US-12618465-B1 - Anti-backlash system and method of manufacture

US12618465B1US 12618465 B1US12618465 B1US 12618465B1US-12618465-B1

Abstract

A system having an anti-backlash mechanism, a method for removing backlash, and an anti-backlash mechanism for a gear assembly is provided. The gear assembly having a pinion and an output gear. The anti-backlash mechanism includes a frame and a first idler gear operably disposed between the pinion and the output gear. A first flexure device is coupled between the first idler gear and the frame, the first flexure device applying a pre-load to the first idler gear to move the first idler gear into engagement with the pinion and output gear. A second idler gear is operably disposed between the pinion and the output gear. A second flexure device is coupled between the second idler gear and the frame, the second flexure device applying a pre-load to the second idler gear to move the second idler gear into engagement with the pinion and output gear.

Inventors

David M. Harrold
Charles R. Steinke
Erik Michael Plugge
Matthew Vera
Stella S. Dearing
Javier Venancio Becerra
Lee Carlson
Kyle Gotthelf

Assignees

HONEYBEE ROBOTICS, LLC

Dates

Publication Date: 20260505
Application Date: 20250221

Claims (20)

1 . An anti-backlash mechanism for a gear assembly having a pinion and an output gear, the anti-backlash mechanism comprising: a frame; a first idler gear operably disposed between the pinion and the output gear; a first flexure device coupled between the first idler gear and the frame, the first flexure device applying a pre-load to the first idler gear to move the first idler gear into engagement with the pinion and the output gear; a second idler gear operably disposed between the pinion and the output gear; and a second flexure device coupled between the second idler gear and the frame, the second flexure device applying a pre-load to the second idler gear to move the second idler gear into engagement with the pinion and the output gear.
2 . The anti-backlash mechanism of claim 1 , wherein the first flexure device includes a first portion coupled to the frame, a second portion coupled to the first idler gear, and a biasing portion disposed between the first portion and the second portion.
3 . The anti-backlash mechanism of claim 2 , wherein the biasing portion is defined by a first slot and a second slot, the first slot being disposed between the first portion and a flexure arm, the second slot being disposed between the second portion and the flexure arm.
4 . The anti-backlash mechanism of claim 3 , wherein the flexure arm is coupled to the first portion on a first end and is coupled to the second portion on an opposing second end.
5 . The anti-backlash mechanism of claim 2 , wherein the first portion, the second portion, and the biasing portion are made from the same material.
6 . The anti-backlash mechanism of claim 5 , wherein the first portion, the second portion, and the biasing portion are made from a single unitary member.
7 . The anti-backlash mechanism of claim 5 , wherein the material is titanium.
8 . A system comprising: a rotational driving device having a pinion; a load having a load gear configured to rotate in response to rotation of the pinion; an anti-backlash mechanism operably coupled between the rotational driving device and the load, the anti-backlash mechanism including: a frame; a first idler gear operably disposed between the pinion and the load gear; a first flexure device coupled between the first idler gear and the frame, the first flexure device applying a pre-load to the first idler gear to move the first idler gear into engagement with the pinion and the load gear; a second idler gear operably disposed between the pinion and the load gear; and a second flexure device coupled between the second idler gear and the frame, the second flexure device applying a pre-load to the second idler gear to move the second idler gear into engagement with the pinion and the load gear.
9 . The system of claim 8 , wherein the first flexure device includes a first portion coupled to the frame, a second portion coupled to the first idler gear, and a biasing portion disposed between the first portion and the second portion.
10 . The system of claim 9 , wherein the biasing portion is defined by a first slot and a second slot, the first slot being disposed between the first portion and a flexure arm, the second slot being disposed between the second portion and the flexure arm.
11 . The system of claim 10 , wherein the flexure arm is coupled to the first portion on a first end and is coupled to the second portion on an opposing second end.
12 . The system of claim 9 , wherein the first portion, the second portion, and the biasing portion are made from the same material.
13 . The system of claim 12 , wherein the first portion, the second portion, and the biasing portion are made from a single unitary member.
14 . The system of claim 12 , wherein the material is titanium.
15 . The system of claim 8 , wherein the rotational driving device is an electric motor and the load includes a mirror.
16 . A method of assembling an anti-backlash assembly between a driving device and a load, the method comprising: coupling a first idler gear to a first flexure device, the first flexure device being disposed between the first idler gear and a frame; coupling a second idler gear to a second flexure device, the second flexure device being disposed between the second idler gear and the frame; pre-loading the first idler gear against a pinion with the first flexure device, the pinion being coupled to the driving device; and pre-loading the second idler gear against the pinion with the second flexure device.
17 . The method of claim 16 , wherein the step of pre-loading the first idler gear includes inserting at least one first shim in a first slot in the first flexure device and wet pinning the first flexure device to the frame.
18 . The method of claim 17 , wherein the step of pre-loading the second idler gear includes inserting at least one second shim in a second slot in the first flexure device and a wet pinning of the second flexure device to the frame.
19 . The method of claim 18 , wherein the at least one first shim and at least one second shim are removed after the wet pinning of the first flexure device and the second flexure device has cured.
20 . The method of claim 17 , wherein the preloading the first idler gear and the preloading of the second idler gear removes backlash between the first idler gear and the pinion and the second idler gear and the pinion.

