Transmission assembly and robot

Abstract

The embodiment of the utility model provides a kind of transmission assembly and robot, wherein, transmission assembly includes: transmission gear;Gap elimination shaft and the first gap elimination gear and second gap elimination gear of the gap elimination shaft outside are set;First adjusting slope, it is located in the side of first gap elimination gear;Second adjusting slope, it is located in the side of second gap elimination gear;Adjusting piece, it is located in the end of second gap elimination gear away from first gap elimination gear, and adjusting piece is on gap elimination shaft and can move along the axial direction of gap elimination shaft;Adjusting piece exerts force to second gap elimination gear, part second adjusting slope and part first adjusting slope are attached, adjust the side gap between first gap elimination gear and transmission gear.The technical scheme of the utility model, by setting gap elimination gear assembly, the side gap between transmission gear and first gap elimination gear is eliminated, to improve the transmission accuracy of transmission system, reduce the impact and noise when gear engages, prolong the service life of transmission system.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and more specifically, to a transmission component and a robot. Background Technology

[0002] Currently, robot transmissions commonly employ motors and speed reducers. In some related technologies, gear transmissions are used as an alternative to speed reducers; however, due to manufacturing errors and wear during use, backlash can occur during meshing, leading to poor meshing and other negative effects. Utility Model Content

[0003] The present invention aims to at least solve the technical problem of poor meshing in robot gear transmission that exists in the prior art or related technologies.

[0004] In view of this, an embodiment of the first aspect of the present invention provides a transmission component.

[0005] A second aspect of this utility model provides a robot.

[0006] To achieve the above objectives, embodiments of this utility model provide a transmission assembly, including: a transmission gear; a backlash-eliminating gear assembly, including a backlash-eliminating shaft and a first backlash-eliminating gear and a second backlash-eliminating gear sleeved outside the backlash-eliminating shaft, wherein the first backlash-eliminating gear meshes with the transmission gear, the first backlash-eliminating gear is interference-fitted with the backlash-eliminating shaft, and the second backlash-eliminating gear is clearance-fitted with the backlash-eliminating shaft; a first adjusting slope, disposed on the side of the first backlash-eliminating gear facing the second backlash-eliminating gear, and the angle a1 between the first adjusting slope and the axial direction of the first backlash-eliminating gear is greater than 0°; a second adjusting slope, disposed on the side of the second backlash-eliminating gear facing the first backlash-eliminating gear, and the angle a2 between the second adjusting slope and the axial direction of the second backlash-eliminating gear is greater than 0°; an adjusting member, disposed at the end of the second backlash-eliminating gear away from the first backlash-eliminating gear, and the adjusting member is movable along the axial direction of the backlash-eliminating shaft; wherein, when the adjusting member applies a force to the second backlash-eliminating gear, and a portion of the second adjusting slope is in contact with a portion of the first adjusting slope, the backlash between the first backlash-eliminating gear and the transmission gear is adjusted.

[0007] The transmission component proposed in this utility model includes a transmission gear, a backlash-eliminating gear assembly, and an adjusting component. By setting the backlash-eliminating gear assembly, the backlash between the transmission gear and the first backlash-eliminating gear is eliminated, thereby improving the transmission accuracy of the transmission system, reducing the impact and noise during gear meshing, and extending the service life of the transmission system. Specifically, by utilizing the adjusting ramp between the first and second backlash-eliminating gears (i.e., the cooperation of the first and second adjusting ramps), the adjusting component moves axially along the backlash-eliminating shaft, applying axial thrust to drive the second backlash-eliminating gear to generate a phase difference relative to the first backlash-eliminating gear, thus eliminating the backlash. The first backlash-eliminating gear meshes with the transmission gear and is fixed to the backlash-eliminating shaft by an interference fit, while the second backlash-eliminating gear is installed on the backlash-eliminating shaft by a clearance fit, enabling relative rotation under axial force to achieve phase adjustment. This solution has a certain degree of adjustability, allowing the backlash elimination amount to be adjusted according to the actual backlash size via the adjusting component. Furthermore, the structural design ensures self-locking during the backlash elimination process, preventing relative slippage of the backlash-eliminating gears during torque transmission and ensuring a stable and reliable backlash elimination effect.

[0008] Specifically, the transmission gear is a standard gear in the transmission system, meshing with the first backlash-eliminating gear. As the main gear for power transmission, it meshes with the first backlash-eliminating gear to achieve power transmission. The backlash of the transmission gear is the target of this solution. Furthermore, the backlash-eliminating gear assembly includes a backlash-eliminating shaft, a first backlash-eliminating gear, and a second backlash-eliminating gear. As the core component of the backlash-eliminating mechanism, the backlash-eliminating gear assembly achieves phase difference adjustment through its internal structure, thereby eliminating the backlash of the transmission gear. The first backlash-eliminating gear is fixed to the backlash-eliminating shaft with an interference fit, while the second backlash-eliminating gear is fitted onto the backlash-eliminating shaft with a clearance fit. The backlash-eliminating shaft provides rigid support for the backlash-eliminating gear assembly. The interference fit between the first backlash-eliminating gear and the backlash-eliminating shaft ensures that they are fixed as a single unit, with no relative slippage during torque transmission. The clearance fit of the second backlash-eliminating gear allows axial movement on the backlash-eliminating shaft and generates slight relative rotation, achieving backlash adjustment.

[0009] The transmission component of this solution uses the adjustment inclined plane between the first and second backlash-free gears in the backlash-free gear assembly to achieve the effect of high-precision backlash-free dynamic adjustment of the backlash by applying axial force through the axial movement of the adjusting component along the backlash-free shaft, which is converted into relative rotation of the backlash-free gears.

[0010] In some technical solutions, optionally, the transmission assembly includes: a first adjusting block disposed on the side of the first backlash-free gear facing the second backlash-free gear, a first adjusting inclined surface disposed on the first adjusting block, and a plurality of first adjusting blocks disposed on the first backlash-free gear along the circumference of the first backlash-free gear; a second adjusting block disposed on the side of the second backlash-free gear facing the first backlash-free gear, a second adjusting inclined surface disposed on the second adjusting block, and a plurality of second adjusting blocks disposed on the second backlash-free gear along the circumference of the second backlash-free gear.

[0011] In this scheme, multiple first and second adjusting blocks are introduced and evenly arranged along the circumference of the first and second backlash-eliminating gears. Combined with the first and second adjusting inclined planes, multi-point simultaneous adjustment is achieved, greatly improving the balance, stability, and accuracy of the adjustment. They work together to move the adjusting component axially along the backlash-eliminating shaft. Through the inclined plane engagement, the axial thrust is converted into a fine-tuning phase difference between the two backlash-eliminating gears, ultimately achieving the overall effect of eliminating transmission backlash, realizing self-locking, and improving transmission accuracy and stability.

[0012] In some technical solutions, optionally, the transmission component includes: a third adjusting block and a first adjusting groove, one of the third adjusting block and the first adjusting groove being disposed in the first backlash-eliminating gear, and the other being disposed in the second backlash-eliminating gear; wherein, a first adjusting inclined surface is disposed in the third adjusting block and the first adjusting groove located in one of the first backlash-eliminating gears, and a second adjusting inclined surface is disposed in the third adjusting block and the first adjusting groove located in one of the second backlash-eliminating gears.

[0013] In this technical solution, the third adjusting block and the first adjusting groove, as an alternative implementation alongside the first and second adjusting block solutions, achieve phase difference adjustment between the backlash-free gears through the inclined surface meshing of the block and the groove, thereby adjusting the backlash between the first backlash-free gear and the transmission gear. This solution utilizes the structural characteristics of the block-groove engagement to achieve a shorter axial dimension, which helps save installation space in the robot joint transmission system. Simultaneously, the inclined surface angle greater than 0° ensures the self-locking performance of the adjusting mechanism, guaranteeing stability and reliability during transmission.

[0014] In some technical solutions, the transmission assembly optionally includes: an adjusting elastic element disposed between the adjusting element and the second backlash-free gear, wherein the adjusting element applies a force to the second backlash-free gear through the adjusting elastic element.

[0015] In this technical solution, the adjusting elastic element serves as an elastic connection mechanism between the adjusting element and the second backlash-eliminating gear. This achieves flexible transmission and buffering protection of the adjusting force, effectively avoiding impact loads during the adjustment process and ensuring the long-term stable operation and high-precision backlash elimination effect of the backlash-eliminating gear assembly. Its elastic deformation characteristics also enable the system to have automatic wear compensation capabilities, improving the performance and lifespan of the robot's transmission system.

[0016] In some technical solutions, optionally, the first adjusting slope is a plane and the second adjusting slope is a plane; wherein, the angle between the first adjusting slope and / or the second adjusting slope and the axial direction of the backlash elimination shaft is in the range of 1° to 50°.

[0017] In this technical solution, the first and second adjusting inclined planes are planar, simplifying the structural design, facilitating manufacturing and assembly, and ensuring stable contact surfaces and low friction during adjustment. The axial angle with the backlash-free shaft is controlled within the range of 1° to 50°, providing adjustment range for both efficiency and self-locking performance. This solution results in smoother force transmission, a more reliable adjustment process, and excellent self-locking performance, ensuring that the adjusting mechanism will not slip or loosen when transmitting torque.

[0018] In some technical solutions, optionally, the first backlash-free gear has a wedge block on the side facing the second backlash-free gear; the second backlash-free gear has a wedge block on the side facing the first backlash-free gear, or the second backlash-free gear has a groove on the side facing the first backlash-free gear.

[0019] In this technical solution, by providing inclined blocks and inclined blocks, or inclined blocks and inclined slots, on opposite sides of the first and second backlash-free gears, the inclined surface fit of the adjustment mechanism is achieved, ensuring the accuracy and stability of the backlash adjustment of the backlash-free gear assembly. The diverse inclined surface fit forms meet different design requirements, improving the reliability and service life of the robot transmission system.

[0020] In some technical solutions, optionally, the first adjusting slope is a helical surface, and the second adjusting slope is a helical surface; wherein, the helical angle of the first adjusting slope and / or the second adjusting slope is in the range of 10°~89°.

