随着人工智能技术的飞速发展，人形机器人正从科幻概念加速走向商业化应用的现 实。在这一浪潮中，丝杠作为人形机器人线性执行器的核心传动部件，其性能直接决定了机器人的运动精度、负载能力和整体表现，是产业链中技术壁垒高、价值量占比大的关键环节。

　　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.

　　人形机器人市场的爆发式增长，预示着将为丝杠产业带来远超传统工业母机等领域的几何级增长空间。本文旨在深度剖析人形机器人丝杠产业面临的机遇与挑战，梳理其技 术特性、市场格局及未来发展趋势。人形机器人的发展不仅是AI算法的突破，更是对精密制造体系，特别是核心传动部件提出的严峻考验。丝杠产业的技术水平和产能供给，在一定程度上将影响人形机器人大规模商业化的进程。人形机器人对高精度、高负载、高动态响应的运动能力有着追求，而丝杠正是实现这些能力的关键线性传动部件。特别是行星滚柱丝杠等高性能产品，其制造涉及材料科学、精密加工、热处理工艺及专用设备等多个高壁垒环节。若丝杠产业无法在性能、成本和批量供应上满足人形机器人的严苛要求，将直接制约人形机器人的市场竞争力与商业化落地速度。

　　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.

　　与此同时，丝杠产业的升级与人形机器人的发展呈现出显著的双向驱动关系。人形机器人对丝杠提出的更高性能要求，如微型化、高集成度、高动态响应和长寿命等，将持续刺激丝杠制造商加大研发投入，攻克技术难题。而人形机器人大规模量产的预期，也将推动丝杠生产工艺的革新，例如“以车代磨”、“旋风铣”等降本新工艺的应用与普及，旨在降低丝杠的制造成本。反过来，技术更、成本更优化的丝杠产品，也将有效降低人形机器人的整体制造成本，提高其市场接受度，从而形成一个积极的正反馈循环，共同推动两大产 业的协同发展。

　　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丝杠技术详解

　　1. Detailed explanation of screw technology

　　人形机器人的“关节”奥秘

　　The mystery of "joints" in humanoid robots

　　1.1 丝杠的定义、基本工作原理及核心功能丝杠是一种能够将旋转运动精确地转化为直线运动的精密机械传动部件 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：电机通过联轴器或同步带等机构带动丝杠轴旋转，丝杠轴上加工有螺旋形螺纹，与之配合的螺母内部也具有相应的螺纹。当丝杠轴旋转时，螺母在螺旋螺纹的导向下，沿丝杠轴向进行直线往复运动，从而将电机输出的旋转力矩和转速，地转换为直线运动的推力和速度。

　　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.

　　丝杠的核心功能在于实现高精度的位移定位和有效的力矩传递。在众多种类的直线驱动方案中，“滚珠丝杠+旋转电机”或“行星滚柱丝杠+旋转电机”的组合，因其在定位精度、推力输出、运动速度以及姿态控制等方面的综合稳定性能，获得了广泛应用。此外，丝杠机构还普遍具有传动可逆性，即不仅可以将旋转运动转换为直线运动，也可以在特定条件下将直线运动反向转换成旋转运动。

　　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.

　　丝杠的“精密”属性是其在人形机器人、数控机床、半导体设备等高端应用领域中不可或缺 的核心价值所在。人形机器人需要执行日益复杂和精细的操作任务，这些任务的完成高度依赖于其各个关节运动的准确性和重复性。丝杠作为构成线性执行器的关键组件，其自身的传动误差，如导程误差、轴向间隙等，会直接传递到机器人的末端执行器，影响终的作业精度。因此，丝杠的各项精度指标对于保障人形机器人的整体性能和可靠运行关重要。

　　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 主要丝杠类型及其特性对比

　　1.2 Comparison of Main Screw Types and Their Characteristics

　　根据摩擦特性的不同，丝杠主要可以分为滑动丝杠（以梯形丝杠为代表）、滚动丝杠（包括滚珠丝杠和行星滚柱丝杠）以及静压丝杠三大类。根据加工方式，丝杠加工方法可以分为有屑加工(切削成形)和无屑加工(塑性加工)这两种。有屑加工是指利用切削成形加工丝杠，主要包括磨削、车削、旋风铣削等；无屑加工是指利用金属塑性成型加工丝杠，主要包括冷挤压和冷轧。

　　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 梯形丝杠

　　1.2.1 Trapezoidal lead screw

　　梯形丝杠，因其螺纹牙型截面呈梯形而得名，是为常见的一种滑动丝杠。其结构相对简单，主要由丝杠和螺母构成，两者通过螺纹面直接接触并产生滑动摩擦来传递推力。

　　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.

