Gear mechanism with elastic element-guided gap-closing structure

Abstract

The present application relates to gear gap elimination technical field, especially to a kind of gear mechanism with elastic element guiding type gap elimination structure, planetary gear train includes internal gear, sun gear and at least three planetary gears, at least three planetary gears, at least one planetary gear is gap elimination planetary gear;Gap elimination planetary gear includes coaxially arranged first sub planetary gear and second sub planetary gear, and elastic element is arranged between first sub planetary gear and second sub planetary gear;The large diameter end of elastic element is provided with at least one guide column;Second sub planetary gear is provided with guide groove compatible with guide column;When gear mechanism produces back gap, the pre-tightening force of elastic element makes guide column slide in guide groove, and then drive first sub planetary gear and second sub planetary gear between relative rotation, to eliminate back gap.The present application has the advantages that entire compensation process does not need external control or manual adjustment, relies on the self-recovery characteristics of elastic element to realize the real-time dynamic compensation of back gap.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gear backlash elimination, and in particular to a gear mechanism with an elastic element guiding type backlash elimination structure. BACKGROUND

[0002] In the field of vehicle steering technology, the kingpin reducer in the angular module steering mechanism usually adopts a planetary gear train structure with high transmission efficiency and compact structure. However, the inherent backlash problem of the planetary gear train cannot be ignored. This backlash is mainly caused by the machining precision of the gear, the assembly tolerance and the long-term running wear, especially under the traditional assembly method, which will cause unexpected relative displacement or micro-vibration between the gears under different loads.

[0003] The backlash of the planetary gear train is a key link in the transmission chain gap of the steering system. Under the chassis architecture, the accurate control of the steering angle of the kingpin steering mechanism (including the reducer) is the core prerequisite for realizing the steer-by-wire, chassis integrated control and high-level automatic driving functions. The core contradiction lies in the mismatch between the transmission gap of the kingpin steering mechanism (including the gap at the reducer, gear rack), the nonlinear friction characteristics, the load disturbance, and the delay of the multi-electronic control unit coordination on the electronic side, and the high precision, high responsiveness, high consistency control demand of the domain controller on the steering angle.

[0004] If the steering angle control precision is insufficient, it will directly lead to: ADAS / AD (advanced driving assistance system) function failure risk (such as trajectory deviation during lane keeping, automatic parking precision decline); poor coordination of chassis integrated control (such as steering torque fluctuation when ESP (electronic stability program) intervenes, CDC (continuous damping control shock absorption system) and steering posture mismatch, causing unstable vehicle posture); and driving quality degradation (manifested as steering hysteresis, insufficient return, fuzzy center feeling, even low-speed "punching", high-speed "flying").

[0005] Among them, the transmission mechanism of the kingpin steering mechanism is the basis of steering angle control, and the core influencing factors include: 1. Transmission gap: the gap between each link changes with wear and temperature, causing "idle stroke" between the input and output steering angles, causing response delay or "step" jump; 2. Friction nonlinearity: static and dynamic friction switching and change in lubricating grease viscosity at low temperature will cause "dead zone" and "stick-slip phenomenon" in control, which is manifested as no response to small angle command and excessive response to command mutation. SUMMARY

[0006] Based on this, the present application aims to provide a gear mechanism with an elastic element guiding type backlash elimination structure. The mechanism utilizes the axial and radial pre-tightening force generated by the elastic element to effectively eliminate the backlash of the gear mechanism.

[0007] To achieve the above object, the technical scheme of the present application is as follows: a gear mechanism with an elastic element guiding type clearance elimination structure, the gear mechanism having at least one planetary gear train, the planetary gear train including an internal gear, a sun gear and at least three planetary gears, at least one of the at least three planetary gears being a clearance elimination planetary gear; the clearance elimination planetary gear including coaxially arranged first and second sub-planet gears and an elastic element arranged between the first and second sub-planet gears; the elastic element being used to provide axial and radial pre-tightening force to the first and second sub-planet gears; the small-diameter end of the elastic element being connected with the first sub-planet gear, and the large-diameter end of the elastic element being provided with at least one guiding column; the end face of the second sub-planet gear facing the first sub-planet gear being provided with a guiding groove matched with the guiding column, and the guiding column being movably embedded in the guiding groove; wherein the extension direction of the guiding groove is obliquely arranged relative to the radial direction of the second sub-planet gear; when the gear mechanism generates backlash, the pre-tightening force of the elastic element makes the guiding column slide in the guiding groove, thereby driving the first and second sub-planet gears to relatively rotate, so as to eliminate the backlash.