[0021] In this technical solution, both the first and second adjusting inclined surfaces are helical surfaces with a helix angle range of 10° to 89°. By utilizing the continuity and stability of the helical surface meshing, the axial force of the adjusting component is efficiently transmitted to the phase difference between the backlash-eliminating gears, ensuring the self-locking performance and adjustment response speed of the backlash-eliminating mechanism.

[0022] In some technical solutions, optionally, a spiral block is provided on the side of the first backlash-eliminating gear facing the second backlash-eliminating gear; a spiral block is provided on the side of the second backlash-eliminating gear facing the first backlash-eliminating gear, or a spiral groove is provided on the side of the second backlash-eliminating gear facing the first backlash-eliminating gear.

[0023] In this technical solution, by providing a helical block and a helical block, or a helical block and a helical groove, respectively on the opposite sides of the first and second backlash-free gears, the helical surface meshing of the adjustment mechanism in the backlash-free gear assembly is realized, effectively converting the axial adjustment force into relative rotation between gears, improving the accuracy and stability of adjustment, while taking into account self-locking performance and transmission efficiency, and is suitable for high-precision robot transmission systems.

[0024] In some technical solutions, the backlash-eliminating gear assembly may optionally include: a hollow gear shaft, on which a second backlash-eliminating gear is provided, and the hollow gear shaft is sleeved outside the backlash-eliminating shaft; wherein, a bearing is sleeved on the hollow gear shaft.

[0025] This solution achieves a compact, lightweight, high-rigidity, and well-supported robot transmission backlash elimination component by fitting a hollow gear shaft around a backlash-eliminating shaft, mounting a second backlash-eliminating gear on the hollow gear shaft, and then mounting a bearing on the outer layer.

[0026] In some technical solutions, the transmission gear and the first backlash-free gear may optionally be spur gears.

[0027] Both the transmission gear and the first backlash elimination gear adopt a spur gear structure, which ensures that the transmission system has a simple structure, is easy to manufacture and has high transmission efficiency. At the same time, it reduces the impact of axial load on the system, which is conducive to the stable operation and precise adjustment of the backlash elimination mechanism.

[0028] In some technical solutions, the first backlash-eliminating gear and the backlash-eliminating shaft may be an integral structure; or the first backlash-eliminating gear and the backlash-eliminating shaft may be separate structures; wherein the backlash-eliminating shaft is fitted with a bearing.

[0029] This solution provides two implementation methods for the first backlash-free gear and backlash-free shaft: they can be an integral structure or separate structures. By setting bearings on the outside of the backlash-free shaft, the transmission system achieves high rigidity, high precision, and good support, which takes into account both manufacturing process and maintenance convenience, while ensuring the performance and lifespan of the robot transmission system.

[0030] In some technical solutions, the adjusting member is optionally threadedly connected to the backlash-eliminating shaft; wherein, by rotating the adjusting member, a force is applied to the second backlash-eliminating gear by the adjusting member.

[0031] In this solution, the adjusting component achieves the function of rotating to control axial thrust through a threaded connection with the backlash-eliminating shaft. It has the advantages of high adjustment accuracy, strong self-locking, and simple operation, ensuring that the backlash of the backlash-eliminating gear assembly can be accurately adjusted and maintained stably for a long time, thus meeting the requirements of robot transmission systems for high-precision and high-reliability backlash elimination.

[0032] In some technical solutions, optionally, an adjusting elastic element is provided between the adjusting member and the second backlash-eliminating gear; when there is a meshing gap between the first backlash-eliminating gear and the transmission gear, the adjusting member is rotated to compress the adjusting elastic element, pushing the second backlash-eliminating gear closer to the first backlash-eliminating gear along the axial direction of the backlash-eliminating shaft; when the second adjusting inclined surface is in contact with the first adjusting inclined surface, the second backlash-eliminating gear will rotate relative to the first backlash-eliminating gear, and a phase difference will be generated between the first backlash-eliminating gear and the second backlash-eliminating gear; as the phase difference between the two gears increases, the first backlash-eliminating gear meshes with the transmission gear, and the second backlash-eliminating gear meshes with the transmission gear; by continuing to rotate the adjusting member, the compression amount of the adjusting elastic element is increased; wherein, when there is a meshing gap between the first backlash-eliminating gear and the transmission gear, the adjusting elastic element achieves backlash elimination by releasing the compression amount.

[0033] In the initial state (with meshing clearance), there is meshing clearance between the first backlash-eliminating gear and the transmission gear, and the backlash between the gears has not been eliminated.

[0034] Apply an adjusting force (compressing the adjusting elastic element), rotate the adjusting element to compress the adjusting elastic element, and through the elastic action of the elastic element, push the second backlash-eliminating gear closer to the first backlash-eliminating gear along the backlash-eliminating axis. The purpose is to reduce or eliminate the meshing backlash, providing a basis for subsequent adjustments.

[0035] Phase difference adjustment (rotation adjustment component): When the second adjustment slope is in contact with the first adjustment slope, the rotation of the adjustment component will drive the second backlash-free gear to rotate relative to the first backlash-free gear, so that a phase difference is generated between the two gears, thereby adjusting the gear meshing position.

[0036] As the phase difference between the two gears increases, the first backlash-eliminating gear gradually meshes with the transmission gear; the second backlash-eliminating gear also meshes with the transmission gear, and the synchronous adjustment of the gears achieves the purpose of eliminating backlash.

[0037] Continue rotating the adjusting component to further compress the adjusting elastic component, pushing the second backlash-eliminating gear axially closer to the first gear to complete the backlash elimination.

[0038] When meshing backlash exists, it can be eliminated by releasing the compression of the adjusting elastic element (i.e., the adjusting element rotates to allow the elastic element to spring back), resulting in a tighter gear mesh. The adjusting structure utilizes the adjusting elastic element to achieve axial adjustment between gears. By rotating the adjusting element to compress or release the elastic element, the phase difference between the second gear and the first gear is controlled, thereby adjusting the gear meshing position and eliminating backlash. During the adjustment process, the inclined plane meshing ensures the relative rotation of the gears, and the change in the compression of the adjusting elastic element controls the meshing tightness between the gears, achieving an ideal backlash state.

[0039] An embodiment of this utility model provides a robot, including: a first joint housing and a second joint housing; any of the above-mentioned transmission components, wherein the transmission gear of the transmission component is disposed in the first joint housing, and the backlash-free shaft of the transmission component is connected to the second joint housing.

[0040] The robot of this application includes a first joint housing, a second joint housing, and a transmission assembly. The robot includes a first joint housing and a second joint housing. By setting the transmission gear of the transmission assembly in the first joint housing and connecting the backlash-free shaft to the second joint housing, efficient power transmission and precise backlash adjustment between robot joints are achieved, improving the overall transmission performance and control accuracy of the robot and meeting the robot's requirements for a high-performance transmission system.

[0041] It should be noted that, since the robot includes any of the above-described transmission components in its embodiments, it has the beneficial effects of any of the above-described transmission components.

[0042] In some technical solutions, the robot may optionally include: a drive motor, disposed within the first joint housing; a first gear shaft, connected to the drive motor and disposed within the first joint housing; and a second gear shaft, connected to the first gear shaft and fitted with a transmission gear.

[0043] By placing the drive motor inside the first joint housing and connecting it to the drive motor via the first gear shaft, and connecting the second gear shaft to the first gear shaft, multi-stage power transmission is achieved. Finally, the backlash-free gear assembly is driven by the transmission gear on the second gear shaft, ensuring efficient and precise transmission of the robot joint.

[0044] 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

[0045] Figure 1 A schematic diagram of the structure of a transmission assembly according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the mating structure of a transmission gear and a backlash-free gear assembly according to an embodiment of the present invention is shown; Figure 3 It shows Figure 2 A schematic diagram of the structure of part A; Figure 4 A schematic diagram of the structure of a first backlash-free gear according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the structure of a second backlash-free gear according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the mating structure of the third adjusting block and the first adjusting groove according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the mating structure of the first adjusting block and the second adjusting block according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of the mating structure of the third adjusting block and the first adjusting groove according to an embodiment of the present invention is shown; Figure 9 A schematic diagram of the mating structure of the first adjusting block and the second adjusting block according to an embodiment of the present invention is shown; Figure 10 A schematic diagram of the assembly structure of the adjusting member according to an embodiment of the present invention is shown; Figure 11 A schematic diagram of the assembly structure of the adjusting member according to an embodiment of the present invention is shown; Figure 12 A schematic diagram of the assembly structure of the adjusting member according to an embodiment of the present invention is shown; Figure 13 A schematic diagram of the mating structure of a transmission gear and a backlash-free gear assembly according to an embodiment of the present invention is shown; Figure 14 A schematic diagram of the mating structure of a transmission gear and a backlash-free gear assembly according to an embodiment of the present invention is shown; Figure 15 A schematic diagram of the mating structure of a transmission gear and a backlash-free gear assembly according to an embodiment of the present invention is shown; Figure 16 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 17 A schematic diagram of the structure of a robot according to an embodiment of the present invention is shown; Figure 18 A schematic diagram of a robot removing a first joint housing and a second joint housing according to an embodiment of the present invention is shown.

[0046] in, Figures 1 to 18 The correspondence between the reference numerals and component names in the attached drawings is as follows: 1: Transmission assembly; 11: Transmission gear; 12: Backlash-free gear assembly; 121: Backlash-free shaft; 122: First backlash-free gear; 123: Second backlash-free gear; 124: Hollow gear shaft; 131: First adjusting ramp; 132: Second adjusting ramp; 14: Adjusting element; 151: First adjusting block; 152: Second adjusting block; 153: Third adjusting block; 154: First adjusting groove; 16: Adjusting elastic element; 17: Bearing; 2: Robot; 21: First joint housing; 22: Second joint housing; 231: Drive motor; 232: First gear shaft; 233: Second gear shaft. Detailed Implementation

[0047] To better understand the above-mentioned objectives, features, and advantages of the embodiments of this utility model, the embodiments of this 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.

