unable to meet high-efficiency and precision transmission occasions.

[0005] At present, although various common anti-backlash mechanisms can eliminate the constant gap and improve the transmission efficiency and transmission accuracy of the planetary gear reducer to a certain extent, they cannot adaptively eliminate the transmission gap caused by working wear in real time, which makes the transmission accuracy and transmission efficiency of the planetary gear reducer poor. Chinese invention patent CN114623229B discloses an intelligent anti-backlash reducer, which eliminates the tooth side gap by connecting two sets of gears in parallel, arranging the teeth in a staggered manner and changing the radial position of the assembled inner gear ring. The gear ring is composed of multiple gear ring monomers connected end to end in sequence by rubber metal alloy. Its structure and manufacturing process are complex, the precision is low, the size is large, the structure is bulky, and the cost is high.

[0006] Therefore, developing a planetary gear reducer with a simple structure and capable of better eliminating transmission clearance to improve its transmission accuracy and transmission efficiency is still an urgent problem to be solved. Summary of the invention

[0007] In order to solve the problems of the above-mentioned prior art, the present invention provides an adaptive anti-backlash planetary gear reducer and a working method thereof. The planetary gear reducer has a simple structure and has an adaptive anti-backlash capability, and can adaptively eliminate the transmission clearance caused by working wear in real time, thereby overcoming the problems of traditional planetary gear reducers that are prone to causing commutation shock, insufficient transmission efficiency and transmission accuracy.

[0008] The present invention is achieved through the following technical solutions: An adaptive anti-backlash planetary gear reducer comprises: an input shaft and a housing; one end of the input shaft is inserted into the housing and is rotatably connected to the housing; an end of the input shaft located in the housing is sequentially penetrated with an electromagnet coil, an electromagnet, a slider seat, a support seat, a sun gear and a second inner gear ring from one end to the other end; the second inner gear ring is connected to an output shaft on a side away from the input shaft; a planet carrier is radially slidably arranged on the support seat, a first planet gear and a second planet gear are coaxially arranged on the planet carrier, a first inner gear ring is arranged on the inner side of the housing, the sun gear is meshed with the first planet gear, the first planet gear is meshed with the first inner gear ring, and the second planet gear is meshed with the second inner gear ring; the electromagnet is fixed on the slider seat, the slider seat, the support seat and the second inner gear ring are all rotatably connected to the input shaft, and the slider seat can slide axially on the input shaft; the slider seat and the planet carrier are hingedly connected by a connecting rod.

[0009] Preferably, the sun gear is a variable tooth thickness gear, a sun gear limiting step is provided on the input shaft, a first elastic element is provided between the side of the sun gear close to the slider seat and the sun gear limiting step, a nut is slidably passed through the input shaft, a second elastic element is provided between the nut and the side of the sun gear away from the slider seat, and the thickness of the sun gear teeth gradually increases from the side close to the slider seat to the side away from the slider seat.

[0010] Furthermore, the first elastic element and the second elastic element are both springs.

[0011] Preferably, a slider seat limiting step is provided on the input shaft, and an elastic element is provided between the slider seat limiting step and a side of the slider seat away from the electromagnet.

[0012] Furthermore, the elastic element is a spring.

[0013] Preferably, a support hole is provided on the planet carrier, a support shaft is provided on the support seat, the support shaft of the support seat is slidably inserted into the support hole of the planet carrier, and the support shaft is arranged along the radial direction of the input shaft.

[0014] Preferably, the electromagnet coil is fixedly connected to the housing.

[0015] Preferably, one end of the connecting rod is hingedly connected to the slider seat through a pin, and the other end is hingedly connected to the planet carrier through a pin.

[0016] The working method of the adaptive anti-backlash planetary gear reducer described in the present invention is to energize the electromagnet coil so that the electromagnet generates an electromagnetic force of a preset size and pushes the slider seat to move axially in a direction away from the electromagnet coil. When the slider seat moves, the planet carrier is pushed to move radially in a direction away from the input shaft through the connecting rod, thereby adjusting the center distance of the meshing gear pairs of the first planetary gear and the first inner gear ring and the second planetary gear and the second inner gear ring to eliminate the tooth side clearance.

