一、从“机械传动心脏” 到人形机器人核心：丝杠的双重身份揭秘

　　1、 From the 'mechanical transmission heart' to the core of humanoid robots: the dual identity of the screw is revealed

　　（一）丝杠的基础原理与核心类型丝杠，这一在机械传动领域堪称“元老” 级别的部件，其历史可追溯工业革命早期，伴随着机械制造技术的萌芽而诞生，历经数百年发展，始终是各类精密机械的 “幕后英雄” 。从基础原理来看，丝杠通过螺杆、螺母与反向装置的精妙配合，将电机输出的旋转运动转化为直线运动，实现毫米级甚微米级的精准位移，就像给机械赋予了一双 “精准的手”，能精确操控各类部件的位置。在人形机器人这一前沿领域，丝杠主要分为行星滚柱丝杠与微型滚珠丝杠两大核心分支，二者分工明确，共同支撑起机器人的运动系统。行星滚柱丝杠凭借高承载、

　　（1） The basic principle and core type of screw, which can be called an "elder" level component in the field of mechanical transmission, can be traced back to the early stages of the Industrial Revolution. It was born with the emergence of mechanical manufacturing technology and has been the "behind the scenes hero" of various precision machinery for hundreds of years. From the perspective of basic principles, the screw efficiently converts the rotational motion output by the motor into linear motion through the clever combination of the screw, nut, and reverse device, achieving precise displacement at the millimeter or even micrometer level. It is like giving machinery a pair of "precise hands" that can accurately control the position of various components. In the forefront field of humanoid robots, screw systems are mainly divided into two core branches: planetary roller screws and micro ball screws. The two have clear division of labor and jointly support the motion system of robots. The planetary roller screw, with its high load-bearing capacity

　　体积、快响应、低噪音、高精度等优势，成为人形机器人髋关节、膝关节等大关节的“动力枢纽”。以特斯拉 Optimus 为例，单台机器人搭载 14 - 16 个行星滚柱丝杠，这些丝杠分布在大臂、小臂、大腿和小腿关节处，承担着支撑机器人身体重量、驱动关节运动的重任，确保机器人在行走、奔跑、搬运重物等动作时，关稳定、有力地运转。而微型滚珠丝杠则以其微米级精度，专注于控制机器人手指的开合，是支撑灵巧手完成复杂抓取动作的关键。当机器人需要抓取一个精致的玻璃杯，或是分拣微小的电子元件时，微型滚珠丝杠便能精确调节手指关节的位置和力度，实现轻柔、精准的操作，展现出人形机器人在精细作业方面的能力。

　　With outstanding advantages such as volume, fast response, low noise, and high precision, it has become the "power hub" for large joints such as hip and knee joints in humanoid robots. Taking Tesla Optimus as an example, a single robot is equipped with 14-16 planetary roller screws, which are distributed at the joints of the upper arm, lower arm, thigh, and calf. These screws bear the responsibility of supporting the weight of the robot's body and driving joint movements, ensuring that the joints can operate stably and powerfully when the robot moves, runs, and carries heavy objects. The micro ball screw, with its micrometer level precision, focuses on controlling the opening and closing of robot fingers, and is the key to supporting dexterous hands to complete complex grasping actions. When the robot needs to grab a delicate glass cup or sort tiny electronic components, the micro ball screw can accurately adjust the position and force of the finger joints, achieving gentle and precise operation, demonstrating the ability of humanoid robots in fine operations.

