冲压机械手上的直线模组怎么选型？

直线模组广泛应用在自动化设备领域中，它在不同自动化设备领域发展当中，相对运用分化较大。今天我们就来聊一聊冲压机械手上的直线模组该如何选型，要考虑考虑哪些因素：

The linear module is widely used in the field of automation equipment, and it has a relatively large differentiation in the development of different automation equipment. Today we are going to talk about the selection of the linear module on the punching manipulator, and consider what factors to consider:

1、抗振性与稳定性：抗振性是指模组副接受受迫振动和冲击的能力；而稳定性是指在给定的运转条件下不出现自激振动的性能。

1, anti vibration and anti vibration stability: refers to group vice accepted subject to forced vibration and impact ability; stability refers to the performance of the self-excited vibration does not appear in the given operating conditions.

2、刚硬度：刚硬度对于精密机械与仪器尤为重要。冲压机械手的直线模组变形包括导轨本体变形导致导轨接触处变形，导轨抵抗受力变形的能力。变形将影响构件之间的相对位置和导向精度及电机使用寿命。

2, stiffness: stiffness is particularly important for precision machinery and instruments. The deformation of the linear module of the stamping manipulator includes the deformation of the guide rail contact and the ability to resist the deformation of the guide rail. The deformation will affect the relative position and guiding precision between the components and the service life of the motor.

3、运动灵敏度和定位精度：冲压机械手的直线导轨运动灵敏度是指运动构件能实现的最小行程；定位精度是指运动构件能按要求停止在指定位置的能力。运动灵敏度和定位精度与导轨类型、摩擦特性、运动速度、传动刚度、运动构件质量等因素有关。

3, motion sensitivity and positioning accuracy: the motion sensitivity of the linear guide of the stamping manipulator refers to the minimum stroke that can be achieved by the moving member, and the positioning accuracy refers to the ability of the moving component to stop at the specified location as required. The motion sensitivity and positioning accuracy are related to the type of guide rail, the friction characteristic, the speed of motion, the drive stiffness and the quality of the moving component.

4、精度坚持性：是指工作过程中保持原有几何精度的能力。模组的精度坚持性主要取决于导轨的耐磨性极其尺寸稳定性。耐磨性与导轨副的资料匹配、受力、加工精度、润滑方式和防护装置的性能的因素有关。导轨及其支承件内的剩余应力也会影响冲压机械手导轨的精度坚持性。

4, precision persistence: it refers to the ability to maintain the original geometric precision in the process of work. The accuracy of the module depends mainly on the wear resistance of the guide rail and the dimensional stability. The wear resistance is related to the data matching of the guide pair, the force, the machining accuracy, the lubrication method and the performance of the protective device. The residual stress in the guideway and its support will also affect the accuracy of the guideway of the stamping manipulator.

5、导向精度以及模组和支承件的热变形，导向精度是指运动构件沿导轨导面运动时其运动轨迹的准确水平。影响导向精度的主要因素有导轨承导面的几何精度、导轨的结构类型、导轨副的接触精度、外表粗糙度、导轨和支承件的刚度、导轨副的油膜厚度及油膜刚度。冲压机械手运动导轨的几何精度一般包括：垂直平面和水平平面内的直线度；两条导轨面间的平行度。导轨几何精度可以用导轨全长上的误差或单位长度上的误差表示。

5. The guidance precision, the thermal deformation of the module and the support part, is the accurate level of the motion track when the moving component moves along the guide surface of the guide rail. The main factors influencing the guiding accuracy include the geometric accuracy of the guide rail surface, the structural type of the guide way, the contact accuracy of the guide pair, the roughness of the surface, the rigidity of the guide and support, the oil film thickness of the guide rail and the stiffness of the oil film. The geometric precision of the moving guide rail of a stamping manipulator generally includes the straightness in the vertical plane and the horizontal plane, and the parallelism between the two slideways. The geometric accuracy of the guide rail can be represented by the error on the whole length of the guide rail or the error on the unit length.

6、运动平稳性模组运动平稳性是指导轨在低速运动或微量移动时不出现爬行现象的性能。平稳性与导轨的结构、导轨副材料的匹配、润滑状况、润滑剂性质及导轨运动之传动系统的刚度等因素有关。

6. The motion stationarity of the motion stationary module refers to the performance of the slideway without crawling at low speed or trace movement. The stability is related to the structure of the guide rail, the matching of the material of the guide rail, the lubrication condition, the properties of the lubricant and the stiffness of the transmission system of the guide rail.