[0008] Further, the guiding groove is an oblique groove obliquely arranged relative to the radial direction of the second sub-planet gear.

[0009] Further, the guiding groove is a straight oblique groove.

[0010] Further, the slope of the straight oblique groove is the ratio of the circumferential displacement amount of the second sub-planet gear to the axial deformation amount of the elastic element.

[0011] Further, the guiding groove is a curved groove or a broken line oblique groove connected by at least two straight line segments.

[0012] Further, the elastic element further includes a conical body and at least one positioning column, the positioning column being arranged at the small-diameter end of the conical body; the end face of the first sub-planet gear facing the second sub-planet gear is provided with a positioning groove corresponding to the position of the positioning column; and the positioning column is embedded in the positioning groove.

[0013] Further, the conical body is provided with a plurality of open grooves, the open grooves being uniformly distributed along the circumferential direction of the conical body; the open grooves extending from the large-diameter end of the conical body towards the small-diameter end, so as to form a plurality of elastic claws on the conical body; and the guiding column is arranged at the end face of the elastic claw facing the guiding groove.

[0014] Further, the guiding column is a plurality of guiding columns, the plurality of guiding columns being uniformly arranged on the corresponding elastic claws along the circumferential direction of the conical body.

[0015] Further, the guiding column is integrally formed with the conical body.

[0016] Further, the guiding column is detachably connected with the conical body.

[0017] Compared with the prior art, the application can achieve the following beneficial effects:

[0018] High anti-backlash efficiency: through the cooperation of the guide column and the guide groove, the axial and radial pre-tightening force of the elastic element is converted into the relative rotation force of the sub-planetary gear, and the anti-backlash response is fast.

[0019] Compact structure: the elastic element integrates the conical body, the guide column and the positioning column, and does not need additional pre-tightening components, which is suitable for narrow installation space.

[0020] Wide adaptation scenarios: the anti-backlash force can be adjusted by adjusting the angle of the guide groove and the number of open slots, which is suitable for various transmission scenarios and has strong versatility.

[0021] In addition to the above core technical advantages, when the gear mechanism with the elastic element guide type anti-backlash structure is applied to the kingpin steering mechanism, the following significant technical effects can be achieved:

[0022] Improve friction and control characteristics, suppress "stick-slip phenomenon" and control "dead zone", improve small-angle steering response smoothness, avoid excessive response when the command suddenly changes, ensure ADAS / AD performance, significantly reduce lane keeping trajectory deviation and automatic parking positioning error, and improve functional reliability. Enhance chassis coordination, provide more stable steering torque output, improve the coordination matching degree with ESP, CDC and other systems, and avoid vehicle body posture instability. Optimize driving quality, effectively improve steering hysteresis, insufficient return, fuzzy center feeling and other problems, and suppress low-speed "punching" and high-speed "flying" phenomenon. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which form a part of the application, are used to provide a further understanding of the application, and the schematic embodiments of the application and their descriptions are used to explain the application, and do not constitute an improper limitation on the application. In the drawings:

[0024] Figure 1 is a structural schematic diagram of a gear mechanism with an elastic element guide type anti-backlash structure provided according to an embodiment of the application;

[0025] Figure 2 is a structural schematic diagram of an anti-backlash planetary gear provided according to an embodiment of the application;

[0026] Figure 3 is a structural schematic diagram of a first sub-planetary gear provided according to an embodiment of the application;

[0027] Figure 4 is a structural schematic diagram of a second sub-planetary gear provided according to an embodiment of the application;

[0028] Figure 5 is a structural schematic diagram of an elastic element provided according to an embodiment of the application;

[0029] Figure 6 is an axial sectional view of the elastic element provided according to the embodiment of the application.