　　（二）人形机器人对丝杠的“苛刻” 需求

　　（2） The "stringent" requirements of humanoid robots for lead screws

　　相较于工业机械臂相对固定、单一的工作场景，人形机器人的应用场景复杂多变，对丝杠提出了近乎“苛刻” 的综合性能要求，需同时满足高负载能力、高动态响应、高精度与高可靠性 。在高负载能力方面，以步行场景为例，当人形机器人行走时，髋关节丝杠在每一步的过程中，需在极短的?0.1 秒内，完成从 50N 到 500N 的负载切换。这是因为在行走过程中，机器人身体的不断转移，髋关节不仅要支撑上半身的重量，还要承受行走时的冲击力和惯性力，对丝杠的材料强度和结构设计是极大考验，其负载能力要求达到工业级产品的 3 倍以上。高动态响应同样关键，人形机器人需要像人类一样灵活运动，快速改变动作姿态。这意味着丝杠要能在瞬间响应电机的指令，迅速调整运动状态。在机器人进行舞蹈表演时，频繁的转身、跳跃动作，要求丝杠能在毫秒级时间内完成启动、停止、变速等操作，确保动作流畅，不出现卡顿或延迟。高精度决定了人形机器人动作的准确性，在进行精密装配任务时，如组装小型电子产品，机器人需要将零部件精确放置在指定位置，误差需控制在亚毫米甚微米级别，这依赖于丝杠精确的位移控制能力。于高可靠性，考虑到人形机器人可能在各种环境下长时间工作，丝杠必须具备出色的稳定性和耐用性，减少故障发生概率，确保在复杂环境和长时间使用过程中，始终能稳定运行，维持机器人的正常工作状态。

　　Compared to the relatively fixed and single working scenarios of industrial robotic arms, the application scenarios of humanoid robots are complex and varied, which imposes almost "stringent" comprehensive performance requirements on the lead screw, requiring it to simultaneously meet high load capacity, high dynamic response, high precision, and high reliability. In terms of high load capacity, taking the walking scenario as an example, when a humanoid robot walks, the hip joint screw needs to complete the load switching from 50N to 500N in a very short 0.1 seconds at each step. This is because during the walking process, the center of gravity of the robot's body continuously shifts, and the hip joint not only needs to support the weight of the upper body, but also withstand the impact and inertia forces during walking, which greatly tests the material strength and structural design of the screw. Its load capacity requirement is more than three times that of industrial grade products. High dynamic response is equally crucial, as humanoid robots need to move flexibly and quickly change their posture like humans. This means that the screw should be able to respond to motor commands in an instant and quickly adjust its motion state. During robot dance performances, frequent turning and jumping movements require the screw to complete operations such as starting, stopping, and shifting within milliseconds to ensure smooth movements without any lag or delay. High precision determines the accuracy of the actions of humanoid robots. When performing precision assembly tasks, such as assembling small electronic products, robots need to accurately place components in designated positions with errors controlled at the sub millimeter or even micrometer level, which relies on the precise displacement control capability of the screw. As for high reliability, considering that humanoid robots may work for long periods of time in various environments, the screw must have excellent stability and durability to reduce the probability of failure, ensure stable operation in complex environments and long-term use, and maintain the normal working state of the robot.

　　二、三大技术壁垒：解码人形机器人丝杠的“制造珠峰”

　　2、 Three major technological barriers: decoding the "manufacturing Everest" of humanoid robot screws

　　（一）材料技术：从“毫米级” 到 “纳米级” 的性能突围在丝杠制造中，材料技术是构筑高性能丝杠的根基，其研发难度超乎想象，每一次性能突破都堪称材料微观世界里的“极限挑战” 。行星滚柱丝杠螺杆对材料的要求极为严苛，需采用含氮量?0.3% 以上的高氮轴承钢，像 100Cr6+N 便是常用材料。在热处理环节，需借助真空淬火工艺，让螺杆表面硬度达到 HRC60 - 62，同时确保芯部韧性 AKV≥20J 。这一过程犹如在微观层面进行一场精密的 “力学雕塑”，要让材料表面坚硬如 “铠甲”，抵御高负载下的磨损，芯部又要保持足够韧性，避免在冲击下脆裂。

　　（1） Material Technology: Breakthrough from "Millimeter level" to "Nano level" Performance In screw manufacturing, material technology is the foundation for building high-performance screws, and its research and development difficulty is beyond imagination. Every performance breakthrough can be regarded as the "ultimate challenge" in the microscopic world of materials. The material requirements for planetary roller screw are extremely strict, requiring the use of high nitrogen bearing steel with a nitrogen content of 0.3% or more, such as 100Cr6+N, which is a commonly used material. In the heat treatment process, it is necessary to use vacuum quenching technology to achieve a surface hardness of HRC60-62 on the screw, while ensuring that the core toughness AKV is ≥ 20J. This process is like a precise "mechanical sculpture" at the microscopic level, where the material surface needs to be as hard as "armor" to resist wear under high loads, while the core needs to maintain sufficient toughness to avoid brittle fracture under impact.

