　　直線模組作為自動化設(shè)備中的核心傳動元件，主要應(yīng)用在直線運動結(jié)構(gòu)中，作用是模塊化設(shè)計，讓設(shè)計更簡單，如下圖直線搬運機構(gòu)。一、什么是直線模組，直線模組的組成。直線模組，又稱線性模組、直線滑臺是一種由直線導軌、滾珠絲桿等組件構(gòu)成的自動化運動單元。通過皮帶或絲桿傳動實現(xiàn)精密直線運動，具有定位精準、運動速度快、結(jié)構(gòu)輕量化的特點，對于設(shè)計工程師就是方便設(shè)計，不用各種元件計算選型，就是把一堆元件組成一起了。例如滾珠絲杠模組，伺服電機+滾珠絲杠+直線導軌+支撐座+傳感器組成。下圖是上銀KK模組。

　　The linear module, as the core transmission component in automation equipment, is mainly used in linear motion structures. Its function is modular design, making the design simpler, as shown in the diagram of the linear handling mechanism. 1、 What is a linear module and its components. Linear module, also known as linear module or linear sliding table, is an automated motion unit composed of components such as linear guides and ball screws. Precise linear motion is achieved through belt or screw transmission, which has the characteristics of precise positioning, fast movement speed, and lightweight structure. For design engineers, it is convenient to design without the need for various component calculations and selection, which means a pile of components are combined together. For example, the ball screw module consists of a servo motor, ball screw, linear guide, support seat, and sensor. The following picture shows the Shangyin KK module.

　　二.直線模組的類型與特點

　　II Types and characteristics of linear modules

　　滾珠絲杠直線模組通過旋轉(zhuǎn)電機帶動絲杠轉(zhuǎn)動，使螺母滑塊直線運動。特點：精度高（通過絲杠等級控制）如銀泰的精密級模組精度+-0.003，推力大，但速度相對較慢（通常低于1m/s），行程受絲杠長度限制，過長易下垂影響精度。

　　The ball screw linear module drives the screw to rotate through a rotating motor, causing the nut slider to move in a straight line. Features: High precision (controlled by screw level), such as Yintai's precision module with an accuracy of+-0.003, high thrust but relatively slow speed (usually less than 1m/s), stroke limited by screw length, and too long can easily sag and affect accuracy.

　　適用場景：高精度、重負載但對速度要求不高的場合，如精密測量、CNC加工等。

　　Applicable scenarios: high-precision, heavy load but low speed requirements, such as precision measurement, CNC machining, etc.

　　同步帶式直線模組通過電機驅(qū)動同步帶，帶動滑塊運動。特點：速度快（可達5m/s或更高）、行程長（可達數(shù)米十余米），成本較低，但精度和剛性通常不如絲杠模組，一般為+-0.04。

　　The synchronous belt linear module is driven by a motor to drive the synchronous belt and move the slider. Features: Fast speed (up to 5m/s or higher), long travel (up to several meters to more than ten meters), low cost, but accuracy and rigidity are usually not as good as screw modules, usually around -0.04.

　　適用場景：對速度要求高、行程較長，但精度要求中等的場合，如物料搬運、激光打標、包裝等。

　　Applicable scenarios: occasions that require high speed, long travel, but moderate accuracy, such as material handling, laser marking, packaging, etc.

　　三、直線模組的與各特點。

　　3、 The brands and characteristics of linear modules.

　　THK(日本）：是屬于高端及高精度模組廠家，成本高比上銀要高2倍左右，壽命比較長可以達到10萬以上，需要穩(wěn)定大廠可以考慮。

　　THK (Japan): It is a high-end and high-precision module manufacturer, with a cost that is about twice as high as silver, and a relatively long lifespan of over 100000 kilometers. If stability is needed, large factories can consider it.

　　TOYO東佑達（臺灣）：主要應(yīng)用于，精密電子制造，半導體，新能源行業(yè)等

　　TOYO Dongyouda (Taiwan): mainly used in precision electronic manufacturing, semiconductors, new energy industries, etc

　　上銀模組（臺灣）：常聽到的上銀KK模組，屬于集成絲杠與導軌，體積小重量輕，高精度高剛性，也有普通的絲杠與皮帶模組，絲杠與導軌沒有集成化，成本低一些。

　　Shangyin module (Taiwan): The commonly heard Shangyin KK module belongs to the integrated screw and guide rail, with small size, light weight, high precision and high rigidity. There are also ordinary screw and belt modules, but the screw and guide rail are not integrated, resulting in lower cost.

