絲杠是一種將電機端旋轉運動轉化為直線運動的機械部件，廣泛應用于具有直線運動功能的機器設備中。電機通過聯軸器帶動絲杠軸轉動，絲杠軸上的螺母在螺旋形螺紋的驅動下實現直線往復運動，從而將電機的旋轉力矩轉化為設備運動所需要的直線方向的驅動力。

　　Screw is a mechanical component that converts the rotational motion of the motor end into linear motion, and is widely used in machines and equipment with linear motion functions. The motor drives the screw shaft to rotate through the coupling, and the nut on the screw shaft achieves linear reciprocating motion under the drive of the spiral thread, thereby converting the rotational torque of the motor into the linear driving force required for equipment movement.

　　圖：絲杠把旋轉運動轉化為直線運動

　　Image: The screw converts rotational motion into linear motion

　　根據摩擦特性和加工方式，絲杠有多種分類。根據摩擦特性可以分為3種：即滑動絲杠、滾動絲杠和靜壓絲杠，滾動絲杠又分為滾珠絲杠和滾柱絲杠。其中，梯形絲杠中無滾動體，靠滑動摩擦傳遞推力，傳動效率較低；滾珠和滾柱絲杠具有鋼球或螺桿型的滾動體，靠滾動摩擦傳遞推力，傳動效率較高；靜壓絲杠為液體摩擦，適合于需要較高的進給推力以及具有頻繁振動負載的場合。

　　According to the friction characteristics and processing methods, there are various classifications of lead screws. According to the friction characteristics, it can be divided into three types: sliding screw, rolling screw, and static pressure screw. Rolling screw is further divided into ball screw and roller screw. Among them, the trapezoidal screw has no rolling elements and relies on sliding friction to transmit thrust, resulting in lower transmission efficiency; Ball and roller screws have rolling elements of steel ball or screw type, which transmit thrust through rolling friction and have high transmission efficiency; Static pressure screw is liquid friction, suitable for situations that require high feed thrust and frequent vibration loads.

　　圖：絲杠分類

　　Image: Classification of lead screws

　　梯形絲杠制造工藝較為簡單，技術水平成熟，但產品精度及效率較低。其運動原理是利用螺旋副的轉動運動，使螺旋副上的螺紋旋轉，來實現線性運動。梯形絲桿上的螺紋與螺旋副上的螺紋咬合，當螺旋副旋轉時，梯形絲桿就會沿著軸向運動，產生線性位移。

　　The manufacturing process of trapezoidal screw is relatively simple and the technical level is mature, but the product accuracy and efficiency are relatively low. The principle of its motion is to use the rotational motion of the helical pair to rotate the threads on the helical pair, thereby achieving linear motion. The threads on the trapezoidal screw engage with the threads on the screw pair. When the screw pair rotates, the trapezoidal screw will move along the axial direction, resulting in linear displacement.

　　圖：T型絲杠工作原理示意圖

　　Figure: Schematic diagram of the working principle of T-shaped screw

　　滾珠絲杠是滾動運動，傳動效率高、精度高。滾珠絲杠由絲桿、螺母、滾珠、回珠器主要部件構成。當絲杠旋轉時，滾珠在絲桿和螺母之間滾動，實現力的傳遞和直線運動。回珠器一般分為內循環式和外循環，內循環滾珠絲杠尺寸一般來說小于外循環滾珠絲杠，適合于空間比較緊湊的場景；同時其需要反向器固定相對來說比較牢靠、剛性好且不易損壞。而外循環滾珠絲杠適用于需要扛沖能力大、高負載絲杠的使用場景。

　　Ball screw is a rolling motion with high transmission efficiency and precision. The ball screw is composed of the main components of the screw, nut, ball, and ball return device. When the screw rotates, the ball rolls between the screw and the nut, achieving force transmission and linear motion. Ball turnouts are generally divided into internal circulation and external circulation types. The size of the internal circulation ball screw is generally smaller than that of the external circulation ball screw, making it suitable for scenarios with relatively compact space; At the same time, it requires a relatively reliable, rigid, and not easily damaged reverser for fixation. External circulation ball screws are suitable for use in scenarios that require high impact capacity and high load screws.

　　圖：滾珠絲杠工作原理示意圖

　　Figure: Schematic diagram of the working principle of ball screw

　　行星滾柱絲杠具有螺紋傳動和滾動螺旋傳動的綜合特征。其滾動體是含有螺紋的多個滾柱體，螺母或絲杠旋轉運動通過滾柱的行星運動轉換為直線運動。行星滾柱絲杠傳動中特有的滾柱結構，使得滾柱與螺母(或滾柱與絲杠)之間無相對軸向位移，滾柱能夠在絲杠和螺母形成的封閉空間內反復循環運動，依靠滾動/滑動摩擦實現運動和動力的傳遞。

　　The planetary roller screw has a comprehensive feature of thread transmission and rolling screw transmission. Its rolling elements are multiple roller bodies with threads, and the rotational motion of the nut or screw is converted into linear motion through the planetary motion of the rollers. The unique roller structure in planetary roller screw transmission ensures that there is no relative axial displacement between the roller and the nut (or roller and screw), and the roller can repeatedly circulate in the enclosed space formed by the screw and nut, relying on rolling/sliding friction to achieve motion and power transmission.

　　圖：行星滾柱絲杠工作原理示意圖

　　Figure: Schematic diagram of the working principle of planetary roller screw

　　不同絲杠對比情況如下：

　　The comparison of different lead screws is as follows:

　　絲杠主要應用于機床、汽車、工業裝備等領域，預計未來在機器人中也會有較多應用。在機床制造領域，絲杠可做為傳動系統核心部件；在汽車制造領域，絲杠在新能源汽車轉向機構、電助力轉向系統、電子駐車系統、剎車系統具有應用前景。在工業裝備領域，絲杠、導軌亦作為基礎傳動部件有著廣泛的應用；在機器人制造領域，絲杠可用于機器人傳動裝置，通過絲杠組成單軸機器人/電動缸等完成線性驅動。

　　Screw is mainly used in fields such as machine tools, automobiles, and industrial equipment, and is expected to have many applications in robots in the future. In the field of machine tool manufacturing, screw can be used as the core component of the transmission system; In the field of automobile manufacturing, lead screws have promising applications in new energy vehicle steering mechanisms, electric power steering systems, electronic parking systems, and braking systems. In the field of industrial equipment, lead screws and guide rails are also widely used as basic transmission components; In the field of robot manufacturing, lead screws can be used in robot transmission devices to form single axis robots/electric cylinders through lead screws for linear driving.