　　国内企业在攻克这一技术时，就曾因难以精准控制氮化物析出均匀性，导致螺杆在测试中频繁出现断裂，断裂率一度超过 15%，经过长达 3 年的不懈攻关，才成功将缺陷率降 0.5% 以下，其研发历程充满艰辛。而在微型丝杠领域，材料挑战更是上升到新高度。灵巧手所用的微型丝杠，直径仅在?0.6 - 3mm 之间，却要在直径 1mm 的螺杆上加工出螺距 0.2mm 的螺纹，这对材料强度提出了 “双高” 要求：抗拉强度需≥1500MPa，弯曲疲劳极限≥800MPa 。如此微小的尺寸下实现这般高强度，目前全球仅有 3 家企业掌握这种超细晶不锈钢加工技术，技术垄断性可见一斑。这不仅需要对材料晶体结构进行纳米级调控，还要开发全新的加工工艺，以确保材料在微观尺度下仍能保持稳定性能，每一项突破都可能改写行业格局。

　　When domestic enterprises were tackling this technology, they found it difficult to accurately control the uniformity of nitride precipitation, resulting in frequent fractures of screws during testing, with a fracture rate exceeding 15% at one point. After three years of unremitting research and development, the defect rate was successfully reduced to below 0.5%, and the research and development process was full of difficulties. In the field of micro screws, material challenges have risen to new heights. The micro screw used in dexterous hands has a diameter of only 0.6-3mm, but it needs to machine threads with a pitch of 0.2mm on a screw with a diameter of 1mm, which puts forward a "double high" requirement for material strength: the tensile strength needs to be ≥ 1500MPa, and the bending fatigue limit needs to be ≥ 800MPa. To achieve such high strength with such a small size, currently only three companies in the world have mastered this ultra-fine grain stainless steel processing technology, which shows the technological monopoly. This not only requires nanoscale regulation of the crystal structure of materials, but also the development of new processing techniques to ensure that materials can maintain stable performance at the microscale. Every breakthrough could potentially rewrite the industry landscape.

　　（二）加工工艺：微米级精度的“雕刻艺术”

　　（2） Processing technology: "carving art" with micrometer level precision

　　加工工艺是将材料转化为高性能丝杠的关键环节，在人形机器人丝杠制造中，其精度控制达到了微米级，宛如一场在微观世界里的“雕刻艺术” 表演 。行星滚柱丝杠的螺纹导程精度要达到?G3 级，即每 300mm 导程误差≤5μm，这对磨削工艺提出了近乎苛刻的要求。

　　Processing technology is the key link in transforming high-quality materials into high-performance screws. In the manufacturing of humanoid robot screws, its precision control reaches the micrometer level, like a "carving art" performance in the microscopic world. The thread lead accuracy of planetary roller screw should reach G3 level, which means that the lead error per 300mm should be ≤ 5 μ m, which puts almost stringent requirements on the grinding process.

　　在磨削过程中，砂轮转速、冷却液温度哪怕出现极其微小的波动，都会对螺纹精度产生显著影响，因此必须将其控制在 ±0.1℃的极小范围内。国内企业在提升精度的过程中，传统工艺的精度误差高达 20μm，难以满足要求。为解决这一难题，企业引入激光热误差补偿系统，通过实时监测和补偿磨削过程中的热变形，成功将精度误差压缩 4μm，实现了从 “粗糙” 到 “精细” 的跨越，大幅提升了丝杠的性能和稳定性。

　　During the grinding process, even extremely small fluctuations in the speed of the grinding wheel and the temperature of the coolant can have a significant impact on the accuracy of the thread. Therefore, it is necessary to control them within a very small range of ± 0.1 ℃. In the process of improving accuracy for domestic enterprises, the precision error of traditional processes can reach up to 20 μ m, which is difficult to meet the requirements. To solve this problem, the enterprise introduced a laser thermal error compensation system, which successfully compressed the accuracy error to 4 μ m by real-time monitoring and compensating for thermal deformation during the grinding process, achieving a leap from "rough" to "fine" and greatly improving the performance and stability of the screw.

