隨著人工智能技術(shù)的飛速發(fā)展，人形機(jī)器人正從科幻概念加速走向商業(yè)化應(yīng)用的現(xiàn) 實(shí)。在這一浪潮中，絲杠作為人形機(jī)器人線性執(zhí)行器的核心傳動部件，其性能直接決定了機(jī)器人的運(yùn)動精度、負(fù)載能力和整體表現(xiàn)，是產(chǎn)業(yè)鏈中技術(shù)壁壘高、價值量占比大的關(guān)鍵環(huán)節(jié)。

　　With the rapid development of artificial intelligence technology, humanoid robots are accelerating from sci-fi concepts to commercial applications. In this wave, the screw, as the core transmission component of the linear actuator of humanoid robots, directly determines the motion accuracy, load capacity, and overall performance of the robot. It is a key link in the industry chain with high technical barriers and a large proportion of value.

　　人形機(jī)器人市場的爆發(fā)式增長，預(yù)示著將為絲杠產(chǎn)業(yè)帶來遠(yuǎn)超傳統(tǒng)工業(yè)母機(jī)等領(lǐng)域的幾何級增長空間。本文旨在深度剖析人形機(jī)器人絲杠產(chǎn)業(yè)面臨的機(jī)遇與挑戰(zhàn)，梳理其技 術(shù)特性、市場格局及未來發(fā)展趨勢。人形機(jī)器人的發(fā)展不僅是AI算法的突破，更是對精密制造體系，特別是核心傳動部件提出的嚴(yán)峻考驗(yàn)。絲杠產(chǎn)業(yè)的技術(shù)水平和產(chǎn)能供給，在一定程度上將影響人形機(jī)器人大規(guī)模商業(yè)化的進(jìn)程。人形機(jī)器人對高精度、高負(fù)載、高動態(tài)響應(yīng)的運(yùn)動能力有著追求，而絲杠正是實(shí)現(xiàn)這些能力的關(guān)鍵線性傳動部件。特別是行星滾柱絲杠等高性能產(chǎn)品，其制造涉及材料科學(xué)、精密加工、熱處理工藝及專用設(shè)備等多個高壁壘環(huán)節(jié)。若絲杠產(chǎn)業(yè)無法在性能、成本和批量供應(yīng)上滿足人形機(jī)器人的嚴(yán)苛要求，將直接制約人形機(jī)器人的市場競爭力與商業(yè)化落地速度。

　　The explosive growth of the humanoid robot market indicates that it will bring geometric growth space to the screw industry far beyond traditional industrial mother machines and other fields. This article aims to deeply analyze the opportunities and challenges faced by the humanoid robot screw industry, and to sort out its technical characteristics, market pattern, and future development trends. The development of humanoid robots is not only a breakthrough in AI algorithms, but also a severe test for precision manufacturing systems, especially for core transmission components. The technological level and production capacity supply of the screw industry will to some extent affect the process of large-scale commercialization of humanoid robots. Humanoid robots have an ultimate pursuit of high-precision, high load, and high dynamic response motion capabilities, and the screw is the key linear transmission component to achieve these capabilities. Especially for high-performance products such as planetary roller screws, their manufacturing involves multiple high barrier links such as material science, precision machining, heat treatment processes, and specialized equipment. If the screw industry cannot meet the stringent requirements of humanoid robots in terms of performance, cost, and bulk supply, it will directly constrain the market competitiveness and commercialization speed of humanoid robots.

　　與此同時，絲杠產(chǎn)業(yè)的升級與人形機(jī)器人的發(fā)展呈現(xiàn)出顯著的雙向驅(qū)動關(guān)系。人形機(jī)器人對絲杠提出的更高性能要求，如微型化、高集成度、高動態(tài)響應(yīng)和長壽命等，將持續(xù)刺激絲杠制造商加大研發(fā)投入，攻克技術(shù)難題。而人形機(jī)器人大規(guī)模量產(chǎn)的預(yù)期，也將推動絲杠生產(chǎn)工藝的革新，例如“以車代磨”、“旋風(fēng)銑”等降本新工藝的應(yīng)用與普及，旨在降低絲杠的制造成本。反過來，技術(shù)更、成本更優(yōu)化的絲杠產(chǎn)品，也將有效降低人形機(jī)器人的整體制造成本，提高其市場接受度，從而形成一個積極的正反饋循環(huán)，共同推動兩大產(chǎn) 業(yè)的協(xié)同發(fā)展。

　　At the same time, there is a significant bidirectional driving relationship between the upgrading of the screw industry and the development of humanoid robots. The higher performance requirements of humanoid robots for lead screws, such as miniaturization, high integration, high dynamic response, and long lifespan, will continue to stimulate lead screw manufacturers to increase research and development investment and overcome technical challenges. The expectation of large-scale production of humanoid robots will also drive the innovation of screw production technology, such as the application and popularization of efficient and cost reducing new processes such as "replacing grinding with cars" and "whirlwind milling", aiming to reduce the manufacturing cost of screws. Conversely, screw products with more advanced technology and optimized costs will effectively reduce the overall manufacturing cost of humanoid robots, improve their market acceptance, and form a positive feedback loop, jointly promoting the coordinated development of the two industries.

　　1絲杠技術(shù)詳解

　　1. Detailed explanation of screw technology

　　人形機(jī)器人的“關(guān)節(jié)”奧秘

　　The mystery of "joints" in humanoid robots

　　1.1 絲杠的定義、基本工作原理及核心功能絲杠是一種能夠?qū)⑿D(zhuǎn)運(yùn)動精確地轉(zhuǎn)化為直線運(yùn)動的精密機(jī)械傳動部件 1。

　　1.1 Definition, basic working principle, and core function of lead screw. Lead screw is a precision mechanical transmission component that can accurately convert rotational motion into linear motion.

　　其基本工作原理是：電機(jī)通過聯(lián)軸器或同步帶等機(jī)構(gòu)帶動絲杠軸旋轉(zhuǎn)，絲杠軸上加工有螺旋形螺紋，與之配合的螺母內(nèi)部也具有相應(yīng)的螺紋。當(dāng)絲杠軸旋轉(zhuǎn)時，螺母在螺旋螺紋的導(dǎo)向下，沿絲杠軸向進(jìn)行直線往復(fù)運(yùn)動，從而將電機(jī)輸出的旋轉(zhuǎn)力矩和轉(zhuǎn)速，地轉(zhuǎn)換為直線運(yùn)動的推力和速度。

　　The basic working principle is that the motor drives the screw shaft to rotate through mechanisms such as couplings or synchronous belts. The screw shaft is machined with spiral threads, and the nut that matches it also has corresponding threads inside. When the screw shaft rotates, the nut undergoes linear reciprocating motion along the screw axis under the guidance of the spiral thread, thereby efficiently converting the rotational torque and speed output by the motor into thrust and speed for linear motion.

　　絲杠的核心功能在于實(shí)現(xiàn)高精度的位移定位和有效的力矩傳遞。在眾多種類的直線驅(qū)動方案中，“滾珠絲杠+旋轉(zhuǎn)電機(jī)”或“行星滾柱絲杠+旋轉(zhuǎn)電機(jī)”的組合，因其在定位精度、推力輸出、運(yùn)動速度以及姿態(tài)控制等方面的綜合穩(wěn)定性能，獲得了廣泛應(yīng)用。此外，絲杠機(jī)構(gòu)還普遍具有傳動可逆性，即不僅可以將旋轉(zhuǎn)運(yùn)動轉(zhuǎn)換為直線運(yùn)動，也可以在特定條件下將直線運(yùn)動反向轉(zhuǎn)換成旋轉(zhuǎn)運(yùn)動。

　　The core function of a screw is to achieve high-precision displacement positioning and effective torque transmission. Among various types of linear drive schemes, the combination of "ball screw+rotary motor" or "planetary roller screw+rotary motor" has been widely used due to its comprehensive stability performance in positioning accuracy, thrust output, motion speed, and attitude control. In addition, screw mechanisms generally have reversible transmission, which means they can not only convert rotational motion into linear motion, but also reverse linear motion into rotational motion under specific conditions.

　　絲杠的“精密”屬性是其在人形機(jī)器人、數(shù)控機(jī)床、半導(dǎo)體設(shè)備等高端應(yīng)用領(lǐng)域中不可或缺 的核心價值所在。人形機(jī)器人需要執(zhí)行日益復(fù)雜和精細(xì)的操作任務(wù)，這些任務(wù)的完成高度依賴于其各個關(guān)節(jié)運(yùn)動的準(zhǔn)確性和重復(fù)性。絲杠作為構(gòu)成線性執(zhí)行器的關(guān)鍵組件，其自身的傳動誤差，如導(dǎo)程誤差、軸向間隙等，會直接傳遞到機(jī)器人的末端執(zhí)行器，影響終的作業(yè)精度。因此，絲杠的各項精度指標(biāo)對于保障人形機(jī)器人的整體性能和可靠運(yùn)行關(guān)重要。

　　The "precision" attribute of lead screws is an indispensable core value in high-end application fields such as humanoid robots, CNC machine tools, and semiconductor equipment. Humanoid robots need to perform increasingly complex and sophisticated operational tasks, which highly depend on the accuracy and repeatability of their joint movements. As a key component of linear actuators, the screw's own transmission errors, such as lead error and axial clearance, will be directly transmitted to the end effector of the robot, affecting the final operational accuracy. Therefore, the precision indicators of the screw are crucial for ensuring the overall performance and reliable operation of humanoid robots.

　　1.2 主要絲杠類型及其特性對比

　　1.2 Comparison of Main Screw Types and Their Characteristics

　　根據(jù)摩擦特性的不同，絲杠主要可以分為滑動絲杠（以梯形絲杠為代表）、滾動絲杠（包括滾珠絲杠和行星滾柱絲杠）以及靜壓絲杠三大類。根據(jù)加工方式，絲杠加工方法可以分為有屑加工(切削成形)和無屑加工(塑性加工)這兩種。有屑加工是指利用切削成形加工絲杠，主要包括磨削、車削、旋風(fēng)銑削等；無屑加工是指利用金屬塑性成型加工絲杠，主要包括冷擠壓和冷軋。

　　According to the different friction characteristics, screw can be mainly divided into three categories: sliding screw (represented by trapezoidal screw), rolling screw (including ball screw and planetary roller screw), and static pressure screw. According to the processing method, screw machining can be divided into two types: chip machining (cutting forming) and chip free machining (plastic machining). Chip machining refers to the use of cutting and forming to process lead screws, mainly including grinding, turning, whirlwind milling, etc; Chip free machining refers to the use of metal plastic forming to process lead screws, mainly including cold extrusion and cold rolling.

　　1.2.1 梯形絲杠

　　1.2.1 Trapezoidal lead screw

　　梯形絲杠，因其螺紋牙型截面呈梯形而得名，是為常見的一種滑動絲杠。其結(jié)構(gòu)相對簡單，主要由絲杠和螺母構(gòu)成，兩者通過螺紋面直接接觸并產(chǎn)生滑動摩擦來傳遞推力。

　　Trapezoidal lead screw, named after its trapezoidal thread profile, is the most common type of sliding lead screw. Its structure is relatively simple, mainly composed of a screw and a nut, which directly contact and generate sliding friction through the threaded surface to transmit thrust.

　　性能特點(diǎn)：梯形絲杠的制造成本較低，工藝相對成熟，附加值也較低 。它具有一定的自鎖性能，這在某些垂直提升或需要防止意外滑落的應(yīng)用中是有利的。然而，由于是滑動摩擦，其傳動效率不高，通常在26%46%之間，摩擦損耗大，易發(fā)熱，導(dǎo)致精度較低且易于磨損，使用壽命相對較短，不適合用于高速傳輸或高精度定位的場合。

　　Performance characteristics: The manufacturing cost of trapezoidal screw is relatively low, the process is relatively mature, and the added value is also low. It has a certain degree of self-locking performance, which is advantageous in certain vertical lifting or applications that require prevention of accidental slipping. However, due to sliding friction, its transmission efficiency is not high, usually between 26% and 46%, with high friction loss, easy heating, resulting in low accuracy and wear, and relatively short service life, making it unsuitable for high-speed transmission or high-precision positioning.

　　應(yīng)用：盡管性能上存在不足，但憑借成本優(yōu)勢，梯形絲杠目前仍然是銷量的絲杠產(chǎn)品，其市場增長主要依賴于傳統(tǒng)工業(yè)領(lǐng)域的帶動，如普通機(jī)床進(jìn)給機(jī)構(gòu)等。

　　Application: Despite its performance shortcomings, trapezoidal screw is still the best-selling screw product due to its cost advantage. Its market growth mainly relies on the driving force of traditional industrial fields, such as ordinary machine tool feed mechanisms.

　　1.2.2 滾珠絲杠

　　1.2.2 Ball screw

　　滾珠絲杠是一種典型的滾動絲杠，它通過在絲杠和螺母之間引入滾珠作為滾動介質(zhì)，將傳統(tǒng)的滑動摩擦轉(zhuǎn)變?yōu)闈L動摩擦，從而顯著提高了傳動性能。

　　Ball screw is a typical rolling screw that introduces balls as rolling media between the screw and nut, transforming traditional sliding friction into rolling friction and significantly improving transmission performance.

　　結(jié)構(gòu)與工作原理：滾珠絲杠主要由絲杠軸、滾珠螺母、鋼球（滾珠）、以及用于引導(dǎo)滾珠 循環(huán)的反向裝置（如導(dǎo)珠管、端蓋等）構(gòu)成。絲杠軸和螺母上都加工有精密研磨或軋制的螺旋形滾道。當(dāng)絲杠軸與螺母相對旋轉(zhuǎn)時，滾珠在兩者之間的滾道內(nèi)滾動，并通過反向裝置實(shí)現(xiàn)連續(xù)循環(huán)，從而將旋轉(zhuǎn)運(yùn)動地轉(zhuǎn)換為平穩(wěn)的直線運(yùn)動。循環(huán)方式：滾珠的循環(huán)方式主要有內(nèi)循環(huán)和外循環(huán)兩種。

　　Structure and working principle: Ball screws are mainly composed of a screw shaft, ball nuts, steel balls (balls), and reverse devices used to guide the circulation of balls (such as ball guides, end caps, etc.). The screw shaft and nut are both machined with precision ground or rolled spiral raceways. When the screw shaft and nut rotate relative to each other, the balls roll in the raceway between the two and achieve continuous circulation through a reverse device, thereby efficiently converting the rotational motion into smooth linear motion. Circulation mode: There are mainly two types of circulation modes for ball bearings: internal circulation and external circulation.

　　內(nèi)循環(huán)（如浮動式、矩陣式）：滾珠在螺母內(nèi)部完成循環(huán)，結(jié)構(gòu)相對緊湊，螺母外徑 可以做得較小，適用于安裝空間受限的場合。但其軸向尺寸可能較長。

　　Internal circulation (such as floating and matrix): The ball completes circulation inside the nut, with a relatively compact structure. The outer diameter of the nut can be made smaller, making it suitable for situations where installation space is limited. But its axial dimension may be longer.