[0048] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0049] In related technologies, compared to belt drives and chain drives, industrial robot joints using gear drives can better undertake key functions such as efficient power transmission, motion conversion (speed / torque adjustment), and precise positioning, thereby improving 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 inevitably generated during gear meshing, leading to backlash errors, abnormal vibrations, and lifespan reduction (especially fatigue life) in gear drives. This severely limits the performance of gear drives in high-dynamic scenarios (such as high-speed robot reversing).

[0050] To eliminate side backlash, the relevant technical solutions are as follows: The backlash-free double-layer gear is fitted on the outside of the helical spline, and the bottom of the backlash-free double-layer gear abuts against the upper surface of the support plate. The outer tooth side of the backlash-free double-layer gear is horizontally meshed with the driven gear. When the helical spline rotates, it will drive the backlash-free double-layer gear and the support plate to rotate simultaneously. At this time, under the action of the helical ridge, the reverse thrust of the second gear will be significantly greater than the rotational resistance of the first gear, and the two gears will deflect relative to each other, thereby eliminating the meshing gap between the backlash-free double-layer gear and the driven gear.

[0051] The shortcomings of the above solution are as follows: 1. Helical splines are difficult to machine, especially internal helical splines; 2. Backlash elimination requires the movement of the first gear on the helical spline, resulting in weak dynamic response, and repeated movement exacerbates wear on the helical spline; 3. Compared to the friction between the second gear and the first gear, the friction between the second gear and the helical groove ridge is actually smaller because the presence of the groove reduces the contact area, while the first gear, the second gear, and the helical groove ridge bear the same pressure. This causes the first gear and the second gear to move together without relative rotation, thus failing to achieve the backlash elimination effect; 4. The helix angle of the helical spline is fixed, ensuring that the first gear and the second gear rotate relative to each other during unidirectional movement, thereby eliminating backlash, but not bidirectionally.

[0052] The mechanism utilizes the difference in the number of teeth on the end teeth and the number of teeth on the straight teeth to make the straight teeth staggered by meshing the end teeth at different positions, thereby eliminating the gap.

[0053] The shortcomings of the above solution are as follows: 1. Since the relative positions of the end teeth and spur teeth of the same gear are determined, and the geometric dimensions of the end teeth should not be too small in order to ensure torque transmission, only a few fixed spur tooth clearances can be adjusted by meshing the end teeth at different positions, while the actual meshing clearance of the gear pair is any value within a range; 2. The end teeth have a small inclination angle and cannot self-lock. When the transmitted torque is too large, the end teeth mating surface will generate a large axial force, causing the meshing end teeth to separate.

[0054] A transmission gear is divided into two parts along the gear shaft. One part is fixed to the gear shaft, and the other part is loosely fitted on the gear shaft. Using the principle of the crank-slider mechanism, the C-shaped spring is deformed by rotating the screw, which in turn causes the two transmission gears to be misaligned, thereby eliminating the transmission backlash of the gear pair.

[0055] The shortcomings of the above solutions are as follows: 1. They require a complex crank-slider mechanism to adjust the dimensions, resulting in bulky axial dimensions, poor impact resistance, and low reliability; 2. The materials of elastic components such as C-type springs have weak stiffness and toughness, making them unsuitable for high torque and high precision working conditions.

[0056] A retractable hydraulic adjusting element is installed between the primary gear and the secondary gear. The extension of this element is controlled by hydraulic oil, adjusting the tooth misalignment of the secondary gear. This ensures that both the primary and secondary gears simultaneously contact the meshing gears, thereby eliminating backlash. The retractable hydraulic adjusting element eliminates the need for precise selection of the stiffness of elastic elements.

[0057] The shortcomings of the above solutions are as follows: 1. Hydraulic cylinders drive gears for constant pressure meshing, but this faces bottlenecks such as system complexity, high failure rate, low-temperature failure, and high energy consumption. 2. Hydraulic oil is a compressible fluid, and when transmitting large torques, liquid compression can lead to backlash failure.

[0058] In summary, the backlash elimination solutions in related technologies cannot simultaneously achieve structural self-locking, high torque, high precision, bidirectional backlash elimination, and structural compactness, making them difficult to apply in industrial robot transmissions.

[0059] The following reference Figures 1 to 18 Some embodiments according to the present invention are described.

[0060] like Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a transmission assembly 1, including a transmission gear 11, a backlash-eliminating gear assembly 12, and an adjusting member 14. By setting the backlash-eliminating gear assembly 12, the backlash between the transmission gear 11 and the first backlash-eliminating gear 122 is eliminated, thereby improving the transmission accuracy of the transmission system, reducing the impact and noise during gear meshing, and extending the service life of the transmission system. Specifically, by utilizing the adjusting ramps between the first backlash-eliminating gear 122 and the second backlash-eliminating gear 123, i.e., the cooperation of the first adjusting ramp 131 and the second adjusting ramp 132, through... Figure 10The adjusting member 14 shown moves axially along the backlash elimination shaft 121, applying axial thrust to drive the second backlash elimination gear 123 to generate a phase difference relative to the first backlash elimination gear 122, thereby eliminating backlash. The first backlash elimination gear 122 meshes with the transmission gear 11 and is fixed to the backlash elimination shaft 121 by an interference fit, while the second backlash elimination gear 123 is installed on the backlash elimination shaft 121 by a clearance fit, and can generate relative rotation under the action of axial force to achieve phase adjustment. This scheme has a certain degree of adjustability, and the backlash elimination amount can be adjusted by adjusting member 14 according to the actual backlash size. Moreover, the structural design ensures self-locking during the backlash elimination process, preventing relative slippage of the backlash elimination gears when transmitting torque, and ensuring stable and reliable backlash elimination effect.

[0061] Among them, the transmission gear 11 can be as follows Figure 13 As shown, they are simultaneously disposed on both sides of the backlash-eliminating gear assembly 12.

[0062] Alternatively, the transmission gear 11 can be as follows: Figure 14 As shown, it is also located on the right side of the backlash elimination gear assembly 12.

[0063] Specifically, the transmission gear 11 is a standard gear in the transmission system, meshing with the first backlash-eliminating gear 122. As the main gear for transmitting power, it meshes with the first backlash-eliminating gear 122 to achieve power transmission. The backlash of the transmission gear 11 is the target of this solution. Furthermore, the backlash-eliminating gear assembly 12 includes a backlash-eliminating shaft 121, a first backlash-eliminating gear 122, and a second backlash-eliminating gear 123. As the core component of the backlash-eliminating mechanism, the backlash-eliminating gear assembly 12 achieves phase difference adjustment through its internal structure, thereby eliminating the backlash of the transmission gear 11. The first backlash-eliminating gear 122 is fixed to the backlash-eliminating shaft 121 by an interference fit, while the second backlash-eliminating gear 123 is sleeved on the backlash-eliminating shaft 121 by a clearance fit. The backlash-eliminating shaft 121 provides rigid support for the backlash-eliminating gear assembly 12. The interference fit between the first backlash-eliminating gear 122 and the backlash-eliminating shaft 121 ensures that they are fixed as one unit, with no relative slippage during torque transmission. The clearance fit of the second backlash-eliminating gear 123 allows axial movement on the backlash-eliminating shaft 121 and generates slight relative rotation, achieving backlash adjustment.

[0064] Specifically, the first backlash-eliminating gear 122 is sleeved outside the backlash-eliminating shaft 121 and meshes with the transmission gear 11. It is fixed to the backlash-eliminating shaft 121 by an interference fit. A first adjusting slope 131 is provided on the side facing the second backlash-eliminating gear 123, and the angle α1 between the first adjusting slope 131 and the gear axis is greater than 0°. As an intermediary between the backlash-eliminating gear assembly 12 and the transmission gear 11, it bears the transmission load and ensures the rigidity of torque transmission through the interference fit. The first adjusting slope 131 is used to form a helical surface or inclined wedge fit with the second adjusting slope 132 of the second backlash-eliminating gear 123. The axial force applied by the conversion adjustment member 14 is the relative rotation between the backlash-eliminating gears, realizing phase difference adjustment and backlash elimination. The angle between the slopes is greater than 0° to ensure the efficiency of this force conversion and self-locking characteristics.

[0065] The second backlash-eliminating gear 123 is also sleeved on the backlash-eliminating shaft 121 and installed with a clearance fit. A second adjusting slope 132 is provided on the side facing the first backlash-eliminating gear 122, and the angle α2 between the slope of the second adjusting slope 132 and the gear axis is greater than 0°. The other end is away from the first backlash-eliminating gear 122, allowing axial sliding on the backlash-eliminating shaft 121 and slight relative rotation around the shaft 121. The second adjusting slope 132 cooperates with the first adjusting slope 131 to form a helical surface or a wedge-shaped slope fit, converting the axial thrust of the adjusting element 14 into a phase difference between the backlash-eliminating gears, thus eliminating backlash. The angle between the slopes is greater than 0°, ensuring self-locking and efficient force transmission.

[0066] The first adjusting inclined surface 131 is located on the side of the first backlash-eliminating gear 122 facing the second backlash-eliminating gear 123, and the axial angle between it and the first backlash-eliminating gear 122 is greater than 0°. As a key contact surface for force and motion transmission between the two backlash-eliminating gears, it can convert the axial force applied by the adjusting member 14 into relative rotation of the two backlash-eliminating gears, realizing backlash-eliminating phase difference adjustment. At the same time, the angle greater than 0° ensures effective force transmission and avoids reverse slippage. Similarly, the second adjusting inclined surface 132 is located on the side of the second backlash-eliminating gear 123 facing the first backlash-eliminating gear 122, and the axial angle between it and the second backlash-eliminating gear 123 is greater than 0°. It cooperates with the first adjusting inclined surface 131 to realize the conversion of axial force into relative rotation. It is one of the core structures of backlash-eliminating adjustment, and the angle greater than 0° ensures self-locking performance.

