絲杠行業概述

　　Overview of the Screw Industry

　　人形機器人絲杠是機器人線性驅動的關鍵組件，主要實現旋轉與直線運動的轉換。

　　The screw of a humanoid robot is a key component of the robot's linear drive, which mainly realizes the conversion between rotation and linear motion.

　　其應用于關節驅動和運動控制，如手臂、腿部以及靈巧手等，是實現合理移動和穩定支撐的重要部件。

　　It is applied in joint drive and motion control, such as arms, legs, and dexterous hands, and is an important component for achieving precise movement and stable support.

　　絲杠傳動剛性傳動主流方案，具備高精度、高負載等優勢。

　　The mainstream solution of screw driven rigid transmission has advantages such as high precision and high load.

　　從設計結構角度來看，絲杠分為滑動絲杠、滾珠絲杠和行星滾柱絲杠。

　　From the perspective of design structure, screw can be divided into sliding screw, ball screw, and planetary roller screw.

　　滑動絲杠多為梯形絲杠，工藝簡單且成本較低，但傳動效率低、精度不高。

　　Sliding screws are mostly trapezoidal screws, with simple processes and low costs, but low transmission efficiency and low accuracy.

　　滾珠絲杠

　　Ball screw

　　滾珠絲杠由絲杠軸、螺母（含滾珠）、軸承和密封件構成，以滾珠滾動摩擦替代滑動摩擦，傳動效率高、導程精度高。

　　A ball screw is composed of a screw shaft, a nut (including balls), bearings, and seals. It replaces sliding friction with rolling friction of balls, resulting in high transmission efficiency and high lead accuracy.

　　絲杠軸、螺母和端蓋上都制有圓弧形螺旋槽，將套裝在一起時，這些槽對合起來就形成了螺旋通道，滾珠能夠在通道內循環滾動。

　　The screw shaft, nut, and end cap are all made with arc-shaped spiral grooves. When they are assembled together, these grooves align to form a spiral channel, and the ball can circulate and roll in the channel.

　　特斯拉二代靈巧手方案采用微型滾珠絲杠，實現手部高靈活度和強負載能力。

　　The Tesla second-generation dexterous hand solution adopts a micro ball screw to achieve high flexibility and strong load capacity of the hand.

　　微型滾珠絲杠將電機的旋轉運動轉化為直線運動，從而驅動手指關節實現彎曲和伸展。

　　The miniature ball screw converts the rotational motion of the motor into linear motion, thereby driving the finger joints to achieve bending and extension.

　　行星滾柱絲杠

　　Planetary roller screw

　　相較于滾珠絲杠傳動方案，行星滾柱絲杠具有承載力、體積和精度等綜合優勢，非常契合在空間緊湊的人形機器人上應用。

　　Compared to ball screw transmission schemes, planetary roller screws have comprehensive advantages in load-bearing capacity, volume, and accuracy, making them highly suitable for application in compact humanoid robots.

　　行星滾柱絲杠由于高數量接觸點，能夠承受更高的靜載和動載，靜載為滾珠絲杠的3倍，壽命為滾珠絲杠的15倍，同載荷下體積比滾珠絲杠小1/3。

　　Due to its high number of contact points, planetary roller screws can withstand higher static and dynamic loads. The static load is three times that of ball screws, and the lifespan is 15 times that of ball screws. Under the same load, the volume is one-third smaller than that of ball screws.

　　核心結構包括絲杠、滾柱、螺母、內齒圈、保持架和彈性擋圈。運動模式類似行星繞太陽，精度非常高，但降本訴求迫切。

　　The core structure includes a screw, roller, nut, internal gear ring, cage, and elastic retaining ring. The motion mode is similar to a planet orbiting the sun, with the highest accuracy, but the demand for cost reduction is urgent.

　　通過驅動螺母帶動絲杠軸向運動（螺母作為主動件），可以理解成將螺母作為電機轉子實現電機和直線傳動機構（絲杠）結合的復合產品，好處就是在同等扭矩的基礎上可以產生更大的負載，同時體積更小。

　　By driving the nut to drive the axial movement of the screw (with the nut as the active component), it can be understood as a composite product that integrates the motor and linear transmission mechanism (screw) by using the nut as the motor rotor. The advantage is that it can generate a larger load on the basis of the same torque, while having a smaller volume.

　　行星滾柱絲杠分為標準式、反向式、循環式、差動式和軸承環式等多種類型，其中反向式行星滾柱絲杠在人形機器人中應用較為廣泛。

　　Planetary roller screws are divided into various types such as standard, reverse, cyclic, differential, and bearing ring. Among them, reverse planetary roller screws are widely used in humanoid robots.

　　反向式行星滾柱絲杠結構緊湊、重量更小，但加工要求更高。

　　The reverse planetary roller screw has a compact structure, smaller weight, but higher processing requirements.

　　特斯拉人形機器人Optimus主要采用反向式行星滾柱絲杠，每個線性執行器中都搭載了一個行星滾柱絲杠，總共使用了14根反向式行星滾柱絲杠，分別用于大臂（2個）、小臂（4個）、大腿（4個）和小腿（4個）。

　　The Tesla humanoid robot Optimus mainly uses reverse planetary roller screws, with one planetary roller screw installed in each linear actuator. A total of 14 reverse planetary roller screws are used, which are respectively used for the upper arm (2), lower arm (4), thigh (4), and calf (4).

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