　　銀泰模組（臺灣）：和上銀類似，也有經(jīng)濟實用型C7的絲杠導軌，性價比高。天工模組（廣東）：技術(shù)創(chuàng)新性強，例如其內(nèi)嵌式自潤滑和全封閉結(jié)構(gòu)設(shè)計，能實現(xiàn)三萬免維護，適配無塵環(huán)境，3C電子、新能源鋰電池、光伏等輕工業(yè)自動化領(lǐng)域，選型方便，帶選型軟件。

　　Yintai Module (Taiwan): Similar to Shangyin, there is also an economical and practical C7 screw guide rail with high cost-effectiveness. Tiangong Module (Guangdong): With strong technological innovation, such as its embedded self-lubricating and fully enclosed structural design, it can achieve maintenance free 30000 kilometers, adapt to dust-free environments, and is suitable for light industry automation fields such as 3C electronics, new energy lithium batteries, photovoltaics, etc. It is easy to select and comes with selection software.

　　四、直線電機如何計算選型

　　4、 How to calculate and select linear motors

　　①.負載質(zhì)量 (m)：50 kg

　?、? Load mass (m): 50 kg

　?、?運行速度 (v)：0.4 m/s （這個速度屬于中等偏低）

　　②. Operating speed (v): 0.4 m/s (this speed is considered moderate to low)

　?、?定位精度 (δ)：0.05 mm （即 ±0.05mm，這個精度要求屬于中等偏上）

　?、? Positioning accuracy (δ): 0.05 mm (i.e. ± 0.05mm, this accuracy requirement is above average)

　　④.安裝方式：

　?、? Installation method:

　　水平安裝初步傳動方式判斷：

　　Preliminary determination of transmission mode for horizontal installation:

　　根據(jù)精度（0.05mm）和速度（0.4m/s）要求，滾珠絲杠驅(qū)動模組和精密同步帶驅(qū)動模組都在考慮范圍內(nèi)。滾珠絲杠：更容易穩(wěn)定實現(xiàn)0.05mm的精度，剛性好，適合50kg的負載。速度0.4m/s對絲杠來說完全可行。

　　According to the requirements of precision (0.05mm) and speed (0.4m/s), both the ball screw drive module and the precision synchronous belt drive module are under consideration. Ball screw: It is easier to achieve a stable precision of 0.05mm, has good rigidity, and is suitable for a load of 50kg. A speed of 0.4m/s is completely feasible for the screw.

　　同步帶：

　　Synchronous belt:

　　可以達到0.4m/s的速度，但若要穩(wěn)定保證0.05mm的精度，需要選擇高規(guī)格的同步帶和消隙結(jié)構(gòu)，成本可能接近甚超過絲杠方案。結(jié)論：優(yōu)先選擇滾珠絲杠模組，因為它能更可靠、穩(wěn)定地滿足您的精度和負載要求。

　　It can achieve a speed of 0.4m/s, but to ensure a stable accuracy of 0.05mm, it is necessary to choose a high specification synchronous belt and clearance structure, which may cost close to or even exceed the screw solution. Conclusion: Ball screw modules are preferred because they can more reliably and stably meet your accuracy and load requirements.

　　三、關(guān)鍵參數(shù)計算與選型

　　3、 Key parameter calculation and selection

　　1. 推力計算（關(guān)鍵的計算）模組需要產(chǎn)生的推力（F）主要用于克服以下三部分力：F_acc：使負載加速所需的力。F_fric：克服系統(tǒng)摩擦的力。F_grav：克服重力分量（水平安裝時此項為0）。計算公式： F = F_acc + F_fric + F_grava. 加速力 (F_acc) 計算

　　The thrust calculation (the most critical calculation) module needs to generate thrust (F) mainly to overcome the following three forces: F-acc: the force required to accelerate the load. Ffric: The force that overcomes system friction. F_grave: Overcome gravity component (this item is 0 when installed horizontally). Calculation formula: F=F-acc+Ffric+Fgrava. Acceleration force (F-acc) calculation

　　我們需要假設(shè)一個合理的加減速時間（t），來計算加速度（a）。通常取0.1s~0.5s。這里我們?nèi)∫粋€中間值t = 0.2s進行計算。加速度a= v / t = 0.4 / 0.2 = 2 m/s加速力F_acc =m * a = 50 kg * 2 m/s = 100 Nb. 摩擦力 (F_fric) 計算

　　We need to assume a reasonable acceleration and deceleration time (t) to calculate the acceleration (a). Usually takes 0.1s~0.5s. Here we take an intermediate value t=0.2s for calculation. Acceleration a=v/t=0.4/0.2=2 m/s Acceleration force Facc=m * a=50 kg * 2 m/s=100 Nb Friction force (Ffric) calculation

　　滾珠絲杠模組的摩擦系數(shù)（μ）很小，通常取0.01~0.02。我們?nèi)ˇ?0.01。摩擦力F_fric= m * g * μ = 50 kg * 9.8 m/s * 0.01 ≈ 5 N（水平安裝，重力分量為0）c. 重力分量 (F_grav)