　　外循環(huán)（如插管式、端蓋式）：滾珠通過螺母外部的循環(huán)管或端蓋返回，這種結(jié)構(gòu)通 常具有較好的承載能力和更高的導(dǎo)程，但螺母的徑向尺寸會因此增大。

　　External circulation (such as insertion tube and end cap): The ball returns through the circulation tube or end cap outside the nut. This structure usually has better load-bearing capacity and higher lead, but the radial size of the nut will increase as a result.

　　性能特點(diǎn)：滾珠絲杠的傳動效率非常高，一般可達(dá)90%以上。由于摩擦損失小，其發(fā) 熱量低，允許較高的運(yùn)行速度和加速度，能夠?qū)崿F(xiàn)高速進(jìn)給和精確的微小位移控制。

　　Performance characteristics: The transmission efficiency of ball screws is very high, generally reaching over 90%. Due to its low friction loss and low heat generation, it allows for higher operating speeds and accelerations, enabling high-speed feed and precise control of small displacements.

　　同時，滾珠絲杠具有較高的定位精度和重復(fù)定位精度，以及較長的使用壽命。應(yīng)用：憑借其優(yōu)異的綜合性能，滾珠絲杠廣泛應(yīng)用于對傳動精度和效率有較高要求的 場合，如數(shù)控機(jī)床、半導(dǎo)體制造設(shè)備、精密測量儀器、工業(yè)機(jī)器人、醫(yī)療器械等。

　　Meanwhile, ball screws have high positioning accuracy and repeatability, as well as a long service life. Application: With its excellent comprehensive performance, ball screws are widely used in applications that require high transmission accuracy and efficiency, such as CNC machine tools, semiconductor manufacturing equipment, precision measuring instruments, industrial robots, medical devices, etc.

　　1.2.3 行星滾柱絲杠

　　1.2.3 Planetary roller screw

　　行星滾柱絲杠是滾動絲杠中性能更為優(yōu)越的一種，它采用若干個螺紋滾柱替代滾珠作為傳 動介質(zhì)，通過滾柱與絲杠軸及螺母內(nèi)螺紋的多點(diǎn)線接觸來傳遞負(fù)載。

　　Planetary roller screw is a type of rolling screw with superior performance. It uses several threaded rollers instead of balls as the transmission medium, and transmits loads through multi-point line contact between the rollers and the screw shaft and the internal threads of the nut.

　　結(jié)構(gòu)與工作原理：行星滾柱絲杠主要由中心絲杠軸、帶有內(nèi)螺紋的螺母、一組行星排 布的螺紋滾柱、以及用于保持滾柱位置的保持架和（在某些類型中）用于同步滾柱旋轉(zhuǎn) 的內(nèi)齒圈等部件組成。絲杠軸、滾柱和螺母上均加工有多頭螺紋，通常滾柱的螺紋與 絲杠軸和螺母的螺紋相嚙合。當(dāng)中心絲杠（或螺母，取決于具體類型）旋轉(zhuǎn)時，行星滾柱 一方面圍繞中心絲杠公轉(zhuǎn)，另一方面也同時自轉(zhuǎn)，從而驅(qū)動螺母（或絲杠）產(chǎn)生精確的 軸向直線運(yùn)動。

　　Structure and working principle: The planetary roller screw is mainly composed of a central screw shaft, a nut with internal threads, a set of planetary arranged threaded rollers, a cage for maintaining the position of the rollers, and (in some types) an internal gear ring for synchronizing the rotation of the rollers. The screw shaft, roller, and nut are all machined with multi head threads, and usually the threads of the roller mesh with the threads of the screw shaft and nut. When the central screw (or nut, depending on the specific type) rotates, the planetary rollers revolve around the central screw on one hand, and also rotate on their own at the same time, thereby driving the nut (or screw) to produce precise axial linear motion.

　　主要分類：根據(jù)結(jié)構(gòu)和運(yùn)動特性的不同，行星滾柱絲杠可分為標(biāo)準(zhǔn)式、反向式、循環(huán) 式、差動式和軸承環(huán)式等多種類型。在行星滾柱絲杠的各種類型中，反向式由于其易于實(shí)現(xiàn)電機(jī)與絲杠的一體化集成，從而大幅縮小執(zhí)行器的整體體積，對于結(jié)構(gòu)高度緊湊、輕量化要求極高的人形機(jī)器人關(guān)節(jié)設(shè)計而 言，具有顯著的結(jié)構(gòu)優(yōu)勢。然而，這種結(jié)構(gòu)優(yōu)勢的代價是制造難度的急劇增加。反向式行星滾柱絲杠的螺母需要加工出既長且深的精密內(nèi)螺紋，其行程也因此受到螺母內(nèi)螺紋長度的制約。相較于外螺紋，內(nèi)螺紋的精密磨削或旋風(fēng)銑加工難度要大得多，對加工設(shè)備、刀具/砂輪以及工藝控制都提出了更為嚴(yán)苛的要求，這構(gòu)成了反向式行星滾柱絲杠制造的核心技術(shù)壁壘之一。這意味著，選擇采用反向式行星滾柱絲杠方案的人形機(jī)器人制造商，對其供應(yīng)鏈伙伴的精密制造能力和工藝水平設(shè)定了更高的門檻。

　　Main classification: According to different structures and motion characteristics, planetary roller screws can be divided into various types such as standard, reverse, cyclic, differential, and bearing ring. Among various types of planetary roller screws, the reverse type has significant structural advantages for the joint design of humanoid robots with highly compact and lightweight requirements, as it is easy to integrate the motor and screw, greatly reducing the overall volume of the actuator. However, the cost of this structural advantage is a sharp increase in manufacturing difficulty. The nut of the reverse planetary roller screw needs to be machined with a long and deep precision internal thread, and its stroke is therefore constrained by the length of the internal thread of the nut. Compared to external threads, precision grinding or whirlwind milling of internal threads is much more difficult, requiring more stringent requirements for processing equipment, cutting tools/grinding wheels, and process control, which constitutes one of the core technical barriers in the manufacturing of reverse planetary roller screws. This means that humanoid robot manufacturers who choose to adopt the reverse planetary roller screw scheme have set higher thresholds for their supply chain partners' precision manufacturing capabilities and process levels.

　　性能優(yōu)勢：行星滾柱絲杠在多項關(guān)鍵性能指標(biāo)上均優(yōu)于滾珠絲杠。其承載能力極強(qiáng)，通 常是同規(guī)格滾珠絲杠的36倍，甚更高。使用壽命也顯著延長，可達(dá)滾珠絲杠的10倍以上。在相同的負(fù)載條件下，行星滾柱絲杠的體積可以做得更小，大約能節(jié)省1/3的空間。其傳動效率雖然略低于滾珠絲杠，但在良好潤滑條件下仍可達(dá)到75%90%的較高水平。此外，行星滾柱絲杠還具有優(yōu)異的動態(tài)性能（允許更高的轉(zhuǎn)速和加速度）、更高的軸向剛性、更小的導(dǎo)程（實(shí)現(xiàn)更高精度）、優(yōu)良的耐沖擊性和抗振性、以及更低的運(yùn)行噪音和更強(qiáng)的惡劣工況適應(yīng)性。

　　Performance advantage: The planetary roller screw outperforms the ball screw in multiple key performance indicators. Its load-bearing capacity is extremely strong, usually 3 to 6 times that of ball screws of the same specification, or even higher. The service life is also significantly extended, reaching more than 10 times that of ball screws. Under the same load conditions, the volume of the planetary roller screw can be made smaller, saving approximately one-third of the space. Although its transmission efficiency is slightly lower than that of ball screws, it can still reach a high level of 75% to 90% under good lubrication conditions. In addition, planetary roller screws also have excellent dynamic performance (allowing for higher speeds and accelerations), higher axial rigidity, smaller lead (achieving higher accuracy), excellent impact and vibration resistance, as well as lower operating noise and stronger adaptability to harsh working conditions.

　　1.2.4 不同類型絲杠性能對比

　　1.2.4 Performance comparison of different types of lead screws

　　絲杠類型的選擇本質(zhì)上是在性能、成本和特定應(yīng)用場景需求之間進(jìn)行的綜合權(quán)衡。人形機(jī)器人，特別是其承載主要負(fù)載和執(zhí)行精密動作的關(guān)節(jié)（如腿部、大負(fù)載臂部），對傳動部件的性能要求達(dá)到了的高度，需要同時滿足高動態(tài)負(fù)載、高沖擊、高精度、率和長壽命等苛刻條件 。梯形絲杠因其傳動效率和精度均較低，顯然無法滿足人形機(jī)器人的需求。

　　The selection of screw type is essentially a comprehensive trade-off between performance, cost, and specific application scenario requirements. Humanoid robots, especially their joints that carry the main load and perform precise actions (such as legs and large load arms), have unprecedented performance requirements for transmission components, requiring them to meet demanding conditions such as high dynamic loads, high impact, high precision, high efficiency, and long lifespan. Due to its low transmission efficiency and accuracy, trapezoidal screw cannot meet the needs of humanoid robots.

　　滾珠絲杠雖然在許多工業(yè)領(lǐng)域表現(xiàn)優(yōu)異，但在極高的負(fù)載能力、的緊湊性和超長的使用壽命方面，相較于行星滾柱絲杠仍有差距。行星滾柱絲杠憑借其多滾柱、多齒嚙合 帶來的多點(diǎn)線接觸特性，實(shí)現(xiàn)了的承載能力、剛性和耐久性，能契合人形機(jī)器人對核 心傳動部件的性能追求。因此盡管行星滾柱絲杠的制造成本和技術(shù)門檻目前相對較高，但在性能驅(qū)動下，它已成為人形機(jī)器人（尤其是高端型號和關(guān)鍵受力關(guān)節(jié)）線性執(zhí)行器的理想乃必然選擇。

　　Although ball screws perform well in many industrial fields, there is still a gap compared to planetary roller screws in terms of extremely high load capacity, extreme compactness, and long service life. The planetary roller screw, with its multi-point linear contact characteristics brought about by multi roller and multi tooth meshing, achieves excellent load-bearing capacity, rigidity, and durability, which best fits the ultimate performance pursuit of the core transmission components of humanoid robots. Therefore, although the manufacturing cost and technical threshold of planetary roller screw are currently relatively high, it has become an ideal and even inevitable choice for linear actuators of humanoid robots (especially high-end models and key force joints) driven by performance.

　　2人形機(jī)器人對絲杠的革命性需求

　　Revolutionary demand for screw in humanoid robots

　　2.1 絲杠在人形機(jī)器人中的核心應(yīng)用

　　2.1 Core Applications of Screw in Humanoid Robots

　　絲杠作為實(shí)現(xiàn)精密直線運(yùn)動的關(guān)鍵部件，在人形機(jī)器人的結(jié)構(gòu)中扮演著關(guān)重要的角色， 特別是在其線性執(zhí)行器中。

　　As a key component for achieving precise linear motion, the screw plays a crucial role in the structure of humanoid robots, especially in their linear actuators.

　　線性執(zhí)行器的構(gòu)成與絲杠的角色：人形機(jī)器人的許多關(guān)節(jié)運(yùn)動，尤其是需要較大推力 或精確直線位移的關(guān)節(jié)，都依賴于線性執(zhí)行器來驅(qū)動。典型的線性執(zhí)行器通常由無框力矩電機(jī)、行星滾柱絲杠（或高性能滾珠絲杠）、驅(qū)動器、編碼器以及力傳感器等部件高 度集成而成。在此結(jié)構(gòu)中，絲杠是核心的傳動元件，其主要任務(wù)是將電機(jī)輸出的旋轉(zhuǎn) 運(yùn)動、精確地轉(zhuǎn)換為直線運(yùn)動，從而驅(qū)動機(jī)器人關(guān)節(jié)的伸縮或擺動。

　　The composition of linear actuators and the role of screws: Many joint movements of humanoid robots, especially those that require large thrust or precise linear displacement, rely on linear actuators to drive. A typical linear actuator is typically highly integrated with components such as frameless torque motors, planetary roller screws (or high-performance ball screws), drivers, encoders, and force sensors. In this structure, the screw is the core transmission component, whose main task is to efficiently and accurately convert the rotational motion output by the motor into linear motion, thereby driving the extension or swing of the robot joints.

　　軀干與四肢關(guān)節(jié)的應(yīng)用：人形機(jī)器人的設(shè)計旨在模擬人體的運(yùn)動功能，因此其大臂、小臂、大腿、小腿、膝關(guān)節(jié)、髖關(guān)節(jié)、肘部、腕部、踝部等多個部位的俯仰（pitch）、偏航（ yaw）等自由度，均可能采用基于絲杠的線性執(zhí)行器進(jìn)行驅(qū)動。這些部位，特別是如腿 部和腰部的核心受力關(guān)節(jié)，在機(jī)器人進(jìn)行行走、跑跳、負(fù)載等動作時，需要承受較大的軸向力并進(jìn)行精確的位移控制，這恰好是高性能絲杠（尤其是行星滾柱絲杠）的優(yōu)勢所在。

　　Application of trunk and limb joints: The design of humanoid robots aims to simulate human motion functions, so the pitch, yaw, and other degrees of freedom of multiple parts such as the upper arm, lower arm, thighs, calves, knee joints, hip joints, elbows, wrists, ankles, etc. may be driven by linear actuators based on screws. These parts, especially the core force bearing joints such as the legs and waist, need to withstand large axial forces and perform precise displacement control when the robot performs walking, running, jumping, loading and other actions, which is precisely the advantage of high-performance screw (especially planetary roller screw).

　　靈巧手對微型絲杠的需求：隨著人形機(jī)器人應(yīng)用場景的拓展，對其進(jìn)行精細(xì)操作能力的要求也越來越高，這直接推動了靈巧手技術(shù)的快速發(fā)展。為了實(shí)現(xiàn)手指的多自由度 靈活運(yùn)動和精確力控制，靈巧手的驅(qū)動模塊必須高度微型化和集成化。特斯拉在其 Optimus Gen3的靈巧手設(shè)計中，預(yù)計將采用更多的線性執(zhí)行器和腱繩模塊組合，其單手自由度更是高達(dá)22個，這將極大地推動對微型絲杠（包括微型滾珠絲杠和微型行星滾柱絲杠）的需求擴(kuò)張。國內(nèi)的優(yōu)必選公司在其Walker X人形機(jī)器人的手指關(guān)節(jié)中， 也已經(jīng)成功應(yīng)用了微型線性執(zhí)行器來實(shí)現(xiàn)高精度的抓取動作。

　　The demand for micro screws in dexterous hands: With the expansion of the application scenarios of humanoid robots, the requirements for their ability to perform precise operations are also increasing, which directly promotes the rapid development of dexterous hand technology. In order to achieve multi degree of freedom flexible movement and precise force control of fingers, the driving module of a dexterous hand must be highly miniaturized and integrated. Tesla expects to use more linear actuators and tendon module combinations in its Optimus Gen3 dexterous hand design, with a single hand degree of freedom of up to 22, which will greatly drive the expansion of demand for micro screws (including micro ball screws and micro planetary roller screws). The domestic company Ubiquitous has also successfully applied micro linear actuators in the finger joints of its Walker X humanoid robot to achieve high-precision grasping actions.

