Gear anti-backlash assembly and anti-backlash method

Abstract

The embodiment of the invention provides a gear anti-backlash assembly and an anti-backlash method. In one specific implementation mode, the method comprises the steps that a fixed gear and an anti-backlash gear are relatively rotated by a preset angle so that an elastic element can be stretched and generate elastic pre-tightening force; the fixed gear is meshed with the working tooth surface of the working gear, and the anti-backlash gear is meshed with the non-working tooth surface of the working gear; the working tooth surface is a tooth surface which is arranged on the working gear and is used for transmitting force; and the non-working tooth surface is positioned on the opposite side of the working tooth surface on the working gear. According to the implementation mode, the structure is simple, the working tooth surface and the non-working tooth surface of the working gear are attached to the fixed gear and the anti-backlash gear all the time through the pre-tightening force of the elastic element, the meshing backlash is eliminated regardless of forward rotation or reverse rotation, and the anti-backlash effect is effective in the whole process. Therefore, the transmission precision is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of gear backlash elimination, and more particularly to a gear backlash elimination assembly and a backlash elimination method. Background Art

[0002] Currently, all gear transmission mechanisms have transmission backlash. Backlash is used to prevent tooth seizure due to machining errors and gear deformation, and to provide space for lubrication between tooth surfaces. During the gear transmission process, backlash generates return error, which reduces the transmission accuracy of the gear transmission mechanism and has a nonlinear effect on the control of the entire precision transmission system. Gear backlash error can be reduced to ensure transmission accuracy by improving the machining accuracy of the final gear. However, improving gear machining accuracy significantly increases the system's processing costs and does not completely eliminate return error. Therefore, in mechanisms with high requirements for angular or positional information, effective methods for eliminating gear backlash are necessary to control transmission error and improve transmission accuracy. Summary of the Invention

[0003] An object of the present disclosure is to provide a gear backlash eliminating assembly and backlash eliminating method for eliminating gear backlash, so as to solve at least one of the problems existing in the prior art.

[0004] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0005] A first aspect of the present disclosure provides a gear anti-backlash assembly, comprising:

[0006] Coaxially arranged fixed gear and anti-backlash gear;

[0007] A hollow rotating shaft is coaxially fixed to the middle of the fixed gear, the hollow rotating shaft passes through the anti-backlash gear and includes a clamping groove at the portion extending relative to the anti-backlash gear; a retaining spring is sleeved in the retaining groove; the retaining spring is exposed from the retaining groove to limit the axial displacement of the anti-backlash gear; the fixed gear is rotatably connected to the anti-backlash gear;

[0008] The fixed gear includes a plurality of first through holes in the axial direction, wherein the first through holes include a first side and a second side located in the circumferential direction of the fixed gear;

[0009] The anti-backlash gear includes a plurality of second through holes in axial direction that are in communication with the first through hole; the second through hole includes a first side located in the circumferential direction of the anti-backlash gear; the first side of the first through hole and the first side of the second through hole are on the same side;

[0010] The anti-backlash assembly further includes a plurality of elastic elements corresponding to the first through holes;

[0011] Two ends of the elastic element are respectively connected to the second side of the first through hole and the first side of the second through hole communicating with the first through hole.

[0012] Furthermore, the anti-backlash assembly further comprises a plurality of pins;

[0013] The anti-backlash gear includes a plurality of fourth through holes corresponding to the pins in the axial direction;

[0014] The diameter of the fourth through hole is larger than the diameter of the pin head of the pin;

[0015] The pin passes through the fourth through hole and is inserted into the fixed gear; the pin head of the pin is in the fourth through hole to limit the relative rotation of the fixed gear and the anti-backlash gear.

[0016] Furthermore, a connecting shaft is provided in the hollow rotating shaft, and the connecting shaft is rotatably connected to the hollow rotating shaft.