　　The friction coefficient (μ) of the ball screw module is very small, usually ranging from 0.01 to 0.02. We take μ=0.01. Friction force Ffric=m * g * μ=50 kg * 9.8 m/s * 0.01 ≈ 5 N (horizontally installed, gravity component is 0) c. Gravity component (Fgrav)

　　水平安裝，F(xiàn)_grav = 0 N。d. 總推力 (F)F = 100 N + 5 N + 0 N = 105 Ne. 考慮系數(shù)

　　Horizontal installation, F_grav = 0 N。 d. Total thrust (F) F=100 N+5 N+0 N=105 Ne. Consider safety factor

　　為確保模組長期穩(wěn)定可靠運行，必須預(yù)留系數(shù)（Sf）。對于常規(guī)應(yīng)用，通常取1.5 ~ 2。

　　To ensure the long-term stable and reliable operation of the module, a safety factor (Sf) must be reserved. For conventional applications, it is usually taken as 1.5 to 2.

　　我們?nèi)f=2。所需推力F_required= F * Sf = 105 N * 2 = 210 N結(jié)論：您選擇的伺服電機通過絲杠產(chǎn)生的連續(xù)推力必須大于210 N。

　　We take Sf=2. The maximum thrust required is F * Sf=105 N * 2=210 N. Conclusion: The continuous thrust generated by the servo motor you have chosen through the screw must be greater than 210 N.

　　2. 絲杠導程（Lead）選擇

　　2. Selection of lead screw

　　電機的額定轉(zhuǎn)速（N）通常在2000~3000 rpm。我們需要根據(jù)速度要求反推絲杠導程（P）。速度公式：v = (N * P) / 60推導出導程公式：P = (v * 60) / N假設(shè)電機額定轉(zhuǎn)速為3000 rpm：P = (0.4 m/s * 60) / 3000 rpm = 0.008 m = 8 mm假設(shè)電機額定轉(zhuǎn)速為2000 rpm：P = (0.4 m/s * 60) / 2000 rpm = 0.012 m = 12 mm

　　The rated speed (N) of the motor is usually between 2000 and 3000 rpm. We need to reverse the lead of the screw (P) according to the speed requirements. Speed formula: v=(N * P)/60 Derive lead formula: P=(v * 60)/N Assuming the rated speed of the motor is 3000 rpm: P=(0.4 m/s * 60)/3000 rpm=0.008 m=8 mm Assuming the rated speed of the motor is 2000 rpm rpm：P = (0.4 m/s * 60) / 2000 rpm = 0.012 m = 12 mm

　　結(jié)論：常見的絲杠導程有 5mm, 10mm, 16mm, 20mm 等。選擇10mm或16mm的導程都是合適的。10mm導程對電機扭矩要求更低（省力），但16mm導程可以讓電機在更低轉(zhuǎn)速下運行（可能更安靜，壽命更長）。通常優(yōu)先選擇10mm導程。

　　Conclusion: Common screw leads include 5mm, 10mm, 16mm, 20mm, etc. Choosing a lead of 10mm or 16mm is appropriate. A 10mm lead requires lower motor torque (labor-saving), but a 16mm lead allows the motor to operate at lower speeds (possibly quieter and longer lifespan). Usually, 10mm lead is preferred.
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　　3. 精度等級選擇

　　3. Accuracy level selection

　　要求的定位精度是0.05mm。C7級絲杠的累積誤差通常在0.05mm/300mm以內(nèi)，

　　The required positioning accuracy is 0.05mm. The cumulative error of C7 grade screw is usually within 0.05mm/300mm,

　　完全能夠滿足您的精度要求。如果預(yù)算允許，選擇C5級（更高精度）當然更好，但C7級是性價比的選擇。4.電機扭矩計算T計算公式：電機扭矩=T=F*P/2Π210*0.01/2/3.14=0.334nm伺服電機需要0.334nm可以驅(qū)動絲杠機構(gòu)。伺服電機功率200W以上的即可。總結(jié)：推力為210N,導程選擇10mm，絲杠精度C7級，扭矩0.334nm，電機功率200w即可。

　　We can fully meet your accuracy requirements. If the budget allows, choosing C5 level (higher precision) is certainly better, but C7 level is the most cost-effective choice. 4. Formula for calculating motor torque T: Motor torque=T=F * P/2 ∏ 210 * 0.01/2/3.14=0.334nm. The servo motor requires 0.334nm to drive the screw mechanism. A servo motor with a power of 200W or more is sufficient. Summary: The maximum thrust is 210N, the lead is selected to be 10mm, the screw accuracy is C7 level, the torque is 0.334nm, and the motor power is 200w.

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