我們都知道，工業機器人的驅動源通過傳動部件來驅動關節的移動或轉動，從而實現機身、手臂和手腕的運動。因此，傳動部件是構成工業機器人的重要部件。而根據傳動類型的不同，傳動部件可以分為兩大類：直線傳動機構和旋轉傳動機構。今天，小編將和大家一起來深入學習了解。

We all know that the driving source of industrial robots drives the movement or rotation of joints through transmission components, thereby achieving the movement of the body, arms, and wrists. Therefore, transmission components are important components that make up industrial robots. According to different transmission types, transmission components can be divided into two categories: linear transmission mechanism and rotary transmission mechanism. Today, the editor will delve into learning and understanding with everyone.

直線傳動機構

Linear transmission mechanism

工業機器人常用的直線傳動機構可以直接由汽缸或液壓缸和活塞產生，也可以采用齒輪齒條、滾珠絲杠螺母等傳動元件由旋轉運動轉換得到。

The commonly used linear transmission mechanism for industrial robots can be directly generated by cylinders or hydraulic cylinders and pistons, or can be converted from rotational motion using transmission components such as gears, racks, ball screws, and nuts.

1、移動關節導軌

1. Mobile joint guide rail

在運動過程中移動關節導軌可以起到保證位置精度和導向的作用。

Moving the joint guide rail during movement can ensure positional accuracy and guidance.

移動關節導軌有五種：普通滑動導軌、液壓動壓滑動導軌、液壓靜壓滑動導軌、氣浮導軌和滾動導軌。

There are five types of mobile joint guides: ordinary sliding guide, hydraulic dynamic pressure sliding guide, hydraulic static pressure sliding guide, air floating guide, and rolling guide.

目前第五種滾動導軌在工業機器人中應用為廣泛，用支承座支承，可以方便地與任何平面相連，此時套筒必須是開式的，嵌入在滑枕中，既增強剛度也方便了與其他元件的連接。

At present, the fifth type of rolling guide rail is most widely used in industrial robots. It is supported by a support seat and can be easily connected to any plane. At this time, the sleeve must be open and embedded in the slider, which not only enhances stiffness but also facilitates connection with other components.

2、齒輪齒條裝置

2. Gear and rack device

齒輪齒條裝置中，如果齒條固定不動，當齒輪轉動時，齒輪軸連同拖板沿齒條方向做直線運動。這樣，齒輪的旋轉運動就轉換成拖板的直線運動。拖板是由導桿或導軌支承的，該裝置的回差較大。

In a gear rack device, if the rack is fixed, when the gear rotates, the gear shaft and the drag plate move in a straight line along the direction of the rack. In this way, the rotational motion of the gear is converted into the linear motion of the drag plate. The drag board is supported by guide rods or rails, and the device has a large backlash.

3、滾珠絲杠與螺母

3. Ball screw and nut

在工業機器人中經常采用滾珠絲杠，這是因為滾珠絲杠的摩擦力很小且運動響應速度快。

Ball screws are often used in industrial robots because they have low friction and fast motion response speed.

由于滾珠絲杠螺母的螺旋槽里放置了許多滾珠，絲杠在傳動過程中所受的是滾動摩擦力，摩擦力較小，因此傳動效率高，同時可低速運動時的爬行現象；在裝配時施加一定的預緊力，可回差。

Due to the placement of many balls in the spiral groove of the ball screw nut, the screw experiences rolling friction during transmission, which is relatively low. Therefore, the transmission efficiency is high and the crawling phenomenon during low-speed motion can be eliminated; Applying a certain amount of pre tension during assembly can eliminate backlash.

滾珠絲杠螺母里的滾珠經過研磨的導槽循環往復傳遞運動與動力，滾珠絲杠的傳動效率可以達到90%。

The ball in the ball screw nut is transmitted in a circular motion and power through a ground guide groove, and the transmission efficiency of the ball screw can reach 90%.

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