　　反向装置作为滚珠?/ 滚柱循环的核心部件，其装配精度同样关重要。它的曲面与螺杆螺纹的配合间隙需严格控制在 1 - 2μm，仅为人类头发丝直径的 1/50 ，这一精度要求堪称 “微观精度的挑战”。某国产厂商在早期就曾因反向器倒角误差，导致滚珠在循环过程中出现卡滞现象，严重影响丝杠性能。为攻克这一难题，企业自主研发视觉引导装配机器人，利用机器视觉的高精度识别能力，对反向器装配进行精准定位和调整，将装配合格率从 85% 大幅提升 99.97%，有效解决了装配精度难题，确保了丝杠运行的流畅性和可靠性。

　　Is the reverse device used as a ball? /The assembly accuracy of the core component of the roller cycle is also crucial. The clearance between its curved surface and screw thread needs to be strictly controlled within 1-2 μ m, which is only 1/50 of the diameter of a human hair. This precision requirement can be called the "ultimate challenge of micro precision". In the early stages, a domestic manufacturer experienced ball jamming during the circulation process due to chamfer errors in the reverser, which seriously affected the performance of the screw. To overcome this challenge, the company independently developed a vision guided assembly robot, which utilizes the high-precision recognition capability of machine vision to accurately locate and adjust the reverse assembly. The assembly qualification rate has been greatly increased from 85% to 99.97%, effectively solving the problem of assembly accuracy and ensuring the smoothness and reliability of screw operation.

　　（三）设计与检测：从“经验试错” 到 “数字孪生”设计与检测环节

　　（3） Design and Testing: From "Experience Trial and Error" to "Digital Twin" Design and Testing Process

　　贯穿丝杠研发、生产全过程，是确保丝杠性能的关键保障，随着技术发展，正从传统的“经验试错” 迈向 “数字孪生” 时代 。在丝杠设计中，高速运行时的摩擦热是影响定位精度的关键因素。当丝杠高速运转时，摩擦产生的热量会使螺杆膨胀?0.05 - 0.1mm，导致定位偏差，影响机器人动作精度。为解决这一难题，需要借助 ANSYS 等仿真软件，对机械应力、热传导与润滑膜厚度进行同步计算，构建多物理场耦合模型 。然而，建立这样的动力学模型难度极大，目前仅特斯拉、舍弗勒等少数行业巨头具备完整的建模能力，国内企业在这方面起步较晚，只能依赖数百次台架试验，通过反复测试和调整参数，才能完成设计迭代，不仅耗时费力，还难以达到设计效果。检测环节是确保丝杠质量的“一道关卡”，合格的人形机器人丝杠需通过 12 项关键检测，涵盖轴向刚度（误差≤1.5%）、回程间隙（＜5μm）、噪音分贝（＜55dB）等多个维度 。某国内龙头企业为达到国际检测标准，投资 2 亿元建设检测中心，引入德国蔡司三坐标测量机，其精度可达亚微米级，能对丝杠复杂的几何形状进行高精度测量；同时配备激光多普勒测振仪，精确测量丝杠运行时的振动情况，通过、高精度检测，实现与国际标准接轨，确保产品质量达到国际水平。

　　Throughout the entire process of screw research and production, it is the key guarantee to ensure the performance of the screw. With the development of technology, it is moving from the traditional "experience trial and error" to the "digital twin" era. In screw design, frictional heat during high-speed operation is a key factor affecting positioning accuracy. When the screw is running at high speed, the heat generated by friction will cause the screw to expand? 0.05 - 0.1mm， Causing positioning deviation and affecting the accuracy of robot movements. To solve this problem, it is necessary to use simulation software such as ANSYS to synchronously calculate mechanical stress, heat conduction, and lubrication film thickness, and construct a multi physics field coupling model. However, establishing such a dynamic model is extremely difficult. Currently, only a few industry giants such as Tesla and Schaeffler have complete modeling capabilities. Domestic enterprises started relatively late in this field and can only rely on hundreds of bench tests, repeated testing and parameter adjustments to complete design iterations. This not only takes time and effort, but also makes it difficult to achieve optimal design results. The testing stage is the "last checkpoint" to ensure the quality of the screw. Qualified humanoid robot screws need to pass 12 key tests, covering multiple dimensions such as axial stiffness (error ≤ 1.5%), return clearance (<5 μ m), and noise decibels (<55dB). A leading domestic enterprise has invested 200 million yuan to build a testing center in order to meet international testing standards. The center has introduced Zeiss coordinate measuring machines from Germany, which can achieve sub micron level accuracy and high-precision measurement of complex geometric shapes of lead screws; Simultaneously equipped with a laser Doppler vibrometer, it accurately measures the vibration of the screw during operation. Through comprehensive and high-precision detection, it achieves alignment with international standards and ensures that the product quality reaches the international advanced level.