[0067] By providing an adjusting member 14 at the end of the second backlash-eliminating gear 123 away from the first backlash-eliminating gear 122, it can move axially along the backlash-eliminating shaft 121 to apply an axial thrust to the second backlash-eliminating gear 123, pushing it closer to the first backlash-eliminating gear 122 along the backlash-eliminating shaft 121. The axial force is converted into relative rotation of the two backlash-eliminating gears through the adjusting inclined plane, thereby adjusting the backlash between the first backlash-eliminating gear 122 and the transmission gear 11, thus achieving backlash elimination. It can be understood that the movement of the adjusting member 14 facilitates adjustment of the backlash elimination amount, adapting to different working conditions.

[0068] The first backlash-free gear 122 is interference-fitted with the backlash-free shaft 121, ensuring that the first backlash-free gear 122 and the backlash-free shaft 121 are fixed as one unit, guaranteeing rigid torque transmission, preventing relative slippage, avoiding loosening during torque transmission, and ensuring the phase stability of the first backlash-free gear 122. The second backlash-free gear 123 is clearance-fitted with the backlash-free shaft 121, allowing the second backlash-free gear 123 to generate axial movement and slight relative rotation on the backlash-free shaft 121, meeting the motion requirements of the adjusting element 14 to convert the applied axial force into a phase difference. Optionally, the clearance is controlled between 0.002mm and 0.008mm to ensure flexible movement while avoiding excessive loosening.

[0069] The first adjusting inclined surface 131 and the second adjusting inclined surface 132 form a spiral surface or inclined wedge fit. Through the meshing between the inclined surfaces, the axial force is effectively converted into relative rotation between two backlash-free gears. The phase difference is adjusted to achieve backlash-free meshing. The included angle of the inclined surfaces is greater than 0° to ensure self-locking and prevent relative slippage when transmitting torque.

[0070] When the adjusting member 14 moves axially along the backlash elimination shaft 121, it applies an axial thrust to the second backlash elimination gear 123, pushing the second backlash elimination gear 123 to move axially, thereby eliminating backlash by adjusting the inclined plane.

[0071] It is understood that the transmission gear 11 meshes with the first backlash-eliminating gear 122, generating backlash while transmitting power. Backlash is a source of error. This solution eliminates backlash through the backlash-eliminating gear assembly 12. The first backlash-eliminating gear 122 is interference-fitted with the backlash-eliminating shaft 121, ensuring a rigid connection between them and preventing relative slippage during torque transmission. This ensures the phase stability of the first backlash-eliminating gear 122 and precise backlash elimination adjustment. The second backlash-eliminating gear 123 is clearance-fitted with the backlash-eliminating shaft 121, allowing axial sliding and slight rotation. Through the axial force of the adjusting element 14, the phase difference between the backlash-eliminating gears is adjusted, dynamically eliminating backlash. The first adjusting ramp 131 and the second adjusting ramp 132 cooperate to convert the axial thrust of the adjusting element 14 into relative rotation between the backlash-eliminating gears, achieving variable phase adjustment, ensuring stable backlash elimination effect and self-locking, and preventing slippage and loosening during transmission. The adjusting component 14 moves axially along the backlash-eliminating shaft 121, applying axial force to drive the second backlash-eliminating gear 123 to move, facilitating backlash adjustment, adapting to different wear and working conditions, and ensuring long-term backlash-free operation.

[0072] In summary, the transmission component 1 of this solution achieves the effect of high-precision backlash elimination and dynamic adjustment of the backlash by adjusting the axial force applied by the adjusting member 14 moving axially along the backlash elimination shaft 121 through the adjustment inclined surface cooperation between the first backlash elimination gear 122 and the second backlash elimination gear 123 in the backlash elimination gear assembly 12. This force is converted into relative rotation of the backlash elimination gears, thereby adjusting the backlash between the first backlash elimination gear 122 and the transmission gear 11.

[0073] Optionally, such as Figure 4 and Figure 5 As shown, the backlash adjustment of the second backlash-eliminating gear 123 on the first backlash-eliminating gear 122 can be realized through the first adjusting block 151 and the second adjusting block 152. Specifically, the first adjusting block 151 is located on the side of the first backlash-eliminating gear 122 facing the second backlash-eliminating gear 123, and multiple first adjusting blocks 151 are evenly arranged along the circumference of the first backlash-eliminating gear 122. The second adjusting block 152 is located on the side of the second backlash-eliminating gear 123 facing the first backlash-eliminating gear 122, and multiple second adjusting blocks 152 are evenly arranged along the circumference of the second backlash-eliminating gear 123.

[0074] Multiple first adjustment blocks 151 are arranged on the first backlash elimination gear 122 along the circumference of the first backlash elimination gear 122. The first adjustment blocks 151 are evenly distributed in the circumference of the first backlash elimination gear 122, providing multi-point support and adjustment force distribution, so that the adjustment force is evenly distributed, avoiding local overload, improving the balance and stability of adjustment, and ensuring the uniformity and reliability of backlash elimination adjustment.

[0075] The first adjusting block 151 is located on the side of the first backlash-eliminating gear 122 facing the second backlash-eliminating gear 123. The position ensures that the first adjusting block 151 corresponds to the second backlash-eliminating gear 123, which facilitates the application of axial thrust. The first adjusting block 151 can act on the corresponding first adjusting inclined surface 131 through the adjusting member 14, thereby realizing the concentration and effective transmission of the adjusting effect.

[0076] Multiple second adjustment blocks 152 are arranged circumferentially on the second backlash-free gear 123, providing adjustment support points corresponding to the first adjustment block 151, ensuring that the adjustment force is evenly distributed on the second backlash-free gear 123, so that the adjustment effect can be evenly realized on the second backlash-free gear 123, effectively avoiding uneven loading or excessive local force, and improving the stability and accuracy of adjustment.

[0077] The second adjusting block 152 is located on the side of the second backlash-free gear 123 facing the first backlash-free gear 122, and its position corresponds to the first adjusting block 151. This allows the adjusting member 14 to act on the second adjusting block 152 to form an adjusting mechanism. The adjusting member 14 applies axial thrust to the second adjusting block 152, thereby pushing the second backlash-free gear 123 to move axially and adjusting the phase difference.

[0078] By introducing multiple first adjusting blocks 151 and multiple second adjusting blocks 152, which are evenly arranged circumferentially along the first backlash-eliminating gear 122 and the second backlash-eliminating gear 123, and cooperating with the first adjusting inclined surface 131 and the second adjusting inclined surface 132, local overload or uneven load during the adjustment process is avoided, ensuring the uniformity of the adjustment effect; by moving the adjusting member 14 along the axial direction of the backlash-eliminating shaft 121, an axial thrust is applied, and the thrust is converted into relative rotation between the two backlash-eliminating gears by utilizing the inclined surface cooperation, thereby realizing the fine adjustment and elimination of backlash.

[0079] In summary, by introducing multiple first adjusting blocks 151 and multiple second adjusting blocks 152, evenly arranged circumferentially along the first backlash-eliminating gear 122 and the second backlash-eliminating gear 123, and combining them with the first adjusting ramp 131 and the second adjusting ramp 132, multi-point simultaneous adjustment is achieved, greatly improving the balance, stability, and accuracy of the adjustment. They work together to move the adjusting component 14 axially along the backlash-eliminating shaft 121. Through the ramp engagement, the axial thrust is converted into a fine-tuning phase difference between the two backlash-eliminating gears, ultimately achieving the overall effect of eliminating transmission backlash, realizing self-locking, and improving transmission accuracy and stability.

[0080] In some embodiments, optionally, the two backlash-eliminating gears are fitted with a slot block, namely a third adjusting block 153 and a first adjusting groove 154. The first adjusting slope 131 is provided on the first backlash-eliminating gear 122. If the third adjusting block 153 is provided on the first backlash-eliminating gear 122, the first adjusting slope 131 is provided on the third adjusting block 153. If the first adjusting groove 154 is provided on the first backlash-eliminating gear 122, the first adjusting slope 131 is provided on the first adjusting groove 154. Similarly, the second adjusting slope 132 is also provided on the second backlash-eliminating gear 123.

[0081] The third adjusting block 153 is disposed on the gear body of the first backlash-free gear 122 or the second backlash-free gear 123 and is embedded in the first adjusting groove 154. The third adjusting block 153 serves as one side of the inclined surface engagement and undertakes the transmission of adjusting thrust. It engages with the first adjusting groove 154 to form an inclined surface mesh, so that the axial force is converted into relative rotation.

[0082] The first adjustment groove 154 is provided on another gear body (the backlash-free gear opposite to the third adjustment block 153), and cooperates with the third adjustment block 153 to form an inclined mating surface corresponding to the third adjustment block 153, allowing the third adjustment block 153 to slide in the groove along the inclined direction, thereby realizing the conversion of axial force into phase difference adjustment.

[0083] The first adjusting inclined surface 131 is provided on the third adjusting block 153. The inclined surface is located on the outer surface of the third adjusting block 153, forming an inclined surface structure. It cooperates with the second adjusting inclined surface 132 in the first adjusting groove 154. The inclined surfaces mesh with each other and transmit the axial thrust applied by the adjusting member 14, converting it into relative rotation between two backlash-eliminating gears to achieve backlash elimination.

[0084] The second adjusting inclined surface 132 is provided on the first adjusting groove 154. The inclined surface is the inner wall surface of the first adjusting groove 154, forming an inclined surface corresponding to the inclined surface of the third adjusting block 153. It cooperates with the first adjusting inclined surface 131 of the third adjusting block 153 to form an inclined surface cooperation pair, ensuring the stability of the adjustment force transmission and the self-locking performance.

[0085] By utilizing the structural fit between blocks and grooves to form an inclined meshing relationship, the block-groove fit has a shorter axial dimension compared to the fit between blocks, which helps to save space; at the same time, the inclined fit enables the efficient conversion of axial force into relative rotation.

