Backlash gear assembly, gear transmission system, and robot

Abstract

The utility model provides a kind of gap elimination gear assembly, gear transmission system and robot, gap elimination gear assembly includes: first gear;Second gear, with first gear coaxial arrangement, can rotate relative to first gear, and can be moved relative to first gear along the axial direction of first gear, the number of teeth of second gear and first gear, modulus and pressure angle are all same;At least one first guide portion, it is set to the end surface of first gear close to second gear along the circumference of first gear;At least one second guide portion, it is set to the end surface of second gear close to first gear along the circumference of second gear;Second gear moves relative to first gear along the axial direction of first gear, and second guide portion and first guide portion are along the circumference of first gear sliding fit, and rotate relative to first gear.The utility model's gap elimination gear assembly can realize no side gap gear transmission, effectively reduce the dead stroke error of gear transmission, still can keep stable gap elimination state in bidirectional transmission.

Description

Technical Field

[0001] This utility model relates to the field of gear transmission technology, and more specifically, to backlash-free gear assemblies, gear transmission systems, and robots. Background Technology

[0002] As a core component of mechanical transmission systems, gears play a crucial role in high-precision equipment such as industrial robots, CNC machine tools, and wind turbine pitch control systems. They perform essential functions including efficient power transmission, motion conversion (speed / torque regulation), and precise positioning, directly impacting equipment lifespan and operational reliability. However, due to manufacturing errors (such as tooth profile machining deviations), assembly tolerances (such as center distance deviations), and service wear, backlash is unavoidable during gear meshing. This leads to backlash errors, abnormal vibrations, and lifespan degradation (especially fatigue life) in gear transmissions, severely limiting gear transmission performance in high-dynamic scenarios (such as high-speed reversing in robots).

[0003] Therefore, how to design a backlash-free gear assembly that can eliminate backlash in gear pairs, improve the transmission accuracy of gear transmission systems, reduce transmission shock and noise, and improve the life and performance of transmission systems has become an urgent problem to be solved. Utility Model Content

[0004] The present invention aims to at least solve the problems of backlash during gear meshing, which leads to low transmission accuracy of gear transmission systems and easy generation of transmission shock and noise.

[0005] Therefore, the first aspect of this utility model provides a backlash-free gear assembly.

[0006] The second aspect of this utility model provides a gear transmission system.

[0007] The third aspect of this utility model provides a robot.

[0008] In view of the above, the first aspect of this utility model provides a backlash-free gear assembly, comprising: a first gear; a second gear, coaxially arranged with the first gear, capable of rotating relative to the first gear and capable of moving relative to the first gear along the axial direction of the first gear, wherein the second gear and the first gear have the same number of teeth, module, and pressure angle; at least one first guide portion, disposed along the circumference of the first gear on one end face of the first gear near the second gear; at least one second guide portion, disposed along the circumference of the second gear on one end face of the second gear near the first gear, for sliding engagement with the first guide portion; when the second gear moves relative to the first gear along the axial direction of the first gear, the second guide portion and the first guide portion slide in engagement along the circumference of the first gear, and the second gear rotates relative to the first gear.

[0009] The backlash-eliminating gear assembly provided by this utility model includes a first gear, a second gear, at least one first guide portion, and at least one second guide portion. By coaxially aligning the first and second gears and ensuring they share the same number of teeth, module, and pressure angle, precise meshing with the same working gear is guaranteed, avoiding tooth profile interference and uneven force distribution, thus laying the foundation for backlash elimination. Furthermore, the second gear can move relative to the first gear along its axial direction; that is, the axial distance between the first and second gears is adjustable. Simultaneously, when adjusting the axial distance between the first and second gears, the cooperation of the first and second guide portions causes the second gear to rotate relative to the first gear. In other words, through the sliding cooperation of the first and second guide portions, the axial movement of the second gear along the first gear is converted into circumferential rotation relative to the first gear, creating a controllable phase difference between the two gears. During installation, first align the guide portion with the teeth of the two gears, then engage with the working gear. Subsequently, push the second gear axially towards the first gear, allowing the teeth of the two gears to respectively engage with the two sides of the adjacent teeth of the working gear, filling the meshing gap and achieving backlash-free gear transmission, effectively reducing the backlash error of the gear transmission. Simultaneously, this backlash-free gear assembly requires no complex external mechanisms, has a simple structure, and is easy to install. It maintains a stable backlash-free state even in bidirectional transmission, reducing the probability of abnormal vibration, reducing tooth wear, thereby extending gear life and improving gear transmission performance. Furthermore, when tooth wear leads to increased backlash, the phase difference can be compensated by readjusting the axial position of the second gear, restoring the backlash-free meshing effect, adapting to backlash requirements under different operating conditions.

[0010] In some embodiments, the backlash-free gear assembly may optionally include: a gear shaft, a first gear disposed on the gear shaft, and a second gear movably disposed on the gear shaft; and an adjustment part disposed on the gear shaft and located on the side of the second gear away from the first gear, for adjusting the distance between the second gear and the first gear in the axial direction of the first gear.

[0011] In these embodiments, the backlash-free gear assembly further includes a gear shaft and an adjusting part. The gear shaft serves as the mounting and transmission reference for the assembly. The first gear is mounted on the gear shaft, ensuring its stable position and preventing additional displacement during transmission, providing a reliable relative motion reference for the second gear. The second gear is movably mounted on the gear shaft, satisfying the requirement to move relative to the first gear along the gear shaft's axial direction. Under the guidance of the gear shaft, it prevents offset or tilting during movement or rotation, ensuring the subsequent engagement accuracy with the first gear. The adjusting part is mounted on the gear shaft and located on the side of the second gear away from the first gear. Its core function is to adjust the axial distance between the second and first gears. By adjusting the axial distance between the two gears, the adjusting part drives the second guide part and the first guide part to slide circumferentially, causing the second gear to rotate relative to the first gear, forming a controllable phase difference. This allows the teeth of the two gears to respectively engage with the two sides of the adjacent teeth of the working gear, achieving backlash-free transmission and reducing backlash error. Meanwhile, when the backlash increases due to wear, the axial distance can be readjusted through the adjustment unit to make up for the phase difference and restore the backlash-free meshing state. Moreover, the overall structure does not rely on complex external mechanisms, taking into account transmission accuracy, stability and adaptability to working conditions, effectively reducing abnormal vibration and tooth wear, and extending gear life.

[0012] In some embodiments, the gear shaft may optionally include a threaded section located on the side of the second gear away from the first gear, and the adjusting part includes an adjusting nut disposed on the threaded section and capable of engaging with the threaded section. One end of the adjusting nut can abut against the side of the second gear away from the first gear to adjust the distance between the second gear and the first gear in the axial direction of the first gear.

[0013] In these embodiments, the gear shaft includes a threaded section located on the side of the second gear opposite to the first gear. The adjusting part includes an adjusting nut disposed on the threaded section. The adjusting nut engages with the threaded section, and one end of the nut abuts against the side of the second gear opposite to the first gear to adjust the axial distance between the second and first gears. The engagement of the threaded section and the adjusting nut constitutes a precise axial adjustment structure. Utilizing the helical transmission characteristics of the thread, rotating the adjusting nut allows it to move axially along the threaded section of the gear shaft. This, in turn, pushes the second gear closer to or further away from the first gear, thus adjusting the axial distance between the two gears. When the adjusting nut pushes the second gear axially, it drives the second guide portion and the first guide portion to slide circumferentially, causing the second gear to rotate relative to the first gear, creating a controllable phase difference. Ultimately, this allows the teeth of both gears to engage with the adjacent tooth surfaces of the working gears, achieving backlash-free transmission and reducing transmission backlash error. Threaded fits offer the advantage of high adjustment precision, accurately controlling the axial movement of the second gear based on manufacturing errors, assembly tolerances, or changes in backlash due to service wear. This allows for precise adjustment of the phase difference, adapting to backlash reduction requirements under various operating conditions. Furthermore, the threaded structure possesses a degree of self-locking capability, stably maintaining the axial distance and phase difference between the two gears after adjustment. This prevents positional shifts caused by vibration during transmission, ensuring the stability of backlash-free transmission. The overall structure is simple, requiring no complex external drive components, balancing ease of operation and transmission reliability. It effectively reduces abnormal vibration and tooth wear caused by backlash, extending gear lifespan.

[0014] In some embodiments, optionally, the gear shaft includes a first mounting section and a second mounting section, the first gear and the second gear are disposed in the first mounting section, the second mounting section is located on the side of the second gear away from the first gear, the diameter of the first mounting section is larger than the diameter of the second mounting section, and the adjusting part includes: an adjusting cover disposed in the second mounting section and capable of abutting against the second gear; and a locking screw that passes sequentially through the adjusting cover and the end of the first mounting section, the locking screw being capable of adjusting the distance between the second gear and the first gear in the axial direction of the first gear through the adjusting cover.