　　三、从“关节驱动” 到 “智能控制”：丝杠的三大核心价值重构

　　3、 From "Joint Drive" to "Intelligent Control": Reconstruction of the Three Core Values of Screw

　　（一）精准传动：定义机器人“动作下限”

　　（1） Precise transmission: defining the "lower limit of robot action"

　　在人形机器人的复杂运动体系中，丝杠的精准传动能力宛如基石，定义着机器人动作的“下限”，即基本的动作准确性和稳定性 。

　　In the complex motion system of humanoid robots, the precise transmission ability of the screw is like a cornerstone, defining the "lower limit" of robot actions, which is the most basic accuracy and stability of actions.

　　以?Optimus 抓取鸡蛋这一经典场景为例，在手臂伸展过程中，行星滚柱丝杠承担着关键的传动任务。电机输出的旋转运动，通过 30:1 的减速比传递给丝杠，将电机的 0.1° 转角误差放大直线位移误差 0.03mm 。这一过程中，丝杠凭借自身高精度的螺纹加工和稳定的传动性能，确保了位移的精确控制。同时，配合力传感器形成闭环控制，当机器人的 “手指” 接近鸡蛋时，力传感器实时监测抓取力的变化，并将信号反馈给控制系统，控制系统根据反馈信号精准调节丝杠的运动，使 Optimus 能以恰到好处的力度抓取重量仅 50g 的鸡蛋，

　　With? Taking the classic scene of Optimus grabbing eggs as an example, during the arm extension process, the planetary roller screw undertakes the crucial transmission task. The rotational motion output by the motor is transmitted to the screw through a reduction ratio of 30:1, amplifying the motor's 0.1 ° angular error to a linear displacement error of 0.03mm. During this process, the screw ensures precise control of displacement through its high-precision thread machining and stable transmission performance. At the same time, the cooperative force sensor forms a closed-loop control. When the robot's "fingers" approach the egg, the force sensor monitors the change in grasping force in real time and feeds back the signal to the control system. The control system accurately adjusts the movement of the screw according to the feedback signal, so that Optimus can grasp an egg weighing only 50g with just the right force,

　　既不会因力量过大而捏碎鸡蛋，也不会因力量不足导致鸡蛋滑落，展现出机器人在精细操作方面的能力。

　　It will not crush eggs due to excessive force, nor will it slide eggs due to insufficient force, demonstrating the excellent ability of robots in fine operation.

　　在工业场景中，丝杠精度的重要性更加凸显，直接决定机器人能否完成芯片封装等微米级操作。在芯片封装过程中，机器人需要将微小的芯片准确放置在基板上，芯片引脚与基板焊盘的对准精度要求达到微米级，如?0.005mm 。这就要求丝杠能够精确控制机器人手臂的位置和运动轨迹，确保每一次操作都能达到极高的精度，任何微小的误差都可能导致芯片封装失败，造成巨大的经济损失，因此，丝杠的精准传动是保障工业机器人完成高精度任务的关键。

　　In industrial scenarios, the importance of screw accuracy is more prominent, directly determining whether robots can complete micro level operations such as chip packaging. In the process of chip packaging, robots need to accurately place tiny chips on the substrate, and the alignment accuracy between chip pins and substrate pads should reach the micrometer level, such as? 0.005mm 。 This requires the screw to accurately control the position and motion trajectory of the robot arm, ensuring that every operation can achieve extremely high accuracy. Any small error may lead to chip packaging failure, causing huge economic losses. Therefore, the precise transmission of the screw is the key to ensuring that industrial robots complete high-precision tasks.

　　（二）力效倍增：突破机器人“负载上限”