[0086] The third adjusting block 153 and the first adjusting groove 154, as another implementation parallel to the first adjusting block 151 and the second adjusting block 152, achieves phase difference adjustment between the backlash-free gears through the inclined surface meshing of the block and the groove, thereby adjusting the backlash between the first backlash-free gear 122 and the transmission gear 11. This scheme utilizes the structural characteristics of the block-groove engagement to achieve a shorter axial dimension, which helps save installation space in the robot joint transmission system. Simultaneously, the inclined surface angle is greater than 0°, ensuring the self-locking performance of the adjusting mechanism and guaranteeing stability and reliability during transmission.

[0087] It is understood that this solution allows for the application of axial thrust through the adjusting member 14 to push the third adjusting block 153 to move along the inclined surface of the first adjusting groove 154, thereby achieving precise elimination of side clearance and dynamic adjustment.

[0088] In some embodiments, optionally, an adjusting elastic element 16 is also provided between the adjusting member 14 and the second backlash-eliminating gear 123. The adjusting elastic element 16 serves as an elastic buffer element between the adjusting member 14 and the second backlash-eliminating gear 123. On the one hand, it can buffer the axial thrust applied by the adjusting member 14, avoiding overload or structural damage to the gear assembly due to the rigid pushing of the adjusting member 14. On the other hand, under the action of the adjusting elastic element 16, wear can be dynamically compensated. When the backlash increases due to wear on the gear meshing surface, the elastic element can automatically release the compression amount through elastic deformation to maintain the backlash elimination effect. In addition, the adjusting elastic element 16 improves the adjustment stability, avoids backlash changes caused by minor vibrations or impacts of the adjusting member 14, and ensures the long-term stable operation of the backlash-eliminating gear assembly 12.

[0089] The adjusting member 14 applies a force to the second backlash-free gear 123 through the adjusting elastic member 16. When the adjusting member 14 moves axially, the force is first transmitted to the adjusting elastic member 16, and then applied to the second backlash-free gear 123 by the elastic member, making the force transmission smoother and avoiding instantaneous overload or impact. At the same time, the preload of the elastic member can ensure that the adjusting member 14 and the second backlash-free gear 123 always maintain effective contact, ensuring that the adjusting mechanism is sensitive and reliable.

[0090] The adjusting elastic element 16 is located between the adjusting element 14 and the second backlash-eliminating gear 123. The elastic element is installed in the backlash-eliminating shaft 121 or the adjusting element 14 structure, and is in close contact with the second backlash-eliminating gear 123. The adjusting elastic element 16 forms a buffer and pre-tightening effect, ensuring the smooth transmission of the adjusting force, and can automatically adapt to the wear changes of the gear meshing surface.

[0091] The adjusting elastic element 16 effectively mitigates the axial thrust applied by the adjusting element 14, preventing excessive impact on the second backlash-eliminating gear 123 and its adjusting ramp, protecting the structural integrity of the backlash-eliminating gear assembly 12, and extending its service life. During gear meshing, tooth surface wear is inevitable, leading to backlash. The elastic deformation capacity of the adjusting elastic element 16 allows it to automatically adjust the compression amount according to the degree of wear, achieving dynamic backlash elimination and maintaining high precision and stability of the transmission system. The presence of the elastic element reduces the mechanical clearance and vibration impact of the adjusting mechanism, making the contact between the adjusting element 14 and the second backlash-eliminating gear 123 more stable, ensuring the accuracy of backlash elimination adjustment.

[0092] Optionally, by selecting adjustment elastic elements 16 with different stiffness and shape (such as wave springs, elastic pads, etc.), the adjustment requirements under different load, vibration and temperature conditions can be met, enhancing the applicability and flexibility of the solution.

[0093] In summary, the adjusting elastic element 16, serving as the elastic connection mechanism between the adjusting element 14 and the second backlash-eliminating gear 123, achieves flexible transmission and buffer protection of the adjusting force, effectively avoiding impact loads during the adjustment process and ensuring the long-term stable operation and high-precision backlash elimination effect of the backlash-eliminating gear assembly 12. Its elastic deformation characteristics also enable the system to have automatic wear compensation capabilities, improving the performance and lifespan of the robot's transmission system.

[0094] In some embodiments, optionally, such as Figure 7 and Figure 9 As shown, both the first adjusting inclined plane 131 and the second adjusting inclined plane 132 are planes. The angle between the first adjusting inclined plane 131 and the axial direction of the backlash-eliminating shaft 121, and the angle between the second adjusting inclined plane 132 and the axial direction of the backlash-eliminating shaft 121, are both within the range of 1° to 50°.

[0095] The larger the angle, approaching 50°, the greater the adjustment force is converted into a larger axial thrust, resulting in high adjustment efficiency, but relatively reduced self-locking performance. The smaller the angle, approaching 1°, the smaller the adjustment force is converted into a smaller axial thrust, enhancing self-locking performance, but slower force transmission. By limiting the angle range to 1°~50°, adjustment flexibility is provided, balancing adjustment efficiency and self-locking performance.

[0096] In summary, the first adjusting inclined plane 131 and the second adjusting inclined plane 132 are planar, which simplifies the structural design, facilitates manufacturing and assembly, and ensures stable contact surfaces and low friction during adjustment. The axial angle with the backlash-free shaft 121 is controlled within the range of 1° to 50°, providing adjustment range for both efficiency and self-locking performance. This design results in smoother force transmission, a more reliable adjustment process, and excellent self-locking performance, ensuring that the adjusting mechanism will not slip or loosen when transmitting torque.

[0097] In some embodiments, optionally, such as Figure 6 and Figure 8 As shown, both the first adjusting ramp 131 and the second adjusting ramp 132 are helical surfaces, and the helix angle of the first adjusting ramp 131 and / or the second adjusting ramp 132 is within the range of 10° to 89°. By restricting the ramp to a helical shape and continuously rotating around the backlash-eliminating shaft 121, the axial force applied by the adjusting member 14 is converted into a rotational torque along the circumference of the gear, thereby realizing the phase difference adjustment between the backlash-eliminating gears. The continuous meshing of the helical surfaces avoids the limitations of point or line contact, improving the smoothness of transmission and the load-bearing capacity.

[0098] A smaller helix angle, close to 10°, results in a smaller axial force component, a larger tangential force, and stronger self-locking performance, preventing relative sliding of the adjustment surfaces and ensuring the stability of the adjustment mechanism. A larger helix angle, close to 89°, results in a larger axial force component, faster adjustment response, and higher adjustment efficiency, but the self-locking performance is relatively weakened.

[0099] The first and second adjusting helical surfaces mesh to form a helical tooth surface engagement, transmitting force and motion. Axial thrust is applied through the axial movement of the adjusting component 14. The meshing of the helical surfaces converts the force into relative rotation between two backlash-free gears, achieving phase difference adjustment and backlash elimination. The helix angle determines the force decomposition method, controlling the ratio of axial force to tangential force. Through reasonable helix angle design, the adjusting mechanism can both self-lock to prevent reverse slippage and efficiently adjust backlash.

[0100] In summary, in this scheme, both the first adjusting inclined surface 131 and the second adjusting inclined surface 132 are helical surfaces, and the helical angle ranges from 10° to 89°. By utilizing the continuity and stability of the helical surface meshing, the efficient transmission of the axial force of the adjusting component 14 to the phase difference between the backlash-eliminating gears is achieved, ensuring the self-locking performance and adjustment response speed of the backlash-eliminating mechanism.

[0101] In some embodiments, optionally, such as Figure 15As shown, the hollow gear shaft 124 is a gear shaft with a hollow structure. The second backlash-free gear 123 is mounted on the hollow gear shaft 124. The hollow gear shaft 124 is sleeved outside the backlash-free shaft 121, that is, the hollow gear shaft 124 is sleeved on the outside of the backlash-free shaft 121. The two are arranged coaxially. The bearing 17 is sleeved outside the hollow gear shaft 124 to support the rotation of the hollow gear shaft 124.

[0102] The hollow gear shaft 124 houses the backlash-eliminating shaft 121, both arranged coaxially. The backlash-eliminating shaft 121 serves as the inner shaft for torque transmission, supporting the first backlash-eliminating gear 122 and the adjusting mechanism, ensuring transmission rigidity. The hollow gear shaft 124, with its hollow structure, is located outside the backlash-eliminating shaft 121 and carries the second backlash-eliminating gear 123. Its structure reduces weight while providing a rigid platform for mounting the second backlash-eliminating gear 123. The hollow design saves axial space, facilitating the integration of the bearing 17 and other components. The second backlash-eliminating gear 123 is mounted on the hollow gear shaft 124 and engages with the backlash-eliminating gear assembly 12, acting as the second gear of the assembly. It interacts with the first backlash-eliminating gear 122 through an adjustable inclined or helical surface to adjust the phase difference and eliminate backlash. The bearing 17 is sleeved outside the hollow gear shaft 124, supporting its rotation, reducing friction, ensuring stable rotation, supporting axial and radial loads, and improving the smoothness and lifespan of the transmission system.

[0103] In summary, this solution achieves a compact, lightweight, high-rigidity, and well-supported robot transmission backlash-eliminating component by fitting a hollow gear shaft 124 around a backlash-eliminating shaft 121, mounting a second backlash-eliminating gear 123 on the hollow gear shaft 124, and then mounting a bearing 17 on the outer layer.

[0104] In some embodiments, the transmission gear 11 and the first backlash-free gear 122 are optionally both spur gears. Due to the meshing characteristics of spur gears, the axial force is small, and they mainly bear the radial force and torque, which reduces the impact of axial load on the bearing 17 and the shaft, and is beneficial to the compact structure and extended service life of the system.

[0105] It is understandable that the axial force is smaller when spur gears mesh, which reduces the axial load on the backlash-eliminating shaft 121 and related bearings 17, which is beneficial to improving system stability and lifespan. The meshing characteristics of spur gears ensure that the meshing clearance between the backlash-eliminating gear and the transmission gear 11 is easy to control, and the backlash adjustment is more precise.

[0106] In summary, both the transmission gear 11 and the first backlash-eliminating gear 122 adopt a spur gear structure, which ensures that the transmission system has a simple structure, is easy to manufacture and has high transmission efficiency. At the same time, it reduces the impact of axial load on the system, which is conducive to the stable operation and precise adjustment of the backlash-eliminating mechanism.