　　人形機(jī)器人對絲杠的需求呈現(xiàn)出“多樣化”和“極端化”并存的鮮明特點(diǎn)。所謂“多樣化”，是指人形機(jī)器人身體的不同部位和關(guān)節(jié)，由于其功能和受力情況的差異，對絲杠的規(guī)格、負(fù)載能力、運(yùn)動行程、精度等級等要求各不相同。例如驅(qū)動腿部進(jìn)行支撐和行走的絲杠，需要具備極高的負(fù)載能力和剛性，而驅(qū)動手指進(jìn)行精細(xì)操作的微型絲杠，則更強(qiáng)調(diào)微型化、高精度和快速響應(yīng)。

　　The demand for lead screws in humanoid robots presents a distinct characteristic of "diversification" and "extremism" coexisting. The so-called "diversification" refers to the different parts and joints of the humanoid robot's body, which have different requirements for the specifications, load capacity, motion stroke, accuracy level, etc. of the screw due to their differences in function and force conditions. For example, the screw that drives the legs for support and walking requires extremely high load capacity and rigidity, while the micro screw that drives the fingers for fine operation emphasizes miniaturization, high precision, and fast response.

　　所謂“極端化”，是指人形機(jī)器人為了盡可能地模擬甚超越人類的運(yùn)動能力，對絲杠的各項性能指標(biāo)都提出了的追求，例如極高的功率密度（即在有限的體積和重量下實(shí)現(xiàn)的力輸出）、極快的動態(tài)響應(yīng)速度、極長的使用壽命以及極低的噪音等 。這種多樣化和極端化的需求，無疑對絲杠供應(yīng)商的設(shè)計創(chuàng)新能力、精密制造工藝水平以及產(chǎn)品線的覆蓋廣度和深度都構(gòu)成了的巨大挑戰(zhàn)。

　　The so-called "radicalization" refers to the extreme pursuit of various performance indicators of the screw by humanoid robots in order to simulate or even surpass human motion capabilities as much as possible, such as extremely high power density (i.e. achieving maximum force output within limited volume and weight), extremely fast dynamic response speed, extremely long service life, and extremely low noise. This diversified and extreme demand undoubtedly poses unprecedented challenges to the design innovation capability, precision manufacturing process level, and product line coverage breadth and depth of screw suppliers.

　　在人形機(jī)器人的關(guān)節(jié)驅(qū)動方案選擇上，線性執(zhí)行器（以絲杠為核心）與旋轉(zhuǎn)執(zhí)行器（通常由 電機(jī)直接驅(qū)動諧波減速器或RV減速器等組成）是兩種主要的技術(shù)路線，它們在實(shí)際應(yīng)用中往往并存，本體廠商會根據(jù)不同關(guān)節(jié)的具體需求進(jìn)行權(quán)衡選擇。線性執(zhí)行器在高軸向力輸出、實(shí)現(xiàn)較長直線行程以及直線定位精度方面具有優(yōu)勢；而旋轉(zhuǎn)執(zhí)行器則在高扭矩密度、緊湊的結(jié)構(gòu)尺寸以及角位移控制精度方面表現(xiàn)更佳。

　　In the selection of joint drive schemes for humanoid robots, linear actuators (with screw as the core) and rotary actuators (usually composed of harmonic reducers or RV reducers directly driven by motors) are two main technical routes, which often coexist in practical applications. Our manufacturers will weigh and choose according to the specific needs of different joints. Linear actuators have advantages in high axial force output, long linear travel, and linear positioning accuracy; Rotary actuators perform better in terms of high torque density, compact structural dimensions, and angular displacement control accuracy.

　　目前高性能絲杠，特別是行星滾柱絲杠，由于其復(fù)雜的結(jié)構(gòu)和精密的制造工藝，其成本相對較高，是構(gòu)成線性執(zhí)行器總成本的主要部分之一。因此絲杠技術(shù)能否在保持甚提升性能的同時，通過技術(shù)創(chuàng)新和規(guī)模化生產(chǎn)實(shí)現(xiàn)顯著的成本優(yōu)化，將直接影響線性執(zhí)行器方案在人形機(jī)器人應(yīng)用中的整體競爭力， 并進(jìn)而影響人形機(jī)器人的終設(shè)計方案和市場。

　　At present, high-performance screws, especially planetary roller screws, have relatively high costs due to their complex structure and precise manufacturing processes, making them one of the main components of the total cost of linear actuators. Therefore, whether screw technology can achieve significant cost optimization through technological innovation and large-scale production while maintaining or even improving performance will directly affect the overall competitiveness of linear actuator solutions in humanoid robot applications, and thus affect the final design scheme and market price of humanoid robots.

　　2.2 特斯拉Optimus等典型方案對絲杠選型的啟示

　　2.2 Inspiration from typical solutions such as Tesla Optimus for screw selection

　　以特斯拉Optimus為代表的人形機(jī)器人，其在執(zhí)行器方案上的選擇和迭代，為整個行業(yè)在絲杠技術(shù)的應(yīng)用和發(fā)展方向上提供了重要的參考和啟示。特斯拉Optimus的絲杠應(yīng)用方案技術(shù)迭代的體現(xiàn)：特斯拉在其人形機(jī)器人Optimus的早期版本（Gen-1）的小臂線性執(zhí)行器中，曾嘗試使用結(jié)構(gòu)相對簡單的滑動絲杠。然而在后續(xù)的Gen-2版本中， 則升級為性能更優(yōu)越的行星滾柱絲杠，此舉旨在顯著減小機(jī)械傳動間隙、提高系統(tǒng)的功率密度和動態(tài)響應(yīng)性能。

　　The selection and iteration of actuator schemes for advanced humanoid robots represented by Tesla Optimus provide important references and inspirations for the application and development direction of screw technology in the entire industry. The embodiment of technological iteration in the screw application solution of Tesla Optimus: Tesla attempted to use a relatively simple sliding screw in the small arm linear actuator of its humanoid robot Optimus in its early version (Gen-1). However, in the subsequent Gen-2 version, it was fully upgraded to a planetary roller screw with superior performance, which aims to significantly reduce mechanical transmission clearance, improve system power density and dynamic response performance.

　　核心關(guān)節(jié)的選擇：Optimus的軀干和四肢部位大量采用了基于“電機(jī)+行星滾柱絲 杠+軸承+傳感器”集成方案的線性執(zhí)行器。特別值得注意的是，其中14個關(guān)鍵的線 性執(zhí)行器均選用了反向式行星滾柱絲杠，這主要是因?yàn)榉聪蚴叫行菨L柱絲杠在高 精度、高承載能力和高傳動效率方面具有突出優(yōu)勢，能夠滿足機(jī)器人核心關(guān)節(jié)的嚴(yán)苛要求。

　　Selection of core joints: Optimus extensively uses linear actuators based on an integrated solution of "motor+planetary roller screw+bearing+sensor" for its trunk and limbs. It is particularly noteworthy that 14 key linear actuators have adopted reverse planetary roller screws, mainly because reverse planetary roller screws have outstanding advantages in high precision, high load-bearing capacity, and high transmission efficiency, which can meet the strict requirements of the robot core.

　　具體分布與規(guī)格：根據(jù)特斯拉AI Day披露的信息，Optimus Gen-2全身共有28個執(zhí)行器，其中14個為線性執(zhí)行器，主要分布在腕部、踝部、髖部、肘部和膝部等需要承受較大作用力并進(jìn)行精確姿態(tài)調(diào)整的俯仰角自由度上。具體來看，這14個線性執(zhí)行器包括大臂2個、小臂4個、大腿4個、小腿4個，并根據(jù)不同關(guān)節(jié)的負(fù)載需求，設(shè)計了三種不同規(guī)格的線性執(zhí)行器，其額定負(fù)載能力分別達(dá)到了500N、3900N和 8000N。

　　Specific distribution and specifications: According to the information disclosed by Tesla AI Day, the Optimus Gen-2 has a total of 28 actuators throughout its body, of which 14 are linear actuators, mainly distributed in the pitch angle degrees of freedom such as the wrist, ankle, hip, elbow, and knee, which require significant force and precise attitude adjustment. Specifically, these 14 linear actuators include 2 for the upper arm, 4 for the lower arm, 4 for the upper leg, and 4 for the lower leg. Based on the load requirements of different joints, three different specifications of linear actuators have been designed, with rated load capacities of 500N, 3900N, and 8000N, respectively.

　　靈巧手的微型化趨勢：在的Optimus Gen-3設(shè)計中，特斯拉對其靈巧手的驅(qū)動方案進(jìn)行了重要革新，預(yù)計將采用更多數(shù)量的線性執(zhí)行器（可能多達(dá)17個線性執(zhí)行模塊）與腱繩模塊相結(jié)合的方式，以實(shí)現(xiàn)高達(dá)22個自由度的靈活手指運(yùn)動。這一 設(shè)計趨勢將極大地推動對高性能微型絲杠（包括微型滾珠絲杠和微型行星滾柱絲杠）的需求。

　　The trend towards miniaturization of dexterous hands: In the latest Optimus Gen-3 design, Tesla has made significant innovations to its dexterous hand drive scheme, which is expected to use a greater number of linear actuators (possibly up to 17 linear actuator modules) combined with tendon modules to achieve flexible finger movements up to 22 degrees of freedom. This design trend will greatly drive the demand for high-performance micro screws, including micro ball screws and micro planetary roller screws.

　　特斯拉在Optimus人形機(jī)器人中對行星滾柱絲杠，特別是反向式行星滾柱絲杠的規(guī)模化、 系統(tǒng)化應(yīng)用，無疑在全球人形機(jī)器人行業(yè)內(nèi)起到了重要的技術(shù)風(fēng)向標(biāo)作用。這一明確的技術(shù)選型，不僅驗(yàn)證了行星滾柱絲杠在高性能人形機(jī)器人應(yīng)用中的可行性和優(yōu)越性，也為整個產(chǎn)業(yè)鏈上游的絲杠制造商提供了清晰的研發(fā)方向和巨大的市場預(yù)期。為了滿足像特斯拉這樣的頭部機(jī)器人廠商未來可能出現(xiàn)的百萬臺級別的量產(chǎn)需求，絲杠供應(yīng)鏈必須在技術(shù)創(chuàng)新、產(chǎn)能擴(kuò)張、質(zhì)量控制以及成本優(yōu)化等多個維度實(shí)現(xiàn)快速提升和突破，這將有力地帶動整個行星滾柱絲杠產(chǎn)業(yè)的技術(shù)進(jìn)步和生態(tài)成熟。可以預(yù)見，其他后發(fā)的人形機(jī)器人制造商在進(jìn)行自身產(chǎn)品的技術(shù)選型時，很可能會深入研究并借鑒特斯拉在Optimus上的成功經(jīng)驗(yàn)，從而可能進(jìn)一步擴(kuò)大行星滾柱絲杠在人形機(jī)器人領(lǐng)域的應(yīng)用范圍和市場份額。

　　Tesla's large-scale and systematic application of planetary roller screws, especially reverse planetary roller screws, in Optimus humanoid robots undoubtedly plays an important technical role in the global humanoid robot industry. This clear technological selection not only verifies the feasibility and superiority of planetary roller screws in high-performance humanoid robot applications, but also provides clear research and development directions and huge market expectations for screw manufacturers upstream of the entire industry chain. In order to meet the potential mass production demand of millions of units for leading robot manufacturers like Tesla in the future, the screw supply chain must achieve rapid improvement and breakthroughs in multiple dimensions such as technological innovation, capacity expansion, quality control, and cost optimization. This will effectively drive the technological progress and ecological maturity of the entire planetary roller screw industry. It can be foreseen that other emerging humanoid robot manufacturers may conduct in-depth research and draw on Tesla's successful experience in Optimus when selecting their own product technologies, which may further expand the application scope and market share of planetary roller screws in the field of humanoid robots.

　　人形機(jī)器人的關(guān)節(jié)空間極為有限，要求絲杠不僅要在宏觀尺寸上盡可能做小、做輕，更要在微觀結(jié)構(gòu)設(shè)計、新材料應(yīng)用、精密制造工藝等方面不斷創(chuàng)新，以便在極小的體積內(nèi)實(shí)現(xiàn)高精度、率、高負(fù)載的傳動性能。未來為了滿足人形機(jī)器人對環(huán)境感知、自適應(yīng)控制和精準(zhǔn)力控的更高要求，絲杠產(chǎn)品可能需要與各類傳感器（如位置傳感器、力矩傳感器、溫度傳感器等）進(jìn)行更深度的集成，甚內(nèi)嵌智能控制算法，實(shí)現(xiàn)從一個單純的傳動部件向一個智能化的機(jī)電一體化模塊的轉(zhuǎn)變。

　　The joint space of humanoid robots is extremely limited, requiring the screw not only to be as small and lightweight as possible in macroscopic dimensions, but also to continuously innovate in microstructure design, new material applications, precision manufacturing processes, etc., in order to achieve high-precision, high-efficiency, and high load transmission performance in a very small volume. In order to meet the higher requirements of humanoid robots for environmental perception, adaptive control, and precise force control in the future, screw products may need to be more deeply integrated with various sensors (such as position sensors, torque sensors, temperature sensors, etc.), and even embedded with intelligent control algorithms, realizing the transformation from a simple transmission component to an intelligent mechatronics module.

　　2.3 人形機(jī)器人中絲杠的價值量占比分析

　　2.3 Analysis of the Value Proportion of Screw in Humanoid Robots

　　絲杠，特別是高性能的行星滾柱絲杠和精密滾珠絲杠，是構(gòu)成人形機(jī)器人成本的重要組成部分，在其核心零部件中占據(jù)較高的價值量比例。根據(jù)中信建投證券的分析，以特斯拉人形機(jī)器人Optimus為例，絲杠部分（主要指用于軀干和四肢關(guān)節(jié)的行星滾柱絲杠）的價值量約占整個人形機(jī)器人總價值量的19%。

　　Screw, especially high-performance planetary roller screws and precision ball screws, are an important component of the cost of humanoid robots, occupying a high value proportion in their core components. According to the analysis of CITIC Securities, taking Tesla's Optimus humanoid robot as an example, the value of the screw part (mainly referring to the planetary roller screw used for the trunk and limb joints) accounts for about 19% of the total value of the entire humanoid robot.