　　（2） Doubling Power Efficiency: Breaking through the 'Load Limit' of Robots

　　力效倍增是丝杠赋予人形机器人的又一核心价值，使其能够突破“负载上限”，完成高难度的负重任务 。行星滚柱丝杠通过独特的螺旋升角设计，实现了力的放大。以常见的设计参数为例，当电机输出的扭矩为?50N?m 时，经过丝杠的传动，可转化为 5000N 的轴向推力，这一强大的推力足以满足机器人单腿支撑 200kg 体重的需求。在机器人行走、奔跑或搬运重物时，髋关节、膝关节等部位的丝杠需要承受巨大的负载，通过力效倍增，丝杠能够将电机相对较小的扭矩转化为足以支撑机器人身体重量和完成各种动作所需的强大推力，确保机器人在高负载情况下仍能稳定运动。相较于传统蜗轮蜗杆方案，丝杠驱动的关节在功率密度方面具有显著优势，提升幅度可达?40% 。这意味着在相同的空间和能源消耗下，丝杠驱动的关够输出更大的功率，完成更复杂、更有力的动作。同时，同等负载下，采用丝杠驱动可使电机体积缩小 30% ，这对于人形机器人的轻量化设计关重要。轻量化不仅能降低机器人的能耗，还能提高其运动灵活性和响应速度，使机器人在各种场景下都能更加敏捷地行动，为机器人的实际应用拓展了更广阔的空间。

　　The doubling of power efficiency is another core value that the screw endows humanoid robots with, enabling them to break through the "load limit" and complete difficult load-bearing tasks. The planetary roller screw achieves efficient force amplification through a unique spiral angle design. Taking common design parameters as an example, what is the torque output by the motor? At 50N · m, through the transmission of the screw, it can be converted into an axial thrust of 5000N, which is strong enough to meet the demand of the robot's single leg supporting a weight of 200kg. When the robot walks, runs, or carries heavy objects, the lead screws in the hip joints, knee joints, and other parts need to bear huge loads. By doubling the force effect, the lead screws can convert the relatively small torque of the motor into strong thrust sufficient to support the weight of the robot's body and complete various actions, ensuring that the robot can still move stably under high load conditions. Compared to traditional worm gear schemes, screw driven joints have significant advantages in power density, with an improvement of up to? 40%. This means that under the same space and energy consumption, screw driven joints can output greater power and complete more complex and powerful actions. At the same time, under the same load, using screw drive can reduce the volume of the motor by 30%, which is crucial for the lightweight design of humanoid robots. Lightweighting not only reduces the energy consumption of robots, but also improves their flexibility and response speed, enabling robots to move more agilely in various scenarios and expanding the practical application space of robots.

　　（三）智能反馈：构建

　　（3） Intelligent Feedback: Building

　　机器人“触觉神经”在迈向智能化的进程中，丝杠通过与传感器的集成，为人形机器人构建起“触觉神经”，实现智能反馈，使其能够感知外部环境并做出精准反应 。当丝杠螺母与传感器集成时，能够实时反馈?0.01mm 级的位移变化与 1N 级的力值波动，就像给机器人赋予了灵敏的 “触觉” 。以攀爬楼梯场景为例，机器人在攀爬过程中，需要不断调整自身姿态和，以确保稳定地爬上楼梯。此时，丝杠反馈的力矩变化成为机器人动态调整的关键依据。当机器人的脚接触楼梯台阶时，丝杠上的传感器会立即感知到力的变化，并将信息传递给控制系统，控制系统根据这些信息快速计算出机器人当前的位置和受力情况，进而调整电机的输出，通过丝杠精确控制关节的运动，使机器人动态调整，保持平衡。通过这种智能反馈机制，机器人能够将失稳概率从传统方案的 8% 降 1% 以下，大大提高了在复杂环境下的运动稳定性和可靠性，展现出更强的环境适应能力和智能决策能力

　　In the process of moving towards intelligence, the robot's "tactile nerve" is constructed by integrating the screw with sensors to provide intelligent feedback for humanoid robots, enabling them to perceive the external environment and make precise responses. When the screw nut is integrated with the sensor, can it provide real-time feedback? The displacement variation of 0.01mm level and the force fluctuation of 1N level give the robot a sensitive "touch". Taking the scenario of climbing stairs as an example, the robot needs to constantly adjust its posture and center of gravity during the climbing process to ensure safe and stable climbing up the stairs. At this point, the torque change feedback from the screw becomes the key basis for the robot to dynamically adjust its center of gravity. When the robot's feet touch the stairs, the sensor on the screw immediately senses the change in force and transmits the information to the control system. The control system quickly calculates the current center of gravity position and force situation of the robot based on this information, and then adjusts the output of the motor. Through the screw, the joint motion is precisely controlled, allowing the robot to dynamically adjust the center of gravity and maintain balance. Through this intelligent feedback mechanism, robots can reduce the instability probability from 8% in traditional solutions to below 1%, greatly improving their motion stability and reliability in complex environments, demonstrating stronger environmental adaptability and intelligent decision-making capabilities