[0107] In some embodiments, the first backlash-free gear 122 and the backlash-free shaft 121 are optionally integrated, and the first backlash-free gear 122 and the backlash-free shaft 121 are integrally machined or formed into a rigid integral part through processes such as heat treatment.

[0108] In another embodiment, the first backlash-free gear 122 and the backlash-free shaft 121 are separate structures. The first backlash-free gear 122 and the backlash-free shaft 121 are machined separately and then combined into one unit through interference fit, spline connection, key connection or threaded connection.

[0109] In either design, the bearing 17 is mounted on the outside of the backlash-free shaft 121 to support the rotation of the backlash-free shaft 121.

[0110] By restricting the first backlash-free gear 122 and the backlash-free shaft 121 to be an integral structure, they can be made into a rigid integral part by integral machining or heat treatment. This solution has strong torque transmission rigidity, no relative sliding, compact structure, reduced assembly error, improved transmission rigidity and reliability, and is suitable for high load and high precision applications.

[0111] Alternatively, the first backlash-free gear 122 and the backlash-free shaft 121 can be separated into two parts. Specifically, they can be connected by interference fit, key connection, spline connection, etc. This facilitates manufacturing and maintenance. The separate design makes it easy to replace individual parts and provides high flexibility. However, the connection must be rigid enough to prevent loosening during transmission.

[0112] Based on this, by installing the bearing 17 outside the backlash-free shaft 121, the backlash-free shaft 121 is supported to rotate, reducing rotational friction, bearing radial and axial loads, ensuring the smooth operation of the backlash-free shaft 121, and extending the system life.

[0113] In summary, this solution provides two implementation methods for the first backlash-free gear 122 and the backlash-free shaft 121: they can be an integral structure or separate structures. By setting a bearing 17 on the outside of the backlash-free shaft 121, the transmission system achieves high rigidity, high precision, and good support, which takes into account both manufacturing process and maintenance convenience, and ensures the performance and life of the robot transmission system.

[0114] In some embodiments, optionally, such as Figure 10 As shown, the adjusting member 14 is threadedly connected to the backlash-eliminating shaft 121. The adjusting member 14 is provided with an internal thread, and the backlash-eliminating shaft 121 is provided with a corresponding external thread. The two are fixed by threaded engagement. When the adjusting member 14 is rotated, the thread transmits axial thrust, which pushes the adjusting member 14 to move axially along the backlash-eliminating shaft 121, thereby applying a force to the second backlash-eliminating gear 123.

[0115] Axial movement is achieved by rotating the adjusting component 14, allowing for precise transmission of adjusting force. Operation is simple and adjustment is accurate. Figure 11 and Figure 12As shown, the adjusting member 14 adjusts the elastic member 16 or acts directly on the second backlash-free gear 123 to achieve axial thrust on the second backlash-free gear 123, thereby driving it to generate a phase difference and adjusting the backlash.

[0116] The overall adjustment process is as follows: the operator or automatic device rotates the adjusting component 14; the adjusting component 14 moves axially along the thread of the backlash elimination shaft 121; the adjusting component 14 applies axial thrust to the second backlash elimination gear 123 by adjusting the elastic element 16 or by direct action; the second backlash elimination gear 123 moves axially, and at the same time, relative rotation is generated by adjusting the inclined surface or the spiral surface to achieve backlash elimination; the thread self-locking ensures that the position of the adjusting component 14 remains unchanged and the backlash elimination effect is stable.

[0117] In summary, the adjusting component 14, through its threaded connection with the backlash-eliminating shaft 121, enables the rotational control of axial thrust. It possesses advantages such as high adjustment accuracy, strong self-locking, and easy operation, ensuring that the backlash of the backlash-eliminating gear assembly 12 can be precisely adjusted and maintained stably over a long period, thus meeting the requirements of the robot transmission system for high-precision and high-reliability backlash elimination.

[0118] In some embodiments, optionally, the first backlash-eliminating gear 122 has a wedge block on the side facing the second backlash-eliminating gear 123. The wedge block is fixed or assembled on one side of the first backlash-eliminating gear 122 and faces the second backlash-eliminating gear 123. The second backlash-eliminating gear 123 has a wedge block or a groove on the side facing the first backlash-eliminating gear 122. The second backlash-eliminating gear 123 has a wedge block that cooperates with the wedge block of the first backlash-eliminating gear 122 in the corresponding direction, or has a corresponding groove, for forming an adjustment mechanism with the wedge block of the first backlash-eliminating gear 122.

[0119] The first backlash-eliminating gear 122 is provided with a wedge block installed on the side of the first backlash-eliminating gear 122 facing the second backlash-eliminating gear 123. It is fixed to the gear body or connected by fasteners, serving as a wedge or guide surface on one side of the adjustment mechanism, and participating in the backlash adjustment.

[0120] The second backlash-eliminating gear 123 is provided with an inclined block or an inclined groove, specifically installed on the side of the second backlash-eliminating gear 123 facing the first backlash-eliminating gear 122. The inclined block is a solid mating surface, and the inclined groove is a groove structure. It cooperates with the inclined block of the first backlash-eliminating gear 122 to form an inclined guide mechanism, realizing the sliding and relative rotation of the adjusting block.

[0121] By providing inclined blocks and inclined slots, or inclined blocks and inclined slots, on opposite sides of the first backlash-eliminating gear 122 and the second backlash-eliminating gear 123, the inclined surface fit of the adjustment mechanism is achieved, ensuring the accuracy and stability of the backlash adjustment of the backlash-eliminating gear assembly. The diverse inclined surface fit forms meet different design requirements, improving the reliability and service life of the robot transmission system.

[0122] Optionally, in some embodiments, the first backlash-free gear 122 has a helical block on the side facing the second backlash-free gear 123. The helical block is a helical protrusion on the first backlash-free gear 122, which is helically distributed along the axial direction around the surface of the gear body. The second backlash-free gear 123 has a helical block or a helical groove on the side facing the first backlash-free gear 122. The corresponding side of the second backlash-free gear 123 has a helical block or a helical groove that cooperates with the helical block of the first backlash-free gear 122 to form a helical surface meshing.

[0123] The helical block of the first backlash-free gear 122 is specifically installed on the side of the first backlash-free gear 122 facing the second backlash-free gear 123, fixed to the surface of the gear body, and distributed in a helical shape along the axial direction. By forming a helical surface, it is used to mesh with the helical block or helical groove on the second backlash-free gear 123 to transmit adjustment force and guide movement.

[0124] The helical block or helical groove of the second backlash-eliminating gear 123 is specifically installed on the side of the second backlash-eliminating gear 123 facing the first backlash-eliminating gear 122. The helical block is a raised structure and the helical groove is a recessed structure. The helical block or helical groove of the second backlash-eliminating gear 123 meshes with the helical block of the first backlash-eliminating gear 122 to form a continuous helical surface, thereby realizing the conversion of the axial force of the adjustment mechanism into angular motion.

[0125] By providing a helical block and a helical block, or a helical block and a helical groove, on opposite sides of the first backlash-free gear 122 and the second backlash-free gear 123, the helical surface meshing of the adjustment mechanism in the backlash-free gear assembly is realized, effectively converting the axial adjustment force into relative rotation between gears, improving the accuracy and stability of adjustment, while taking into account self-locking performance and transmission efficiency, making it suitable for high-precision robot transmission systems.

[0126] In some embodiments, optionally, an adjusting elastic element 16 is disposed between the adjusting element 14 and the second backlash-free gear 123, for applying elastic force to adjust the relative position between the gears. The adjusting element 14, through rotation, compresses or releases the adjusting elastic element 16, adjusting the axial position of the second backlash-free gear 123 along the backlash-free shaft. A meshing clearance exists between the first backlash-free gear 122 and the transmission gear 11; the adjusting mechanism primarily adjusts the phase difference between the second backlash-free gear 123 and the first backlash-free gear 122. The second adjusting inclined surface 132 engages with the first adjusting inclined surface 131 to form an inclined meshing surface, controlling the relative rotation of the second backlash-free gear 123 to achieve phase difference adjustment.

[0127] The specific adjustment process is as follows: In the initial state (with meshing clearance), there is meshing clearance between the first backlash-eliminating gear 122 and the transmission gear 11, and the backlash between the gears has not been eliminated.

[0128] An adjusting force is applied (compressing the adjusting elastic element 16), and the adjusting element 14 is rotated to compress the adjusting elastic element 16. Through the elastic action of the elastic element, the second backlash-eliminating gear 123 is pushed closer to the first backlash-eliminating gear 122 along the backlash-eliminating axis. The purpose is to reduce or eliminate the meshing backlash, providing a basis for subsequent adjustments.

[0129] Phase difference adjustment (rotation adjustment component 14): When the second adjustment slope 132 is in contact with the first adjustment slope 131, the rotation of the adjustment component 14 will drive the second backlash-free gear 123 to rotate relative to the first backlash-free gear 122, so that a phase difference is generated between the two gears, and the gear meshing position is adjusted.

[0130] As the phase difference between the two gears increases, the first backlash-eliminating gear 122 gradually meshes with the transmission gear 11; the second backlash-eliminating gear 123 also meshes with the transmission gear 11, and the synchronous adjustment of the gears achieves the purpose of eliminating backlash.

[0131] Continue rotating the adjusting member 14 to further compress the adjusting elastic member 16, pushing the second backlash-eliminating gear 123 axially closer to the first backlash-eliminating gear 122, thus completing the backlash elimination.

[0132] When meshing backlash exists, backlash can be eliminated by releasing the compression of the adjusting elastic element 16 (i.e., the adjusting element 14 rotates to cause the elastic element to spring back), resulting in tighter gear meshing. The adjusting structure utilizes the adjusting elastic element 16 to achieve axial adjustment between gears. By rotating the adjusting element 14 to compress or release the elastic element, the phase difference between the second backlash-eliminating gear 123 and the first backlash-eliminating gear 122 is controlled, thereby adjusting the gear meshing position and eliminating backlash. During the adjustment process, the inclined plane meshing ensures the relative rotation of the gears, and the change in the compression of the adjusting elastic element 16 controls the meshing tightness between gears, achieving an ideal backlash state.

