我們都知道，工業(yè)機(jī)器人的驅(qū)動(dòng)源通過傳動(dòng)部件來驅(qū)動(dòng)關(guān)節(jié)的移動(dòng)或轉(zhuǎn)動(dòng)，從而實(shí)現(xiàn)機(jī)身、手臂和手腕的運(yùn)動(dòng)。因此，傳動(dòng)部件是構(gòu)成工業(yè)機(jī)器人的重要部件。而根據(jù)傳動(dòng)類型的不同，傳動(dòng)部件可以分為兩大類：直線傳動(dòng)機(jī)構(gòu)和旋轉(zhuǎn)傳動(dòng)機(jī)構(gòu)。今天，小編將和大家一起來深入學(xué)習(xí)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(dòng)機(jī)構(gòu)

Linear transmission mechanism

工業(yè)機(jī)器人常用的直線傳動(dòng)機(jī)構(gòu)可以直接由汽缸或液壓缸和活塞產(chǎn)生，也可以采用齒輪齒條、滾珠絲杠螺母等傳動(dòng)元件由旋轉(zhuǎn)運(yùn)動(dòng)轉(zhuǎn)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(dòng)關(guān)節(jié)導(dǎo)軌

1. Mobile joint guide rail

在運(yùn)動(dòng)過程中移動(dòng)關(guān)節(jié)導(dǎo)軌可以起到保證位置精度和導(dǎo)向的作用。

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

移動(dòng)關(guān)節(jié)導(dǎo)軌有五種：普通滑動(dòng)導(dǎo)軌、液壓動(dòng)壓滑動(dòng)導(dǎo)軌、液壓靜壓滑動(dòng)導(dǎo)軌、氣浮導(dǎo)軌和滾動(dòng)導(dǎo)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(dòng)導(dǎo)軌在工業(yè)機(jī)器人中應(yīng)用為廣泛，用支承座支承，可以方便地與任何平面相連，此時(shí)套筒必須是開式的，嵌入在滑枕中，既增強(qiáng)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(dòng)，當(dāng)齒輪轉(zhuǎn)動(dòng)時(shí)，齒輪軸連同拖板沿齒條方向做直線運(yùn)動(dòng)。這樣，齒輪的旋轉(zhuǎn)運(yùn)動(dòng)就轉(zhuǎn)換成拖板的直線運(yùn)動(dòng)。拖板是由導(dǎo)桿或?qū)к壷С械?，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(yè)機(jī)器人中經(jīng)常采用滾珠絲杠，這是因?yàn)闈L珠絲杠的摩擦力很小且運(yùn)動(dòng)響應(yīng)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(dòng)過程中所受的是滾動(dòng)摩擦力，摩擦力較小，因此傳動(dòng)效率高，同時(shí)可低速運(yùn)動(dòng)時(shí)的爬行現(xiàn)象；在裝配時(shí)施加一定的預(yù)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(jīng)過研磨的導(dǎo)槽循環(huán)往復(fù)傳遞運(yùn)動(dòng)與動(dòng)力，滾珠絲杠的傳動(dòng)效率可以達(dá)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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