　　四、全球竞速：从“卡脖子” 到 “破局者” 的产业突围战

　　4、 Global Racing: The Industrial Breakthrough Battle from "Neck Stuffing" to "Breakers"

　　（一）国际巨头的“技术护城河”

　　（1） The 'technological moat' of international giants

　　在全球丝杠市场，德国舍弗勒与日本?THK 堪称两大巨头，凭借深厚的技术积累与布局，构筑起难以逾越的 “技术护城河”，长期垄断高端丝杠市场 。

　　In the global screw market, Germany's Schaeffler and Japan? THK can be regarded as one of the two giants, relying on its profound technological accumulation and patent layout to build an insurmountable "technological moat" and monopolize the high-end screw market for a long time.

　　舍弗勒作为行业领军者，在行星滚柱丝杠领域占据着全球高端市场?70% 的份额，通过旗下 GSA ，成功垄断特斯拉 Optimus 的核心供应链 。其反向式行星滚柱丝杠采用的 “双循环滚道” 设计，巧妙地优化了滚柱的循环路径，使滚柱在循环过程中受力更加均匀，有效减少了磨损和疲劳，相较于传统结构，寿命提升了 50% 。这一创新设计不仅大幅延长了丝杠的使用寿命，降低了维护成本，还为其在高端市场赢得了竞争优势，成为众多高端装备制造商的。

　　Schaeffler, as an industry leader, occupies the global high-end market in the field of planetary roller screws? 70% of the market share, successfully monopolizing the core supply chain of Tesla Optimus through its GSA brand. The reverse planetary roller screw adopts a patented "dual circulation raceway" design, cleverly optimizing the circulation path of the rollers, making them more evenly stressed during the circulation process, effectively reducing wear and fatigue, and increasing the service life by 50% compared to traditional structures. This innovative design not only significantly extends the service life of the screw and reduces maintenance costs, but also gains a competitive advantage in the high-end market, becoming the first choice for many high-end equipment manufacturers.

　　日本?THK 则在微型丝杠领域独占鳌头，尤其在 0.8mm 直径产品市场，占据全球 90% 的份额，处于垄断地位 。其产品以微米级精度和的稳定性著称，满足了电子、医疗等行业对高精度、小尺寸丝杠的严苛需求。国内企业在早期发展中，曾面临 “有钱买不到” 的困境，即便愿意支付高昂，也难以从 THK 采购到所需产品，这严重制约了国内相关产业的发展，凸显了国际巨头在技术和市场上的双重垄断地位。

　　Japan? THK dominates the field of micro screws, especially in the 0.8mm diameter product market, occupying 90% of the global market share and holding an absolute monopoly position. Its products are renowned for their micrometer level precision and excellent stability, meeting the stringent demands of industries such as electronics and healthcare for high-precision and small-sized screw rods. In the early stages of development, domestic enterprises faced the dilemma of "having money but not being able to buy". Even if willing to pay high prices, it was difficult to purchase the required products from THK, which seriously constrained the development of related industries in China and highlighted the dual monopoly position of international giants in technology and market.

　　（二）企业的“破冰之路”

　　（2） The 'Ice Breaking Road' for Chinese Enterprises

　　面对国际巨头的技术封锁与市场垄断，企业并未退缩，而是在材料、工艺、应用等多个关键环节展开攻关，踏上了艰难的“破冰之路” 。

　　Faced with the technological blockade and market monopoly of international giants, Chinese companies have not backed down, but have embarked on a difficult "ice breaking road" by tackling key issues in materials, processes, applications, and other aspects.

　　在材料端，天工国际联合润孚动力成功开发出高氮合金钢，这是一次重大的技术突破。该材料抗拉强度高达?1800MPa，远超同类产品，同时成本较进口材料降低了 40%，在性能与成本上取得了平衡 。目前，这款材料已进入特斯拉二级供应链认证阶段，有望打破国际材料巨头的垄断，为国内丝杠产业提供稳定、且低成本的材料供应，从源头提升国产丝杠的竞争力。

　　On the material side, Tiangong International and Runfu Power have successfully developed high nitrogen alloy steel, which is a major technological breakthrough. What is the tensile strength of this material? 1800MPa， Far surpassing similar products, while reducing costs by 40% compared to imported materials, achieving an excellent balance between performance and cost. At present, this material has entered the Tesla secondary supply chain certification stage, which is expected to break the monopoly of international material giants, provide stable, high-quality and low-cost material supply for the domestic screw industry, and enhance the competitiveness of domestic screw from the source.