[0017] Furthermore, the anti-backlash assembly further includes a bearing;

[0018] The connecting rotating shaft is rotatably connected to the hollow rotating shaft through the bearing.

[0019] Furthermore, the elastic element is a spring or an elastic rope.

[0020] Furthermore, the anti-backlash gear includes a plurality of third through holes in the axial direction;

[0021] The fixed gear includes a plurality of fifth through holes in the axial direction, each of which is connected to the third through holes;

[0022] The diameter of the third through hole is larger than that of the fifth through hole.

[0023] Furthermore, the fixed gear and the anti-backlash gear are respectively provided with a plurality of hollow portions;

[0024] The hollow portion passes through surfaces on both axial sides of the fixed gear and the anti-backlash gear respectively.

[0025] A second aspect of the present invention provides a gear backlash eliminating method applied to the gear backlash eliminating assembly as described in the first aspect, comprising:

[0026] The fixed gear and the anti-backlash gear are rotated relative to each other by a preset angle so that the elastic element is stretched and generates an elastic preload force;

[0027] The fixed gear is meshed with the working tooth surface of the working gear, and the anti-backlash gear is meshed with the non-working tooth surface of the working gear;

[0028] The working tooth surface is the tooth surface on the working gear used for transmitting force; the non-working tooth surface is located on the opposite side of the working tooth surface on the working gear.

[0029] Furthermore, before the fixing gear and the anti-backlash gear are rotated relative to each other by a preset angle so that the elastic element is stretched and generates an elastic preload force, the method further includes:

[0030] The pin is inserted into the fixed gear through the fourth through hole; the pin head of the pin is in the fourth through hole to limit the relative rotation of the fixed gear and the anti-backlash gear.

[0031] Furthermore, before inserting the pin into the fixed gear through the fourth through hole and placing the screw head of the screw in the fourth through hole to restrict the relative rotation of the fixed gear and the anti-backlash gear, the method further includes:

[0032] The screw is sequentially passed through the third through hole and the corresponding fifth through hole and threadedly connected to the device to be connected to fix the fixed gear; the aperture of the third through hole is larger than the diameter of the screw head of the screw.

[0033] The beneficial effects of the present disclosure are as follows:

[0034] During assembly of this embodiment, the fixed gear and the anti-backlash gear are rotated relative to each other by a preset angle, and then the elastic element is pre-tightened, so that the fixed gear meshes with the working tooth surface of the working gear, and the anti-backlash gear meshes with the non-working tooth surface of the working gear; the fixed gear is mainly used to transmit the power required by the drive mechanism. The anti-backlash gear is installed on a hollow shaft and is a floating gear that can eliminate the return error during gear meshing. The fixed gear and the anti-backlash gear are connected by an elastic element. During the rotation of the gears, the pre-tightening force of the elastic element always ensures that the gears mesh without gap. Specifically, when the working gear rotates in the forward direction, although the power is mainly transmitted through the fixed gear, the anti-backlash gear is always in close contact with the non-working tooth surface of the working gear under the action of the pre-tightening force of the elastic element. At this time, there is no gap between the working gear and the anti-backlash gear; when the working gear rotates in the reverse direction, because the anti-backlash gear has already supported the non-working tooth surface, there is no need to overcome the original meshing gap, and the force is directly transmitted through the anti-backlash gear, avoiding the return error. In short, the preload of the elastic element ensures that the working and non-working tooth surfaces of the working gear always adhere to the fixed gear and the anti-backlash gear, respectively. Regardless of forward or reverse rotation, the meshing clearance is eliminated, and the anti-backlash effect is effective throughout the entire process, thereby improving transmission accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The specific embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0036] Figure 1 A schematic diagram of the overall structure of a gear anti-backlash assembly according to an embodiment of the present disclosure is shown.

[0037] Figure 2 A schematic structural diagram of an anti-backlash gear according to an embodiment of the present disclosure is shown.

[0038] Figure 3 A schematic structural diagram of a fixed gear according to an embodiment of the present disclosure is shown.