　　3絲杠行業(yè)市場洞察與產(chǎn)業(yè)鏈分析

　　3. Market Insights and Industry Chain Analysis of the Screw Industry

　　3.1 全球及絲杠市場現(xiàn)狀與規(guī)模

　　3.1 Current situation and scale of global and Chinese screw markets

　　根據(jù)東北證券的預(yù)測，人形機(jī)器人在工業(yè)領(lǐng)域?qū)⒅鸩饺〈鷤鹘y(tǒng)工業(yè)機(jī)器人和人類勞動力。因此以工業(yè)機(jī)器人的保有量和勞動力數(shù)量為錨，假設(shè)人形機(jī)器人在工業(yè)機(jī)器人的滲透率將從2024年的1%逐步提升到2030年的30%，同時假設(shè)單個人形機(jī)器人能取 代2-5個人類勞動力且在勞動力的滲透率從2024年的0.0003%逐步提升到2030年的0.1%。對應(yīng)2024年工業(yè)領(lǐng)域的人形機(jī)器人出貨預(yù)計為1.6萬臺，到2030年這一數(shù)字將增加到328.4萬臺，CAGR達(dá)143%。

　　According to the prediction of Northeast Securities, humanoid robots will gradually replace traditional industrial robots and human labor in the industrial field. Therefore, based on the ownership and labor force of industrial robots, it is assumed that the penetration rate of humanoid robots in industrial robots will gradually increase from 1% in 2024 to 30% in 2030. At the same time, it is assumed that a single humanoid robot can replace 2-5 human laborers and the penetration rate of labor will gradually increase from 0.0003% in 2024 to 0.1% in 2030. The estimated shipment of humanoid robots in the industrial sector by 2024 is 16000 units, and this number is expected to increase to 3.284 million units by 2030, with a CAGR of 143%.

　　在此基礎(chǔ)上計算，2030年人形機(jī)器人領(lǐng)域中絲杠的市場需求有望達(dá)到500多億元。這不僅顯示出人形機(jī)器人市場的廣闊前景，也反映了絲杠作為核心部件在未來機(jī)器人商業(yè)化落地中的戰(zhàn)略性作用。

　　Based on this calculation, the market demand for lead screws in the field of humanoid robots is expected to reach over 50 billion yuan by 2030. This not only demonstrates the broad prospects of the humanoid robot market, but also reflects the strategic role of screws as core components in the future commercialization of robots.

　　3.3 絲杠產(chǎn)業(yè)鏈結(jié)構(gòu)梳理

　　3.3 Sorting out the structure of the screw industry chain

　　絲杠產(chǎn)業(yè)已形成一個相對完整的產(chǎn)業(yè)鏈條，涵蓋了從上游原材料、核心制造設(shè)備，到中游絲 杠產(chǎn)品設(shè)計與制造，再到下游廣泛應(yīng)用領(lǐng)域的各個環(huán)節(jié)。

　　The screw industry has formed a relatively complete industrial chain, covering various links from upstream raw materials and core manufacturing equipment, to midstream screw product design and manufacturing, and to downstream wide application fields.

　　上游環(huán)節(jié)原

　　The original upstream link

　　材料：絲杠的制造對原材料的性能要求較高。通常絲杠軸體多選用的合金 結(jié)構(gòu)鋼，如50CrMo4（一種鉻鉬合金鋼），以保證其強(qiáng)度、韌性和耐磨性；而螺母和滾柱（或滾珠）則多采用高碳鉻軸承鋼，如GCr15，因其具有優(yōu)良的硬度、耐磨性和 接觸疲勞壽命。對這些原材料的化學(xué)成分精確控制、內(nèi)部組織的純凈度與均勻性、以及碳化物等析出相的形態(tài)與分布，都有著嚴(yán)格的技術(shù)要求，直接影響絲杠的終性能和使用壽命。

　　Material: The manufacturing of screw requires high performance of raw materials. Usually, high-quality alloy structural steel such as 50CrMo4 (a chromium molybdenum alloy steel) is used for the screw shaft body to ensure its strength, toughness, and wear resistance; Nuts and rollers (or ball bearings) are often made of high carbon chromium bearing steel, such as GCr15, due to its excellent hardness, wear resistance, and contact fatigue life. There are strict technical requirements for precise control of the chemical composition of these raw materials, the purity and uniformity of the internal structure, and the morphology and distribution of precipitated phases such as carbides, which directly affect the final performance and service life of the screw.

　　核心制造設(shè)備：絲杠的精密制造離不開一系列專用和通用的高端設(shè)備。

　　Core manufacturing equipment: The precision manufacturing of lead screws relies on a series of specialized and universal high-end equipment.

　　熱處理設(shè)備：包括用于退火、正火、調(diào)質(zhì)等工序的各類熱處理爐（如井式爐、臥 式軸類淬火生產(chǎn)線），以及用于表面淬火的感應(yīng)淬火設(shè)備等。

　　Heat treatment equipment: including various heat treatment furnaces used for annealing, normalizing, quenching and tempering processes (such as well furnaces, horizontal shaft quenching production lines), as well as induction hardening equipment used for surface quenching.

　　加工設(shè)備：這是絲杠制造的核心。主要包括用于車削加工的數(shù)控車床（特別是用 于硬態(tài)切削的硬車床）；用于磨削加工的數(shù)控螺紋磨床（分為外螺紋磨床和內(nèi)螺 紋磨床）、高精度外圓磨床、導(dǎo)軌磨床等；用于旋風(fēng)銑加工的旋風(fēng)銑床；以 及用于軋制成型的軋制設(shè)備。

　　Processing equipment: This is the core of screw manufacturing. Mainly including CNC lathes used for turning machining (especially hard lathes used for hard cutting); CNC thread grinders (divided into external thread grinders and internal thread grinders), high-precision universal cylindrical grinders, guide rail grinders, etc. used for grinding processing; Cyclone milling machine used for whirlwind milling processing; And rolling equipment used for rolling forming.

　　刀具/磨具：配合加工設(shè)備使用，例如用于硬車削和旋風(fēng)銑的PCBN（聚晶立方氮 化硼）刀具、金剛石刀具等超硬刀具，以及用于磨削的各種規(guī)格和材質(zhì)的砂輪。

　　Tools/Grinding Tools: Used in conjunction with processing equipment, such as PCBN (Polycrystalline Cubic Boron Nitride) tools for hard turning and whirlwind milling, superhard tools such as diamond tools, and grinding wheels of various specifications and materials for grinding.

　　校直設(shè)備：由于絲杠是細(xì)長軸類零件，在加工和熱處理過程中容易產(chǎn)生變形， 因此需要絲杠自動校直機(jī)進(jìn)行精確校直。檢測設(shè)備：用于保證絲杠的各項精度和性能指標(biāo)，包括激光干涉儀（用于導(dǎo)程精 度測量）、三坐標(biāo)測量機(jī)、輪廓測量儀、表面粗糙度儀、硬度計、金相顯微 鏡、力矩傳感器、振動分析儀、熱成像儀、以及專門的絲杠綜合性能試驗(yàn)臺 （用于壽命、剛度、溫升等測試）等。

　　Straightening equipment: As the lead screw is a slender shaft component, it is prone to deformation during processing and heat treatment, so an automatic straightening machine for the lead screw is required for precise straightening. Testing equipment: used to ensure the accuracy and performance indicators of lead screws, including laser interferometers (for measuring lead accuracy), coordinate measuring machines, contour measuring instruments, surface roughness meters, hardness testers, metallographic microscopes, torque sensors, vibration analyzers, thermal imaging devices, and specialized lead screw comprehensive performance test benches (for testing life, stiffness, temperature rise, etc.).

　　中游環(huán)節(jié)，絲杠設(shè)計與制造：這是產(chǎn)業(yè)鏈的核心環(huán)節(jié)，主要包括梯形絲杠、滾珠絲杠和行星滾 柱絲杠等不同類型產(chǎn)品的研發(fā)設(shè)計、精密加工、精密裝配、性能測試以及質(zhì)量控制等全過程。

　　Midstream link, screw design and manufacturing: This is the core link of the industrial chain, mainly including the research and development design, precision machining, precision assembly, performance testing, and quality control of different types of products such as trapezoidal screws, ball screws, and planetary roller screws.

　　下游環(huán)節(jié)，主要應(yīng)用領(lǐng)域：絲杠作為關(guān)鍵的精密傳動部件，其應(yīng)用領(lǐng)域極為廣泛，幾乎涵蓋了所有對精密直線運(yùn)動有需求的行業(yè)。主要包括：

　　Downstream links, main application areas: As a key precision transmission component, the screw has a wide range of applications, covering almost all industries that require precision linear motion. Mainly includes:

　　工業(yè)母機(jī)：各類數(shù)控機(jī)床（如車床、銑床、磨床、加工中心等）的進(jìn)給系統(tǒng)是絲杠 傳統(tǒng)的應(yīng)用市場。

　　Industrial mother machine: The feed system of various CNC machine tools (such as lathes, milling machines, grinders, machining centers, etc.) is the most traditional application market for lead screws.

　　汽車工業(yè)：特別是在新能源汽車和智能駕駛領(lǐng)域，線控轉(zhuǎn)向系統(tǒng)、線控制動系 統(tǒng)、電子駐車系統(tǒng)、主動懸架系統(tǒng)等均大量使用絲杠。

　　Automotive industry: Especially in the fields of new energy vehicles and intelligent driving, screw rods are widely used in wire controlled steering systems, wire controlled braking systems, electronic parking systems, active suspension systems, etc.

　　人形機(jī)器人：這是絲杠未來爆發(fā)性增長潛力的應(yīng)用領(lǐng)域，用于驅(qū)動機(jī)器人 的軀干、四肢和靈巧手等部位的線性運(yùn)動。

　　Humanoid robots: This is the most explosive growth potential application field for lead screws in the future, used to drive linear movements of robot torso, limbs, and dexterous hands.

　　其他重要領(lǐng)域：還包括航空航天（如飛行器作動系統(tǒng)）、醫(yī)療器械（如CT掃描 床、手術(shù)機(jī)器人）、半導(dǎo)體設(shè)備（如光刻機(jī)工件臺、檢測設(shè)備）、3C電子制造自 動化設(shè)備、物流自動化系統(tǒng)、精密包裝機(jī)械、以及光伏和鋰電池等新能源裝備 制造等。

　　Other important fields include aerospace (such as aircraft actuation systems), medical equipment (such as CT scanners, surgical robots), semiconductor equipment (such as lithography machine workbenches, testing equipment), 3C electronic manufacturing automation equipment, logistics automation systems, precision packaging machinery, and new energy equipment manufacturing such as photovoltaics and lithium batteries.

　　4全球與絲杠市場競爭格局

　　4. Global and Chinese screw market competition pattern

　　4.1 全球主要絲杠廠商及其優(yōu)勢分析

　　4.1 Analysis of Major Global Screw Manufacturers and Their Advantages

　　全球絲杠市場，特別是技術(shù)含量較高、附加值也較高的滾動絲杠（包括滾珠絲杠和行星滾柱絲杠）領(lǐng)域，呈現(xiàn)出由少數(shù)幾家技術(shù)實(shí)力、歷史悠久的國際巨頭主導(dǎo)的競爭格局。

　　The global screw market, especially in the field of rolling screws (including ball screws and planetary roller screws) with high technological content and added value, presents a competitive landscape dominated by a few international giants with strong technical strength and long brand history.

　　滾珠絲杠領(lǐng)域

　　Ball screw field

　　日本廠商：日本的NSK（日本精工株式會社）和THK（帝業(yè)技凱株式會社）是全球滾珠絲杠和直線運(yùn)動部件領(lǐng)域的，擁有數(shù)十年的技術(shù)積累，產(chǎn)品線極為豐富 ，覆蓋從微型到重載的各種規(guī)格，其產(chǎn)品以高精度、高可靠性和長壽命著稱，在全球范圍內(nèi)享有極高的聲譽(yù)和市場份額。NSK不僅在軸承領(lǐng)域全球，其精密機(jī)械產(chǎn)品（包括滾珠絲杠）也處于世界水平 。THK則是直線運(yùn)動導(dǎo)軌（LM導(dǎo)軌）的開創(chuàng)者，其滾珠絲杠產(chǎn)品同樣性能。

　　Japanese manufacturers: NSK and THK are absolute leaders in the global ball screw and linear motion parts field, with decades of technological accumulation and an extremely rich product line covering various specifications from micro to heavy-duty. Their products are known for high precision, high reliability, and long life, enjoying a high brand reputation and market share worldwide. NSK is not only a global leader in the field of bearings, but its precision mechanical products (including ball screws) are also at the forefront of the world. THK is the pioneer of linear motion guides (LM guides), and its ball screw products also have excellent performance.

　　歐洲廠商：瑞典的SKF（斯凱孚）、德國的Bosch Rexroth（博世力士樂）以及德國的 Schaeffler（舍弗勒集團(tuán)）也是全球滾珠絲杠市場的重要參與者。這些歐洲企業(yè)通 常在工業(yè)自動化、汽車制造等領(lǐng)域擁有深厚的根基和廣泛的客戶基礎(chǔ)，其滾珠絲杠 產(chǎn)品同樣以高品質(zhì)和高性能聞名。臺灣廠商：臺灣的上銀科技（HIWIN）和銀泰科技（PMI）在全球中高端滾珠絲杠市場中占據(jù)了舉足輕重的地位。它們的產(chǎn)品在性能上努力追趕日歐，同時在上更具競爭力，并且能夠提供更快速的市場響應(yīng)和客戶服務(wù)，因此在性價比方面具有明顯優(yōu)勢，深受市場歡迎。上銀科技已成為全球滾珠絲杠和線性滑軌的主要生產(chǎn)商之一。

　　European manufacturers: SKF from Sweden, Bosch Rexroth from Germany, and Schaeffler Group from Germany are also important participants in the global ball screw market. These European companies typically have a strong foundation and extensive customer base in fields such as industrial automation and automotive manufacturing, and their ball screw products are also known for their high quality and performance. Manufacturers in Taiwan, China, China: HIWIN and PMI in Taiwan occupy a pivotal position in the global middle and high-end ball screw market. Their products strive to catch up with top Japanese and European brands in terms of performance, while being more competitive in price and able to provide faster market response and customer service. Therefore, they have a clear advantage in cost-effectiveness and are highly welcomed by the market. Shangyin Technology has become one of the major manufacturers of ball screws and linear slides worldwide.

