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.

直线传动机构

Linear transmission mechanism

工业机器人常用的直线传动机构可以直接由汽缸或液压缸和活塞产生，也可以采用齿轮齿条、滚珠丝杠螺母等传动元件由旋转运动转换得到。

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、移动关节导轨

1. Mobile joint guide rail

在运动过程中移动关节导轨可以起到保证位置精度和导向的作用。

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

移动关节导轨有五种：普通滑动导轨、液压动压滑动导轨、液压静压滑动导轨、气浮导轨和滚动导轨。

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.

目前第五种滚动导轨在工业机器人中应用为广泛，用支承座支承，可以方便地与任何平面相连，此时套筒必须是开式的，嵌入在滑枕中，既增强刚度也方便了与其他元件的连接。

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、齿轮齿条装置

2. Gear and rack device

齿轮齿条装置中，如果齿条固定不动，当齿轮转动时，齿轮轴连同拖板沿齿条方向做直线运动。这样，齿轮的旋转运动就转换成拖板的直线运动。拖板是由导杆或导轨支承的，该装置的回差较大。

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.

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3、滚珠丝杠与螺母

3. Ball screw and nut

在工业机器人中经常采用滚珠丝杠，这是因为滚珠丝杠的摩擦力很小且运动响应速度快。

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

由于滚珠丝杠螺母的螺旋槽里放置了许多滚珠，丝杠在传动过程中所受的是滚动摩擦力，摩擦力较小，因此传动效率高，同时可低速运动时的爬行现象；在装配时施加一定的预紧力，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.

滚珠丝杠螺母里的滚珠经过研磨的导槽循环往复传递运动与动力，滚珠丝杠的传动效率可以达到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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