[0015] In these embodiments, the gear shaft includes a first mounting section and a second mounting section. Both the first and second gears are located in the first mounting section, while the second mounting section is located on the side of the second gear facing away from the first gear. The diameter of the first mounting section is larger than the diameter of the second mounting section. The adjustment part consists of an adjustment cover located in the second mounting section and capable of abutting against the second gear, and locking screws sequentially passing through the adjustment cover and the end of the first mounting section. The axial distance between the second gear and the first gear can be adjusted using the locking screws and the adjustment cover. The design of the gear shaft with the first mounting section having a larger diameter than the second mounting section provides suitable mounting space for both the first and second gears, and also provides a stepped positioning base for the adjustment cover, preventing the adjustment cover from excessively approaching the first mounting section axially. The cooperation between the locking screws, the adjustment cover, and the first mounting section allows the adjustment cover to move axially along the second mounting section by tightening or loosening the locking screws, thereby pushing the second gear closer to or away from the first gear and adjusting the axial distance between the two gears. When the adjusting cover pushes the second gear axially, it causes the second guide part and the first guide part to slide circumferentially, creating a controllable phase difference in the rotation of the second gear relative to the first gear. Ultimately, this allows the teeth of the two gears to engage with the adjacent tooth surfaces of the working gear, achieving backlash-free transmission and reducing transmission backlash error. This adjusting structure, relying on the combination of an adjusting cover and a locking screw, offers high adjustment stability. The threaded connection of the locking screw precisely controls the movement of the adjusting cover, thereby accurately controlling the axial distance and phase difference between the two gears, adapting to different backlash reduction requirements due to manufacturing errors, assembly tolerances, or tooth wear. Simultaneously, the locking screw, once tightened, stably fixes the position of the adjusting cover, preventing displacement due to vibration during transmission and ensuring the continuity of backlash-free transmission. Furthermore, the design of a stepped mounting section and a split adjusting component simplifies the overall machining difficulty of the gear shaft while ensuring adjustment accuracy, balancing structural reliability and production convenience. This effectively reduces abnormal vibration and tooth wear caused by backlash, extending the service life of the gear transmission system.

[0016] In some embodiments, the backlash-eliminating gear assembly may optionally include an adjusting shim disposed on the gear shaft and located between the second gear and the adjusting portion.

[0017] In these embodiments, the backlash-free gear assembly further includes an adjusting shim disposed on the gear shaft and located between the second gear and the adjusting part. The adjusting shim serves as an axial buffer and gap compensation component between the second gear and the adjusting part. By selecting its thickness or adjusting the number of shims, the adjusting shim forms a fixed axial support between the adjusting part and the second gear, assisting the adjusting part in precisely controlling the axial gap between the two gears. Simultaneously, by compensating for the gap, the adjusting shim assists the adjusting part in driving the second gear to generate a suitable circumferential rotation relative to the first gear, forming a stable phase difference and ensuring that the teeth of the two gears respectively engage with the adjacent tooth surfaces of the working gear. The adjusting shim improves the accuracy and flexibility of axial distance adjustment. It can adapt to minor dimensional deviations during manufacturing and assembly by replacing shims of different thicknesses, avoiding the problem of the adjusting part being unable to precisely control the distance due to adjustment stroke limitations. Furthermore, after the adjusting part completes initial adjustment, the shim fixes the gap, reducing positional offset caused by vibration, ensuring a stable phase difference, and further enhancing the backlash-free transmission effect. Meanwhile, the shim can buffer the direct force exerted by the adjustment part on the second gear, preventing wear or deformation of the second gear end face due to concentrated force, extending the service life of the component. The overall structure is simple and low in cost, effectively improving the adaptability and reliability of the backlash-free gear assembly.

[0018] In some embodiments, the backlash-eliminating gear assembly may optionally include a wave spring disposed on the gear shaft and located between the second gear and the adjusting part.

[0019] In these embodiments, the backlash-eliminating gear assembly further includes a wave spring disposed on the gear shaft and located between the second gear and the adjusting part. The wave spring provides elastic support between the adjusting part and the second gear. By compressing or releasing the wave spring, the adjusting part applies a stable axial force to the second gear, driving it to move axially along the gear shaft. This, in turn, causes the second guide part and the first guide part to slide circumferentially, resulting in a controllable phase difference in the rotation of the second gear relative to the first gear. This ensures that the teeth of the two gears respectively engage with the adjacent tooth surfaces of the working gear. Simultaneously, the wave spring enables "dynamic backlash elimination and compensation." Specifically, during installation, the adjusting part compresses the wave spring, and the resulting elastic force ensures that the second gear and the first gear maintain a stable axial distance, preventing phase difference fluctuations due to assembly errors. Furthermore, the elastic support buffers impact loads during gear transmission, reducing the instantaneous peak force on the teeth. On the other hand, when gear teeth wear down due to long-term service, leading to increased backlash, the wave spring can release its own compression to push the second gear to automatically compensate for the axial displacement, restoring the phase difference and filling the increased backlash. This eliminates the need for repeated manual adjustments of the adjustment mechanism, overcoming the shortcomings of rigid components such as fixed shims that "cannot cope with wear backlash." Furthermore, the wave spring has a compact axial dimension, which does not significantly increase the overall size of the assembly, balancing structural compactness with backlash elimination reliability. This effectively reduces transmission backlash error, lowers abnormal vibrations, and further extends the service life of the gear transmission system.

[0020] In some embodiments, the gear shaft and the first gear are optionally integrally formed.

[0021] In these embodiments, the gear shaft and the first gear are an integral structure. This integral design directly integrates the tooth structure of the first gear with the shaft structure of the gear shaft into a single component, eliminating the need for additional assembly via interference fits, spline connections, or other methods. The integral structure eliminates the assembly clearance between the first gear and the gear shaft, avoiding the loosening issues that can occur with separate connections due to vibration and load variations. This significantly improves the positional stability and coaxiality of the first gear during transmission, ensuring that the first and second guide parts maintain a precise meshing posture and providing a reliable reference for the stable generation of phase difference. Secondly, the integral structure reduces the number of parts and assembly steps, lowering the risk of decreased meshing accuracy due to assembly errors and simplifying the production process. Furthermore, the integrated shaft and tooth structure has stronger overall rigidity, better able to withstand torque and radial loads during gear transmission, reducing deformation and further ensuring the meshing stability of the two gears and the working gear. This effectively reduces backlash error and abnormal vibration, extends the overall service life of the component, and eliminates the need for additional connection structures, helping to control the overall component size while balancing structural compactness and transmission reliability.

[0022] In some embodiments, the first guide portion may be a guide block, and the second guide portion may be one of a guide block and a guide groove, or the first guide portion may be a guide groove and the second guide portion may be a guide block.

[0023] In these embodiments, the first guide portion is a guide block, and the second guide portion is one of a guide block and a guide groove, or the first guide portion is a guide groove and the second guide portion is a guide block. When the adjusting part drives the second gear to approach or move away from the first gear along the gear shaft axial direction, the guide block slides along the groove wall of the guide groove, converting the axial movement of the second gear into circumferential rotation relative to the first gear, thereby forming a controllable phase difference. This provides a key motion conversion mechanism for the two gear teeth to respectively engage with the adjacent tooth surfaces of the working gear, achieving backlash-free transmission. The cooperation between the guide block and the guide groove has the advantage of "precise motion conversion," stably converting axial displacement into circumferential rotation, avoiding phase difference errors caused by motion offset, ensuring backlash elimination accuracy, and adapting to high-precision transmission requirements. Secondly, this combination is flexible and diverse, allowing for selection of combinations such as "first guide part as guide block, second guide part as guide groove," "first guide part as guide block, second guide part as guide block," or "first guide part as guide groove, second guide part as guide block" according to actual working conditions. Furthermore, the size and number of guide blocks and guide grooves can be designed as needed (e.g., selecting an even number to balance forces), adapting to different spatial layouts and load requirements. In addition, the guide blocks and guide grooves are easy to manufacture, highly reliable, and less prone to wear and failure over long-term use, ensuring stable motion conversion of the components over a long period. This further enhances the continuity of backlash-free transmission, reduces idle error and abnormal vibration, and extends the service life of the gear transmission system.

[0024] In some embodiments, the guide block may optionally include a ramp block and a spiral block, and the guide groove may include a ramp groove and a spiral groove.

[0025] In these embodiments, the guide block includes a wedge block and a helical block, and the guide groove includes a helical groove and a helical groove. The wedge block is an integrated protruding wedge-shaped structure disposed on the end faces of the first or second gear close to each other. Its axial thickness changes linearly along the circumference to form a slope. It is evenly arranged circumferentially along the end face and can be selected in an even number. It can fit into the wedge block or helical groove on the end face of the other gear. During axial movement, the two gears rotate circumferentially through the sliding of the slope to form a phase difference. The large slope angle design also allows more torque to be converted into slope pressure, achieving self-locking by utilizing friction greater than the axial component. The helical block is an integrated helical protrusion on the end face of the gear, evenly distributed helically along the circumference of the end face. It has a uniform helical direction and pitch and can be adapted to the helical block or helical groove on the end face of the other gear. During axial movement, it smoothly converts the helical surface into circumferential rotation. The large helix angle also enables self-locking and high torque transmission. A slanted groove is a recessed groove on the end face of the gear. The slant angle of the groove wall is the same as that of the slanted block. The groove depth is greater than the length of the slanted block, and the groove width matches the width of the slanted block. It is used to allow the slanted block to slide and shorten the axial dimension. A helical groove is a helical groove on the end face of the gear. The helical parameters are perfectly matched with the helical block. The groove depth and width are adapted to the height and thickness of the helical block, respectively, to ensure smooth sliding and full contact of the helical block. The core of the cooperation between these guide blocks and guide grooves is to convert the axial movement of the second gear into a circumferential rotation relative to the first gear to form a controllable phase difference, thereby achieving backlash-free transmission. At the same time, it relies on a large-angle design to solve the problems of difficult bidirectional backlash elimination and easy failure under high torque in related technologies.

[0026] In some embodiments, optionally, the angle between the inclined surface of the swash block and the end face of the first gear or the end face of the second gear is greater than or equal to 40° and less than or equal to 89°.