　　行星滾柱絲杠領(lǐng)域歐洲廠商：在技術(shù)壁壘更高、市場更為集中的行星滾柱絲杠領(lǐng)域，歐洲企業(yè)占據(jù)著 的主導(dǎo)和壟斷地位。主要的包括：Ewellix：原為瑞典SKF集團(tuán)的線性運(yùn)動技術(shù)事業(yè)部，后被舍弗勒集團(tuán)收購，是全球的行星滾柱絲杠和線性作動器供應(yīng)商。Rollvis：瑞士公司，自1970年起就開始研制行星滾柱絲杠，擁有悠久的技術(shù)歷史和豐富的產(chǎn)品系列，現(xiàn)也隸屬于舍弗勒集團(tuán)。GSA (Gallien Stelmi SA)：瑞士公司，同樣是行星滾柱絲杠領(lǐng)域的資深制造商，后被舍弗勒控股。 Rexroth (Bosch Rexroth)：德國公司，其行星滾柱絲杠產(chǎn)品在工業(yè)領(lǐng)域也有 廣泛應(yīng)用。 通過一系列的戰(zhàn)略并購和整合（如舍弗勒對Ewellix、GSA、Rollvis 的整合），舍弗勒集團(tuán)已經(jīng)確立了其在全球行星滾柱絲杠市場的龍頭地位。美國廠商：美國的CMC（Creative Motion Control）公司也是行星滾柱絲杠市場的參與者之一，提供相關(guān)產(chǎn)品和解決方案。國際企業(yè)的共同優(yōu)勢：這些國際的絲杠制造商普遍具有以下共同優(yōu)勢：起步早，技術(shù)積累深厚：它們大多擁有數(shù)十年甚上百年的發(fā)展歷史，在絲杠的設(shè)計理論、材料科學(xué)、精密加工工藝、熱處理技術(shù)以及檢測與試驗(yàn)方法等方面積累了極為豐富的經(jīng)驗(yàn)和核心技術(shù)訣竅（Know-how。

　　European manufacturers in the field of planetary roller screws: In the planetary roller screw field with higher technological barriers and more concentrated markets, European companies occupy an absolute dominant and monopolistic position. The main leaders include Ewellix: formerly the linear motion technology division of SKF Group in Sweden, later acquired by Schaeffler Group, and a leading global supplier of planetary roller screws and linear actuators. Rollvis: A Swiss company that has been developing planetary roller screws since 1970, with a long history of technology and a rich product line. It is now also part of the Schaeffler Group. GSA (Gallien Stelmi SA): A Swiss company, also a senior manufacturer in the field of planetary roller screws, later controlled by Schaeffler. Rexroth (Bosch Rexroth): A German company whose planetary roller screw products are also widely used in the industrial field. Through a series of strategic mergers and integrations, such as Schaeffler's integration of Ewellix, GSA, and Rollvis, the Schaeffler Group has established its absolute leading position in the global planetary roller screw market. American manufacturer: CMC (Creative Motion Control) is also a participant in the planetary roller screw market, providing related products and solutions. Common advantages of international leading enterprises: These international leading screw manufacturers generally have the following common advantages: early start and deep technological accumulation: most of them have decades or even hundreds of years of development history, accumulating extremely rich experience and core technical know-how in screw design theory, material science, precision machining technology, heat treatment technology, and detection and testing methods.

　　應(yīng)用經(jīng)驗(yàn)豐富：產(chǎn)品廣泛應(yīng)用于機(jī)床、航空航天、半導(dǎo)體、汽車、醫(yī)療等各個高端 制造領(lǐng)域，積累了針對不同工況和需求的解決方案經(jīng)驗(yàn)。全球化布局：普遍建立了完善的全球化生產(chǎn)基地、銷售網(wǎng)絡(luò)和技術(shù)服務(wù)體系，能夠 快速響應(yīng)全球客戶的需求。效應(yīng)強(qiáng)大：長期的高品質(zhì)和高性能使其在全球范圍內(nèi)樹立了的形象 和市場信譽(yù)。大陸的絲杠產(chǎn)業(yè)雖然起步相對較晚，但在政策的大力支持和下游市場需求的強(qiáng)勁 拉動下，近年來取得了顯著的進(jìn)步，特別是在中低端滾珠絲杠領(lǐng)域已經(jīng)具備了較強(qiáng)的國際 競爭力，并正在積極向高端滾珠絲杠和技術(shù)壁壘更高的行星滾柱絲杠領(lǐng)域發(fā)起沖擊。

　　Rich application experience: Our products are widely used in various high-end manufacturing fields such as machine tools, aerospace, semiconductors, automotive, and medical, accumulating experience in providing solutions for different working conditions and needs. Global layout: A comprehensive global production base, sales network, and technical service system have been established, which can quickly respond to the needs of global customers. Strong brand effect: Long term high quality and performance have established an excellent brand image and market reputation worldwide. Although the lead screw industry in Chinese Mainland started relatively late, it has made remarkable progress in recent years thanks to the strong support of national policies and the strong demand of the downstream market, especially in the field of middle and low-end ball screw, which has already had strong international competitiveness, and is actively attacking the high-end ball screw and planetary roller screw with higher technical barriers.

　　大陸的絲杠產(chǎn)業(yè)正呈現(xiàn)出一種“傳統(tǒng)企業(yè)”與“新興民營上市公司及廠商”共同發(fā)力、競相發(fā)展的生動局面。南京工藝、漢江機(jī)床等老牌企業(yè)憑借其在滾動功能部件領(lǐng)域數(shù)十年的技術(shù)積累和穩(wěn)定的客戶基礎(chǔ)，構(gòu)成了國產(chǎn)替代的中堅力量和技術(shù)基石。

　　The lead screw industry in Chinese Mainland is showing a vivid situation of "traditional enterprises" and "emerging private listed companies and professional manufacturers" working together and competing for development. Established enterprises such as Nanjing Craft and Hanjiang Machine Tool, with decades of technological accumulation and stable customer base in the field of rolling functional components, have become the backbone and technological cornerstone of domestic substitution.

　　與此同時，恒立液壓、貝斯特、雙林股份等一批上市公司，它們原本在各自的液壓、汽車零部件、精密加工等主營業(yè)務(wù)領(lǐng)域已經(jīng)建立了顯著的競爭優(yōu)勢，現(xiàn)在正積極利用其已有的技術(shù)平臺、制造能力、資本實(shí)力以及對市場機(jī)遇的快速反應(yīng)能力，將業(yè)務(wù)觸角延伸技術(shù)壁壘更高、市場前景也更為廣闊的高端絲杠領(lǐng)域，特別是附加值和技 術(shù)含量都極高的人形機(jī)器人用行星滾柱絲杠市場。值得注意的是，在眾多新進(jìn)入者中，那些具有汽車零部件制造背景的企業(yè)，在切入人形機(jī)器 人用絲杠這一新興領(lǐng)域時，往往展現(xiàn)出一些獨(dú)特的先天優(yōu)勢。

　　At the same time, a group of listed companies such as Hengli Hydraulic, Best, and Shuanglin Co., Ltd. have established significant competitive advantages in their main business areas such as hydraulic, automotive parts, and precision machining. They are now actively utilizing their existing technology platforms, manufacturing capabilities, capital strength, and quick response capabilities to market opportunities to extend their business reach to the high-end screw field with higher technical barriers and broader market prospects, especially the planetary roller screw market for humanoid robots with high added value and technological content. It is worth noting that among the many new entrants, those with a background in automotive parts manufacturing often demonstrate some unique innate advantages when entering the emerging field of screw for humanoid robots.

　　，汽車行業(yè)對零部件的精度、可靠性、一致性以及成本控制都有著極為嚴(yán)苛的要求，這套成熟的質(zhì)量管理體系和成 本管控經(jīng)驗(yàn)，與未來人形機(jī)器人實(shí)現(xiàn)大規(guī)模量產(chǎn)后對核心零部件的要求高度契合。

　　Firstly, the automotive industry has extremely strict requirements for the accuracy, reliability, consistency, and cost control of components. This mature quality management system and cost control experience are highly compatible with the requirements for core components after the large-scale production of humanoid robots in the future.

　　其次， 部分汽車零部件（例如轉(zhuǎn)向器中的齒條、座椅調(diào)節(jié)機(jī)構(gòu)中的水平驅(qū)動器HDM等）的制造工藝 ，與絲杠的制造工藝在某些方面（如精密螺紋加工、齒輪加工、熱處理等）具有一定的技術(shù)相 通性和經(jīng)驗(yàn)可移植性。

　　Secondly, the manufacturing process of some automotive components (such as the rack in the steering gear, the horizontal drive HDM in the seat adjustment mechanism, etc.) has certain technical similarities and experience portability with the manufacturing process of lead screws in certain aspects (such as precision threading, gear processing, heat treatment, etc.).

　　更為重要的是，那些已經(jīng)成功進(jìn)入如特斯拉等全球新能源汽車企業(yè)供應(yīng)鏈體系的零部件廠商，通常已經(jīng)通過了這些頭部客戶在技術(shù)能力、質(zhì)量管理、生產(chǎn)保障以及供應(yīng)鏈協(xié)同等方面的嚴(yán)格審核和長期考驗(yàn)，因此也更容易獲得這些客戶在其新興的人形機(jī)器人項目上的合作機(jī)會和早期訂單。

　　More importantly, component manufacturers that have successfully entered the supply chain system of global leading new energy vehicle companies such as Tesla have usually passed strict audits and long-term tests by these top customers in terms of technical capabilities, quality management, production assurance, and supply chain collaboration. Therefore, they are also more likely to obtain cooperation opportunities and early orders from these customers in their emerging humanoid robot projects.

　　基于這些因素，像北特科技、雙林股份、貝斯特等具有深厚汽車零部件產(chǎn)業(yè)背景的企業(yè)，在積極布局人形機(jī)器人用絲杠業(yè)務(wù)時，能夠有效地利用其已有的技術(shù)儲備、成熟的生產(chǎn)管理經(jīng)驗(yàn)以及穩(wěn)固的客戶關(guān)系網(wǎng)絡(luò)，從而在激烈的市場競爭中占據(jù)一定的先機(jī)。

　　Based on these factors, companies with a strong background in the automotive parts industry, such as Beite Technology, Shuanglin Co., Ltd., and Best, can effectively utilize their existing technological reserves, mature production management experience, and stable customer relationship network when actively laying out the lead screw business for humanoid robots, thus gaining a certain advantage in the fierce market competition.

　　4.2 高端絲杠國產(chǎn)化進(jìn)程、挑戰(zhàn)與機(jī)遇

　　4.2 Localization process, challenges and opportunities of high-end screw

　　高端絲杠的國產(chǎn)化是制造業(yè)轉(zhuǎn)型升級和實(shí)現(xiàn)自主可控的關(guān)鍵一環(huán)，近年來在戰(zhàn)略 的推動和市場需求的牽引下，取得了一定的進(jìn)展，但同時也面臨著諸多嚴(yán)峻的挑戰(zhàn)，當(dāng)然， 其中也蘊(yùn)含著巨大的發(fā)展機(jī)遇。

　　The localization of high-end screw is a key link in the transformation and upgrading of China's manufacturing industry and the realization of independent controllability. In recent years, under the promotion of national strategy and the traction of market demand, certain progress has been made, but at the same time, it also faces many severe challenges, of course, it also contains huge development opportunities.

　　國產(chǎn)化進(jìn)程：根據(jù)金屬加工雜志社《第三屆滾動功能部件用戶調(diào)查分析報告》的數(shù)據(jù)，從2011年到2020年，國產(chǎn)滾珠絲杠副在中高檔數(shù)控機(jī)床等應(yīng)用場景中的使用比例有了顯著提升，這表明國產(chǎn)絲杠的性能和市場認(rèn)可度在穩(wěn)步提高。政策的引導(dǎo)作用也十分明顯。在有相關(guān)政策鼓勵和引導(dǎo)的情況下，高達(dá)85.1%的被 調(diào)查企業(yè)表示愿意嘗試使用或購買國產(chǎn)的中高檔滾動功能部件，這為國產(chǎn)絲杠的 推廣應(yīng)用創(chuàng)造了有利的市場環(huán)境。國內(nèi)部分企業(yè)在高端絲杠的技術(shù)研發(fā)和產(chǎn)業(yè)化方面也取得了一些突破，例如秦川機(jī)床（漢江機(jī)床）已能穩(wěn)定生產(chǎn)P1級精度的滾珠絲杠，并正在攻關(guān)更高等級的P0級產(chǎn)品；貝斯特也已實(shí)現(xiàn)C0級滾珠絲杠副的交付。

　　Localization process: According to the "Third User Survey and Analysis Report on Rolling Functional Components" by the Metal Processing Magazine, from 2011 to 2020, the proportion of domestic ball screw pairs used in high-end CNC machine tools and other application scenarios has significantly increased, indicating that the performance and market recognition of domestic screw pairs are steadily improving. The guiding role of policies is also very obvious. With the encouragement and guidance of relevant policies, as many as 85.1% of the surveyed enterprises expressed willingness to try or purchase domestically produced mid to high end rolling functional components, which has created a favorable market environment for the promotion and application of domestic screw rods. Some leading domestic enterprises have also made some breakthroughs in the research and industrialization of high-end screw technology. For example, Qinchuan Machine Tool (Hanjiang Machine Tool) has been able to stably produce P1 level precision ball screws and is currently tackling higher-level P0 level products; Best has also achieved the delivery of C0 grade ball screw pairs.

　　面臨的挑戰(zhàn)核心技術(shù)壁壘突出：

　　The core technological barriers are prominent in the challenges faced:

　　盡管取得了進(jìn)步，但國產(chǎn)高端絲杠在精度（尤其是精度保持 性）、額定壽命、動態(tài)性能（如高速下的穩(wěn)定性、噪音、溫升控制）、可靠性以及產(chǎn)品 一致性等方面，與國際（如日本的NSK、THK，德國的舍弗勒等）相比，仍然存在較為明顯的差距。這些差距的根源在于核心技術(shù)、關(guān)鍵材料的冶煉與制備、精密熱處理工藝的掌握、超精密加工工藝的實(shí)現(xiàn)以及檢測與試驗(yàn)技術(shù)的應(yīng)用等多個環(huán)節(jié)的積累不足。

　　Despite the progress made, there is still a significant gap between domestically produced high-end screw rods and international top brands such as NSK and THK from Japan and Schaeffler from Germany in terms of accuracy (especially precision retention), rated life, dynamic performance (such as stability at high speeds, noise, temperature rise control), reliability, and product consistency. The root of these gaps lies in the insufficient accumulation of core technologies, smelting and preparation of key materials, mastery of precision heat treatment processes, implementation of ultra precision machining processes, and application of advanced detection and testing technologies.

