The invention relates to an anti-backlash transmission comprising
trochoid gears and roll pins with
conical teeth. The transmission has two transmission
modes, and a pin gear is respectively externally meshed and internally meshed with the corresponding
trochoid gears to implement the two transmission
modes. The pin gear is provided with a plurality of conical roll pins, and tooth gaps are eliminated by axially pushing the pin gear along the end, which is provided with a small
diameter, in a transmission procedure; and the
trochoid gears are conical trochoid gears, and the trochoid gears and the pins are meshed to realize zero-backlash
power transmission. The pin gear or the trochoid gears is driven by a
servo motor to continuously relate, and accordingly a deceleration function or an acceleration function is realized. The anti-backlash transmission is simple in structure, requirements on high-speed and high-precision transmission are met, the tooth gaps generated by abrasion during transmission can be eliminated, the meshing accuracy is guaranteed, and the
utilization rate of the roll pins is increased.