[0027] In these embodiments, when the wedge block is mounted on the first gear, the angle between the inclined surface of the wedge block and the end face of the first gear is greater than or equal to 40° and less than or equal to 89°. When the wedge block is mounted on the second gear, the angle between the inclined surface of the wedge block and the end face of the second gear is greater than or equal to 40° and less than or equal to 89°. By limiting the angle between the inclined surface of the wedge block and the end face of the first or second gear, "self-locking" and "efficient force transmission" can be achieved. On the one hand, a large wedge angle allows most of the torque transmitted between the two gears to be converted into pressure perpendicular to the inclined surface, with only a small portion decomposed into axial force that causes the wedge blocks to slide relative to each other. The frictional force between the inclined surfaces generated by the vertical pressure is much greater than the axial force, thereby preventing the wedge blocks from sliding relative to each other during transmission, achieving reliable self-locking, and ensuring a stable backlash-free state even when transmitting large torques. On the other hand, this angle range takes into account both processing feasibility and performance requirements. It avoids the problems of self-locking failure and inability to eliminate backlash in both directions caused by small angles, and also avoids the defects of the slope being too steep when it approaches 90°, making it difficult to smoothly convert axial movement into circumferential rotation. It can stably convert the axial displacement of the second gear into circumferential rotation relative to the first gear, forming a controllable phase difference. Ultimately, the teeth of the two gears respectively engage with the two sides of the adjacent teeth of the working gear, realizing backlash-free transmission. At the same time, it is compatible with the transmission accuracy and reliability requirements of high-precision equipment such as industrial robots and CNC machine tools.

[0028] In some embodiments, the helix angle of the helical block is optionally greater than or equal to 10° and less than or equal to 89°.

[0029] In these embodiments, by limiting the helix angle of the helical block, most of the torque transmitted by the two backlash-free gears can be converted into pressure perpendicular to the helical surface, with only a small portion decomposed into axial force that causes the helical blocks to slide relative to each other. The frictional force between the helical surfaces generated by the vertical pressure is much greater than the axial force, thereby achieving reliable self-locking and preventing relative sliding of the helical blocks during transmission. This ensures that even when transmitting large torques, the phase difference and backlash-free meshing state of the two gears can be stably maintained. At the same time, this angle range avoids the defects of small helix angles that easily lead to self-locking failure and inability to meet the requirements of large torque transmission, and also avoids the problem of the helical surface being too steep when it approaches 90°, making it difficult to smoothly convert axial movement into circumferential rotation. It can stably convert the axial displacement of the second gear into circumferential rotation relative to the first gear, accurately generating a phase difference, so that the teeth of the two gears respectively engage with the two sides of the adjacent teeth of the working gear, adapting to the transmission accuracy and reliability requirements of high-precision equipment such as industrial robots and CNC machine tools.

[0030] In some embodiments, optionally, a bearing mounting portion is provided on the side of the second gear away from the first gear, and the backlash-free gear assembly further includes: a first bearing disposed on the bearing mounting portion; a second bearing disposed on the side of the first gear away from the second gear; a first retaining ring disposed on the side of the first bearing away from the second gear for axially limiting the first bearing; and a second retaining ring disposed on the side of the second bearing away from the first gear for axially limiting the second bearing.

[0031] In these embodiments, a bearing mounting portion is provided on the side of the second gear opposite to the first gear for assembling the first bearing. The second bearing is mounted on the side of the first gear opposite to the second gear. The bearings provide rotational support between the gear shaft and the external structure, reducing radial runout and frictional loss during gear transmission and ensuring the coaxiality and meshing accuracy of the two gears. Simultaneously, a first snap ring is located on the side of the first bearing opposite to the second gear, and a second snap ring is located on the side of the second bearing opposite to the first gear. Through the engagement of the snap rings with corresponding snap ring grooves on the gear shaft, the first and second bearings are axially limited, preventing displacement of the bearings due to axial force during transmission. This ensures that the bearings remain in a stable support position, thereby guaranteeing the smoothness of the second gear's axial movement adjustment and the accuracy of the phase difference adjustment.

[0032] The combination of bearings and snap rings reduces gear transmission resistance, minimizes wear, and extends component lifespan through the rolling friction characteristics of bearings, meeting the low-friction and long-life requirements of high-precision equipment such as industrial robots and CNC machine tools. On the other hand, the axial limiting effect of the snap rings prevents transmission noise and increased vibration caused by bearing loosening. It also simplifies the assembly process, improves component assembly efficiency and maintenance convenience, and further enhances the reliability and stability of the backlash-free gear assembly in bidirectional backlash-free, high-torque transmission scenarios.

[0033] The second aspect of this utility model provides a gear transmission system, comprising: a backlash-free gear assembly according to any of the technical solutions in the first aspect; an input gear that meshes with a first gear and a second gear in the backlash-free gear assembly respectively; and / or an output gear that meshes with a first gear and a second gear in the backlash-free gear assembly respectively; wherein the second gear, the first gear, the input gear, and the output gear all have the same module and pressure angle.

[0034] The gear transmission system provided by this utility model includes a backlash-free gear assembly, an input gear, and / or an output gear as described in any of the technical solutions of the first aspect. The input gear meshes with the first gear and the second gear in the backlash-free gear assembly, respectively. The output gear meshes with the first gear and the second gear in the backlash-free gear assembly, respectively. The module and pressure angle of the second gear, the first gear, the input gear, and the output gear are all the same. This gear transmission system, through the bidirectional backlash-free characteristic of the backlash-free gear assembly, can eliminate the meshing backlash between the input gear and the backlash-free gear, and between the backlash-free gear and the output gear, effectively reducing transmission backlash error, lowering abnormal vibration and noise, and adapting to the transmission accuracy requirements of high-precision equipment such as industrial robots and CNC machine tools. Furthermore, since the gear transmission system provided by this application also includes the backlash-free gear assembly as described in any of the technical solutions of the first aspect, the gear transmission system provided by this utility model also possesses all the beneficial technical effects of the backlash-free gear assembly as described in any of the technical solutions of the first aspect, which will not be elaborated further here.

[0035] The third aspect of this utility model provides a robot, comprising: a backlash-free gear assembly as described in any of the technical solutions of the first aspect; and / or a gear transmission system as described in any of the technical solutions of the second aspect.

[0036] The robot provided by this utility model includes the backlash-free gear assembly of any of the first aspects and / or the gear transmission system of any of the second aspects. Therefore, the robot provided by this utility model has all the beneficial technical effects of the backlash-free gear assembly of any of the first aspects and / or the gear transmission system of any of the second aspects, which will not be elaborated here.

[0037] Additional aspects and advantages of this invention will become apparent in the description that follows, or may be learned by practice of this invention. Attached Figure Description

[0038] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0039] Figure 1 One of the structural schematic diagrams of a gear transmission system according to an embodiment of the present invention is shown;

[0040] Figure 2 A second schematic diagram of the structure of a gear transmission system according to an embodiment of the present invention is shown;

[0041] Figure 3 An exploded view of a gear transmission system according to an embodiment of the present invention is shown;

[0042] Figure 4The third schematic diagram shows the structure of a gear transmission system according to an embodiment of the present invention;

[0043] Figure 5 It shows Figure 4 Enlarged view of point A in the middle;

[0044] Figure 6 It shows Figure 4 Enlarged view of point B in the middle;

[0045] Figure 7 One of the partial structural schematic diagrams of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0046] Figure 8 This is a second schematic diagram of a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0047] Figure 9 One of the cross-sectional views of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0048] Figure 10 A second cross-sectional view of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0049] Figure 11 The third cross-sectional view of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0050] Figure 12 One of the cross-sectional views of a partial structure of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0051] Figure 13 A second cross-sectional view of a partial structure of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0052] Figure 14 The third cross-sectional view shows a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0053] Figure 15 Fourth cross-sectional view showing a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0054] Figure 16 Fifth cross-sectional view showing a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0055] Figure 17 Sixth cross-sectional view showing a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0056] Figure 18 Seventh cross-sectional view showing a partial structure of a backlash-free gear assembly according to an embodiment of the present invention;

[0057] Figure 19 The third schematic diagram shows a partial structural diagram of a backlash-free gear assembly according to an embodiment of the present invention;

[0058] Figure 20 The fourth part of the structural schematic diagram of a backlash-free gear assembly according to an embodiment of the present invention is shown;

[0059] Figure 21 The fifth part of the structural schematic diagram of a backlash-free gear assembly according to an embodiment of the present invention is shown.

[0060] in, Figures 1 to 21 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0061] 1. Gear transmission system; 10. Backlash-free gear assembly; 101. First gear; 102. Second gear; 103. First guide section; 1030. Guide block; 1031. Inclined block; 1032. Helical block; 104. Second guide section; 1040. Guide groove; 1041. Inclined groove; 1042. Helical groove; 105. Gear shaft; 1051. Threaded section; 1052. First mounting section; 1053. Second mounting section; 106. Adjustment section; 1061. Adjusting nut; 1062. Adjusting cover; 1063. Locking screw; 107. Adjusting shim; 108. Wave spring; 109. Bearing mounting section; 110. First bearing; 111. Second bearing; 112. First snap ring; 113. Second snap ring; 20. Input gear; 30. Output gear; 2. Robot. Detailed Implementation

[0062] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0063] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0064] The following reference Figures 1 to 21 This invention describes a backlash-free gear assembly, a gear transmission system, and a robot according to some embodiments of the present invention.