[0030] The reference signs include: 10, an internal gear; 20, a sun gear; 30, an anti-backlash planetary gear; 31, a first sub-planetary gear; 311, a positioning groove; 32, a second sub-planetary gear; 321, a guide groove; 33, an elastic element; 331, a guide column; 332, a positioning column; 333, an elastic claw; 334, an open groove. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the application clearer, the application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and do not constitute a limitation on the application.

[0032] It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0033] In the description of the application, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" and the like are only used for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more features. In the description of the application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0034] In the description of the application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be a fixed connection, or a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the application can be understood through specific circumstances.

[0035] The application will be described in detail below with reference to the drawings and embodiments.

[0036] AsFigures 1 to 6 As shown, the gear mechanism with the elastic element guiding type gap elimination structure provided by the embodiment of the application has at least one planetary gear train, and the planetary gear train includes an internal gear 10, a sun gear 20, and at least three planetary gears, at least one of which is a gap elimination planetary gear 30.

[0037] The gap elimination planetary gear 30 includes coaxially arranged first and second sub-planetary gears 31 and 32, and an elastic element 33 arranged between the first and second sub-planetary gears 31 and 32. The elastic element 33 is used to provide axial and radial pre-tightening force to the first and second sub-planetary gears 31 and 32.

[0038] Specifically, a bearing (for example, a needle bearing or a sliding bearing) is respectively arranged in the inner holes of the first and second sub-planetary gears 31 and 32, and an axial spacer is arranged between the two bearings to limit the bearings. A connecting shaft sequentially passes through the bearing of the first sub-planetary gear 31, the spacer, and the bearing of the second sub-planetary gear 32, thereby achieving coaxial installation and relative rotation support of the two sub-planetary gears.

[0039] The end face of the first sub-planetary gear 31 towards the second sub-planetary gear 32 is provided with a positioning groove 311. The small-diameter end of the elastic element 33 is connected to the first sub-planetary gear 31, and the large-diameter end of the elastic element 33 is provided with at least one guide column 331. The end face of the second sub-planetary gear 32 towards the first sub-planetary gear 31 is provided with a guide groove 321 matched with the guide column 331, and the extension direction of the guide groove 321 is obliquely arranged relative to the radial direction of the second sub-planetary gear 32. The guide column 331 is movably embedded in the guide groove 321.

[0040] In some embodiments, the guide groove 321 is a straight-line inclined groove. The slope of the straight-line inclined groove is equal to the ratio of the circumferential displacement amount of the second sub-planetary gear 32 to the axial deformation amount of the elastic element 33. Assuming that the slope of the straight-line inclined groove is k, the circumferential displacement of the second sub-planetary gear 32 is s, and the axial deformation amount of the elastic element 33 is δ, then k = s / δ.

[0041] The axial pre-tightening force F and the axial deformation amount δ satisfy F = k spring δ, and δ = F / k spring . Wherein k spring is the stiffness coefficient of the elastic element 33.

[0042] Substituting δ = F / k spring into the slope formula, k = sk spring / F is obtained.

[0043] Therefore, the circumferential displacement s of the second sub-planetary gear 32 and the stiffness coefficient k springUnder the premise of fixation, the slope of the straight inclined groove is inversely proportional to the axial pre-tightening force of the elastic element 33 and proportional to the axial deformation of the elastic element 33.

[0044] The extension direction of the guide groove 321 is obliquely arranged relative to the radial direction of the second sub-planetary gear 32, which can convert the axial and radial pre-tightening force of the elastic element 33 into the relative rotation force of the two sub-planetary gears, and realize the dynamic and active elimination of backlash.

[0045] In addition, the guide groove 321 is not limited to straight line shape, but can also adopt other shapes to adapt to different working conditions:

[0046] Curved groove: can make the relative rotation between the sub-planetary gears more gentle, effectively reduce the meshing impact, and is suitable for high-speed precision transmission scenes.

[0047] Folded line inclined groove: connected by at least two straight line segments, which can realize segmented backlash elimination and accurately cope with load mutation working conditions.

[0048] Specifically, the elastic element 33 includes a conical body, at least one positioning column 332 and at least one guide column 331. The positioning column 332 is arranged at the small diameter end of the conical body. The positioning column 332 is embedded in the positioning groove 311. The positioning column 332 and the positioning groove 311 can be a tight fit or a clearance fit. Among them, the tight fit is suitable for heavy load transmission working conditions, which can improve the positioning stability. The clearance value of the clearance fit is set as needed, which is suitable for high-speed precision transmission scenes.