Description

BACKGROUND OF THE DISCLOSURE The subject matter disclosed herein relates to a system that includes a gear train, and in particular to a system having a mechanism to reduce or eliminate backlash. The mating of gears typically results in a small clearance between the gear teeth. This clearance, commonly referred to as backlash, is what allows the gears to smoothly mesh and transmission of torque. Due to backlash, in systems where the gears may operate in two directions, there is a brief loss of motion while the engaged gear teeth take up the backlash gap. In some embodiments, so-called anti-backlash mechanisms are used to reduce or eliminate the brief loss of motion. Various anti-backlash mechanisms have been proposed, including spring loaded split gears and the use of external spring windup mechanisms. These mechanisms typically consist of a pair of gears mounted on a common hub. One of the gears is fixed to the hub. The second gear “floats” or is allowed to move laterally relative to the hub and is attached to the fixed gear by springs. While existing systems having gear trains are suitable for their intended purposes the need for improvement remains, particularly in providing a system having an anti-backlash mechanism having the features described herein. BRIEF DESCRIPTION OF THE DISCLOSURE According to one aspect of the disclosure an anti-backlash mechanism for a gear assembly having a pinion and an output gear is provided. The anti-backlash mechanism includes a frame and a first idler gear operably disposed between the pinion and the output gear. A first flexure device is coupled between the first idler gear and the frame, the first flexure device applying a pre-load to the first idler gear to move the first idler gear into engagement with the pinion and output gear. A second idler gear is operably disposed between the pinion and the output gear. A second flexure device is coupled between the second idler gear and the frame, the second flexure device applying a pre-load to the second idler gear to move the second idler gear into engagement with the pinion and output gear. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the first flexure device having a first portion coupled to the frame, a second portion coupled to the first idler gear, and a biasing portion disposed between the first portion and the second portion. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the biasing portion being defined by a first slot and a second slot, the first slot being disposed between first portion and a flexure arm, the second slot being disposed between the second portion and the flexure arm. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the flexure arm being coupled to the first portion on a first end and is coupled to the second portion on an opposing second end. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the first portion, the second portion, and the biasing portion are made from the same material. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the first portion, the second portion, and the biasing portion are made from a single unitary member. In addition to one or more of the features described herein, or as an alternative, further embodiments of the anti-backlash mechanism may include the material is titanium. In accordance with another aspect of the disclosure, a method of assembling an anti-backlash assembly between a driving device and a load is provided. The method includes coupling a first idler gear to a first flexure device, the first flexure device being disposed between the first idler gear and a frame. A second idler gear is coupled to a second flexure device, the second flexure device being disposed between the second idler gear and the frame. The first idler gear is pre-loaded against a pinion with the first flexure device, the pinion being coupled to the driving device. The second idler gear is pre-loaded against the pinion with the second flexure device. In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include the step of pre-loading the first idler gear includes inserting at least one first shim in a first slot in the first flexure device and wet pinning the first flexure device to the frame. In addition to one or more of the features described herein, or as an alternative, further embodiments of the method may include the step of pre-loading the second idler gear include inserting at least one second shim in a second slot in the first fle