[0133] In another embodiment, such as Figure 16 , Figure 17 and Figure 18 As shown, a robot 2 is proposed, comprising a first joint housing 21, a second joint housing 22, and a transmission assembly 1. The robot 2 includes a first joint housing 21 and a second joint housing 22: the robot joint structure consists of two housing parts, namely the first joint housing 21 and the second joint housing 22. A transmission gear 11 in the transmission assembly 1 is fixedly mounted on the first joint housing 21, and a backlash-free shaft 121, as part of the transmission assembly 1, is connected to the second joint housing 22 to realize the transmission of power and motion.

[0134] The transmission gear 11 is fixedly installed on the first joint housing 21, serving as the input end for power transmission. The first joint housing 21 supports the transmission gear 11, ensuring transmission rigidity and positioning accuracy. The backlash-free shaft 121 and the second joint housing 22 are mechanically connected (keyed connection, spline connection, or directly machined into one piece), serving as the output end for power transmission. The backlash-free shaft 121 is rigidly connected to the second joint housing 22, realizing the transmission of power and motion.

[0135] The first joint housing 21 and the second joint housing 22 are connected by the transmission assembly 1 to achieve relative movement. The two housing parts of the robot joint are connected by the transmission assembly 1 to achieve rotational transmission and backlash adjustment.

[0136] By setting the transmission gear 11 of the transmission assembly 1 in the first joint housing 21 and connecting the backlash-free shaft 121 to the second joint housing 22, efficient power transmission and precise backlash adjustment between robot joints are achieved, improving the overall transmission performance and control accuracy of robot 2 and meeting the robot's requirements for a high-performance transmission system.

[0137] It should be noted that since the robot 2 includes any of the above-mentioned transmission components 1 embodiments, it has the beneficial effects of any of the above-mentioned transmission components 1.

[0138] Optionally, the drive motor 231 is connected to the first gear shaft 232 via a coupling, gear, or belt. The drive motor 231 is installed inside the first joint housing 21, and the first gear shaft 232 is also located inside the first joint housing 21, so that the power output of the motor can be effectively transmitted to the first gear shaft 232 as the power source of the transmission system.

[0139] The first gear shaft 232 and the second gear shaft 233 are meshed and connected. Both shafts are located inside the first joint housing 21. The second gear shaft 233 is equipped with a transmission gear 11 to realize the step-by-step transmission of power. The transmission gear 11 on the second gear shaft 233 further transmits power to the backlash-free gear assembly 12.

[0140] The transmission gear 11 on the second gear shaft 233 is installed on the second gear shaft 233 and is used to mesh with the backlash-free gear. The transmission gear 11 is fixed on the second gear shaft 233 to achieve meshing with the first backlash-free gear 122 or other gears. As an important link in the power transmission chain, it ensures smooth power transmission and transmission accuracy.

[0141] In summary, by placing the drive motor 231 inside the first joint housing 21 and connecting it to the drive motor 231 via the first gear shaft 232, and connecting the second gear shaft 233 to the first gear shaft 232, multi-stage power transmission is achieved. Finally, the backlash-free gear assembly 12 is driven by the transmission gear 11 on the second gear shaft 233, ensuring efficient and precise transmission of the robot joint.

[0142] This application also provides a specific embodiment of a variable-phase self-locking backlash-eliminating robot transmission system. By replacing the output gear of the robot gear transmission system with a backlash-eliminating gear assembly, the purpose of eliminating gear backlash is achieved, which can improve the transmission accuracy of the robot transmission system, reduce transmission shock and noise, and improve the life and performance of the transmission system. Compared with the prior art, it has the following advantages: 1. Bidirectional Backlash Elimination: The backlash elimination gear assembly is formed by adding helical block features and helical block features (or helical block-helical block, helical block-helical groove, helical block-helical groove) to two backlash elimination gears respectively, creating a self-locking torque-transmitting helical surface (or inclined wedge) fit. By adjusting the axial distance between the two backlash elimination gears, the relative rotation of the backlash elimination gears is achieved, changing the phase difference of the teeth of the two backlash elimination gears. When the teeth of both backlash elimination gears abut against the gear they are meshing with, the purpose of backlash elimination is achieved. The two backlash elimination gears transmit power to each other through the helical surface (or inclined wedge) fit, and the relative rotation is limited by the axial fixing components of the backlash elimination gears and the input or output tooth profile, thus maintaining the gear backlash elimination effect in bidirectional transmission, and the backlash elimination structure can be used for input gears or idler gears.

[0143] 2. Self-locking: By setting a large helix angle (or inclined angle) of the helical block, the torque transmitted by the two backlash-free gears can be converted into the tangential force of the helical block 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 helical block (or inclined block). This achieves self-locking of the helical surface fit (or inclined surface fit) during transmission. Theoretically, as long as the material of the helical block (or inclined block) is not damaged, torque can be transmitted continuously.

[0144] 3. Multiple backlash reduction adjustment methods: The axial distance between the two backlash-reducing gears can be adjusted by adjusting nuts, adjusting shims, wave springs, etc., to adapt to different application conditions.

[0145] Specifically, the variable-phase self-locking backlash-eliminating robot transmission system includes a first joint housing 21, a second joint housing 22, an input gear (i.e., the gear of the drive motor 231), a first gear shaft 232, a second gear shaft 233, a backlash-eliminating gear assembly 12, a motor (i.e., the drive motor 231), oil seals, bearings, and retaining rings, such as... Figure 16 , Figure 17 and Figure 18 As shown. Furthermore, non-meshing gears can have different modules and pressure angles. Besides the backlash-free gear and the gear meshing with it, the other gears can be helical gears, bevel gears, hypoid gears, irregularly shaped gears, etc. The backlash-free gear assembly includes a snap ring, bearings, a backlash-free gear shaft, a second backlash-free gear, a wave spring, and an adjusting nut, such as... Figure 18 As shown.

[0146] like Figure 4 As shown, the structure of the backlash-eliminating gear shaft includes features such as an idler shaft (i.e., backlash-eliminating shaft 121), a first backlash-eliminating gear 122, a first adjusting block 151, and an adjusting thread. The structure of the second backlash-eliminating gear 123 is as follows. Figure 5 As shown, it includes features such as a second adjustment block 152.

[0147] First, assemble the idler gear assembly. The second backlash-free gear is installed on the backlash-free gear shaft with a clearance fit (approximately 0.002-0.008 mm). Simultaneously, adjust the initial phase of the backlash-free gear to ensure that the helical block on the first backlash-free gear and the helical block on the second backlash-free gear form a helical surface fit when the adjusting nut is screwed into the adjusting thread. Then, install the motor, the first gear shaft, and the second gear shaft on the first joint housing. Finally, install the assembled idler gear assembly between the input and output gears according to the required center distance.

[0148] After initial assembly, a meshing clearance still exists between the transmission gear and the backlash-eliminating gear. By screwing in the adjusting nut, the wave spring is compressed, which in turn pushes the second backlash-eliminating gear axially towards the first backlash-eliminating gear along the idler shaft. Simultaneously, due to the helical surface engagement of the helical block and the helical block, the second backlash-eliminating gear rotates relative to the first backlash-eliminating gear, creating a phase difference between the two gears. As the phase difference between the two gears increases, the upper tooth surface of the teeth of the first backlash-eliminating gear meshing with the transmission gear abuts against the lower tooth surface of the transmission gear it meshes with, and the lower tooth surface of the teeth of the second backlash-eliminating gear meshing with the transmission gear abuts against the upper tooth surface of the input gear it meshes with. At this point, the adjusting nut needs to be further screwed in to give the wave spring a suitable compression amount. The meshing effect of the teeth after backlash elimination is as follows: Figure 2 and Figure 3 As shown, the engagement state of the helical block between the first and second backlash-free gears is as follows: Figure 7 As shown. If the backlash increases after the gear teeth wear, the wave spring can dynamically eliminate the backlash by releasing its compression. Alternatively, the axial displacement of the backlash-eliminating gear can be directly limited by using a nut or an adjusting nut with a washer, such as... Figure 10 , Figure 11 and Figure 12 As shown.

[0149] like Figure 2 As shown, when the transmission gear rotates clockwise as indicated by the arrow in the figure, the lower tooth surface of the transmission gear can push the upper tooth surface of the first backlash-free gear to move counterclockwise without backlash. The helical block on the first backlash-free gear, through the engagement of the helical block, pushes the second backlash-free gear to move counterclockwise, thereby driving the second joint housing to move counterclockwise; when the input gear and... Figure 2When the arrows are in opposite directions, i.e., when rotating counterclockwise, the upper tooth surface of the transmission gear pushes the lower tooth surface of the first backlash-free gear to move clockwise without backlash. The helix on the first backlash-free gear then drives the second backlash-free gear to move clockwise through the helical engagement, which in turn drives the second joint housing to move clockwise.

[0150] The helical block and helical block fit between the first and second backlash-free gears can be replaced with a wedge block and wedge groove fit (fitting cross section as shown in the figure). Figure 6 As shown), the helical block and the helical groove are fitted together (the fitting cross-section is as shown). Figure 8 As shown), the inclined blocks and the inclined block fit together (the fit section is as shown). Figure 9 (As shown). Compared to the block-to-block fit, the block-to-groove fit has a shorter axial dimension.

[0151] In addition, the backlash-eliminating gear assembly can also be used as an input gear or idler gear to achieve direct or indirect backlash elimination between the input gear and the output gear, such as... Figure 13 and Figure 14 As shown in the figure, the backlash-eliminating gear assembly uses a combination of a helical block and a helical groove.