[0039] Figure 4 A right side view of a gear anti-backlash assembly is shown according to one embodiment of the present disclosure.

[0040] Figure 5 An exploded view of a gear anti-backlash assembly according to one embodiment of the present disclosure is shown.

[0041] Figure 6 A flow chart showing a gear backlash elimination method according to an embodiment of the present disclosure is provided. DETAILED DESCRIPTION

[0042] To more clearly illustrate the present disclosure, the present disclosure is further described below in conjunction with the embodiments and drawings. Similar components in the drawings are represented by the same reference numerals. Those skilled in the art should understand that the specific description below is illustrative rather than restrictive and should not be used to limit the scope of protection of the present disclosure.

[0043] A first embodiment of the present invention provides a gear backlash eliminating assembly, comprising:

[0044] A fixed gear 20 and an anti-backlash gear 10 are coaxially arranged;

[0045] like Figure 1 As shown, a hollow rotating shaft 30 is coaxially fixed to the middle of the fixed gear 20. The hollow rotating shaft 30 passes through the anti-backlash gear 10 and includes a clamping groove 301 at the portion extending relative to the anti-backlash gear 10. A retaining spring 40 is sleeved in the retaining groove 301. The retaining spring 40 is exposed from the retaining groove 301 to limit the axial displacement of the anti-backlash gear 10. The fixed gear 20 is rotatably connected to the anti-backlash gear 10.

[0046] like Figure 3 As shown, the fixed gear 20 includes a plurality of first through holes 201 in the axial direction, and the first through holes 201 include a first side and a second side located in the circumferential direction of the fixed gear 20;

[0047] like Figure 2 As shown, the anti-backlash gear 10 includes a plurality of second through holes 101 in axial direction that are in communication with the first through holes 201; the second through holes 101 include a first side located in the circumferential direction of the anti-backlash gear 10; the first side of the first through holes 201 and the first side of the second through holes 101 are on the same side;

[0048] The anti-backlash assembly further includes a plurality of elastic elements 70 corresponding to the first through holes 201;

[0049] Two ends of the elastic element 70 are respectively connected to the second side of the first through hole 201 and the first side of the second through hole 101 communicating with the first through hole 201 .

[0050] During assembly of this embodiment, the fixed gear 20 and the anti-backlash gear 10 are rotated relative to each other by a preset angle. After the elastic element 70 is pre-tightened, the fixed gear 20 is meshed with the working tooth surface of the working gear (not shown in the figure), and the anti-backlash gear 10 is meshed with the non-working tooth surface of the working gear. The fixed gear 20 is mainly used to transmit the power required by the drive mechanism. The anti-backlash gear 10 is mounted on a hollow shaft and is a floating gear that can eliminate the return error during gear meshing. The fixed gear 20 and the anti-backlash gear 10 are connected by the elastic element 70. During the rotation of the gears, the pre-tightening force of the elastic element 70 always ensures that the gears are meshed without gaps. Specifically, when the working gear rotates forward, although power is mainly transmitted through the fixed gear 20, the anti-backlash gear 10 is always in close contact with the non-working tooth surface of the working gear under the preload of the elastic element 70. At this time, there is no gap between the working gear and the anti-backlash gear 10. When the working gear rotates in the opposite direction, because the anti-backlash gear 10 has already supported the non-working tooth surface, there is no need to overcome the original meshing clearance. Force is transmitted directly through the anti-backlash gear 10, avoiding return errors. In short, the preload of the elastic element 70 allows the working tooth surface and non-working tooth surface of the working gear to always remain in contact with the fixed gear 20 and the anti-backlash gear 10 respectively. Regardless of whether the rotation is forward or reverse, the meshing clearance is eliminated and the anti-backlash effect is effective throughout the entire process. This improves transmission accuracy.

[0051] In a specific example, if Figure 4 As shown, the fixed gear 20 is in contact with the anti-backlash gear 10 .