[0017] Preferably, the sun gear is a gear with variable tooth thickness, a sun gear limiting step is provided on the input shaft, a first elastic element is provided between the side of the sun gear close to the slider seat and the sun gear limiting step, a nut is slidably passed through the input shaft, a second elastic element is provided between the nut and the side of the sun gear away from the slider seat, and the thickness of the gear teeth of the sun gear gradually increases from the side close to the slider seat to the side away from the slider seat; By adjusting the nut to change the preload of the first elastic element and the second elastic element, the sun gear is pushed to move axially toward the slider seat to eliminate the tooth side clearance of the sun gear and the first planetary gear meshing gear pair.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention is an adaptive anti-backlash planetary gear reducer, wherein the slider seat is slidably arranged on the input shaft, the slider seat is hingedly connected to the planet carrier, and the planet carrier is slidably connected to the support seat, so that the slider seat, the input shaft, the support seat, the connecting rod, and the planet carrier together form a double slider mechanism. The double slider mechanism is utilized, and the electromagnet coil is energized to generate an electromagnetic force to push the slider seat to slide on the input shaft, and then the planet carrier is driven to move radially through the connecting rod, so as to adjust the center distance of the meshing gear pairs of the first planetary wheel and the first inner gear ring and the second planetary wheel and the second inner gear ring on the planet carrier. When the meshing gear pairs of the planetary gear reducer generate transmission gaps, the electromagnetic force of the electromagnet changes, and the electromagnet only needs to adjust the current value of the electromagnet coil to enable the electromagnet to generate a constant electromagnetic force to achieve the purpose of adaptively eliminating the transmission gaps of the two meshing gear pairs in real time. The gear ring of the reducer of the present invention is an integral structure, and there is no additional parallel transmission gear at each level of transmission. The double slider mechanism is driven by electromagnetic force to achieve fine adjustment of the center distance of the meshing pair of the planetary gear and the inner gear ring. The manufacturing is simple and the cost is low. The precision is higher than that of the spliced ​​inner gear ring, so high transmission precision can be achieved and the anti-backlash effect is better. The present invention provides an ideal solution for the long-term precision retention and efficiency improvement of the planetary gear reducer.

[0019] Furthermore, in order to eliminate the transmission clearance between the sun gear and the first planetary gear, the tooth shape of the sun gear is designed to have a certain taper along the tooth width direction, that is, a variable tooth thickness gear is used, and the transmission clearance is adjusted by changing the axial position of the sun gear to eliminate the transmission clearance of the meshing gear pair of the sun gear and the first planetary gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a cross-sectional view of the adaptive anti-backlash planetary gear reducer of the present invention; Figure 2 is a cross-sectional view of the sun gear of the present invention; Figure 3 It is a stereoscopic diagram of the adaptive anti-backlash planetary gear reducer described in the present invention.

[0022] In the figure: input shaft 1, housing 3, slider seat 4, support seat 5, planet carrier 6, two first planetary gears 7, first inner ring gear 8, two second planetary gears 9, second inner ring gear 10, bearing seat 11, nut 12, output shaft 13, sun gear 14, connecting rod 15, electromagnet coil 16, electromagnet 17, first spring 18, second spring 19, third spring 20, second bearing 21, third bearing 22, third bearing 23, sun gear big end 24, sun gear small end 25. DETAILED DESCRIPTION

[0023] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0024] It should be noted that the process equipment or devices not specifically specified in the following embodiments are all conventional equipment or devices in the art.

[0025] It should be noted that the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Moreover, unless otherwise specified, the numbering of each method step is only a convenient tool for identifying each method step, and is not intended to limit the order of arrangement of each method step or to define the scope of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the present invention without substantially changing the technical content.