　　關(guān)鍵設(shè)備與儀器的瓶頸：高端絲杠的制造高度依賴于一系列高精密的專用加工設(shè) 備和檢測儀器，例如高精度數(shù)控螺紋磨床、大型絲杠旋風(fēng)銑床、激光干涉儀、三坐標(biāo)測量機(jī)等。目前，這些設(shè)備的核心技術(shù)主要掌握在少數(shù)發(fā)達(dá)企業(yè)手中， 國內(nèi)廠商在采購這些設(shè)備時不僅面臨高昂、采購周期長的問題，有時甚可能 遭遇技術(shù)封鎖或出口限制，這嚴(yán)重制約了國產(chǎn)高端絲杠的制造效率、成本競爭力和 產(chǎn)能擴(kuò)張。市場認(rèn)可度與應(yīng)用生態(tài)尚需培育：由于歷史原因和性能差距，國內(nèi)下游高端用戶 （如高檔數(shù)控機(jī)床制造商、精密儀器制造商等）對國產(chǎn)高端絲杠的信任度和使用意 愿仍有待進(jìn)一步提高，市場上仍普遍存在“優(yōu)先選用進(jìn)口”甚“指定采用進(jìn)口 ”的現(xiàn)象。打破這種局面需要國產(chǎn)絲杠在性能上真正達(dá)到甚超越進(jìn)口產(chǎn)品， 并通過充分的應(yīng)用驗(yàn)證來逐步建立市場信心。產(chǎn)業(yè)生態(tài)系統(tǒng)不完善：高端絲杠產(chǎn)業(yè)的發(fā)展需要一個完善的生態(tài)系統(tǒng)支撐，包括上 游高品質(zhì)原材料的穩(wěn)定供應(yīng)、核心零部件的協(xié)同開發(fā)、高端裝備的自主保障、專 業(yè)人才隊伍的培養(yǎng)以及產(chǎn)學(xué)研用金的緊密結(jié)合等。目前國內(nèi)在這些方面與發(fā)達(dá)國 家相比仍有差距。

　　The bottleneck of key equipment and instruments: The manufacturing of high-end lead screws highly relies on a series of high-precision specialized processing equipment and testing instruments, such as high-precision CNC thread grinders, large lead screw whirlwind milling machines, laser interferometers, coordinate measuring machines, etc. At present, the core technology of these cutting-edge devices is mainly held by a few developed country enterprises. Domestic manufacturers not only face high prices and long procurement cycles when purchasing these devices, but sometimes may even encounter technology blockades or export restrictions, which seriously restricts the manufacturing efficiency, cost competitiveness, and capacity expansion of domestically produced high-end screw rods. Market recognition and application ecology still need to be cultivated: Due to historical reasons and performance gaps, the trust and willingness of domestic downstream high-end users (such as high-end CNC machine tool manufacturers, precision instrument manufacturers, etc.) to use domestically produced high-end screws still need to be further improved. There is still a widespread phenomenon in the market of "prioritizing imported brands" or even "designating imported brands". Breaking this situation requires domestically produced screws to truly achieve or even surpass imported products in performance, and gradually establish market confidence through sufficient application verification. Imperfect industrial ecosystem: The development of high-end screw industry requires a sound ecosystem support, including stable supply of high-quality upstream raw materials, collaborative development of core components, independent guarantee of high-end equipment, cultivation of professional talent team, and close integration of industry university research funding. At present, there is still a gap between China and developed countries in these aspects.

　　國產(chǎn)化的機(jī)遇

　　Opportunities for localization

　　戰(zhàn)略的強(qiáng)力支持：“工業(yè)母機(jī)自主可控”已被提升到的戰(zhàn)略高度， 和地方政府相繼出臺了一系列強(qiáng)有力的支持政策，包括加大研發(fā)投入補(bǔ)貼（如 研發(fā)費(fèi)用加計扣除比例提高120%）、實(shí)施增值稅加計抵減、鼓勵首臺（套）重大技 術(shù)裝備的推廣應(yīng)用等，為高端絲杠的國產(chǎn)化營造了良好的政策環(huán)境。

　　Strong support from national strategy: "Autonomous and controllable industrial mother machines" have been elevated to an unprecedented national strategic height. The central and local governments have successively introduced a series of strong support policies, including increasing R&D investment subsidies (such as increasing the R&D expense deduction ratio to 120%), implementing value-added tax deduction, encouraging the promotion and application of the first major technical equipment, etc., creating a favorable policy environment for the localization of high-end screw rods.

　　人形機(jī)器人等新興市場的爆發(fā)式需求：人形機(jī)器人產(chǎn)業(yè)的快速發(fā)展，為國產(chǎn)絲杠提 供了一個巨大的、全新的增量市場。由于這是一個新興領(lǐng)域，國內(nèi)外廠商幾乎處于 同一起跑線，這為技術(shù)實(shí)力強(qiáng)、市場反應(yīng)快的國內(nèi)企業(yè)提供了實(shí)現(xiàn)“彎道超車”或 “換道”的歷史性機(jī)遇。全球供應(yīng)鏈風(fēng)險意識提升：近年來，全球地緣政治沖突加劇，貿(mào)易保護(hù)主義抬頭，使得全球供應(yīng)鏈的脆弱性和不確定性凸顯。確保核心零部件的自主可控和供 應(yīng)鏈，已成為經(jīng)濟(jì)和產(chǎn)業(yè)發(fā)展的迫切需求，這為高端絲杠的國產(chǎn)替代 提供了強(qiáng)大的內(nèi)生動力。

　　The explosive demand in emerging markets such as humanoid robots: The rapid development of the humanoid robot industry has provided a huge and new incremental market for domestic screw rods. As this is an emerging field, domestic and foreign manufacturers are almost on the same starting line, providing a historic opportunity for domestic enterprises with strong technological strength and fast market response to achieve "overtaking on bends" or "leading lane changes". Global supply chain security risk awareness has increased: In recent years, the intensification of global geopolitical conflicts and the rise of trade protectionism have highlighted the fragility and uncertainty of global supply chains. Ensuring the independent controllability and supply chain security of core components has become an urgent need for national economic security and industrial development, providing strong endogenous driving force for the domestic substitution of high-end screws.

　　本土企業(yè)的成本與服務(wù)優(yōu)勢：一旦國產(chǎn)絲杠在關(guān)鍵性能指標(biāo)上能夠滿足高端應(yīng)用 的需求，國內(nèi)廠商憑借其在生產(chǎn)成本控制、快速響應(yīng)客戶需求以及提供本地化技術(shù) 支持和服務(wù)等方面的優(yōu)勢，有望在與國際的競爭中逐步占據(jù)有利地位。

　　Cost and service advantages of local enterprises: Once domestic screw rods can meet the needs of high-end applications in key performance indicators, domestic manufacturers are expected to gradually occupy a favorable position in competition with international brands, relying on their advantages in production cost control, rapid response to customer needs, and providing localized technical support and services.

　　5絲杠制造的核心壁壘與技術(shù)突破方向

　　Core barriers and technological breakthroughs in screw manufacturing

　　5.1 材料科學(xué)與熱處理工藝的關(guān)鍵性

　　5.1 The criticality of materials science and heat treatment processes

　　絲杠作為精密機(jī)械傳動的核心部件，其制造過程涉及多學(xué)科知識和復(fù)雜的工藝技術(shù)，形成 了較高的技術(shù)壁壘。突破這些壁壘，是絲杠產(chǎn)業(yè)實(shí)現(xiàn)高端化和自主可控的關(guān)鍵。材料的選擇及其后續(xù)的熱處理工藝，是決定絲杠終性能（如承載能力、耐磨性、疲勞壽命、尺寸穩(wěn)定性等）的基礎(chǔ)，也是絲杠制造中的核心壁壘之一。

　　As the core component of precision mechanical transmission, the manufacturing process of screw involves multidisciplinary knowledge and complex process technology, forming a high technical barrier. Breaking through these barriers is the key to achieving high-end and independent controllability in China's screw industry. The selection of materials and subsequent heat treatment processes are the basis for determining the final performance of lead screws, such as load-bearing capacity, wear resistance, fatigue life, dimensional stability, etc., and are also one of the core barriers in lead screw manufacturing.

　　材料選擇的考量

　　Consideration of material selection

　　常用材料：滾珠絲杠的絲杠軸和滾珠通常采用GCr15高碳鉻軸承鋼，因其具有良好 的淬透性、高硬度和優(yōu)良的耐磨性。對于行星滾柱絲杠，由于其工作載荷通常更高，對材料的綜合力學(xué)性能要求也更為嚴(yán)苛，其絲杠軸和螺母可能選用50CrMo4 或42CrMo等合金結(jié)構(gòu)鋼，這類鋼種在調(diào)質(zhì)處理后能獲得較好的強(qiáng)韌性配合；而滾 柱則可能依然選用GCr15等軸承鋼，以保證其高硬度和耐磨性。

　　Common materials: The screw shaft and ball of ball screw are usually made of GCr15 high carbon chromium bearing steel, which has good hardenability, high hardness, and excellent wear resistance. For planetary roller screws, due to their usually higher working load and more stringent requirements for the comprehensive mechanical properties of materials, alloy structural steels such as 50CrMo4 or 42CrMo may be used for the screw shaft and nut. These steel grades can achieve better strength toughness coordination after quenching and tempering treatment; And the rollers may still use bearing steel such as GCr15 to ensure their high hardness and wear resistance.

　　化學(xué)成分與組織：材料的化學(xué)成分（如碳、鉻、鉬、釩等元素的含量）對其淬透性、 硬度、耐磨性、耐腐蝕性、抗沖擊韌性以及高溫性能等都有著顯著影響。此外，鋼材的純凈度（如非金屬夾雜物的含量）、組織的均勻性（如碳化物的形態(tài)、尺寸和分 布）等因素，對絲杠的接觸疲勞壽命和整體可靠性也關(guān)重要。

　　Chemical composition and organization: The chemical composition of materials (such as the content of elements such as carbon, chromium, molybdenum, vanadium, etc.) has a significant impact on their hardenability, hardness, wear resistance, corrosion resistance, impact toughness, and high-temperature performance. In addition, factors such as the purity of the steel (such as the content of non-metallic inclusions) and the uniformity of the structure (such as the morphology, size, and distribution of carbides) are also crucial for the contact fatigue life and overall reliability of the screw.

　　此外，隨著制造技術(shù)的不斷進(jìn)步，各企業(yè)在材料優(yōu)化方面也不斷探索新型合金和復(fù) 合材料的應(yīng)用，旨在進(jìn)一步提高絲杠的整體性能。通過引入新型高強(qiáng)度材料，不僅 能提升絲杠的耐磨性和抗沖擊能力，還能在一定程度上降低因材料老化和疲勞引起 的性能衰減，從而延長產(chǎn)品使用壽命，為高端設(shè)備的長期穩(wěn)定運(yùn)行提供更為可靠的 保障。

　　In addition, with the continuous advancement of manufacturing technology, various enterprises are also exploring the application of new alloys and composite materials in material optimization, aiming to further improve the overall performance of the screw. By introducing new high-strength materials, not only can the wear resistance and impact resistance of the screw be improved, but also the performance degradation caused by material aging and fatigue can be reduced to a certain extent, thereby extending the service life of the product and providing more reliable guarantee for the long-term stable operation of high-end equipment.

　　熱處理工藝的核心作用與難點(diǎn)熱處理的目的：熱處理是賦予絲杠優(yōu)異機(jī)械性能和穩(wěn)定組織結(jié)構(gòu)的關(guān)鍵工序。其主 要目的包括：改善材料的切削加工性能（如球化退火）；鍛造、粗加工等工序產(chǎn) 生的內(nèi)應(yīng)力，穩(wěn)定組織（如調(diào)質(zhì)處理、時效處理）；顯著提高絲杠工作表面（螺紋滾 道）的硬度和耐磨性，并形成一定的硬化層深度（如表面淬火）；淬火應(yīng)力，調(diào)整 硬度與韌性的匹配，進(jìn)一步穩(wěn)定組織（如回火）；以及通過特殊處理（如深冷處理）進(jìn) 一步優(yōu)化材料的微觀結(jié)構(gòu)和性能。

　　The core role and difficulties of heat treatment process: The purpose of heat treatment is to endow the screw with excellent mechanical properties and stable organizational structure. Its main purposes include: improving the cutting performance of materials (such as spheroidization annealing); Eliminate internal stress generated by forging, rough machining and other processes, stabilize the structure (such as quenching and tempering treatment, aging treatment); Significantly improve the hardness and wear resistance of the working surface (threaded raceway) of the screw, and form a certain depth of hardening layer (such as surface quenching); Eliminate quenching stress, adjust the matching of hardness and toughness, and further stabilize the structure (such as tempering); And further optimize the microstructure and properties of the material through special treatments such as cryogenic treatment.

　　技術(shù)難點(diǎn)：熱處理工藝的成功與否，關(guān)鍵在于對工藝參數(shù)（如加熱溫度、保溫時間、 冷卻速度、氣氛控制等）的精確控制。此外，如何獲得理想的硬化層深度及其梯度 分布、均勻細(xì)小的金相組織、以及有效控制熱處理過程中的變形和開裂，都是熱處 理技術(shù)的難點(diǎn)所在。

　　Technical difficulty: The success or failure of heat treatment process depends on the precise control of process parameters such as heating temperature, holding time, cooling rate, atmosphere control, etc. In addition, how to obtain the ideal depth and gradient distribution of the hardened layer, uniform and fine metallographic structure, and effectively control deformation and cracking during the heat treatment process are all difficulties in heat treatment technology.

　　相關(guān)設(shè)備：熱處理過程需要依賴的設(shè)備，如用于整體熱處理的井式熱處理爐、 箱式爐、網(wǎng)帶爐等，以及用于表面淬火的臥式軸類淬火生產(chǎn)線、中頻/高頻感應(yīng)淬 火機(jī)床等。

　　Related equipment: The heat treatment process requires specialized equipment, such as well type heat treatment furnaces, box type furnaces, mesh belt furnaces, etc. used for overall heat treatment, as well as horizontal shaft quenching production lines and medium/high frequency induction quenching machines used for surface quenching.

　　材料和熱處理工藝是絲杠制造的“基因”和“底蘊(yùn)”，它們共同決定了絲杠根本的物理性能和力學(xué)性能。這些環(huán)節(jié)的Know-how積累，往往需要長時間的研發(fā)投入、大量的實(shí)驗(yàn)數(shù)據(jù)以及豐富的實(shí)踐經(jīng)驗(yàn)，因此構(gòu)成了絲杠制造領(lǐng)域難以被輕易復(fù)制和超越的隱形核心壁壘。即使是采用相同的加工設(shè)備和設(shè)計圖紙，如果選用的材料牌號、純凈度、 內(nèi)部組織存在差異，或者熱處理工藝的參數(shù)控制、執(zhí)行細(xì)節(jié)有所不同，終生產(chǎn)出的絲杠產(chǎn)品在性能上（如承載能力、疲勞壽命、精度保持性、耐磨性等）也可能出現(xiàn)巨大的差別。

　　Materials and heat treatment processes are the "genes" and "foundation" of screw manufacturing, which together determine the fundamental physical and mechanical properties of screws. The accumulation of know-how in these links often requires long-term research and development investment, a large amount of experimental data, and rich practical experience, thus constituting an invisible core barrier that is difficult to easily replicate and surpass in the field of screw manufacturing. Even with the same processing equipment and design drawings, if there are differences in material grades, purity, internal structure, or parameter control and execution details of heat treatment processes, the final produced screw products may have significant differences in performance (such as load-bearing capacity, fatigue life, accuracy retention, wear resistance, etc.).

　　熱處理過程涉及到復(fù)雜的固態(tài)相變和微觀組織演變規(guī)律，其工藝參數(shù)的確定和優(yōu)化，往往需要通過大量的 試驗(yàn)摸索和數(shù)據(jù)分析才能獲得，難以通過簡單的逆向工程或模仿來完全掌握。因此，一個絲杠企業(yè)是否真正掌握了的材料冶金技術(shù)和核心的熱處理工藝訣竅，是其能否建立長期、可持續(xù)核心競爭優(yōu)勢的根本所在。

　　The heat treatment process involves complex solid-state phase transformation and microstructural evolution laws. The determination and optimization of the optimal process parameters often require extensive experimental exploration and data analysis to obtain, which is difficult to fully grasp through simple reverse engineering or imitation. Therefore, whether a screw enterprise truly masters advanced material metallurgy technology and core heat treatment process know-how is the fundamental basis for its ability to establish long-term and sustainable core competitive advantages.

