丝杠是一种将电机端旋转运动转化为直线运动的机械部件，广泛应用于具有直线运动功能的机器设备中。电机通过联轴器带动丝杠轴转动，丝杠轴上的螺母在螺旋形螺纹的驱动下实现直线往复运动，从而将电机的旋转力矩转化为设备运动所需要的直线方向的驱动力。

　　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.

　　图：丝杠把旋转运动转化为直线运动

　　Image: The screw converts rotational motion into linear motion

　　根据摩擦特性和加工方式，丝杠有多种分类。根据摩擦特性可以分为3种：即滑动丝杠、滚动丝杠和静压丝杠，滚动丝杠又分为滚珠丝杠和滚柱丝杠。其中，梯形丝杠中无滚动体，靠滑动摩擦传递推力，传动效率较低；滚珠和滚柱丝杠具有钢球或螺杆型的滚动体，靠滚动摩擦传递推力，传动效率较高；静压丝杠为液体摩擦，适合于需要较高的进给推力以及具有频繁振动负载的场合。

　　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.

　　图：丝杠分类

　　Image: Classification of lead screws

　　梯形丝杠制造工艺较为简单，技术水平成熟，但产品精度及效率较低。其运动原理是利用螺旋副的转动运动，使螺旋副上的螺纹旋转，来实现线性运动。梯形丝杆上的螺纹与螺旋副上的螺纹咬合，当螺旋副旋转时，梯形丝杆就会沿着轴向运动，产生线性位移。

　　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.

　　图：T型丝杠工作原理示意图

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

　　滚珠丝杠是滚动运动，传动效率高、精度高。滚珠丝杠由丝杆、螺母、滚珠、回珠器主要部件构成。当丝杠旋转时，滚珠在丝杆和螺母之间滚动，实现力的传递和直线运动。回珠器一般分为内循环式和外循环，内循环滚珠丝杠尺寸一般来说小于外循环滚珠丝杠，适合于空间比较紧凑的场景；同时其需要反向器固定相对来说比较牢靠、刚性好且不易损坏。而外循环滚珠丝杠适用于需要扛冲能力大、高负载丝杠的使用场景。

　　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.

　　图：滚珠丝杠工作原理示意图

　　Figure: Schematic diagram of the working principle of ball screw

　　行星滚柱丝杠具有螺纹传动和滚动螺旋传动的综合特征。其滚动体是含有螺纹的多个滚柱体，螺母或丝杠旋转运动通过滚柱的行星运动转换为直线运动。行星滚柱丝杠传动中特有的滚柱结构，使得滚柱与螺母(或滚柱与丝杠)之间无相对轴向位移，滚柱能够在丝杠和螺母形成的封闭空间内反复循环运动，依靠滚动/滑动摩擦实现运动和动力的传递。

　　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.

　　图：行星滚柱丝杠工作原理示意图

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

　　不同丝杠对比情况如下：

　　The comparison of different lead screws is as follows:

　　丝杠主要应用于机床、汽车、工业装备等领域，预计未来在机器人中也会有较多应用。在机床制造领域，丝杠可做为传动系统核心部件；在汽车制造领域，丝杠在新能源汽车转向机构、电助力转向系统、电子驻车系统、刹车系统具有应用前景。在工业装备领域，丝杠、导轨亦作为基础传动部件有着广泛的应用；在机器人制造领域，丝杠可用于机器人传动装置，通过丝杠组成单轴机器人/电动缸等完成线性驱动。

　　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.