[0052] In a specific example, the retaining ring 40 is a ring with a notch, and fixing holes are provided at both ends of the notch. Holes corresponding to the fixing holes are provided on the anti-backlash gear 10, and the two holes are connected to the anti-backlash gear 10 using a pin 80 or a screw 90.

[0053] In a specific example, the working gear may be a driving gear provided in a device such as a speed reducer.

[0054] In one possible implementation, the anti-backlash assembly further includes a plurality of pins 80;

[0055] The anti-backlash gear 10 includes a plurality of fourth through holes 102 corresponding to the pins 80 in the axial direction;

[0056] The diameter of the fourth through hole 102 is larger than the diameter of the pin head of the pin 80;

[0057] The pin 80 passes through the fourth through hole 102 and is inserted into the fixed gear 20; Figure 5As shown, the fixed gear 20 includes a nail hole 202 for inserting the pin 80. The diameter of the nail hole 202 is smaller than the fourth through hole 102. The pin head of the pin 80 is in the fourth through hole 102 to limit the relative rotation of the fixed gear 20 and the anti-backlash gear 10.

[0058] In this embodiment, when the fixed gear 20 and the anti-backlash gear 10 are pre-tightened by the elastic element 70, a preset relative rotation angle must be maintained to maintain the pre-tightening force. If the two rotate excessively relative to each other due to transmission shock, vibration, etc. and exceed the preset angle during assembly, the elastic element 70 will be over-stretched or compressed, causing elastic fatigue or damage to the elastic element 70. After the pin 80 passes through the fourth through hole 102 of the anti-backlash gear 10 and is inserted into the fixed gear 20, the pin head of the pin 80 will be limited in the fourth through hole 102. When the two rotate relative to each other until the pin head contacts the inner wall of the fourth through hole 102, they cannot continue to rotate, thereby limiting the relative rotation angle to the range allowed by the difference between the diameter of the fourth through hole 102 and the diameter of the pin head, that is, within the preset safety angle, to prevent overload of the elastic element 70. Furthermore, if the fixed gear 20 and the backlash-eliminating gear 10 rotate relative to each other without restriction, their meshing positions with the working gear will shift. For example, the fixed gear 20 may disengage from the working tooth surface, and the backlash-eliminating gear 10 may disengage from the non-working tooth surface, causing the meshing clearance that was originally eliminated to reappear and rendering the backlash-eliminating function ineffective. By limiting excessive relative rotation, the pin 80 ensures that the fixed gear 20 and the backlash-eliminating gear 10 always maintain the preset meshing position with the working gear, thus ensuring the stability of the backlash-eliminating effect.

[0059] In a specific embodiment, if the gear anti-backlash assembly is used in working conditions with medium loads and in a non-corrosive environment, it is a common choice for the pin 80 in the gear anti-backlash assembly. Under the basic force requirement of limiting the relative rotation of the gears, the pin 80 is preferably made of carbon steel, which has low cost, a tensile strength of about 600 MPa, and good wear resistance and shear resistance. If the gear is used in a scenario where the working gear frequently rotates forward and reverse and the transmission torque is large, the pin 80 can be made of a chromium alloy. Through chromium alloying, the strength and toughness are better than those of carbon steel, and the impact and fatigue resistance are better. Therefore, the risk of deformation or fracture can be reduced and the service life can be extended. If the gear anti-backlash assembly is used in special working conditions with anti-corrosion requirements, the gear anti-backlash assembly is preferably made of stainless steel, which has excellent corrosion resistance and is suitable for humid, dusty or chemically corrosive environments.

[0060] In a specific example, the pin head of the pin 80 can have various sizes. By using pin heads of different sizes, the relative rotation angle between the fixed gear 20 and the anti-backlash gear 10 can be limited to different ranges.

[0061] In one possible implementation, a connecting shaft 50 is provided in the hollow rotating shaft 30 , and the connecting rotating shaft 50 is rotatably connected to the hollow rotating shaft 30 .