[0049] In this embodiment, the number of positioning columns 332 and positioning grooves 311 is 4; the four positioning columns 332 are evenly arranged at the small diameter end of the conical body along the circumferential direction of the elastic element 33, and the four positioning grooves 311 are evenly arranged on the end face of the first sub-planetary gear 31 facing the second sub-planetary gear 32 along the circumferential direction of the first sub-planetary gear 31.

[0050] It should be noted that the shape and number of the positioning column 332 and the positioning groove 311 are not limited, which can be set according to the actual application.

[0051] The conical body is provided with a plurality of open grooves 334, which are evenly distributed along the circumferential direction of the conical body. The open grooves 334 extend from the large diameter end of the conical body towards the small diameter end of the conical body, so that the conical body forms a plurality of elastic claws 333. The guide column 331 is arranged one by one on the end face of each elastic claw 333 facing the guide groove 321.

[0052] In an embodiment, the elastic element 33 adopts a conical body provided with axial opening slots 334, forming circumferentially uniformly distributed elastic claws 333, and the pre-tightening force is generated by the deformation of the elastic claws 333, and the force distribution is more uniform. Compared with the traditional spring pre-tightening scheme, the pre-tightening force fluctuation range is smaller, and the meshing failure caused by local stress concentration can be effectively avoided.

[0053] In some embodiments, the conical body is provided with a plurality of oblique opening slots, and each oblique opening slot is circumferentially uniformly distributed along the conical body. The opening of the oblique opening slot extends from the large diameter end of the conical body towards the small diameter end, and forms an angle of 10° to 45° with the axis of the conical body. The oblique opening slot divides the conical body into a plurality of spiral elastic claws 333. Compared with the axial opening slot design, the oblique opening slot can further optimize the circumferential uniformity of the pre-tightening force and improve the meshing stability.

[0054] In addition, whether the axial opening slot 334 or the oblique opening slot is adopted, the number of opening slots 334 and the thickness of the elastic claws 333 can be adjusted as needed to achieve flexible adaptation of the pre-tightening force, thereby meeting the transmission requirements of different precision levels.

[0055] In other embodiments, the conical body is provided with a plurality of tooth-shaped slots, and the tooth-shaped slots are circumferentially uniformly distributed along the conical body. The tooth-shaped slots extend from the large diameter end of the conical body towards the small diameter end, and the tooth-shaped slots divide the conical body into tooth-shaped elastic claws 333.

[0056] When the gear mechanism generates backlash, the pre-tightening force of the elastic element 33 causes the guide column 331 to slide in the guide groove 321, thereby driving the relative rotation between the first and second sub-planetary gears 31 and 32, thereby eliminating the backlash.

[0057] In the present embodiment, the guide column 331 is 4, and the 4 guide columns 331 are circumferentially uniformly arranged on the corresponding part of the elastic claw 333. It should be noted that the shape and number of the guide column 331 are not limited, and can be set according to the actual application.

[0058] The guide column 331 and the conical body can be integrally formed, or can be detachably connected, such as a plug-in structure, a pin shaft fixation, a bolt fastening or a threaded connection. The guide column 331 is directly integrated on the end face of the elastic claw 333, and the positioning column 332 and the conical body of the elastic element 33 are integrally designed, without the need for additional pre-tightening adjustment components. Compared with the double gear backlash elimination and eccentric sleeve backlash elimination schemes, the overall volume is smaller, and it is more suitable for the layout of the planetary gear train in a narrow space.

[0059] The positioning column 332 is in close fit or clearance fit with the positioning groove 311, and the guide column 331 and the guide groove 321 are movable embedded structures, so that during assembly, no complex tooling is needed, and during later maintenance, only the worn guide column 331 or the elastic element 33 needs to be replaced, and the cost is lower.

[0060] The material of the elastic element 33, the number of the open grooves 334, the number of the guide columns 331 and the specific parameters of the guide grooves 321 are not limited in the present application, and can be flexibly determined according to actual design requirements.