　　深冷處理作為一種新興的熱處理技術(shù)，正逐步在高端絲杠產(chǎn)品中得到應(yīng)用。 深冷處理可以在低溫環(huán)境下對材料進(jìn)行進(jìn)一步的結(jié)構(gòu)調(diào)控，從而提高材料的穩(wěn)定性 和耐磨性，防止因長期高負(fù)載運(yùn)行而產(chǎn)生的微觀結(jié)構(gòu)變化。據(jù)相關(guān)論文，深冷處理 不僅能夠延長絲杠的使用壽命，還能在一定程度上提高傳動系統(tǒng)的動態(tài)響應(yīng)能力， 為高端應(yīng)用提供更為堅實(shí)的技術(shù)保障。

　　Cryogenic treatment, as an emerging heat treatment technology, is gradually being applied in high-end screw products. Cryogenic treatment can further regulate the structure of materials in low-temperature environments, thereby improving their stability and wear resistance, and preventing microstructural changes caused by long-term high load operation. According to relevant papers, cryogenic treatment can not only extend the service life of the screw, but also improve the dynamic response capability of the transmission system to a certain extent, providing more solid technical support for high-end applications.

　　5.2 精密加工工藝的挑戰(zhàn)與創(chuàng)新

　　5.2 Challenges and Innovations in Precision Machining Processes

　　精密加工工藝是賦予絲杠精確幾何形狀和優(yōu)良表面質(zhì)量的核心環(huán)節(jié)，其技術(shù)水平直接決定了絲杠的傳動精度、運(yùn)動平穩(wěn)性和使用壽命。絲杠的加工工藝選擇多樣，主要需要在精度、 效率和成本之間進(jìn)行權(quán)衡。在

　　Precision machining technology is the core link that endows the screw with precise geometric shape and excellent surface quality. Its technical level directly determines the transmission accuracy, motion stability, and service life of the screw. There are various machining processes for lead screws, which mainly require a balance between precision, efficiency, and cost. in

　　行星滾柱絲杠和滾珠絲杠中，絲杠通過螺紋嚙合來實(shí)現(xiàn)精密傳動，螺紋的加工 精度將直接影響絲杠系統(tǒng)的傳動精度、使用壽命、平穩(wěn)性，故螺紋的加工工藝是 影響行星滾柱絲杠性能的關(guān)鍵因素，壁壘深厚。

　　In planetary roller screws and ball screws, precision transmission is achieved through threaded engagement. The machining accuracy of the threads directly affects the transmission accuracy, service life, and stability of the screw system. Therefore, the machining process of the threads is a key factor affecting the performance of planetary roller screws, and the barrier is deep.

　　絲杠螺紋加工工藝主要包括軋制和切削法，其中切削包括硬態(tài)車削、磨削加工、 旋風(fēng)銑削等工藝，目前看磨削加工是高精密絲杠的精加工主流方案 。

　　The machining process of screw threads mainly includes rolling and cutting methods, among which cutting includes hard turning, grinding, whirlwind milling and other processes. Currently, grinding is the mainstream solution for precision machining of high-precision screw threads.

　　軋制法采用 成形滾壓模具使工件產(chǎn)生塑性變形以獲得螺紋，而切削法則通過去除材料來形成 螺紋。

　　The rolling method uses a forming rolling die to cause plastic deformation of the workpiece to obtain threads, while the cutting method forms threads by removing material.

　　具體來看：

　　Specifically, let's take a look:

　　1）軋制工藝使用硬化鋼模具將工件材料變形為螺紋輪廓，無需切削，加工效率高，但一般精度較低（約P5～P10級）；

　　1) The rolling process uses hardened steel molds to deform the workpiece material into a threaded profile, without the need for cutting, resulting in high processing efficiency, but generally lower accuracy (about P5 to P10 levels);

　　2）磨制工藝加工工序復(fù) 雜、效率較低，但精度可達(dá)P0級，是精密滾珠/滾柱絲杠的主流精加工工藝；

　　2) The grinding process has complex processing procedures and low efficiency, but the highest accuracy can reach P0 level, making it the mainstream precision machining process for precision ball/roller screws;

　　3）車削工藝相對磨削效率有所提升（以車代磨的優(yōu)勢），但加工精度不及磨削， 且車刀有時存在損耗問題；

　　3) The turning process has improved relative grinding efficiency (with the advantage of using turning instead of grinding), but the machining accuracy is not as good as grinding, and there are sometimes problems with tool wear and tear;

　　4）旋風(fēng)銑介于磨制和軋制工藝之間，精度和加工效率 平衡較好，但在高精度方面與磨削還有差距，且銑刀也存在損耗問題。軋制：效率高但精度相對受限的加工工藝軋制成形螺紋工藝是一種局部連續(xù)漸進(jìn)成形的加工方法，使用滾壓輪或搓絲板滾 壓軋件坯料，利用金屬材料的可塑性，坯料表面在滾壓力的作用下發(fā)生塑性變形 而逐漸成形為螺紋。

　　4) Whirlwind milling is between grinding and rolling processes, with a good balance between precision and processing efficiency. However, there is still a gap in high precision compared to grinding, and milling cutters also have wear and tear issues. Rolling: A machining process with high efficiency but relatively limited accuracy Rolling forming thread technology is a locally continuous progressive forming processing method, which uses rolling wheels or rolling plates to roll the rolled billet. By utilizing the plasticity of metal materials, the surface of the billet undergoes plastic deformation under rolling pressure and gradually forms into threads.

　　軋制工藝生產(chǎn)滾柱效率高、損傷小 ，成形率遠(yuǎn)遠(yuǎn)高于切削加 工成形，其局部連續(xù)漸進(jìn)成形，極少損傷金屬纖維，塑性變形又能大大增加螺紋 滾柱的表面強(qiáng)度，提升螺紋滾柱的機(jī)械性能。軋制工藝一般可分為熱軋和冷軋。冷軋與熱軋的界限是以再結(jié)晶溫度來區(qū)分的， 低于再結(jié)晶溫度為冷軋，高于再結(jié)晶溫度為熱軋（鋼的再結(jié)晶溫度450～600℃）。

　　The rolling process produces rollers with high efficiency, minimal damage, and a much higher forming rate than cutting. It is locally continuous and gradually formed, with minimal damage to metal fibers. Plastic deformation can greatly increase the surface strength of threaded rollers and improve their mechanical properties. The rolling process can generally be divided into hot rolling and cold rolling. The boundary between cold rolling and hot rolling is distinguished by the recrystallization temperature, with cold rolling below the recrystallization temperature and hot rolling above it (the recrystallization temperature of steel is 450-600 ℃).

　　熱軋 一般將鋼材加熱1100～1250℃進(jìn)行軋制，熱軋后鋼材具更高成型性和 可加工性，更易于在后續(xù)加工中使用。但熱軋鋼在冷卻階段有收縮，其終 形狀的可控制程度較低，因此熱軋常用于不需非常嚴(yán)格精度的場景。

　　Hot rolling generally heats steel to 1100-1250 ℃ for rolling. After hot rolling, the steel has higher formability and processability, making it easier to use in subsequent processing. However, hot-rolled steel undergoes shrinkage during the cooling stage, resulting in a lower degree of controllability over its final shape. Therefore, hot-rolled steel is commonly used in scenarios that do not require very strict precision.

　　冷軋 時鋼材不進(jìn)行加熱，需更高壓力將其軋制成所需的尺寸。冷軋鋼的強(qiáng)度 更高，表面光滑，在成型后不會收縮，比熱軋鋼具有更高強(qiáng)度、硬度、精度， 因此在絲杠等高精度產(chǎn)品中，軋制工藝主要使用的是冷軋。

　　During cold rolling, steel is not heated and requires higher pressure to be rolled into the desired size. Cold rolled steel has higher strength, smooth surface, and will not shrink after forming. It has higher strength, hardness, and precision than hot rolled steel. Therefore, in high-precision products such as screw rods, the rolling process mainly uses cold rolling.

　　車削：以車代磨提率，但加工精度仍不及磨削

　　Turning: Replacing grinding with turning improves efficiency, but the machining accuracy is still inferior to grinding

　　螺紋車削是刀具在絲桿表面沿螺旋線切削出成型槽的工藝，將工件表面以直代 曲，刀具沿直線方向施加主切削速度，工件沿進(jìn)給方向施加進(jìn)給速度，可以在工 件表面以螺紋升角切出螺紋槽。車削的刀具材料是聚晶立方氮化硼PCBN，硬度可 高達(dá)HV8000～9000（硬度僅低于金剛石）。

　　Thread turning is a process in which a tool cuts a forming groove on the surface of a threaded rod along a spiral line. The workpiece surface is replaced by a straight one, and the tool applies the main cutting speed in the straight direction while the workpiece applies the feed speed in the feed direction. This allows for the cutting of a thread groove on the workpiece surface at a raised angle. The tool material for turning is polycrystalline cubic boron nitride PCBN, with a hardness of up to HV8000-9000 (only lower than diamond hardness).

　　當(dāng)前車削絲杠的加工工藝主要采用車削+磨削結(jié)合：車削工藝流程可大概總結(jié)為： 下料-預(yù)備熱處理-車削-淬火-磨削的流程。

　　The current machining process for turning screw mainly adopts a combination of turning and grinding: the turning process can be roughly summarized as follows: cutting preparation heat treatment turning quenching grinding process.

　　1）車削：絲杠加工螺紋滾道時，先對 螺紋滾道進(jìn)行粗加工即粗車螺紋，然后進(jìn)行淬火（提升硬度）；

　　1) Turning: When machining threaded raceways with lead screws, the threaded raceways are first roughly machined, known as rough threading, and then quenched (to increase hardness);

　　2）磨削：淬火完 成后，對滾道進(jìn)行粗磨，之后進(jìn)行時效處理（去應(yīng)力），再進(jìn)行精磨，制成絲杠。

　　2) Grinding: After quenching, rough grinding is performed on the raceway, followed by aging treatment (stress relief), and then precision grinding is performed to produce the lead screw.

　　磨制：精度的關(guān)鍵精加工工藝，但加工效率較低

　　Grinding: the key precision machining process with the highest accuracy, but with lower processing efficiency

　　磨削是目前高精度絲杠螺紋的主要加工方法，實(shí)質(zhì)是使用螺紋磨床高速旋轉(zhuǎn)的成 型砂輪對加工工件表面進(jìn)行高速切削，砂輪的表面磨粒劃擦、刻劃和切削工件表面，進(jìn)而獲得更高的精度。磨削砂輪的截面形狀與被磨削工件的螺紋截面形狀類 似，通過高精度的數(shù)控磨床可加工出高精度的小螺距螺紋，目前對于熱后的高硬 度螺紋面或硬脆材料螺紋面的高精度加工，磨削是為行之有效的加工方式。以 滾珠絲杠為例，使用磨削加工后精度可達(dá)到P0級。行星滾柱絲杠中絲杠、螺母、滾柱等不同部位的磨削工藝存在差異，提高工藝壁 壘。磨削工藝流程長、加工復(fù)雜繁瑣，同時既需要針對絲杠和滾柱的外螺紋磨削， 又需要針對螺母的內(nèi)螺紋磨削，其中螺母內(nèi)螺紋加工難度。絲杠磨削工序整體流程較長，滾珠絲杠的螺桿部分和螺母部分各需經(jīng)過十多道工 藝方可成形，其中包括粗磨和精磨工藝；行星滾柱絲杠則工藝流程更長，且在螺 桿、螺母和滾柱中均需采用磨削工藝。

　　Grinding is currently the main processing method for high-precision screw threads. Essentially, it involves using a high-speed rotating forming grinding wheel of a thread grinder to perform high-speed cutting on the surface of the workpiece. The surface abrasive particles of the grinding wheel rub, scratch, and cut the surface of the workpiece, thereby obtaining higher accuracy. The cross-sectional shape of the grinding wheel is similar to the thread cross-sectional shape of the workpiece being ground. High precision small pitch threads can be machined through high-precision CNC grinding machines. Currently, grinding is the most effective processing method for high-precision machining of high hardness thread surfaces or hard brittle material thread surfaces after heating. Taking ball screws as an example, the highest precision after grinding can reach P0 level. There are differences in the grinding processes of different parts such as the lead screw, nut, and roller in planetary roller screw, which increases the process barrier. The grinding process is long and complex, requiring both external thread grinding for lead screws and rollers, as well as internal thread grinding for nuts, with the nut internal thread being the most difficult to process. The overall process of screw grinding is relatively long, and the screw and nut parts of the ball screw need to go through more than ten processes before they can be formed, including rough grinding and fine grinding processes; The planetary roller screw has a longer process flow and requires grinding technology in the screw, nut, and roller.

　　旋風(fēng)銑：兼顧精度與效率，但國內(nèi)工藝仍需摸索

　　Whirlwind milling: balancing accuracy and efficiency, but domestic technology still needs to be explored

　　旋風(fēng)銑螺紋是采用旋風(fēng)銑頭來加工螺紋，只需一次切削就能完成螺紋的加工方 法 ，借助刀盤旋轉(zhuǎn)中心與工件中心的偏心量完成漸進(jìn)式高速銑削加工，具有銑削 速度高、加工效率快、高精度、低成本等優(yōu)點(diǎn)。加工過程中，旋風(fēng)銑被安裝在車 床中拖板上，采用6～8把均勻?qū)ΨQ的高強(qiáng)度對稱銑刀，車床夾持工件完成低速進(jìn) 給運(yùn)動，旋風(fēng)銑帶動硬質(zhì)合金刀具高速旋轉(zhuǎn)，完成切削運(yùn)動，從工件上銑削出螺紋，工件每轉(zhuǎn)360°時，刀盤縱向進(jìn)給一個導(dǎo)程，銑出螺紋。

　　Whirlwind milling thread is a method of machining threads using a whirlwind milling head, which can be completed in one cutting. With the help of the eccentricity between the center of rotation of the cutter head and the center of the workpiece, progressive high-speed milling is completed, which has the advantages of high milling speed, fast processing efficiency, high precision, and low cost. During the machining process, the cyclone milling machine is installed on the carriage of the lathe, using 6-8 uniformly symmetrical high-strength symmetrical milling cutters. The lathe clamps the workpiece to complete low-speed feed motion, and the cyclone milling machine drives the hard alloy cutting tool to rotate at high speed to complete the cutting motion, milling threads from the workpiece. When the workpiece rotates 360 °, the cutter head advances longitudinally by one lead to mill the threads.