[0062] In a specific example, the anti-backlash assembly further includes a bearing 60;

[0063] The connecting shaft 50 is rotatably connected to the hollow shaft 30 via the bearing 60. In this example, one end of the connecting shaft 50 abuts against the fixed gear 20, and the other end is fixed to a working surface (not shown).

[0064] In a specific example, the elastic element 70 is a spring or an elastic rope.

[0065] In this embodiment, the spring has the characteristics of high linearity, stable and controllable preload, and the metal material makes it highly resistant to fatigue, has a wide temperature range, and has a long service life. After installation, its position is stable, and it is suitable for precision transmission scenarios with high requirements for anti-backlash accuracy, stability, and service life. However, the spring rigidity is relatively high, and the installation space requirements are also high, and the flexibility of preload adjustment is low; while the initial deformation force of the elastic rope increases slowly, can buffer impact, is light in weight, low in cost, and requires little installation space, and the preload adjustment is simple, but its elastic characteristics are nonlinear and are easily affected by the environment, resulting in unstable preload. The polymer material makes it poorly resistant to fatigue, has a short service life, and is also susceptible to grease erosion, and is only suitable for temporary occasions with low load, short life, and non-precision transmission.

[0066] In a possible implementation, the anti-backlash gear 10 includes a plurality of third through holes 103 in the axial direction;

[0067] The fixed gear 20 includes a plurality of fifth through holes 203 in the axial direction, each of which is connected to the third through holes 103;

[0068] The diameter of the third through hole 103 is larger than the diameter of the fifth through hole 203. In this embodiment, since the diameter of the third through hole 103 is larger than the diameter of the screw head of the screw 90, the screw 90 can sequentially pass through the third through hole 103 and the corresponding fifth through hole 203 and be threadedly fixedly connected to the device to be connected to fix the fixed gear 20.

[0069] In a specific example, the screw head of the screw 90 is in the third through hole 103. It should be noted that, in this embodiment, the screw 90 is mainly used to fix the fixed gear 20. For example, if the working conditions of this embodiment require that the relative rotation angle of the fixed gear 20 and the anti-backlash gear 10 be limited to 0°~4°, the pin 80 can limit the relative rotation angle of the fixed gear 20 and the anti-backlash gear 10 to 0°~3°; although the screw 90 in this embodiment can also limit the relative rotation angle of the fixed gear 20 and the anti-backlash gear 10, it can only limit the relative rotation angle of the fixed gear 20 and the anti-backlash gear 10 to 0°~6°; therefore, in this embodiment, the screw 90 is mainly used to fix the fixed gear 20.

[0070] In a specific example, a placement groove is opened on one side of the fifth through hole 203 close to the third through hole 103, and the screw head of the screw 90 is set in the placement groove. In this embodiment, the screw head of the screw 90 cannot limit the relative rotation angle of the fixed gear 20 and the anti-backlash gear 10.

[0071] In a possible implementation, a plurality of hollow portions are respectively provided on the fixed gear 20 and the backlash-eliminating gear 10 ; the hollow portions respectively penetrate the surfaces of the fixed gear 20 and the backlash-eliminating gear 10 on both sides of the axial direction.

[0072] In one specific example, the hollowed-out portion is the redundant portion between the tooth roots and the hub on the fixed gear 20 and the anti-backlash gear 10. This removes material from non-critical stress-bearing areas of the gears, significantly reducing the overall weight of the two gears. For rotating components, weight reduction directly reduces rotational inertia, making it easier for the fixed gear 20 to start or brake when transmitting power. The anti-backlash gear 10, acting as a floating gear, can also respond more quickly to slight displacements of the working gear under the preload of the elastic element 70, thereby more promptly fitting the non-working tooth surface and enhancing the sensitivity of the anti-backlash mechanism. During gear transmission, friction between the tooth surfaces generates heat, which is easily accumulated under high-speed or heavy-load conditions. The hollowed-out portion runs through both axial sides to form an air circulation channel, increasing the heat exchange area between the gear and the outside world, accelerating heat dissipation through convection, and preventing degradation of the gear material performance due to excessive temperature or failure of the elastic element 70 due to high temperature, thereby ensuring long-term and stable operation of the component. In addition, the weight-reduced gear exerts less load on the hollow shaft 30 and the connecting shaft 50, allowing the use of lighter supporting components, indirectly making the structure of the entire anti-backlash assembly more compact, and is particularly suitable for scenarios with limited installation space, such as precision instruments or small transmission mechanisms.