[0065] According to an embodiment of the first aspect of the present invention, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the first aspect of this utility model provides a backlash-free gear assembly 10, including a first gear 101, a second gear 102, at least one first guide portion 103, and at least one second guide portion 104. The second gear 102 is coaxially arranged with the first gear 101, is rotatable relative to the first gear 101, and is movable relative to the first gear 101 along its axial direction. The second gear 102 and the first gear 101 have the same number of teeth, module, and pressure angle. At least one first guide portion 103 is located along the circumference of the first gear 101 (e.g., along its circumference). Figure 4 The first gear 101 is positioned on one end face of the first gear 101 near the second gear 102 (in the direction indicated by C). At least one second guide portion 104 is disposed along the circumference of the second gear 102 on one end face of the second gear 102 near the first gear 101, for sliding engagement with the first guide portion 103. The second gear 102 is positioned along the axial direction of the first gear 101 (e.g., in the direction indicated by C). Figure 3 When the second guide 104 moves relative to the first gear 101 in the direction indicated by Z, the second guide 104 and the first guide 103 slide in a circumferential engagement with the first gear 101, and the second gear 102 rotates relative to the first gear 101.

[0066] The backlash-eliminating gear assembly 10 provided by this utility model includes a first gear 101, a second gear 102, at least one first guide portion 103, and at least one second guide portion 104. By coaxially aligning the first gear 101 and the second gear 102, and by ensuring they share the same number of teeth, module, and pressure angle, the two gears can precisely mesh with the same working gear, avoiding tooth profile interference and uneven force distribution, thus laying the foundation for the backlash-eliminating function. Furthermore, the second gear 102 can move relative to the first gear 101 along the axial direction of the first gear 101; that is, the axial distance between the first gear 101 and the second gear 102 is adjustable. Simultaneously, when adjusting the axial distance between the first gear 101 and the second gear 102, the cooperation of the first guide portion 103 and the second guide portion 104 causes the second gear 102 to rotate relative to the first gear 101. In other words, through the sliding cooperation of the first guide portion 103 and the second guide portion 104, the axial movement of the second gear 102 along the first gear 101 is converted into circumferential rotation relative to the first gear 101, creating a controllable phase difference between the two gears. During installation, first align the guide portions with the teeth of the two gears, then mate them with the working gear. Subsequently, push the second gear 102 axially closer to the first gear 101, allowing the teeth of the two gears to respectively engage with the two sides of the adjacent teeth of the working gear, filling the meshing gap and achieving backlash-free gear transmission, effectively reducing the backlash error of the gear transmission. Meanwhile, the backlash-free gear assembly 10 does not require complex external mechanisms, has a simple structure, and is easy to install. It can maintain a stable backlash-free state in bidirectional transmission, reduce the probability of abnormal vibration, reduce gear wear, thereby extending gear life and improving gear transmission performance. When gear wear causes backlash to increase, the phase difference can be compensated by readjusting the axial position of the second gear 102 to restore the backlash-free meshing effect, adapting to backlash requirements under different working conditions.

[0067] In some embodiments, optionally, there are two first guide portions 103 and two second guide portions 104. The two first guide portions 103 are symmetrically arranged on one end face of the first gear 101 near the second gear 102, and the two second guide portions 104 are symmetrically arranged on one end face of the second gear 102 near the first gear 101.

[0068] In some embodiments, optionally, the number of first guide portions 103 is four, the number of second guide portions 104 is four, the four first guide portions 103 are evenly distributed on one end face of the first gear 101 near the second gear 102, and the four second guide portions 104 are evenly distributed on one end face of the second gear 102 near the first gear 101.

[0069] In some embodiments, optionally, the number of first guide portions 103 is six, the number of second guide portions 104 is six, the six first guide portions 103 are evenly distributed on one end face of the first gear 101 near the second gear 102, and the six second guide portions 104 are evenly distributed on one end face of the second gear 102 near the first gear 101.

[0070] In the above embodiments, the symmetrically or evenly distributed guide portions can balance the radial and circumferential forces during gear transmission, reducing tooth wear caused by uneven force distribution and extending the component's lifespan. Simultaneously, compared to a single guide portion, the symmetrically or evenly distributed guide portions can disperse the contact pressure on the guide surface, reducing the wear rate per unit area and adapting to high torque transmission scenarios. Furthermore, the symmetrical or evenly distributed layout simplifies the initial phase adjustment process, improves assembly efficiency, and further enhances the reliability of the backlash-free gear assembly 10 in bidirectional backlash-free, high-precision transmission scenarios.

[0071] In some embodiments, optionally, such as Figure 2 and Figure 7 As shown, the backlash-eliminating gear assembly 10 further includes: a gear shaft 105, a first gear 101 disposed on the gear shaft 105, and a second gear 102 movably disposed on the gear shaft 105; and an adjustment part 106 disposed on the gear shaft 105 and located on the side of the second gear 102 away from the first gear 101, for adjusting the distance between the second gear 102 and the first gear 101 in the axial direction of the first gear 101.

[0072] In these embodiments, the backlash-free gear assembly 10 further includes a gear shaft 105 and an adjustment part 106. The gear shaft 105 serves as the mounting and transmission reference for the assembly. The first gear 101 is mounted on the gear shaft 105, ensuring its stable position and preventing additional displacement during transmission, thus providing a reliable relative motion reference for the second gear 102. The second gear 102 is movably mounted on the gear shaft 105, satisfying the requirement to move relative to the first gear 101 along the axial direction of the gear shaft 105. Furthermore, guided by the gear shaft 105, it prevents offset or tilting during movement or rotation, ensuring the subsequent engagement accuracy with the first gear 101. The adjustment part 106 is mounted on the gear shaft 105 and located on the side of the second gear 102 opposite to the first gear 101. Its core function is to adjust the axial distance between the second gear 102 and the first gear 101. The adjusting unit 106, by adjusting the axial distance between the two gears, drives the second guide unit 104 and the first guide unit 103 to slide circumferentially, causing the second gear 102 to rotate relative to the first gear 101, forming a controllable phase difference. This allows the teeth of the two gears to respectively engage with the two sides of the adjacent teeth of the working gear, achieving backlash-free transmission and reducing backlash error. Simultaneously, when tooth wear causes increased backlash, the adjusting unit 106 can readjust the axial distance to compensate for the phase difference, restoring backlash-free meshing. Furthermore, the overall structure does not rely on complex external mechanisms, balancing transmission accuracy, stability, and adaptability to operating conditions, effectively reducing abnormal vibration and tooth wear, and extending gear life.

[0073] In some embodiments, optionally, such as Figure 12 As shown, the gear shaft 105 includes a threaded section 1051, which is located on the side of the second gear 102 away from the first gear 101. The adjusting part 106 includes an adjusting nut 1061, which is disposed on the threaded section 1051 and can cooperate with the threaded section 1051. One end of the adjusting nut 1061 can abut against the side of the second gear 102 away from the first gear 101 to adjust the distance between the second gear 102 and the first gear 101 in the axial direction of the first gear 101.

[0074] In these embodiments, the gear shaft 105 includes a threaded section 1051 located on the side of the second gear 102 opposite to the first gear 101. The adjusting part 106 includes an adjusting nut 1061 disposed on the threaded section 1051. The adjusting nut 1061 engages with the threaded section 1051, and one end of the adjusting nut 1061 abuts against the side of the second gear 102 opposite to the first gear 101, thereby adjusting the axial distance between the second gear 102 and the first gear 101. The engagement of the threaded section 1051 and the adjusting nut 1061 constitutes a precise axial adjustment structure. Utilizing the helical transmission characteristics of the thread, rotating the adjusting nut 1061 allows it to move axially along the threaded section 1051 of the gear shaft 105, thereby pushing the second gear 102 closer to or further away from the first gear 101, thus adjusting the axial distance between the two gears. When the adjusting nut 1061 pushes the second gear 102 to move axially, it drives the second guide part 104 and the first guide part 103 to slide circumferentially, causing the second gear 102 to rotate relative to the first gear 101, forming a controllable phase difference. Ultimately, the teeth of the two gears engage with the adjacent tooth surfaces of the working gear, achieving backlash-free transmission and reducing transmission backlash error. The threaded fit offers the advantage of high adjustment precision, accurately controlling the axial movement of the second gear 102 based on manufacturing errors, assembly tolerances, or backlash changes after service wear. This allows for precise adjustment of the phase difference, adapting to backlash reduction requirements under different working conditions. Simultaneously, the threaded structure itself possesses a certain self-locking capability, stably maintaining the axial distance and phase difference between the two gears after adjustment. This prevents positional shifts due to vibration during transmission, ensuring the stability of the backlash-free transmission state. Furthermore, the overall structure is simple, requiring no complex external drive components, balancing ease of operation and transmission reliability. It effectively reduces abnormal vibration and tooth wear caused by backlash, extending gear lifespan.

[0075] In some embodiments, optionally, such as Figure 13 As shown, the gear shaft 105 includes a first mounting section 1052 and a second mounting section 1053. The first gear 101 and the second gear 102 are disposed in the first mounting section 1052, and the second mounting section 1053 is located on the side of the second gear 102 away from the first gear 101. The diameter of the first mounting section 1052 is larger than the diameter of the second mounting section 1053. The adjusting part 106 includes: an adjusting cover 1062 disposed in the second mounting section 1053 and capable of abutting against the second gear 102; and a locking screw 1063 sequentially passing through the ends of the adjusting cover 1062 and the first mounting section 1052. The locking screw 1063 can adjust the distance between the second gear 102 and the first gear 101 in the axial direction of the first gear 101 through the adjusting cover 1062.