[0026] In addition, it should be noted that the terms "first", "second", etc. of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. The orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention; in addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements.

[0027] like Figure 1 and Figure 3 As shown, the adaptive anti-backlash planetary gear reducer of the present invention comprises: an input shaft 1 and a housing 3; one end of the input shaft 1 is inserted into the housing 3 and is rotatably connected to the housing 3; an end of the input shaft 1 located in the housing 3 is sequentially penetrated from one end to the other end with an electromagnet coil 16, an electromagnet 17, a slider seat 4, a support seat 5, a sun gear 14 and a second inner gear ring 10; the second inner gear ring 10 is connected to an output shaft 13 on a side away from the input shaft 1; a planet carrier 6 is radially slidably arranged on the support seat 5, and a first planet carrier 6 is coaxially arranged on the planet carrier 6 The sun gear 14 meshes with the first planetary gear 7, the first planetary gear 7 meshes with the first inner gear ring 8, and the second planetary gear 9 meshes with the second inner gear ring 10; the electromagnet 17 is fixed on the slider seat 4, the slider seat 4, the support seat 5 and the second inner gear ring 10 are all rotatably connected to the input shaft 1, and the slider seat 4 can slide axially on the input shaft 1; the sun gear 14 is connected to the input shaft 1 through a flat key; the slider seat 4 is hingedly connected to the planet carrier 6 through a connecting rod 15.

[0028] When the adaptive anti-backlash planetary gear reducer of the present invention is in use, the driving force is input from the input shaft 1, transmitted in sequence through the sun gear 14, the first planetary gear 7, the first internal gear ring 8 and the second planetary gear 9, and finally output to the output shaft 3 by the second internal gear ring 10, thereby achieving a deceleration effect through multi-stage transmission.

[0029] In the adaptive anti-backlash planetary gear reducer of the present invention, the slider seat 4 is slidably arranged on the input shaft 1, the slider seat 4 is hingedly connected to the planet carrier 6, and the planet carrier 6 is slidably connected to the support seat 5, so that the slider seat 4 and the input shaft 1, the support seat 5, the connecting rod 15, and the planet carrier 6 together form a double slider mechanism, so that when the slider seat 4 slides on the input shaft, the planet carrier 6 is driven to move in the radial direction through the connecting rod 15, thereby changing the center distance of the meshing gear pairs of the first planetary gear 7 and the first inner gear ring and the second planetary gear 9 and the second inner gear ring 10 on the planet carrier 6 to eliminate the tooth side clearance.

[0030] In order to eliminate the tooth side clearance of the meshing gear pair of the sun gear 14 and the first planetary gear 7, the sun gear 14 in the present invention adopts a variable tooth thickness gear, and a sun gear limiting step is provided on the input shaft 1, and a first elastic element is provided between the side of the sun gear 14 close to the slider seat 4 and the sun gear limiting step. One end of the first elastic element contacts the sun gear limiting step, and the other end contacts the side of the sun gear 14 close to the slider seat 4. A nut 12 is slidably penetrated on the input shaft 1, and a second elastic element is provided between the nut 12 and the side of the sun gear 14 away from the slider seat 4. One end face of the second elastic element contacts the side of the sun gear 14 away from the slider seat 4, and the other end contacts the nut 12. The thickness of the gear teeth of the sun gear 14 gradually increases from the side close to the slider seat 4 to the side away from the slider seat 4.

[0031] like Figure 2 As shown, the variable tooth thickness gear described in the present invention refers to a gear whose tooth thickness changes continuously from one side to the other side along the axial direction, and the relatively thick end of the gear teeth is called the sun gear big end 24, and the relatively thin end of the gear teeth is called the sun gear small end 25. The end face of the sun gear big end 24 contacts the end face of one end of the second elastic element.