[0073] like Figure 6 As shown, another embodiment of the present invention provides a gear backlash eliminating method applied to the gear backlash eliminating assembly as described in the above embodiment, comprising:

[0074] Step S1: rotating the fixed gear 20 and the anti-backlash gear 10 relative to each other by a preset angle so that the elastic element 70 is stretched and generates an elastic preload force;

[0075] Before step S1, the method further includes:

[0076] Step S01 , insert the screw 90 through the third through hole 103 and the corresponding fifth through hole 203 in sequence and threadedly connect them to the device to be connected to fix the fixed gear 20 ; the aperture of the third through hole 103 is larger than the diameter of the screw head of the screw 90 .

[0077] Step S02 , inserting the pin 80 into the fixed gear 20 through the fourth through hole 102 ; the pin head of the pin 80 is in the fourth through hole 102 to limit the relative rotation between the fixed gear 20 and the anti-backlash gear 10 .

[0078] Step S2: meshing the fixed gear 20 with the working tooth surface of the working gear, and meshing the anti-backlash gear 10 with the non-working tooth surface of the working gear;

[0079] The working tooth surface is the tooth surface on the working gear used for transmitting force; the non-working tooth surface is located on the opposite side of the working tooth surface on the working gear.

[0080] The method of the present invention realizes the precise assembly and stable operation of the gear anti-backlash assembly: in step S01, the aperture difference between the third through hole 103 and the head of the screw 90 is utilized to reserve fine-tuning space for the fixed gear 20 during installation, which not only ensures the stable fixation of the fixed gear 20 and the device to be connected to reliably transmit power, but also facilitates the subsequent meshing and alignment with the working gear; in step S02, the pin 80 is installed in advance, and the relative rotation safety range of the fixed gear 20 and the anti-backlash gear 10 is pre-set through the limiting effect of the pin head in the fourth through hole 102, so as to avoid subsequent pre-tightening and excessive relative rotation between the two during operation, which may cause elasticity Component 70 is damaged, and necessary movable space is reserved without affecting the clearance elimination function; step S1 pre-tightens the elastic component 70 through relative rotation, providing a source of force for the clearance elimination gear 10 to continuously stick to the non-working tooth surface of the working gear, which is the core preparation for eliminating the meshing clearance; after the meshing assembly is completed in step S2, the fixed gear 20 and the working tooth surface stably transmit power, and the clearance elimination gear 10 sticks to the non-working tooth surface under the action of the pre-tightening force, and cooperates with the limiting protection of the pin 80, and finally achieves no return error when the working gear is rotated forward and reversed, which not only ensures the transmission accuracy, but also improves the structural stability and service life of the component through step-by-step assembly.

[0081] In the description of the present disclosure, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present disclosure 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 on the present disclosure. 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, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0082] It should also be noted that, in the description of the present disclosure, relational terms such as first and second, etc., are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0083] Obviously, the above embodiments of the present disclosure are merely examples for clearly illustrating the present disclosure, and are not intended to limit the implementation methods of the present disclosure. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to enumerate all the implementation methods here. Any obvious changes or modifications derived from the technical solution of the present disclosure are still within the scope of protection of the present disclosure.