[0076] In these embodiments, the gear shaft 105 includes a first mounting section 1052 and a second mounting section 1053. Both the first gear 101 and the second gear 102 are disposed on the first mounting section 1052, and the second mounting section 1053 is located on the side of the second gear 102 opposite to the first gear 101. The diameter of the first mounting section 1052 is larger than the diameter of the second mounting section 1053. The adjustment part 106 consists of an adjustment cover 1062 disposed on the second mounting section 1053 and capable of abutting against the second gear 102, and a locking screw 1063 sequentially passing through the adjustment cover 1062 and the end of the first mounting section 1052. The axial distance between the second gear 102 and the first gear 101 can be adjusted by means of the adjustment cover 1062 using the locking screw 1063. The design of the gear shaft 105, where the diameter of the first mounting section 1052 is larger than the diameter of the second mounting section 1053, provides suitable installation space for the first gear 101 and the second gear 102, and also provides a stepped positioning base for the installation of the adjusting cover 1062, preventing the adjusting cover 1062 from getting too close to the first mounting section 1052 axially. The locking screw 1063, in conjunction with the adjusting cover 1062 and the first mounting section 1052, allows the adjusting cover 1062 to move axially along the second mounting section 1053 by tightening or loosening the locking screw 1063. This, in turn, pushes the second gear 102 closer to or further away from the first gear 101, thus adjusting the axial distance between the two gears. When the adjusting cover 1062 pushes the second gear 102 to move axially, it causes the second guide part 104 and the first guide part 103 to slide circumferentially, causing the second gear 102 to rotate relative to the first gear 101, forming a controllable phase difference. Ultimately, the teeth of the two gears respectively engage with the two sides of the adjacent teeth of the working gear, achieving backlash-free transmission and reducing transmission backlash error. This adjustment structure relies on the combination of "adjusting cover 1062 + locking screw 1063", which has high adjustment stability. The threaded connection of the locking screw 1063 can precisely control the movement of the adjusting cover 1062, thereby accurately controlling the axial distance and phase difference of the two gears, adapting to different backlash reduction requirements due to manufacturing errors, assembly tolerances, or tooth wear. At the same time, after the locking screw 1063 is tightened, it can stably fix the position of the adjusting cover 1062, preventing the adjusting cover 1062 from shifting due to vibration during transmission, and ensuring the continuity of backlash-free transmission. Furthermore, the design of "stepped installation section + split adjustment component" simplifies the overall machining difficulty of gear shaft 105 while ensuring adjustment accuracy, taking into account both structural reliability and production convenience, effectively reducing abnormal vibration and tooth wear caused by backlash, and extending the service life of gear transmission system 1.

[0077] In some embodiments, optionally, such as Figure 9 and Figure 13 As shown, the backlash-eliminating gear assembly 10 also includes an adjusting shim 107, which is disposed on the gear shaft 105 and located between the second gear 102 and the adjusting part 106.

[0078] In these embodiments, the backlash-eliminating gear assembly 10 further includes an adjusting shim 107, which is disposed on the gear shaft 105 and located between the second gear 102 and the adjusting part 106. The adjusting shim 107 can serve as an axial buffer and gap compensation component between the second gear 102 and the adjusting part 106. By selecting its own thickness or adjusting the number of stacked shims, the adjusting shim 107 can form a fixed axial support between the adjusting part 106 and the second gear 102, assisting the adjusting part 106 in accurately controlling the axial gap between the two gears. At the same time, by compensating for the gap, the adjusting shim 107 can assist the adjusting part 106 in driving the second gear 102 to produce a matching circumferential rotation relative to the first gear 101, forming a stable phase difference and ensuring that the teeth of the two gears respectively engage with the tooth surfaces on both sides of the adjacent teeth of the working gear. The adjustment shim 107 improves the accuracy and flexibility of axial distance adjustment. It allows for the replacement of shims of different thicknesses to accommodate minor dimensional deviations during manufacturing and assembly, preventing the adjustment unit 106 from being unable to precisely control the distance due to its limited adjustment stroke. Furthermore, after the adjustment unit 106 completes its initial adjustment, the shim fixes the spacing, reducing positional shifts caused by vibration and ensuring stable phase difference, further enhancing the backlash-free transmission effect. Simultaneously, the shim buffers the direct force exerted by the adjustment unit 106 on the second gear 102, preventing wear or deformation of the second gear 102 end face due to concentrated force, extending the component's service life. The overall structure is simple and low-cost, effectively improving the adaptability and reliability of the backlash-free gear assembly 10.

[0079] In some embodiments, optionally, such as Figure 10 , Figure 11 and Figure 14 As shown, the backlash-eliminating gear assembly 10 also includes a wave spring 108, which is disposed on the gear shaft 105 and located between the second gear 102 and the adjusting part 106.

[0080] In these embodiments, the backlash-eliminating gear assembly 10 further includes a wave spring 108, which is disposed on the gear shaft 105 and located between the second gear 102 and the adjusting part 106. The wave spring 108 can form an elastic support between the adjusting part 106 and the second gear 102. By compressing or releasing the wave spring 108, the adjusting part 106 can apply a stable axial force to the second gear 102, driving the second gear 102 to move axially along the gear shaft 105, thereby causing the second guide part 104 and the first guide part 103 to slide circumferentially, so that the second gear 102 rotates relative to the first gear 101 to form a controllable phase difference, ensuring that the teeth of the two gears respectively engage with the two sides of the adjacent teeth of the working gear. At the same time, the wave spring 108 can achieve "dynamic backlash elimination and compensation". Specifically, on the one hand, during installation, the adjusting part 106 compresses the wave spring 108, and the elastic force generated therein can ensure that the second gear 102 and the first gear 101 maintain a stable axial distance, avoiding phase difference fluctuations due to assembly errors. Meanwhile, the elastic support can buffer the impact load during gear transmission, reducing the instantaneous peak force on the gear teeth. On the other hand, when the gear teeth wear due to long-term service, resulting in increased backlash, the wave spring 108 can release its own compression to push the second gear 102 to automatically compensate for the axial displacement, restore the phase difference, and fill the increased backlash. This eliminates the need for repeated manual adjustment of the adjustment part 106, solving the defect that rigid components such as fixed shims "cannot cope with wear backlash." In addition, the wave spring 108 has a small axial dimension, which does not significantly increase the overall volume of the component, balancing structural compactness and backlash elimination reliability. This effectively reduces transmission backlash error, reduces abnormal vibration, and further extends the service life of the gear transmission system 1.

[0081] In some embodiments, the gear shaft 105 and the first gear 101 are optionally integral structures.

[0082] In these embodiments, the gear shaft 105 and the first gear 101 are an integral structure. This integral design directly integrates the gear tooth structure of the first gear 101 with the shaft structure of the gear shaft 105 into a single component, eliminating the need for additional assembly via interference fits, spline connections, or other methods. The integral structure eliminates the assembly gap between the first gear 101 and the gear shaft 105, avoiding the loosening problems that may occur with separate connections due to vibration and load changes. This significantly improves the positional stability and coaxiality of the first gear 101 during transmission, ensuring that the first guide portion 103 and the second guide portion 104 always maintain a precise meshing posture, providing a reliable reference for the stable generation of phase difference. Furthermore, the integral structure reduces the number of parts and assembly steps, lowering the risk of decreased meshing accuracy due to assembly errors, while also simplifying the production process. In addition, the integrated shaft and gear structure has stronger overall rigidity, which can better withstand the torque and radial load during gear transmission, reduce deformation, further ensure the meshing stability of the two gears and the working gear, effectively reduce backlash error and abnormal vibration, extend the overall service life of the component, and eliminate the need for additional connection structure design, which also helps to control the overall size of the component, balancing structural compactness and transmission reliability.

[0083] In some embodiments, the first gear 101 is optionally fixedly connected to the gear shaft 105 via a spline.

[0084] In this embodiment, the first gear 101 and the gear shaft 105 are fixedly connected by a spline. The spline connection has the advantages of "uniform force transmission and strong load-bearing capacity," effectively transmitting torque during gear transmission and avoiding the localized stress concentration problems caused by small contact areas in keyed connections and other methods, thus adapting to high-torque operating conditions. Secondly, compared to an integrated structure, the split design of the spline connection facilitates the individual processing, maintenance, and replacement of the first gear 101 or the gear shaft 105, reducing the cost of scrapping the entire component due to localized damage, while still meeting the fixing requirements of the first gear 101 and the gear shaft 105. This balances transmission reliability, processing convenience, and economy, further ensuring the accuracy and service life of the gear transmission system 1.

[0085] In some embodiments, the first gear 101 is optionally interference-fitted with the gear shaft 105.

[0086] In this embodiment, the first gear 101 and the gear shaft 105 are interference-fitted. This interference fit eliminates the assembly clearance between the first gear 101 and the gear shaft 105, significantly improving their coaxiality and connection stability. It prevents relative displacement caused by vibration and load fluctuations during transmission, ensuring that the first guide portion 103 always maintains a precise engagement with the second guide portion 104. This provides a reliable reference for generating a stable phase difference through subsequent axial adjustment, guaranteeing a backlash-free transmission effect. Furthermore, this fit method has a simple structure, does not increase the axial or radial dimensions of the components, helps maintain the overall compactness of the gear shaft 105, reduces the number of parts and assembly steps, lowers the risk of errors caused by assembling multiple parts, and further improves the transmission accuracy and service life of the backlash-free gear assembly 10.

[0087] In some embodiments, the first guide portion 103 may be a guide block 1030, and the second guide portion 104 may be one of the guide block 1030 and the guide groove 1040, or the first guide portion 103 may be a guide groove 1040 and the second guide portion 104 may be a guide block 1030.