　　工艺端创新同样成果显著，双林股份自主研发的反向式行星滚柱丝杠磨床，堪称“工业母机” 领域的杰作。该磨床将加工周期从进口设备的 8 小时 / 根大幅缩短 5 小时 / 根，生产效率提升近 40%，同时精度达到国际一流的 ISO3 级 。这一突破不仅提高了生产效率，降低了生产成本，还使国产丝杠在精度上与国际巨头并驾齐驱，为国产丝杠的大规模生产和市场推广奠定了坚实基础。2024 年，双林股份已实现 10 万根产能，展现出强大的市场供应能力。

　　The innovation in the process side has also achieved remarkable results. The reverse planetary roller screw grinder independently developed by Shuanglin Co., Ltd. can be regarded as a masterpiece in the field of "industrial mother machines". This grinder significantly reduces the processing cycle from 8 hours/piece for imported equipment to 5 hours/piece, increases production efficiency by nearly 40%, and achieves international first-class ISO3 level accuracy. This breakthrough not only improves production efficiency and reduces production costs, but also puts domestic lead screws on par with international giants in accuracy, laying a solid foundation for the large-scale production and market promotion of domestic lead screws. In 2024, Shuanglin Corporation has achieved a production capacity of 100000 units, demonstrating strong market supply capabilities.

　　在应用端，开普勒机器人的?12 轴行星滚柱丝杠执行器令人瞩目。该执行器使 K2 机器人负重能力达 30kg，续航长达 8 小时，性能表现优异，而成本较同规格进口产品降低 60% ，性价比优势突出。凭借出色的性能和优势，K2 机器人成为进入欧美消费级市场的国产人形机器人，成功打开国际市场大门，让世界看到了在人形机器人领域的创新实力和制造能力，为国产人形机器人的国际化发展树立了榜样。

　　On the application side, Kepler robots? The 12 axis planetary roller screw actuator is eye-catching. This actuator enables the K2 robot to have a load-bearing capacity of up to 30kg, a range of up to 8 hours, excellent performance, and a cost reduction of 60% compared to imported products of the same specifications, highlighting its cost-effectiveness advantage. With outstanding performance and price advantages, K2 robot has become the first domestically produced humanoid robot to enter the consumer market in Europe and America, successfully opening the door to the international market and showing the world China's innovation and manufacturing capabilities in the field of humanoid robots, setting an example for the international development of domestically produced humanoid robots.

　　（三）百亿市场：从“1 到 N” 的爆发前夜

　　随着人形机器人产业的蓬勃发展，丝杠市场正站在爆发的前夜，迎来的发展机遇。据国泰君安测算，若?2030 年全球人形机器人销量达 100 万台，按照单台平均搭载 16 根行星滚柱丝杠（单价 1000 元）与 20 根微型丝杠（单价 200 元）来计算，市场规模将突破 320 亿元 。这一庞大的市场规模，犹如一座待开采的 “金矿”，吸引着全球企业纷纷布局。目前，国内企业在丝杠市场的市占率仅?15%，但发展势头迅猛。随着五洲新春在 0.6mm 微型丝杠领域的技术突破和产能扩张，以及贝斯特在高精度滚柱丝杠副方面的持续创新，国产丝杠的市场份额有望快速提升。预计 2025 年，国产替代率将迅速提升 30% ，国产企业正凭借不断提升的技术实力和成本优势，逐步打破国际巨头的市场垄断，在全球丝杠市场中占据越来越重要的地位，开启从 “1 到 N” 的快速增长新篇章，为人形机器人产业的发展注入强大的国产动力。

　　丝杠虽小，却丈量着人形机器人产业的技术高度

　　从材料配方到纳米级加工，从单部件精度到系统级协同，人形机器人丝杠的进化史，正是智能制造领域“细节决定成败” 的注脚。当每一根丝杠都能在 0.1 秒内完成 2000 次精准往复，当每一个关节都能承载 50 倍于自身重量的负荷，我们离 “机器人走进千万家庭” 的愿景，便更近了一步。这或许就是精密制造的魅力：在毫厘之间，构筑未来世界的基石。