[0032] During operation, the preload of the first elastic element and the second elastic element is changed by adjusting the nut 12, pushing the sun gear 14 to move axially, so that the end of the sun gear 14 with a higher tooth height moves toward the direction close to the axis of the first planetary gear 7, thereby eliminating the tooth side clearance of the meshing gear pair of the sun gear 14 and the first planetary gear 7.

[0033] In some specific embodiments of the present invention, the first elastic element and the second elastic element as mentioned above are both springs.

[0034] In order to prevent excessive displacement of the slider seat 4 and excessive squeezing of the first planetary gear 7 and the first inner gear ring and the second planetary gear 9 and the second inner gear ring 10 , the present invention preferably limits the slider seat 4 by providing a third elastic element.

[0035] Specifically, a slider seat limiting step is provided on the input shaft 1, and a third elastic element is provided between the slider seat limiting step and the side of the slider seat 4 away from the electromagnet 17, one end of the third elastic element contacts the slider seat limiting step, and the other end contacts the side of the slider seat 4 away from the electromagnet 17.

[0036] In some specific embodiments of the present invention, the third elastic element is a spring.

[0037] In some specific embodiments of the present invention, a support hole is provided on the planetary carrier 6, and a support shaft is provided on the support seat 5. The support shaft is arranged along the radial direction of the input shaft 1, and the support shaft of the support seat 5 is slidably inserted into the support hole of the planetary carrier 6, thereby realizing a sliding connection between the support seat 5 and the planetary carrier 6.

[0038] As a preferred solution, one end of the connecting rod 15 of the present invention is hingedly connected to the slider seat 4 through a pin, and the other end is hingedly connected to the planet carrier 6 through a pin.

[0039] As a preferred solution, in the present invention, the electromagnet coil 16 is fixedly connected to the housing 3 .

[0040] Example like Figure 1 and Figure 3 As shown, the adaptive anti-backlash planetary gear reducer described in this embodiment includes: an input shaft 1, a housing 3, a slider seat 4, a support seat 5, a planetary carrier 6, two first planetary gears 7, a first inner ring gear 8, two second planetary gears 9, a second inner ring gear 10, a bearing seat 11, a nut 12, an output shaft 13, a sun gear 14, a connecting rod 15, an electromagnet coil 16, an electromagnet 17, a first spring 18, a second spring 19 and a third spring 20.

[0041] One end of the input shaft 1 is inserted into the housing 3, and the housing 3 and the input shaft 1 are connected to each other so as to be relatively rotatable via the first bearing 2. An end of the input shaft 1 located in the housing 3 is provided with an electromagnet coil 16, an electromagnet 17, a slider seat 4, a first spring 18, a support seat 5, a second spring 19, a sun gear 14, a third spring 20, a nut 12, and a second inner gear ring 10 in sequence from one end to the other end.

[0042] The electromagnet coil 16 is mounted on the housing 3 by screws, the electromagnet 17 is mounted and fastened on the slider seat 4, and the two ends of the connecting rod 15 are connected to the slider seat 4 and the planet carrier 6 for relative rotation through the pins. The support seat 5 is connected to the input shaft 1 for relative rotation through the second bearing 21, and the slider seat 4 is connected to the input shaft 1 for relative rotation through the bearing.

[0043] The planet carrier 6 is provided with a support hole, and the support seat 5 is provided with a support shaft matched with the support hole. The support shaft is slidably inserted into the support hole, and the support shaft and the support hole cooperate to form a connection that can move relatively along the radial direction of the input shaft 1.

[0044] The slider seat 4 and the input shaft 1 can be relatively displaced in the axial direction, and a slider seat limiting step is provided on the input shaft 1, and a first spring 18 is provided between the slider seat limiting step and the right end of the slider seat 4. One end of the first spring 18 contacts the slider seat limiting step, and the other end contacts the right end face of the slider seat 4, so that the first spring 18 plays a certain limiting role on the slider seat 4 to prevent the slider seat 4 from excessive displacement.