　　旋風(fēng)銑的工藝壁壘主要體現(xiàn)在工藝積累和銑刀耗材等方面。工藝積累方面，旋風(fēng)銑削運(yùn)動規(guī)律復(fù)雜，加工過程中刀架安裝傾角、偏心距、刀盤直徑及轉(zhuǎn)速比等參數(shù)都會對終加工質(zhì)量產(chǎn)生影響，需較深的工藝積累；銑刀方面 ，絲杠工件往往 硬度較高，銑刀存在損耗問題，影響刀具切削性能。目前海外在旋風(fēng)銑的基礎(chǔ)理 論和關(guān)鍵技術(shù)等方面具一定優(yōu)勢，國內(nèi)螺紋旋風(fēng)銑削仍具改進(jìn)和提升的空間。

　　The technological barriers of whirlwind milling are mainly reflected in process accumulation and milling consumables. In terms of process accumulation, the motion law of cyclone milling is complex. During the machining process, parameters such as the inclination angle, eccentricity, cutterhead diameter, and speed ratio of the tool holder installation will all have an impact on the final machining quality, requiring deep process accumulation; In terms of milling cutters, screw workpieces often have high hardness, and milling cutters have wear and tear problems, which affect the cutting performance of the tool. At present, overseas companies have certain leading advantages in the basic theory and key technologies of whirlwind milling, while there is still room for improvement and enhancement in domestic thread whirlwind milling.

　　5.3 核心制造設(shè)備（磨床、銑床等）的技術(shù)瓶頸與國產(chǎn)化進(jìn)展

　　5.3 Technical bottlenecks and localization progress of core manufacturing equipment (grinding machines, milling machines, etc.)

　　高端絲杠的制造嚴(yán)重依賴于一系列高精密的專用加工設(shè)備和檢測儀器，這些設(shè)備的技術(shù)水 平和供應(yīng)狀況，直接構(gòu)成了絲杠產(chǎn)業(yè)發(fā)展的核心瓶頸之一，也是國產(chǎn)替代進(jìn)程中亟待突破的關(guān)鍵環(huán)節(jié)。

　　The manufacturing of high-end lead screws heavily relies on a series of high-precision specialized processing equipment and testing instruments. The technical level and supply status of these equipment directly constitute one of the core bottlenecks in the development of the lead screw industry, and it is also a key link that urgently needs to be broken through in the process of domestic substitution.

　　對進(jìn)口設(shè)備的嚴(yán)重依賴：目前，全球范圍內(nèi)用于制造高精度絲杠的核心加工設(shè)備，如高精度數(shù)控螺紋磨床、大型絲杠旋風(fēng)銑床以及與之配套的精密在線/離線檢測儀器等，其技術(shù)和市場供應(yīng)主要掌握在少數(shù)工業(yè)發(fā)達(dá)（如瑞士、德國、日本、美國等）的企業(yè)手中。大陸的絲杠制造商在追求高端產(chǎn)品時，很大程度上仍需依賴進(jìn)口這些關(guān)鍵設(shè)備進(jìn)口設(shè)備帶來的瓶頸與挑戰(zhàn)高昂的采購成本：

　　Serious dependence on imported equipment: Currently, the core processing equipment used for manufacturing high-precision lead screws worldwide, such as high-precision CNC thread grinders, large lead screw whirlwind milling machines, and matching precision online/offline detection instruments, mainly relies on leading enterprises in a few industrialized countries (such as Switzerland, Germany, Japan, the United States, etc.) for their top-notch technology and market supply. When pursuing high-end products, the lead screw manufacturers in Chinese Mainland still largely rely on the bottlenecks and challenges brought by the import of these key equipment and imported equipment, and the high procurement costs:

　　進(jìn)口的精密絲杠加工設(shè)備不菲。例如，一臺大型絲杠旋風(fēng)銑 床的售價可能超過百萬美元，而秦川機(jī)床在其募投項目中披露的部分進(jìn)口高精度磨床的單臺甚達(dá)到了千萬元人民幣級別。如此高昂的設(shè)備投入，無疑加重了國內(nèi)絲杠企業(yè)的資本負(fù)擔(dān)，也推高了高端絲杠的制造成本。

　　Imported precision screw machining equipment is expensive. For example, the price of a large screw whirlwind milling machine may exceed one million US dollars, and Qinchuan Machine Tool disclosed in its fundraising project that the single price of some imported high-precision grinding machines even reached tens of millions of yuan. Such high equipment investment undoubtedly increases the capital burden of domestic screw enterprises and drives up the manufacturing cost of high-end screws.

　　漫長的采購周期：海外高端設(shè)備的采購周期通常較長，從下訂單到設(shè)備到廠安裝調(diào) 試完畢，往往需要一年甚更長時間 。這不僅影響了企業(yè)快速響應(yīng)市場需求和擴(kuò) 大產(chǎn)能的靈活性，也可能錯失市場機(jī)遇。

　　Long procurement cycle: The procurement cycle for high-end equipment overseas is usually long, from placing an order to equipment installation and commissioning at the factory, often taking one year or even longer. This not only affects the flexibility of enterprises to quickly respond to market demand and expand production capacity, but may also miss market opportunities.

　　潛在的技術(shù)封鎖與出口限制：在當(dāng)前復(fù)雜的地緣政治和國際貿(mào)易環(huán)境下，一些西方對包括高端五軸聯(lián)動數(shù)控機(jī)床在內(nèi)的尖 端技術(shù)和裝備向等特定的出口設(shè)置了嚴(yán)格的限制 。雖然這些限制可能不直接針對所有絲杠加工設(shè)備，但其核心部件（如高精度數(shù)控系統(tǒng)、精密傳感器等） 或相關(guān)聯(lián)的超精密制造技術(shù)，仍可能受到波及，從而對國內(nèi)獲取的絲杠制造設(shè)備構(gòu)成潛在風(fēng)險。海外供應(yīng)商產(chǎn)能有限：即使沒有直接的出口限制，全球范圍內(nèi)能夠提供絲杠加 工設(shè)備的廠商數(shù)量也相對有限，其自身的產(chǎn)能也可能難以完全滿足全球市場，特別 是在面臨像人形機(jī)器人這樣可能帶來爆發(fā)性需求的市場時的供應(yīng)瓶頸。

　　Potential technology blockade and export restrictions: In the current complex geopolitical and international trade environment, some Western countries have set strict restrictions on the export of cutting-edge technologies and equipment, including high-end five axis linkage CNC machine tools, to specific countries such as China. Although these restrictions may not directly apply to all screw machining equipment, their core components (such as high-precision CNC systems, precision sensors, etc.) or associated ultra precision manufacturing technologies may still be affected, posing potential risks to obtaining the most advanced screw manufacturing equipment domestically. Limited production capacity of overseas suppliers: Even without direct export restrictions, the number of manufacturers worldwide that can provide top-level screw processing equipment is relatively limited, and their own production capacity may not fully meet the global market, especially when facing supply bottlenecks in markets like humanoid robots that may bring explosive demand.

　　在關(guān)鍵加工設(shè)備方面，螺紋磨床和旋風(fēng)銑床構(gòu)成了高端絲杠制造的技術(shù)“心臟”。

　　In terms of key processing equipment, thread grinders and whirlwind milling machines form the technological "heart" of high-end screw manufacturing.

　　螺紋磨床：磨削工藝在加工過程中需要經(jīng)過多道工序，每一步都對設(shè)備的精度和穩(wěn) 定性提出高要求，而高端螺紋磨床正是滿足這一需求的關(guān)鍵裝備。螺紋磨床作為實(shí) 現(xiàn)螺紋高精度成形的核心設(shè)備，其加工精度和穩(wěn)定性直接決定了絲杠的傳動精度和 使用壽命。自從瑞士SIP公司于1917年研制出世界上臺螺紋磨床，今已經(jīng)有 100 多年的發(fā)展歷史。國外相關(guān)螺紋磨床生產(chǎn)廠家從20世紀(jì)90年代就開始大力發(fā) 展數(shù)控螺紋磨床，為研制和生產(chǎn)高端滾珠絲杠副產(chǎn)品提供了技術(shù)基礎(chǔ)。比較的 數(shù)控螺紋床生產(chǎn)廠家大多出自于瑞士、英國、日本和德國等發(fā)達(dá)，其中典型的磨床廠商有瑞士萊森豪爾、英國MATRIX、日本三井、德國SMC、德國Kapp等。

　　Thread grinder: The grinding process requires multiple steps in the machining process, each of which places high demands on the accuracy and stability of the equipment. High end thread grinders are the key equipment to meet this demand. As the core equipment for achieving high-precision thread forming, the machining accuracy and stability of the thread grinder directly determine the transmission accuracy and service life of the screw. Since the Swiss SIP company developed the world's first thread grinding machine in 1917, it has a development history of more than 100 years. Foreign manufacturers of thread grinders have been vigorously developing CNC thread grinders since the 1990s, providing a technical foundation for the development and production of high-end ball screw by-products. Most of the well-known CNC thread machine manufacturers come from developed countries such as Switzerland, the United Kingdom, Japan, and Germany. Typical grinding machine manufacturers include Swiss Laisenhauer, British MATRIX, Japanese Mitsui, German SMC, and German Kapp.

　　國內(nèi)生產(chǎn)數(shù)控螺紋磨床的骨干企業(yè)包括漢江機(jī)床、上海機(jī)床廠等近年來奮力直追國 外技術(shù)，目前已經(jīng)能夠自主設(shè)計和制造具有世界水平的數(shù)控螺紋磨床，但在穩(wěn)定性、重復(fù)定位精度和自動化水平上尚有部分差距，導(dǎo)致產(chǎn)品批次間的一致性 和可靠性可能難以完全滿足高端應(yīng)用需求。旋風(fēng)銑床：利用高速旋轉(zhuǎn)刀盤上的PCBN成型刀具一次性銑削出完整螺紋，該方法 比傳統(tǒng)加工效率提高 5 倍以上，切屑長而薄、可帶走大部分熱量，旋銑切削力小、 工件變形小，加工后的零件精度高、表面粗糙度值低，其、綠色的特點(diǎn)為降低 加工周期和成本提供了有力支撐。德國等西方工業(yè)發(fā)達(dá)從20世紀(jì)60年代就已 經(jīng)對旋風(fēng)銑削工藝技術(shù)進(jìn)行研究，并在80年代推出CNC旋風(fēng)銑床，用于滾珠絲杠 的硬銑削加工，知名企業(yè)是德國Leistritz公司，其LWN 300 HP產(chǎn)品加工長度 長可達(dá)12m、加工直徑32-160 mm。我國在這一方面發(fā)展較慢，大型絲杠銑床主要 依賴進(jìn)口，而昂貴的是制約我國制造技術(shù)提高的關(guān)鍵因素，目前部分機(jī)床廠商 自研已取得一定進(jìn)展。由于相關(guān)生產(chǎn)設(shè)備售價高昂，且交付期較長，因此具備較強(qiáng)資金實(shí)力、在絲杠行業(yè)布局較早的公司或具備一定優(yōu)勢。

　　The backbone enterprises producing CNC thread grinders in China, including Hanjiang Machine Tool and Shanghai Machine Tool Factory, have been striving to catch up with advanced foreign technologies in recent years. Currently, they are able to independently design and manufacture CNC thread grinders with world advanced levels. However, there are still some gaps in stability, repeatability accuracy, and automation level, which may result in difficulty in fully meeting the consistency and reliability of product batches for high-end applications. Whirlwind milling machine: using PCBN forming tools on a high-speed rotating cutter head to mill complete threads in one go, this method improves processing efficiency by more than 5 times compared to traditional methods. The chips are long and thin, can take away most of the heat, the cutting force of rotary milling is small, the workpiece deformation is small, the precision of the processed parts is high, and the surface roughness value is low. Its efficient and green characteristics provide strong support for reducing processing cycles and costs. Developed Western industrial countries such as Germany have been researching the cyclone milling technology since the 1960s, and introduced CNC cyclone milling machines for hard milling of ball screws in the 1980s. The most well-known enterprise is Leistritz, a German company, whose LWN 300 HP product can have a processing length of up to 12m and a processing diameter of 32-160 mm. China's development in this area is slow, and large screw milling machines mainly rely on imports. The expensive price is a key factor restricting the improvement of manufacturing technology in China. Currently, some machine tool manufacturers have made certain progress in their own research. Due to the high selling price and long delivery time of related production equipment, companies with strong financial strength and early layout in the screw industry may have certain advantages.

　　國產(chǎn)化進(jìn)展：大陸的一些骨干機(jī)床企業(yè)和新興廠商也在積極研發(fā)和生 產(chǎn)數(shù)控螺紋磨床。例如，秦川機(jī)床的子公司漢江機(jī)床、上海機(jī)床廠、華辰裝備、 日發(fā)精機(jī)以及雙林股份收購的無錫科之鑫（專注于內(nèi)螺紋磨床）等，都在該領(lǐng)域有所布局。目前，國產(chǎn)中高檔螺紋磨床已經(jīng)能夠滿足C3C4級精度絲杠的加 工需求，但在批量加工更高精度等級（如C0C2級）的絲杠時，其穩(wěn)定性和一 致性與進(jìn)口設(shè)備相比仍有提升空間。值得欣慰的是，上海機(jī)床廠研發(fā)的SK7420型數(shù)控絲杠磨床已能實(shí)現(xiàn)P1級精度的滾珠絲杠副加工，顯示出國產(chǎn)設(shè)備在技術(shù)上的進(jìn)步。華辰裝備和日發(fā)精機(jī)等公司也已成功將其研發(fā)的精密螺紋磨床推向市場，并獲得了客戶訂單或?qū)崿F(xiàn)了交付使用。

　　Localization progress: some backbone machine tool enterprises and emerging professional manufacturers in Chinese Mainland are also actively developing and producing CNC thread grinding machines. For example, subsidiaries of Qinchuan Machine Tool, such as Hanjiang Machine Tool, Shanghai Machine Tool Factory, Huachen Equipment, Rifa Precision Machinery, and Wuxi Kezhixin (specializing in internal thread grinders) acquired by Shuanglin Co., Ltd., have all made layouts in this field. At present, domestically produced mid to high end thread grinders can meet the machining needs of C3 to C4 grade precision screws, but there is still room for improvement in stability and consistency compared to imported top-level equipment when mass processing higher precision grades (such as C0 to C2 grade screws). It is gratifying that the SK7420 CNC screw grinder developed by Shanghai Machine Tool Factory can achieve P1 level precision ball screw pair machining, demonstrating the technological progress of domestic equipment. Huachen Equipment and Rifa Precision Machinery have also successfully launched their developed precision thread grinders to the market and obtained customer orders or achieved delivery for use.

　　未來在高端設(shè)備領(lǐng)域，國產(chǎn)高精度螺紋磨床 和旋風(fēng)銑床的突破有望在中長期內(nèi)顯著提升國內(nèi)高端絲杠產(chǎn)品的技術(shù)水平和市場 競爭力，從而推動全球絲杠產(chǎn)業(yè)鏈的重構(gòu)和在國際市場的份額的提升。

　　In the field of high-end equipment in the future, breakthroughs in domestically produced high-precision thread grinders and whirlwind milling machines are expected to significantly enhance the technological level and market competitiveness of domestic high-end screw products in the medium to long term, thereby promoting the restructuring of the global screw industry chain and increasing its market share in the international market.