[0061] The working principle of back gap elimination is as follows:

[0062] After the elastic element 33 is assembled, it is in a compressed state, stores elastic potential energy and continuously applies axial and radial pre-tightening force to the two sub-planetary gears, thereby reducing the generation of back gap from the source.

[0063] When the gear mechanism generates back gap, the axial and radial pre-tightening force is unbalanced, the elastic claw 333 of the elastic element 33 deforms, and the guide column 331 slides along the guide groove 321. Since the guide groove 321 is radially inclined relative to the second sub-planetary gear 32, the sliding of the guide column 331 will be decomposed into axial displacement and circumferential force, and the circumferential force drives the first sub-planetary gear 31 and the second sub-planetary gear 32 to rotate relatively, so that the two sub-planetary gears are offset to the two sides of the meshing gap respectively, and the meshing play between the sun gear 20 and the internal gear 10 is reduced. The split setting of the first sub-planetary gear 31 and the second sub-planetary gear 32 is equivalent to “widening” the meshing tooth profile of the planetary gear in the side view direction, so as to greatly reduce the meshing play and realize dynamic gap elimination.

[0064] The entire compensation process does not need external control or manual adjustment, and relies on the self-recovery characteristics of the elastic element 33 to realize real-time dynamic compensation of the back gap.

[0065] The core of the present gap elimination structure is that the first sub-planetary gear 31 and the second sub-planetary gear 32 can generate a precisely controllable axial relative displacement and a circumferential rotation offset converted therefrom under the pre-tightening force of the elastic element 33. The offset amount can be accurately regulated by adjusting the pre-tightening compression amount of the elastic element 33 and the guide groove 321. The greater the pre-period gap, the greater the offset amount of the guide column 331 and the guide groove 321, so as to realize targeted gap compensation. This design allows a moderate initial gap to be reserved during the assembly stage for operation, and then the pre-tightening force is used to press the meshing teeth of the two sub-planetary gears to the two sides of the tooth surface of the sun gear 20 and the internal gear 10 respectively, so as to actively eliminate the meshing play.

[0066] Unlike traditional rigid adjustment structures, elastic pre-tightening can dynamically compensate for the gap generated by wear, eliminate the “idle stroke” and “stepwise jumping” in the transmission chain, reduce the response delay from the source, and realize high-precision and high-consistency angle control.

[0067] The sliding trajectory of the guide post 331 and the guide groove 321 can effectively disperse the meshing impact and reduce operating noise and vibration. The sliding trajectory of the guide post 331 and the guide groove 321 allows the sub-planetary gears to gradually engage during meshing, avoiding rigid collisions and improving the smoothness of power transmission. It is especially suitable for high-speed or high-frequency start-stop conditions.

[0068] The gear mechanism with an elastic element-guided backlash-free structure of the present invention has the following advantages:

[0069] 1. High backlash elimination efficiency: Through the cooperation of guide post 331 and guide groove 321, the axial and radial preload of elastic element 33 is converted into the relative rotational force of sub-planetary gear, resulting in fast backlash elimination response.

[0070] 2. Compact structure: The elastic element 33 integrates the conical body, guide post 331, and positioning post 332 into one unit, eliminating the need for additional pre-tightening components and making it suitable for narrow installation spaces.

[0071] 3. Wide range of applications: The backlash elimination force can be adjusted by changing the angle of the guide groove 321 and the number of open grooves, making it suitable for various transmission scenarios and highly versatile.

[0072] The working process of the gear mechanism with an elastic element-guided backlash-eliminating structure is described below with reference to the accompanying drawings:

[0073] Initially, the conical body of the elastic element 33, through the elastic claw 333 formed by the opening slot, applies axial and radial preload to the first sub-planetary gear 31 and the second sub-planetary gear 32, ensuring that the two sub-planetary gears are tightly meshed with the sun gear 20 and the internal gear 10, respectively, eliminating assembly backlash in the initial state. When the gear mechanism is subjected to load, vibration, or wear due to long-term use leading to backlash, the axial and radial preload becomes unbalanced, causing the elastic claw 333 of the elastic element 33 to deform and push the guide post 331 to slide along the guide groove 321. Since the guide groove 321 is inclined relative to the radial direction of the second sub-planetary gear 32, the sliding of the guide post 331 is decomposed into axial displacement and circumferential force. This circumferential force drives the first sub-planetary gear 31 and the second sub-planetary gear 32 to rotate relative to each other, causing the two sub-planetary gears to shift to both sides of the meshing gap until the gap is refilled, achieving dynamic backlash elimination.