[0088] In these embodiments, the first guide portion 103 is a guide block 1030, and the second guide portion 104 is one of the guide block 1030 and the guide groove 1040, or the first guide portion 103 is the guide groove 1040 and the second guide portion 104 is the guide block 1030. When the adjusting portion 106 drives the second gear 102 to move closer to or further away from the first gear 101 along the gear shaft 105 axial direction, the guide block 1030 slides along the groove wall of the guide groove 1040, converting the axial movement of the second gear 102 into a circumferential rotation relative to the first gear 101, thereby forming a controllable phase difference. This provides a key motion conversion mechanism for the two gear teeth to respectively engage with the adjacent tooth surfaces of the working gear and achieve backlash-free transmission. The cooperation between the guide block 1030 and the guide groove 1040 has the advantage of "precise motion conversion," which can stably convert axial displacement into circumferential rotation, avoid phase difference errors caused by motion offset, ensure backlash elimination accuracy, and adapt to high-precision transmission requirements. Secondly, the fit is flexible and diverse, allowing for the selection of combinations such as "first guide part 103 as guide block 1030, second guide part 104 as guide groove 1040", "first guide part 103 as guide block 1030, second guide part 104 as guide block 1030", or "first guide part 103 as guide groove 1040, second guide part 104 as guide block 1030" according to actual working conditions. Furthermore, the size and quantity of guide block 1030 and guide groove 1040 can be designed as needed (e.g., selecting an even number to balance forces), adapting to different spatial layouts and load requirements. In addition, the structure of guide block 1030 and guide groove 1040 is easy to manufacture and highly reliable, and is not prone to wear and failure over long-term use. This ensures long-term stable motion conversion of the components, further improving the continuity of backlash-free transmission, reducing idle error and abnormal vibration, and extending the service life of the gear transmission system 1.

[0089] In some embodiments, optionally, such as Figure 15 , Figure 16 , Figure 17 and Figure 18 As shown, the guide block 1030 includes an inclined block 1031 and a spiral block 1032, and the guide groove 1040 includes an inclined groove 1041 and a spiral groove 1042.

[0090] In these embodiments, the guide block 1030 includes a wedge block 1031 and a spiral block 1032, and the guide groove 1040 includes a groove 1041 and a spiral groove 1042. The wedge block 1031 is an integrated protruding wedge-shaped structure disposed on the end faces of the first gear 101 or the second gear 102 close to each other. Its axial thickness changes linearly along the circumferential direction to form a slope. It is evenly arranged along the circumferential direction of the end face, and an even number can be selected. It can fit into the wedge block 1031 or groove 1041 on the end face of the other gear. During axial movement, the two gears rotate circumferentially through the sliding of the slope to form a phase difference. The large slope angle design also allows more torque to be converted into slope pressure, achieving self-locking by utilizing friction force greater than the axial component. The spiral block 1032 is an integrated spiral protrusion on the end face of the gear, evenly distributed spirally along the circumferential direction of the end face. It has a uniform spiral direction and pitch and can be adapted to the spiral block 1032 or spiral groove 1042 on the end face of the other gear. During axial movement, it smoothly converts the spiral surface sliding into circumferential rotation. A large helix angle also enables self-locking and high torque transmission. The inclined groove 1041 is a groove on the gear end face, with the groove wall angle matching that of the inclined block 1031. The groove depth is greater than the length of the inclined block 1031, and the groove width matches the width of the inclined block 1031, allowing the inclined block 1031 to slide and shorten its axial dimension. The helical groove 1042 is a helical groove on the gear end face, with helical parameters perfectly matching those of the helical block 1032. The groove depth and width are adapted to the height and thickness of the helical block 1032, ensuring smooth sliding and full contact. The core of the cooperation between these guide blocks 1030 and guide grooves 1040 is to convert the axial movement of the second gear 102 into a circumferential rotation relative to the first gear 101 to form a controllable phase difference, achieving backlash-free transmission. Simultaneously, the large-angle design solves the problems of difficult bidirectional backlash elimination and easy failure under high torque in related technologies.

[0091] In some embodiments, optionally, the first guide portion 103 and the second guide portion 104 can form six sliding fit forms, namely, the inclined block 1031 on the first guide portion 103 and the inclined block 1031 on the second guide portion 104 slidingly fit along the circumference of the first gear 101 (e.g., Figure 19 As shown), the inclined block 1031 on the first guide portion 103 and the inclined groove 1041 on the second guide portion 104 slide in a circumferential fit along the first gear 101 (as shown). Figure 21 As shown), the inclined groove 1041 on the first guide portion 103 and the inclined block 1031 on the second guide portion 104 slide in a circumferential engagement along the first gear 101, and the spiral block 1032 on the first guide portion 103 and the spiral block 1032 on the second guide portion 104 slide in a circumferential engagement along the first gear 101 (as shown). Figure 20As shown, the spiral block 1032 on the first guide portion 103 and the spiral groove 1042 on the second guide portion 104 slide in a circumferential fit along the first gear 101, and the spiral groove 1042 on the first guide portion 103 and the spiral block 1032 on the second guide portion 104 slide in a circumferential fit along the first gear 101.

[0092] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is greater than or equal to 40° and less than or equal to 89°.

[0093] In these embodiments, when the wedge block 1031 is disposed on the first gear 101, the angle between the inclined surface of the wedge block 1031 and the end face of the first gear 101 is greater than or equal to 40° and less than or equal to 89°. When the wedge block 1031 is disposed on the second gear 102, the angle between the inclined surface of the wedge block 1031 and the end face of the second gear 102 is greater than or equal to 40° and less than or equal to 89°. By limiting the angle between the inclined surface of the wedge block 1031 and the end face of the first gear 101 or the end face of the second gear 102, "self-locking" and "high-efficiency force transmission" can be achieved. On the one hand, the large wedge angle allows most of the torque transmitted by the two gears to be converted into pressure perpendicular to the inclined surface, with only a small portion decomposed into axial force that causes the wedge block 1031 to slide relative to each other. The frictional force between the inclined surfaces generated by the vertical pressure is much greater than the axial force, thereby avoiding relative sliding of the wedge block 1031 during transmission, achieving reliable self-locking, and ensuring a stable backlash-free state when transmitting large torques. On the other hand, this angle range takes into account both processing feasibility and performance requirements. It avoids the problems of self-locking failure and inability to eliminate backlash in both directions caused by small angles, and also avoids the defects of the slope being too steep when it approaches 90°, making it difficult to smoothly convert axial movement into circumferential rotation. It can stably convert the axial displacement of the second gear 102 into circumferential rotation relative to the first gear 101, forming a controllable phase difference. Ultimately, the teeth of the two gears are respectively engaged with the two sides of the adjacent teeth of the working gear, realizing backlash-free transmission. At the same time, it is compatible with the transmission accuracy and reliability requirements of high-precision equipment such as industrial robots and CNC machine tools.

[0094] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 40°.

[0095] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 50°.

[0096] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 60°.

[0097] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 70°.

[0098] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 80°.

[0099] In some embodiments, optionally, the angle between the inclined surface of the swash block 1031 and the end face of the first gear 101 or the end face of the second gear 102 is 89°.

[0100] In some embodiments, the helix angle of the helical block 1032 is optionally greater than or equal to 10° and less than or equal to 89°.

[0101] In these embodiments, by limiting the helix angle of the helical block 1032, most of the torque transmitted by the two backlash-free gears can be converted into pressure perpendicular to the helical surface, with only a small portion decomposed into axial force that causes the helical block 1032 to slide relative to each other. The frictional force between the helical surfaces generated by the vertical pressure is much greater than the axial force, thereby achieving reliable self-locking and preventing relative sliding of the helical block 1032 during transmission. This ensures that even when transmitting large torques, the phase difference and backlash-free meshing state of the two gears can be stably maintained. At the same time, this angle range avoids the defects of small helix angles that easily lead to self-locking failure and inability to meet the requirements of large torque transmission, and also avoids the problem of the helical surface being too steep when it approaches 90°, making it difficult to smoothly convert axial movement into circumferential rotation. It can stably convert the axial displacement of the second gear 102 into circumferential rotation relative to the first gear 101, accurately generating a phase difference, so that the teeth of the two gears respectively engage with the two sides of the adjacent teeth of the working gear, adapting to the transmission accuracy and reliability requirements of high-precision equipment such as industrial robots and CNC machine tools.

[0102] In some embodiments, the helix angle of the helical block 1032 is optionally 20°.

[0103] In some embodiments, the helix angle of the helical block 1032 is optionally 30°.

[0104] In some embodiments, the helix angle of the helical block 1032 is optionally 40°.

[0105] In some embodiments, the helix angle of the helical block 1032 is optionally 50°.

[0106] In some embodiments, the helix angle of the helical block 1032 is optionally 60°.

[0107] In some embodiments, the helix angle of the helical block 1032 is optionally 70°.

[0108] In some embodiments, the helix angle of the helical block 1032 is optionally 80°.

[0109] In some embodiments, the helix angle of the helical block 1032 is optionally 89°.

[0110] In some embodiments, optionally, a bearing mounting portion 109 is provided on the side of the second gear 102 opposite to the first gear 101, and the backlash-free gear assembly 10 further includes: a first bearing 110 disposed on the bearing mounting portion 109; a second bearing 111 disposed on the side of the first gear 101 opposite to the second gear 102; a first retaining ring 112 disposed on the side of the first bearing 110 opposite to the second gear 102 for axially limiting the first bearing 110; and a second retaining ring 113 disposed on the side of the second bearing 111 opposite to the first gear 101 for axially limiting the second bearing 111.

[0111] In these embodiments, a bearing mounting portion 109 is provided on the side of the second gear 102 opposite to the first gear 101 for mounting the first bearing 110. The second bearing 111 is mounted on the side of the first gear 101 opposite to the second gear 102. The bearings provide rotational support between the gear shaft 105 and the external structure, reducing radial runout and frictional loss during gear transmission and ensuring the coaxiality and meshing accuracy of the two gears. Simultaneously, a first snap ring 112 is located on the side of the first bearing 110 opposite to the second gear 102, and a second snap ring 113 is located on the side of the second bearing 111 opposite to the first gear 101. Through the engagement of the snap rings with corresponding snap ring grooves on the gear shaft 105, the first bearing 110 and the second bearing 111 are axially limited, preventing displacement of the bearings due to axial force during transmission. This ensures that the bearings remain in a stable support position, thereby guaranteeing the smoothness and phase difference adjustment accuracy of the second gear 102 during axial movement adjustment.