Claims

1. A gear backlash eliminating assembly, characterized in that: include: Coaxially arranged fixed gear and anti-backlash gear; A hollow rotating shaft is coaxially fixed to the middle of the fixed gear, the hollow rotating shaft passes through the anti-backlash gear and includes a clamping groove at the portion extending relative to the anti-backlash gear; a retaining spring is sleeved in the retaining groove; the retaining spring is exposed from the retaining groove to limit the axial displacement of the anti-backlash gear; the fixed gear is rotatably connected to the anti-backlash gear; The fixed gear includes a plurality of first through holes in the axial direction, wherein the first through holes include a first side and a second side located in the circumferential direction of the fixed gear; The anti-backlash gear includes a plurality of second through holes in axial direction that are in communication with the first through hole; the second through hole includes a first side located in the circumferential direction of the anti-backlash gear; the first side of the first through hole and the first side of the second through hole are on the same side; The anti-backlash assembly further includes a plurality of elastic elements corresponding to the first through holes; Two ends of the elastic element are respectively connected to the second side of the first through hole and the first side of the second through hole communicating with the first through hole.

2. The anti-backlash assembly according to claim 1, characterized in that The anti-backlash assembly further includes a plurality of pins; The anti-backlash gear includes a plurality of fourth through holes corresponding to the pins in the axial direction; The diameter of the fourth through hole is larger than the diameter of the pin head of the pin; The pin passes through the fourth through hole and is inserted into the fixed gear; the pin head of the pin is in the fourth through hole to limit the relative rotation of the fixed gear and the anti-backlash gear.

3. The anti-backlash assembly according to claim 1, characterized in that A connecting rotating shaft is provided in the hollow rotating shaft, and the connecting rotating shaft is rotatably connected to the hollow rotating shaft.

4. The anti-backlash assembly according to claim 3, characterized in that The anti-backlash assembly also includes a bearing; The connecting rotating shaft is rotatably connected to the hollow rotating shaft through the bearing.

5. The anti-backlash assembly according to claim 1, characterized in that The elastic element is a spring or an elastic rope.

6. The anti-backlash assembly according to claim 1, characterized in that The anti-backlash gear includes a plurality of third through holes in the axial direction; The fixed gear includes a plurality of fifth through holes in the axial direction, each of which is connected to the third through holes; The diameter of the third through hole is larger than that of the fifth through hole.

7. The anti-backlash assembly according to claim 1, characterized in that The fixed gear and the anti-backlash gear are respectively provided with a plurality of hollow parts; The hollow portion passes through surfaces on both axial sides of the fixed gear and the anti-backlash gear respectively.

8. A gear backlash eliminating method applied to the gear backlash eliminating assembly according to any one of claims 1 to 7, characterized in that: The fixed gear and the anti-backlash gear are rotated relative to each other by a preset angle so that the elastic element is stretched and generates an elastic preload force; The fixed gear is meshed with the working tooth surface of the working gear, and the anti-backlash gear is meshed with the non-working tooth surface of the working gear; The working tooth surface is the tooth surface on the working gear used for transmitting force; the non-working tooth surface is located on the opposite side of the working tooth surface on the working gear.

9. The backlash elimination method according to claim 8, characterized in that: Before rotating the fixed gear and the anti-backlash gear relative to each other by a preset angle so that the elastic element is stretched and generates an elastic preload force, the method further includes: The pin is inserted into the fixed gear through the fourth through hole; the pin head of the pin is in the fourth through hole to limit the relative rotation of the fixed gear and the anti-backlash gear.

10. The backlash elimination method according to claim 9, characterized in that: Before inserting the pin into the fixed gear through the fourth through hole and placing the screw head of the screw in the fourth through hole to limit the relative rotation of the fixed gear and the anti-backlash gear, the method further includes: The screw is sequentially passed through the third through hole and the corresponding fifth through hole and threadedly connected to the device to be connected to fix the fixed gear; the aperture of the third through hole is larger than the diameter of the screw head of the screw.

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