[0074] In summary, the gear mechanism with an elastic element-guided backlash-free structure of the present invention brings significant benefits to the kingpin steering mechanism:

[0075] Improve friction and control characteristics, suppress "stick-slip phenomenon" and control "dead zone", enhance the smoothness of small-angle steering response, and avoid over-response when commands change abruptly.

[0076] It ensures ADAS / AD performance, significantly reduces lane keeping trajectory deviation and automatic parking positioning errors, and improves functional reliability.

[0077] Enhanced chassis coordination provides more stable steering torque output, improves coordination with ESP, CDC and other systems, and avoids vehicle instability.

[0078] It optimizes driving feel, effectively improves problems such as steering lag, insufficient self-centering, and unclear center of gravity, and suppresses the "thrust" phenomenon at low speeds and the "drift" phenomenon at high speeds.

[0079] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A gear mechanism with an elastic element-guided backlash-free structure, the gear mechanism having at least one planetary gear train, the planetary gear train comprising an internal gear, a sun gear, and at least three planetary gears, characterized in that, Of the at least three planetary gears, at least one planetary gear is a backlash-free planetary gear; the backlash-free planetary gear includes a first sub-planetary gear and a second sub-planetary gear arranged coaxially, and an elastic element disposed between the first sub-planetary gear and the second sub-planetary gear; the elastic element is used to provide axial and radial preload to the first sub-planetary gear and the second sub-planetary gear; The small-diameter end of the elastic element is connected to the first sub-planetary gear, and the large-diameter end of the elastic element is provided with at least one guide post; the end face of the second sub-planetary gear facing the first sub-planetary gear is provided with a guide groove adapted to the guide post, and the extension direction of the guide groove is inclined relative to the radial direction of the second sub-planetary gear; the guide post is movably embedded in the guide groove. The elastic element further includes a conical body and at least one positioning post, the positioning post being disposed at the small-diameter end of the conical body; a positioning groove is provided on the end face of the first sub-planetary gear facing the second sub-planetary gear at a position corresponding to the positioning post; the positioning post is embedded in the positioning groove; When backlash occurs in the gear mechanism, the preload of the elastic element causes the guide post to slide within the guide groove, thereby driving relative rotation between the first sub-planetary gear and the second sub-planetary gear, thus eliminating the backlash.

2. The gear mechanism with an elastic element-guided backlash-free structure according to claim 1, characterized in that, The guide groove is a straight inclined groove.

3. The gear mechanism with an elastic element-guided backlash-free structure according to claim 2, characterized in that, The slope of the straight groove is the ratio of the circumferential displacement of the second sub-planetary gear to the axial deformation of the elastic element.

4. The gear mechanism with an elastic element-guided backlash-free structure according to claim 1, characterized in that, The guide groove is a curved groove.

5. The gear mechanism with an elastic element-guided backlash-free structure according to claim 1, characterized in that, The guide groove is a polygonal inclined groove formed by connecting at least two straight segments.

6. The gear mechanism with an elastic element-guided backlash-free structure according to claim 1, characterized in that, The conical body is provided with multiple opening slots, which are evenly distributed along the circumference of the conical body; the opening slots extend from the large diameter end of the conical body toward the small diameter end, so that the conical body forms multiple elastic claws; the guide post is disposed on the end face of the elastic claw facing the guide slot.

7. The gear mechanism with an elastic element-guided backlash-free structure according to claim 6, characterized in that, The number of guide posts and guide grooves are equal and there are multiple guide posts; the multiple guide posts are respectively disposed on the corresponding elastic claws along the circumference of the conical body, and the multiple guide grooves are uniformly disposed along the end face circumference of the second sub-planetary gear.

8. The gear mechanism with an elastic element-guided backlash-free structure according to claim 6, characterized in that, The guide post is integrally formed with the conical body.

9. The gear mechanism with an elastic element-guided backlash-free structure according to claim 6, characterized in that, The guide post is detachably connected to the conical body.

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