[0112] The combined design of the bearing and snap ring reduces gear transmission resistance, minimizes wear, and extends component lifespan through the rolling friction characteristics of the bearing, meeting the low-friction and long-life requirements of high-precision equipment such as industrial robots and CNC machine tools. On the other hand, the axial limiting effect of the snap ring prevents transmission noise and increased vibration caused by bearing loosening, while simplifying the assembly process, improving assembly efficiency and maintenance convenience, and further enhancing the reliability and stability of the backlash-free gear assembly 10 in bidirectional backlash-free, high-torque transmission scenarios.

[0113] In some embodiments, the first gear 101 and the second gear 102 may be spur gears.

[0114] According to one embodiment of the present invention, a variable phase self-locking backlash-eliminating gear system (gear transmission system 1) is provided, including an input gear 20, a backlash-eliminating gear assembly 10, and an output gear 30. The backlash-eliminating gear assembly 10 includes a retaining ring A (second retaining ring 113), a retaining ring B (first retaining ring 112), bearing A (second bearing 111), bearing B (first bearing 110), a backlash-eliminating gear shaft, a backlash-eliminating gear Y (second gear 102), a wave spring 108, and an adjusting nut 1061.

[0115] In some embodiments, the backlash-free gear shaft may optionally be structured as follows: Figure 7 As shown, it includes features such as an idler shaft, a backlash-eliminating gear X, a helical block 1031, and an adjusting thread (threaded section 1051). The structure of the backlash-eliminating gear Y is as follows. Figure 8 As shown, it includes features such as the inclined groove 1041. Furthermore, the input gear 20, the backlash-free gear X, the backlash-free gear Y, and the output gear 30 all have the same module and pressure angle.

[0116] During installation, the idler gear assembly is first assembled. The backlash-free gear Y is installed onto the backlash-free gear shaft with a clearance fit (approximately 0.002mm-0.008mm). Simultaneously, the initial phase of the backlash-free gear is adjusted to ensure that the wedge block 1031 on the backlash-free gear X and the wedge block 1031 on the backlash-free gear Y form a bevel fit when the adjusting nut 1061 is screwed into the adjusting thread. Then, the input gear 20 and output gear 30 are installed according to the center distance requirements. Finally, the assembled idler gear assembly is installed between the input gear 20 and output gear 30 according to the center distance requirements.

[0117] After initial assembly, a meshing clearance still exists between the input gear 20 and the output gear 30 and the backlash-eliminating gear. By screwing in the adjusting nut 1061, the wave spring 108 is compressed, which in turn pushes the backlash-eliminating gear Y axially towards the backlash-eliminating gear X along the idler shaft. Simultaneously, due to the inclined surface cooperation between the slant block 1031 and the slant groove 1041, the backlash-eliminating gear Y rotates relative to the backlash-eliminating gear X, creating a phase difference between the two gears. As the phase difference increases, the upper tooth surface of the teeth meshing with the input gear 20 of the backlash-eliminating gear X abuts against the lower tooth surface of the input gear 20, and the lower tooth surface of the teeth meshing with the input gear 20 of the backlash-eliminating gear Y abuts against the upper tooth surface of the input gear 20. At this point, the adjusting nut 1061 needs to be further screwed in to give the wave spring 108 a suitable compression amount. This completes the backlash elimination, and the meshing effect of the teeth after backlash elimination is as follows: Figure 5 and Figure 6 As shown, the engagement state of the inclined block 1031 and the inclined groove 1041 between the backlash-free gear X and the backlash-free gear Y is as follows: Figure 18 As shown. If the backlash increases after the gear teeth wear, the wave spring 108 can dynamically eliminate the backlash by releasing its compression. For example... Figure 12 , Figure 13and Figure 14 As shown, the axial displacement of the backlash-free gear can also be limited by directly using a nut or adjusting nut 1061 in conjunction with a washer.

[0118] The principle of bidirectional backlash elimination: as follows Figure 4 As shown, when the input gear 20 is turned clockwise ( Figure 4 When the input gear 20 rotates counterclockwise (in the direction indicated by the unidirectional arrow), the lower tooth surface of the input gear 20 can push the upper tooth surface of the backlash-eliminating gear X counterclockwise without backlash. The wedge block 1031 on the backlash-eliminating gear X, through wedge engagement, pushes the backlash-eliminating gear Y counterclockwise. The upper tooth surface of the backlash-eliminating gear Y pushes the lower tooth surface of the output gear 30 clockwise. When the input gear 20 rotates counterclockwise, the upper tooth surface of the input gear 20 can push the lower tooth surface of the backlash-eliminating gear X clockwise without backlash. The wedge block 1031 on the backlash-eliminating gear X, through wedge engagement, pushes the backlash-eliminating gear Y clockwise. The lower tooth surface of the backlash-eliminating gear Y pushes the upper tooth surface of the output gear 30 counterclockwise. Furthermore, as... Figure 10 As shown, the backlash-eliminating gear assembly 10 can also serve as an input gear 20, enabling direct backlash elimination between the input gear 20 and the output gear 30.

[0119] The fit between the slant block 1031 and the slant groove 1041 between the backlash-free gear X and the backlash-free gear Y can be replaced with the fit between the helical block 1032 and the helical block 1032 (the fit section is as follows). Figure 16 As shown), the spiral block 1032 and the spiral groove 1042 are fitted together (the mating cross section is shown in Figure 1042). Figure 15 As shown), the inclined block 1031 and the inclined block 1031 fit together (the fitting cross section is as shown). Figure 17 (As shown). Compared to the block-to-block fit, the block-to-groove fit has a shorter axial dimension.

[0120] In some embodiments, optionally, such as Figure 16 As shown, the helix angle of the helical block 1032 is from 10° to 89°.

[0121] In some embodiments, optionally, such as Figure 17 As shown, the bevel angle of the 1031 bevel is 40° to 89°.

[0122] In some embodiments, the chamfer angle of the groove 1041 is the same as that of the chamfer angle of the block 1031, but the length of the block 1031 is shorter than the depth of the groove 1041.

[0123] In some embodiments, the number of inclined blocks 1031 (or spiral blocks 1032) and inclined grooves 1041 (or spiral grooves 1042) can be set according to actual needs, and an even number can be selected, such as 2, 4, 6, 8, 10, etc.

[0124] In some embodiments, the backlash-free gear X and backlash-free gear Y can optionally transmit torque to each other through the swash block 1031 or the helical block 1032. By using a large swash block 1031 swash angle or the helical helix angle of the helical block 1032, most of the torque can be converted into pressure perpendicular to the swash block 1031 swash surface or the helical surface of the helical block 1032. Only a small portion is decomposed into axial force that causes the swash block 1031 swash surface or the helical surface of the helical block 1032 to slide relative to each other. However, since the pressure perpendicular to the swash block 1031 swash surface or the helical surface of the helical block 1032 is very large, the friction between the swash block 1031 swash surface or the helical surface of the helical block 1032 will be much greater than the axial force generated by the torque that causes the swash block 1031 swash surface or the helical surface of the helical block 1032 to slide relative to each other. Ultimately, the swash block 1031 swash surface engagement and the helical block 1032 helical surface engagement form a self-locking mechanism, and no relative sliding occurs when transmitting torque.

[0125] This application realizes a variable phase self-locking backlash-free gear system, which achieves backlash-free gear transmission, reduces the backlash error of gear transmission, reduces the probability of abnormal vibration, increases gear life, and thus improves gear transmission performance.

[0126] The following examples of common problems in gear backlash elimination structures illustrate the principle and technical advantages of this solution:

[0127] 1. Two-way gap elimination.

[0128] Bidirectional backlash elimination refers to a backlash elimination structure or mechanism that can eliminate backlash in both forward and reverse gear transmission.

[0129] This application achieves backlash elimination by adding a wedge-shaped (or helical) fit to two backlash-eliminating gears, with wedge 1031 and wedge groove 1041 features respectively (or wedge 1031-wedge 1031, helical block 1032-helical block 1032, or helical block 1032-helical groove 1042). The axial distance between the two backlash-eliminating gears is adjusted to create a phase difference, thereby achieving backlash elimination. Furthermore, the two backlash-eliminating gears transmit power to each other through the wedge-shaped fit, and their relative rotation is limited by the axial fixing components and input or output tooth profiles of the backlash-eliminating gears. This maintains the backlash elimination effect in bidirectional transmission and allows the backlash-eliminating structure to be used as an input gear 20 or an idler gear.

[0130] 2. Self-locking characteristic.

[0131] By using a large angle of the inclined block 1031 or the helical helix angle of the helical block 1032, most of the transmitted torque can be converted into pressure perpendicular to the inclined surface of the inclined block 1031 or the helical surface of the helical block 1032, and a small part can be converted into axial force. Therefore, the friction between the inclined surface of the inclined block 1031 or the helical surface of the helical block 1032 will be much greater than the axial force generated by the torque that causes the inclined surface of the inclined block 1031 or the helical surface of the helical block 1032 to slide relative to each other. Ultimately, the inclined surface of the inclined block 1031 and the helical surface of the helical block 1032 form a self-locking mechanism, and no relative sliding occurs when transmitting any torque.

[0132] 3. High torque transmission.

[0133] Because the backlash-free gear assembly 10 has a self-locking characteristic, theoretically the upper limit of the torque transmitted by the assembly is the magnitude of the torque that causes the structure of the helical block 1032 or the inclined block 1031 to deform or otherwise cause destructive damage. For the helical block 1032 or the inclined block 1031 made of alloy steel, this value is very large.