[0045] The sun gear 14 is mounted on the input shaft 1 through a flat key; the first planetary gear 7 and the second planetary gear 9 are coaxially arranged to form a double gear, and are mounted on the planetary carrier 6 through bearings to form a rotatable connection with the planetary carrier 6. The first inner gear ring 8 is tightly connected to the housing 3, the bearing seat 11 is tightly connected to the housing 3 by screws, the second inner gear ring 10 is relatively rotatably connected to the bearing seat 11 through the third bearing 22, and the input shaft 1 and the second inner gear ring 10 are relatively rotatably connected through the fourth bearing 23. The output shaft 13 is tightly connected to the second inner gear ring 10.

[0046] The sun gear 14 meshes with the first planetary gear 7, the first planetary gear 7 meshes with the first inner gear ring 8, and the second planetary gear 9 meshes with the second inner gear ring 10. The motion is input by the input shaft 1, transmitted by the sun gear 14, the first planetary gear 7, the first inner gear ring 8 and the second planetary gear 9, and finally output by the second inner gear ring 10.

[0047] The sun gear 14 is a variable tooth thickness gear, and the tooth shape has a certain taper along the tooth width direction. A sun gear limiting step is provided on the input shaft 1, and a second spring 19 is provided between the side of the sun gear 14 close to the slider seat 4 and the sun gear limiting step. One end of the second spring 19 contacts the sun gear limiting step, and the other end contacts the side of the sun gear 14 close to the slider seat 4. A nut 12 is slidably penetrated on the input shaft 1, and a third spring 20 is provided between the nut 12 and the side of the sun gear 14 away from the slider seat 4. One end of the third spring 20 contacts the side of the sun gear 14 away from the slider seat 4, and the other end contacts the nut 12. The side surface of the end of the sun gear 14 with a higher tooth height contacts one end of the third spring 20.

[0048] The specific anti-backlash principle of the adaptive anti-backlash planetary gear reducer of this embodiment is as follows: the electromagnet coil 16 is energized to make the electromagnet 17 generate electromagnetic force and push the slider seat 4 to move to the right. When the slider seat 4 moves, it generates a force on the connecting rod 15 to push the planet carrier 6 to move upward, thereby adjusting the center distance of the meshing gear pair of the first planetary gear 7 and the first inner gear ring and the second planetary gear 9 and the second inner gear ring 10 to eliminate the tooth side clearance. Because the tooth shape of the sun gear 14 has a certain taper along the tooth width direction, the preload amount of the second spring 19 and the third spring 20 can be changed by adjusting the nut 12, so that the sun gear 14 produces a certain axial displacement, thereby eliminating the tooth side clearance of the meshing gear pair of the sun gear 14 and the first planetary gear 7.

[0049] When the meshing gear pairs of the planetary gear reducer produce transmission clearance due to long-term wear or alternating, impact and other variable loads, that is, real variable clearance is generated, the preload of each meshing gear pair changes, causing the electromagnetic force of the electromagnet to change. It is only necessary to adjust the current value of the electromagnet coil 16 to make the electromagnet generate a constant electromagnetic force to eliminate the clearance of each meshing gear pair and achieve the purpose of adaptive clearance elimination. That is, a constant electromagnetic force is set, so that the current value of the electromagnet coil 16 changes according to the electromagnetic force, and the electromagnetic force of the electromagnet is kept unchanged, ensuring that each meshing gear pair has a certain preload to eliminate the transmission clearance.

