直线模组选型难？吃透导轨丝杠这篇就够了

　　Is it difficult to select a linear module? Having a thorough understanding of the guide screw is enough

　　直线模组怎么选型？从入门到精通，看这一篇就够了

　　How to choose a linear module? From beginner to proficient, reading this article is enough

　　直线模组作为自动化设备中的核心传动元件，主要应用在直线运动结构中，作用是模块化设计，让设计更简单，如下图直线搬运机构。一、什么是直线模组，直线模组的组成。直线模组，又称线性模组、直线滑台是一种由直线导轨、滚珠丝杆等组件构成的自动化运动单元。通过皮带或丝杆传动实现精密直线运动，具有定位精准、运动速度快、结构轻量化的特点，对于设计工程师就是方便设计，不用各种元件计算选型，就是把一堆元件组成一起了。例如滚珠丝杠模组，伺服电机+滚珠丝杠+直线导轨+支撑座+传感器组成。下图是上银KK模组。

　　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.直线模组的类型与特点

　　II Types and characteristics of linear modules

　　滚珠丝杠直线模组通过旋转电机带动丝杠转动，使螺母滑块直线运动。特点：精度高（通过丝杠等级控制）如银泰的精密级模组精度+-0.003，推力大，但速度相对较慢（通常低于1m/s），行程受丝杠长度限制，过长易下垂影响精度。

　　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.

　　适用场景：高精度、重负载但对速度要求不高的场合，如精密测量、CNC加工等。

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

　　同步带式直线模组通过电机驱动同步带，带动滑块运动。特点：速度快（可达5m/s或更高）、行程长（可达数米十余米），成本较低，但精度和刚性通常不如丝杠模组，一般为+-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.

　　适用场景：对速度要求高、行程较长，但精度要求中等的场合，如物料搬运、激光打标、包装等。

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

　　三、直线模组的与各特点。

　　3、 The brands and characteristics of linear modules.

　　THK(日本）：是属于高端及高精度模组厂家，成本高比上银要高2倍左右，寿命比较长可以达到10万以上，需要稳定大厂可以考虑。

　　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东佑达（台湾）：主要应用于，精密电子制造，半导体，新能源行业等

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

　　上银模组（台湾）：常听到的上银KK模组，属于集成丝杠与导轨，体积小重量轻，高精度高刚性，也有普通的丝杠与皮带模组，丝杠与导轨没有集成化，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.

　　银泰模组（台湾）：和上银类似，也有经济实用型C7的丝杠导轨，性价比高。天工模组（广东）：技术创新性强，例如其内嵌式自润滑和全封闭结构设计，能实现三万免维护，适配无尘环境，3C电子、新能源锂电池、光伏等轻工业自动化领域，选型方便，带选型软件。

　　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、直线电机如何计算选型

　　4、 How to calculate and select linear motors

　　①.负载质量 (m)：50 kg

　　①. Load mass (m): 50 kg

　　②.运行速度 (v)：0.4 m/s （这个速度属于中等偏低）

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

　　③.定位精度 (δ)：0.05 mm （即 ±0.05mm，这个精度要求属于中等偏上）

　　③. Positioning accuracy (δ): 0.05 mm (i.e. ± 0.05mm, this accuracy requirement is above average)

　　④.安装方式：

　　④. Installation method:

　　水平安装初步传动方式判断：

　　Preliminary determination of transmission mode for horizontal installation:

　　根据精度（0.05mm）和速度（0.4m/s）要求，滚珠丝杠驱动模组和精密同步带驱动模组都在考虑范围内。滚珠丝杠：更容易稳定实现0.05mm的精度，刚性好，适合50kg的负载。速度0.4m/s对丝杠来说完全可行。

　　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.

　　同步带：

　　Synchronous belt:

　　可以达到0.4m/s的速度，但若要稳定保证0.05mm的精度，需要选择高规格的同步带和消隙结构，成本可能接近甚超过丝杠方案。结论：优先选择滚珠丝杠模组，因为它能更可靠、稳定地满足您的精度和负载要求。

　　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、关键参数计算与选型

　　3、 Key parameter calculation and selection

　　1. 推力计算（关键的计算）模组需要产生的推力（F）主要用于克服以下三部分力：F_acc：使负载加速所需的力。F_fric：克服系统摩擦的力。F_grav： 克服重力分量（水平安装时此项为0）。计算公式： F = F_acc + F_fric + F_grava. 加速力 (F_acc) 计算

　　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

　　我们需要假设一个合理的加减速时间（t），来计算加速度（a）。通常取0.1s~0.5s。这里我们取一个中间值t = 0.2s进行计算。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) 计算

　　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

　　滚珠丝杠模组的摩擦系数（μ）很小，通常取0.01~0.02。我们取μ=0.01。摩擦力F_fric= m * g * μ = 50 kg * 9.8 m/s * 0.01 ≈ 5 N（水平安装，重力分量为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)

　　水平安装，F_grav = 0 N。d. 总推力 (F)F = 100 N + 5 N + 0 N = 105 Ne. 考虑系数

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

　　为确保模组长期稳定可靠运行，必须预留系数（Sf）。对于常规应用，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.

　　我们取Sf=2。所需推力F_required= F * Sf = 105 N * 2 = 210 N结论：您选择的伺服电机通过丝杠产生的连续推力必须大于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. 丝杠导程（Lead）选择

　　2. Selection of lead screw

　　电机的额定转速（N）通常在2000~3000 rpm。我们需要根据速度要求反推丝杠导程（P）。速度公式：v = (N * P) / 60推导出导程公式：P = (v * 60) / N假设电机额定转速为3000 rpm：P = (0.4 m/s * 60) / 3000 rpm = 0.008 m = 8 mm假设电机额定转速为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

　　结论：常见的丝杠导程有 5mm, 10mm, 16mm, 20mm 等。选择10mm或16mm的导程都是合适的。10mm导程对电机扭矩要求更低（省力），但16mm导程可以让电机在更低转速下运行（可能更安静，寿命更长）。通常优先选择10mm导程。

　　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.

　　3. 精度等级选择

　　3. Accuracy level selection

　　要求的定位精度是0.05mm。C7级丝杠的累积误差通常在0.05mm/300mm以内，

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

　　完全能够满足您的精度要求。如果预算允许，选择C5级（更高精度）当然更好，但C7级是性价比的选择。4.电机扭矩计算T计算公式：电机扭矩=T=F*P/2Π210*0.01/2/3.14=0.334nm伺服电机需要0.334nm可以驱动丝杠机构。伺服电机功率200W以上的即可。总结：推力为210N,导程选择10mm，丝杠精度C7级，扭矩0.334nm，电机功率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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