[0134] 4. Multiple adjustment methods.

[0135] Since both the inclined block 1031 and the spiral block 1032 in this invention have self-locking characteristics, the axial distance between the two backlash-free gears can be adjusted by adjusting the adjusting nut 1061, adjusting shim 107, wave spring 108, etc., to adapt to different application conditions.

[0136] In some embodiments, optionally, such as Figure 9 As shown, the backlash-free gear shaft can be made as a split type, consisting of an idler shaft and a backlash-free gear X. The two can be combined into one piece by means of interference fit, spline fit, spline interference, etc.

[0137] In some embodiments, optionally, such as Figure 9 As shown, to further save axial space, the backlash-free gear Y can be machined into a hollow gear shaft that can accommodate bearings.

[0138] In some embodiments, the backlash-eliminating gear assembly 10 of this application may also be applied to the output gear 30, the input gear 20, and the idler gear.

[0139] In some embodiments, the gear that mates with the backlash-free gear assembly 10 of this application may be a spur gear, but other gears in the gear transmission system may be helical gears, bevel gears, hyperboloid gears, irregular gears, worm gears, etc.

[0140] This application realizes a variable-phase self-locking backlash-eliminating gear system. The backlash-eliminating gear assembly 10 achieves backlash elimination in the gear pair, improving the transmission accuracy of the gear transmission system 1, reducing transmission shock and noise, and increasing the lifespan and performance of the transmission system. Furthermore, it has the following advantages compared to related technologies:

[0141] 1. Bidirectional Backlash Elimination: By adding helical block 1031 and helical groove 1041 features to the two backlash-eliminating gears respectively (or helical block 1031-helical block 1031, helical block 1032-helical block 1032, helical block 1032-helical groove 1042), a self-locking torque-transmitting helical wedge (or helical surface) fit is formed. The relative rotation of the backlash-eliminating gears is achieved by adjusting the axial distance between the two backlash-eliminating gears. When the teeth of both backlash-eliminating gears abut against the input or output gear 30, the backlash elimination purpose is achieved. The two backlash-eliminating gears transmit power to each other through the helical wedge (or helical surface) fit, and the relative rotation is limited by the axial fixing component of the backlash-eliminating gears and the input or output tooth profile, thus maintaining the gear backlash elimination effect in bidirectional transmission. The backlash elimination structure can also be used for the input gear 20 or the idler gear.

[0142] 2. Self-locking: By setting a large tilt angle of the inclined block 1031 (or the helix angle of the helical block 1032), the torque transmitted by the two backlash-free gears can be converted into the tangential force of the inclined block 1031 as much as possible, reducing and making the axial force between the backlash-free gears less than the friction between the contact surfaces of the inclined block 1031 (or the helical block 1032). This achieves self-locking of the inclined surface fit (or helical surface fit) during transmission. Theoretically, as long as the material of the inclined block 1031 (or the helical block 1032) is not damaged, the torque can be transmitted continuously.

[0143] 3. Multiple backlash reduction adjustment methods: The axial distance between the two backlash-reducing gears can be adjusted by adjusting nut 1061, adjusting shim 107, wave spring 108, etc., to adapt to different application conditions.

[0144] The second aspect of this utility model provides a gear transmission system 1, comprising: a backlash-free gear assembly 10 as described in any embodiment of the first aspect; an input gear 20, meshing with a first gear 101 and a second gear 102 in the backlash-free gear assembly 10 respectively; and / or an output gear 30, meshing with the first gear 101 and the second gear 102 in the backlash-free gear assembly 10 respectively; wherein the second gear 102, the first gear 101, the input gear 20 and the output gear 30 have the same module and pressure angle.

[0145] The gear transmission system 1 provided by this utility model includes a backlash-eliminating gear assembly 10, an input gear 20, and / or an output gear 30 as described in any embodiment of the first aspect. The input gear 20 meshes with the first gear 101 and the second gear 102 in the backlash-eliminating gear assembly 10, respectively. The output gear 30 meshes with the first gear 101 and the second gear 102 in the backlash-eliminating gear assembly 10, respectively. The second gear 102, the first gear 101, the input gear 20, and the output gear 30 all have the same module and pressure angle. This gear transmission system 1, through the bidirectional backlash-eliminating characteristic of the backlash-eliminating gear assembly 10, can eliminate the meshing backlash between the input gear 20 and the backlash-eliminating gear, and between the backlash-eliminating gear and the output gear 30, effectively reducing transmission backlash error, lowering abnormal vibration and noise, and adapting to the transmission accuracy requirements of high-precision equipment such as industrial robots and CNC machine tools. Meanwhile, since the gear transmission system 1 provided in this application also includes the backlash-free gear assembly 10 in any embodiment of the first aspect, the gear transmission system provided by this utility model also has all the beneficial technical effects of the backlash-free gear assembly 10 in any embodiment of the first aspect, which will not be repeated here.

[0146] The third aspect of this utility model provides a robot 2, comprising: a backlash-free gear assembly 10 as described in any embodiment of the first aspect; and / or a gear transmission system 1 as described in any embodiment of the second aspect.

[0147] The robot 2 provided by this utility model includes the backlash-free gear assembly 10 in any embodiment of the first aspect, and / or the gear transmission system 1 in any embodiment of the second aspect. Therefore, the robot 2 provided by this utility model has all the beneficial technical effects of the backlash-free gear assembly 10 in any embodiment of the first aspect, and / or the gear transmission system 1 in any embodiment of the second aspect, which will not be elaborated here.

[0148] In this utility model, the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0149] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0150] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A backlash-free gear assembly, characterized in that, include: First gear; The second gear is coaxially arranged with the first gear, and can rotate relative to the first gear and move relative to the first gear along the axial direction of the first gear. The second gear and the first gear have the same number of teeth, module and pressure angle. At least one first guide portion is disposed along the circumference of the first gear on one end face of the first gear near the second gear; At least one second guide portion is disposed along the circumference of the second gear on one end face of the second gear near the first gear, for sliding engagement with the first guide portion; When the second gear moves relative to the first gear along the axial direction of the first gear, the second guide portion slides with the first guide portion along the circumferential direction of the first gear, and the second gear rotates relative to the first gear.

2. The backlash-free gear assembly according to claim 1, characterized in that, Also includes: A gear shaft, wherein the first gear is disposed on the gear shaft, and the second gear is movably disposed on the gear shaft; An adjustment section is provided on the gear shaft and located on the side of the second gear away from the first gear, for adjusting the distance between the second gear and the first gear in the axial direction of the first gear.

3. The backlash-free gear assembly according to claim 2, characterized in that, The gear shaft includes a threaded section located on the side of the second gear opposite to the first gear, and the adjusting part includes: An adjusting nut is provided on the threaded section and can engage with the threaded section. One end of the adjusting nut can abut against the side of the second gear away from the first gear to adjust the distance between the second gear and the first gear in the axial direction of the first gear.

4. The backlash-free gear assembly according to claim 2, characterized in that, The gear shaft includes a first mounting section and a second mounting section. The first gear and the second gear are disposed in the first mounting section, and the second mounting section is located on the side of the second gear opposite to the first gear. The diameter of the first mounting section is larger than the diameter of the second mounting section. The adjusting part includes: An adjustment cover is provided in the second mounting section and can abut against the second gear; A locking screw is sequentially inserted through the end of the adjusting cover and the first mounting section. The locking screw can adjust the distance between the second gear and the first gear in the axial direction of the first gear through the adjusting cover.

5. The backlash-free gear assembly according to claim 2, characterized in that, Also includes: An adjusting shim is disposed on the gear shaft and located between the second gear and the adjusting part.

6. The backlash-free gear assembly according to claim 2, characterized in that, Also includes: A wave spring is disposed on the gear shaft and located between the second gear and the adjusting part.

7. The backlash-free gear assembly according to claim 2, characterized in that, The gear shaft and the first gear are an integral structure.

8. The backlash-free gear assembly according to any one of claims 1 to 7, characterized in that, The first guide portion is a guide block, and the second guide portion is one of the guide block and the guide groove; or The first guide part is a guide groove, and the second guide part is a guide block.

9. The backlash-free gear assembly according to claim 8, characterized in that, The guide block includes an inclined block and a spiral block, and the guide groove includes an inclined groove and a spiral groove.

10. The backlash-free gear assembly according to claim 9, characterized in that, The angle between the inclined surface of the inclined block and the end face of the first gear or the end face of the second gear is greater than or equal to 40° and less than or equal to 89°.

11. The backlash-free gear assembly according to claim 9, characterized in that, The helix angle of the spiral block is greater than or equal to 10° and less than or equal to 89°.

12. The backlash-free gear assembly according to any one of claims 1 to 7, characterized in that, The second gear has a bearing mounting portion on the side opposite to the first gear, and the backlash-free gear assembly further includes: A first bearing is disposed in the bearing mounting portion; The second bearing is disposed on the side of the first gear away from the second gear; A first retaining ring is disposed on the side of the first bearing opposite to the second gear, and is used to axially limit the first bearing; The second snap ring is disposed on the side of the second bearing opposite to the first gear, and is used to axially limit the second bearing.

13. A gear transmission system, characterized in that, include: The backlash-free gear assembly as described in any one of claims 1 to 12; The input gear meshes with the first gear and the second gear in the backlash-free gear assembly, respectively. and / or The output gear meshes with the first gear and the second gear in the backlash-free gear assembly, respectively. The second gear, the first gear, the input gear, and the output gear all have the same module and pressure angle.

14. A robot, characterized in that, include: The backlash-free gear assembly as described in any one of claims 1 to 12; and / or The gear transmission system as described in claim 13.

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