[0152] in, Figure 7 and Figure 8 The helix angle of the helical block shown ranges from 10° to 89°; Figure 6 and Figure 9 The oblique angles of the blocks shown range from 1° to 50°; Figure 6 and Figure 8 The length of the block shown is shorter than the depth of the groove. The number of inclined blocks (or spiral blocks) and inclined grooves (or spiral grooves) can be set according to actual needs, preferably an even number, such as 2, 4, 6, 8, 10, etc.

[0153] The first and second backlash-free gears can transmit torque to each other through slant blocks or helical blocks. By using a large slant block angle or helical block helix angle, most of the torque can be converted into pressure perpendicular to the slant surface of the slant block or the helical surface of the helical block. Only a small portion is decomposed into axial force that causes the slant surface of the slant block or the helical surface of the helical block to slide relative to each other. However, since the pressure perpendicular to the slant surface of the slant block or the helical surface of the helical block is very large, the friction between the slant surface of the slant block or the helical surface of the helical block will be much greater than the axial force generated by the torque that causes the slant surface of the slant block or the helical surface of the helical block to slide relative to each other. Ultimately, the slant surface of the slant block and the helical surface of the helical block form a self-locking mechanism, and no relative sliding occurs when transmitting torque.

[0154] It is understandable that this solution, as a variable phase self-locking backlash-eliminating robot transmission system, realizes 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.

[0155] The following examples of common problems in gear backlash elimination structures illustrate the principle and technical advantages of this solution: 1. Two-way gap elimination Bidirectional backlash elimination refers to a backlash elimination structure or mechanism that can eliminate backlash in both forward and reverse gear transmission.

[0156] This invention achieves backlash elimination by adding helical block-helical block features (or helical block-helical block, helical block-helical groove, helical block-helical groove) to two backlash-eliminating gears to form a helical surface (or helical wedge) fit. By adjusting the axial distance between the two backlash-eliminating gears, a phase difference is created, thereby achieving backlash elimination. Furthermore, the two backlash-eliminating gears transmit power to each other through the helical surface 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, input gear, and idler gear.

[0157] 2. Self-locking characteristic By using a large slant angle or helix angle of the spiral block, most of the transmitted torque can be converted into pressure perpendicular to the slant surface of the slant block or the spiral surface of the spiral block, and a small portion can be converted into axial force. Therefore, the friction between the slant surface of the slant block or the spiral surface of the spiral block will be much greater than the axial force generated by the torque that causes the slant surface of the slant block or the spiral surface of the spiral block to slide relative to each other. Ultimately, the slant surface of the slant block and the spiral surface of the spiral block will form a self-locking mechanism, and no relative sliding will occur when transmitting any torque.

[0158] 3. High torque transmission Because the backlash-free gear assembly has a self-locking characteristic, theoretically the upper limit of the transmitted torque is the magnitude of the torque that causes deformation or other destructive damage to the structure of the helical block or swashplate. For helical blocks or swashplates made of alloy steel, this value is very large.

[0159] 4. Multiple adjustment methods Since both the inclined block and the spiral block in this invention have self-locking characteristics, the axial distance between the two backlash-free gears can be adjusted by adjusting nuts, adjusting shims, wave springs, etc., to adapt to different application conditions.

[0160] Optionally, the backlash-free gear shaft can be made as a separate unit, consisting of an idler shaft and a first backlash-free gear. The two can be combined into one unit through interference fit, spline fit, spline interference, etc., such as... Figure 15 As shown.

[0161] Optionally, to further save axial space, the second backlash-free gear can be machined into a hollow gear shaft suitable for mounting bearings, such as... Figure 15 As shown.

[0162] Alternatively, the backlash-free gear assembly can also be applied to the input gear, idler gear, and output gear.

[0163] Optionally, the gear that mates with the backlash-free gear assembly should be a spur gear, but other gears in the gear transmission system may be helical gears, bevel gears, hypoid gears, irregular gears, worm gears, etc.

[0164] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "install," "connect," "join," and "fix" should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "join" 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.

[0165] In the description of this utility model, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0166] 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.

[0167] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A transmission component, characterized in that, include: Transmission gears; The backlash-eliminating gear assembly includes a backlash-eliminating shaft and a first backlash-eliminating gear and a second backlash-eliminating gear sleeved outside the backlash-eliminating shaft. The first backlash-eliminating gear meshes with the transmission gear, the first backlash-eliminating gear is interference-fitted with the backlash-eliminating shaft, and the second backlash-eliminating gear is clearance-fitted with the backlash-eliminating shaft. The first adjusting slope is located on the side of the first backlash-eliminating gear facing the second backlash-eliminating gear, and the angle a1 between the first adjusting slope and the axial direction of the first backlash-eliminating gear is greater than 0°. The second adjusting slope is located on the side of the second backlash-eliminating gear facing the first backlash-eliminating gear, and the angle a2 between the second adjusting slope and the axial direction of the second backlash-eliminating gear is greater than 0°. An adjusting member is provided at the end of the second backlash-eliminating gear away from the first backlash-eliminating gear, and the adjusting member can move axially along the backlash-eliminating shaft on the backlash-eliminating shaft; Specifically, when the adjusting member applies a force to the second backlash-eliminating gear and a portion of the second adjusting inclined surface is in contact with a portion of the first adjusting inclined surface, the backlash between the first backlash-eliminating gear and the transmission gear is adjusted.

2. The transmission assembly according to claim 1, characterized in that, Also includes: A first adjusting block is disposed on the side of the first backlash-eliminating gear facing the second backlash-eliminating gear, and a first adjusting inclined surface is disposed on the first adjusting block. A plurality of the first adjusting blocks are disposed on the first backlash-eliminating gear along the circumference of the first backlash-eliminating gear. The second adjusting block is located on the side of the second backlash-eliminating gear facing the first backlash-eliminating gear. The second adjusting inclined surface is located on the second adjusting block. A plurality of the second adjusting blocks are located on the second backlash-eliminating gear along the circumference of the second backlash-eliminating gear.

3. The transmission assembly according to claim 1, characterized in that, Also includes: The third adjusting block and the first adjusting groove, one of which is located in the first backlash elimination gear and the other is located in the second backlash elimination gear; The first adjusting inclined surface is located in one of the first backlash-eliminating gears in the third adjusting block and the first adjusting groove, and the second adjusting inclined surface is located in one of the second backlash-eliminating gears in the third adjusting block and the first adjusting groove.

4. The transmission assembly according to claim 2, characterized in that, Also includes: An adjusting elastic element is disposed between the adjusting member and the second backlash-eliminating gear, and the adjusting member applies a force to the second backlash-eliminating gear through the adjusting elastic element.

5. The transmission assembly according to any one of claims 1 to 4, characterized in that, The first adjusting slope is a plane, and the second adjusting slope is a plane; The angle between the first adjusting slope and / or the second adjusting slope and the axial direction of the backlash-eliminating shaft ranges from 1° to 50°.

6. The transmission assembly according to claim 5, characterized in that, The first backlash-free gear has a wedge block on the side facing the second backlash-free gear; The second backlash-eliminating gear has a slanted block on the side facing the first backlash-eliminating gear, or the second backlash-eliminating gear has a slanted groove on the side facing the first backlash-eliminating gear.

7. The transmission assembly according to any one of claims 1 to 4, characterized in that, The first adjusting inclined plane is a helical surface, and the second adjusting inclined plane is a helical surface; The spiral angle of the first adjusting ramp and / or the second adjusting ramp ranges from 10° to 89°.

8. The transmission assembly according to claim 7, characterized in that, A helical block is provided on the side of the first backlash-eliminating gear facing the second backlash-eliminating gear; The second backlash-eliminating gear has a helical block on the side facing the first backlash-eliminating gear, or the second backlash-eliminating gear has a helical groove on the side facing the first backlash-eliminating gear.

9. The transmission assembly according to any one of claims 1 to 4, characterized in that, The backlash-free gear assembly also includes: A hollow gear shaft, on which a second backlash-eliminating gear is provided, and the hollow gear shaft is sleeved outside the backlash-eliminating shaft; The hollow gear shaft is fitted with a bearing.

10. The transmission assembly according to any one of claims 1 to 4, characterized in that, The transmission gear and the first backlash-free gear are spur gears.

11. The transmission assembly according to any one of claims 1 to 4, characterized in that, The first backlash-free gear and the backlash-free shaft are an integral structure; or The first backlash-free gear and the backlash-free shaft are separate structures; The backlash-free shaft is fitted with a bearing.

12. The transmission assembly according to any one of claims 1 to 4, characterized in that, The adjusting component is threadedly connected to the backlash-free shaft; The adjusting member is rotated to apply a force to the second backlash-eliminating gear.

13. The transmission assembly according to claim 12, characterized in that, An adjusting elastic element is provided between the adjusting element and the second backlash-eliminating gear; When there is a meshing gap between the first backlash-eliminating gear and the transmission gear, the adjusting member is rotated to compress the adjusting elastic member, thereby pushing the second backlash-eliminating gear closer to the first backlash-eliminating gear along the axial direction of the backlash-eliminating shaft; When the second adjusting inclined plane is in contact with the first adjusting inclined plane, the second backlash elimination gear will rotate relative to the first backlash elimination gear, and a phase difference will be generated between the first backlash elimination gear and the second backlash elimination gear. As the phase difference between the two gears increases, the first backlash-free gear meshes with the transmission gear, and the second backlash-free gear meshes with the transmission gear; By continuing to rotate the adjusting member, the compression of the adjusting elastic member is increased; In cases where there is a meshing gap between the first backlash-eliminating gear and the transmission gear, the adjusting elastic element eliminates the backlash by releasing the compression amount.

14. A robot, characterized in that, include: First joint housing and second joint housing; The transmission assembly as described in any one of claims 1 to 13, wherein the transmission gear of the transmission assembly is disposed in the first joint housing, and the backlash-free shaft of the transmission assembly is connected to the second joint housing.

15. The robot according to claim 14, characterized in that, Also includes: The drive motor is located inside the first joint housing; The first gear shaft is connected to the drive motor and is disposed inside the first joint housing; The second gear shaft is connected to the first gear shaft for transmission, and the transmission gear is sleeved on the second gear shaft.

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