Claims

1. An adaptive anti-backlash planetary gear reducer, characterized in that: include: An input shaft (1) and a housing (3); one end of the input shaft (1) is inserted into the housing (3) and is rotatably connected to the housing (3); an end of the input shaft (1) located in the housing (3) is provided with an electromagnet coil (16), an electromagnet (17), a slider seat (4), a support seat (5), a sun gear (14) and a second inner gear ring (10) in sequence from one end to the other end; the second inner gear ring (10) is connected to an output shaft (13) on a side away from the input shaft (1); a planet carrier (6) is radially slidably provided on the support seat (5), and a first planet gear (7) is coaxially provided on the planet carrier (6). ) and a second planetary gear (9), a first inner gear ring (8) is arranged on the inner side of the housing (3), the sun gear (14) meshes with the first planetary gear (7), the first planetary gear (7) meshes with the first inner gear ring (8), and the second planetary gear (9) meshes with the second inner gear ring (10); the electromagnet (17) is fixed on the slider seat (4), the slider seat (4), the support seat (5) and the second inner gear ring (10) are all rotatably connected to the input shaft (1), and the slider seat (4) can slide axially on the input shaft (1); the slider seat (4) is hingedly connected to the planet carrier (6) through a connecting rod (15).

2. The adaptive anti-backlash planetary gear reducer according to claim 1, characterized in that: The sun gear (14) is a gear with variable tooth thickness. A sun gear limiting step is provided on the input shaft (1). A first elastic element is provided between a side of the sun gear (14) close to the slider seat (4) and the sun gear limiting step. A nut (12) is slidably passed through the input shaft (1). A second elastic element is provided between the nut (12) and a side of the sun gear (14) away from the slider seat (4). The thickness of the teeth of the sun gear (14) gradually increases from a side close to the slider seat (4) to a side away from the slider seat (4).

3. The adaptive anti-backlash planetary gear reducer according to claim 2, characterized in that: The first elastic element and the second elastic element are both springs.

4. The adaptive anti-backlash planetary gear reducer according to claim 1, characterized in that: The input shaft (1) is provided with a slider seat limiting step, and an elastic element is provided between the slider seat limiting step and a side of the slider seat (4) away from the electromagnet (17).

5. The adaptive anti-backlash planetary gear reducer according to claim 4, characterized in that: The elastic element is a spring.

6. The adaptive anti-backlash planetary gear reducer according to claim 1, characterized in that: The planet carrier (6) is provided with a support hole, the support seat (5) is provided with a support shaft, the support shaft of the support seat (5) is slidably inserted into the support hole of the planet carrier (6), and the support shaft is arranged along the radial direction of the input shaft (1).

7. The adaptive anti-backlash planetary gear reducer according to claim 1, characterized in that: The electromagnet coil (16) is fixedly connected to the housing (3).

8. The adaptive anti-backlash planetary gear reducer according to claim 1, characterized in that: One end of the connecting rod (15) is hingedly connected to the slider seat (4) via a pin, and the other end is hingedly connected to the planet carrier (6) via a pin.

9. The working method of the adaptive anti-backlash planetary gear reducer according to any one of claims 1 to 8, characterized in that: The electromagnet coil (16) is energized so that the electromagnet (17) generates an electromagnetic force of a preset magnitude and pushes the slider seat (4) to move axially in a direction away from the electromagnet coil (16). When the slider seat (4) moves, it pushes the planet carrier (6) to move radially in a direction away from the input shaft (1) through the connecting rod (15), thereby adjusting the center distance of the meshing gear pair of the first planetary gear (7) and the first inner gear ring and the second planetary gear (9) and the second inner gear ring (10) to eliminate the tooth side clearance.

10. The working method of the adaptive anti-backlash planetary gear reducer according to claim 9, characterized in that: The sun gear (14) is a gear with variable tooth thickness, a sun gear limiting step is provided on the input shaft (1), a first elastic element is provided between a side of the sun gear (14) close to the slider seat (4) and the sun gear limiting step, a nut (12) is slidably passed through the input shaft (1), a second elastic element is provided between the nut (12) and a side of the sun gear (14) away from the slider seat (4), and the thickness of the gear teeth of the sun gear (14) gradually increases from a side close to the slider seat (4) to a side away from the slider seat (4); By adjusting the nut (12) to change the preload of the first elastic element and the second elastic element, the sun gear (14) is pushed to move axially in a direction close to the slider seat (4) to eliminate the tooth side clearance of the meshing gear pair of the sun gear (14) and the first planetary gear (7).

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