　　性能特点：梯形丝杠的制造成本较低，工艺相对成熟，附加值也较低 。它具有一定的自锁性能，这在某些垂直提升或需要防止意外滑落的应用中是有利的。然而，由于是滑动摩擦，其传动效率不高，通常在26%46%之间，摩擦损耗大，易发热，导致精度较低且易于磨损，使用寿命相对较短，不适合用于高速传输或高精度定位的场合。

　　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.

　　应用：尽管性能上存在不足，但凭借成本优势，梯形丝杠目前仍然是销量的丝杠产品，其市场增长主要依赖于传统工业领域的带动，如普通机床进给机构等。

　　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 滚珠丝杠

　　1.2.2 Ball screw

　　滚珠丝杠是一种典型的滚动丝杠，它通过在丝杠和螺母之间引入滚珠作为滚动介质，将传统的滑动摩擦转变为滚动摩擦，从而显著提高了传动性能。

　　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.

　　结构与工作原理：滚珠丝杠主要由丝杠轴、滚珠螺母、钢球（滚珠）、以及用于引导滚珠 循环的反向装置（如导珠管、端盖等）构成。丝杠轴和螺母上都加工有精密研磨或轧制的螺旋形滚道。当丝杠轴与螺母相对旋转时，滚珠在两者之间的滚道内滚动，并通过反向装置实现连续循环，从而将旋转运动地转换为平稳的直线运动。循环方式：滚珠的循环方式主要有内循环和外循环两种。

　　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.

　　内循环（如浮动式、矩阵式）：滚珠在螺母内部完成循环，结构相对紧凑，螺母外径 可以做得较小，适用于安装空间受限的场合。但其轴向尺寸可能较长。

　　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.

　　外循环（如插管式、端盖式）：滚珠通过螺母外部的循环管或端盖返回，这种结构通 常具有较好的承载能力和更高的导程，但螺母的径向尺寸会因此增大。

　　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.

　　性能特点：滚珠丝杠的传动效率非常高，一般可达90%以上。由于摩擦损失小，其发 热量低，允许较高的运行速度和加速度，能够实现高速进给和精确的微小位移控制。

　　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.

　　同时，滚珠丝杠具有较高的定位精度和重复定位精度，以及较长的使用寿命。应用：凭借其优异的综合性能，滚珠丝杠广泛应用于对传动精度和效率有较高要求的 场合，如数控机床、半导体制造设备、精密测量仪器、工业机器人、医疗器械等。

　　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 行星滚柱丝杠

　　1.2.3 Planetary roller screw

　　行星滚柱丝杠是滚动丝杠中性能更为优越的一种，它采用若干个螺纹滚柱替代滚珠作为传 动介质，通过滚柱与丝杠轴及螺母内螺纹的多点线接触来传递负载。

　　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.

　　结构与工作原理：行星滚柱丝杠主要由中心丝杠轴、带有内螺纹的螺母、一组行星排 布的螺纹滚柱、以及用于保持滚柱位置的保持架和（在某些类型中）用于同步滚柱旋转 的内齿圈等部件组成。丝杠轴、滚柱和螺母上均加工有多头螺纹，通常滚柱的螺纹与 丝杠轴和螺母的螺纹相啮合。当中心丝杠（或螺母，取决于具体类型）旋转时，行星滚柱 一方面围绕中心丝杠公转，另一方面也同时自转，从而驱动螺母（或丝杠）产生精确的 轴向直线运动。

　　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.

　　主要分类：根据结构和运动特性的不同，行星滚柱丝杠可分为标准式、反向式、循环 式、差动式和轴承环式等多种类型。在行星滚柱丝杠的各种类型中，反向式由于其易于实现电机与丝杠的一体化集成，从而大幅缩小执行器的整体体积，对于结构高度紧凑、轻量化要求极高的人形机器人关节设计而 言，具有显著的结构优势。然而，这种结构优势的代价是制造难度的急剧增加。反向式行星滚柱丝杠的螺母需要加工出既长且深的精密内螺纹，其行程也因此受到螺母内螺纹长度的制约。相较于外螺纹，内螺纹的精密磨削或旋风铣加工难度要大得多，对加工设备、刀具/砂轮以及工艺控制都提出了更为严苛的要求，这构成了反向式行星滚柱丝杠制造的核心技术壁垒之一。这意味着，选择采用反向式行星滚柱丝杠方案的人形机器人制造商，对其供应链伙伴的精密制造能力和工艺水平设定了更高的门槛。

　　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.

　　性能优势：行星滚柱丝杠在多项关键性能指标上均优于滚珠丝杠。其承载能力极强，通 常是同规格滚珠丝杠的36倍，甚更高。使用寿命也显著延长，可达滚珠丝杠的10倍以上。在相同的负载条件下，行星滚柱丝杠的体积可以做得更小，大约能节省1/3的空间。其传动效率虽然略低于滚珠丝杠，但在良好润滑条件下仍可达到75%90%的较高水平。此外，行星滚柱丝杠还具有优异的动态性能（允许更高的转速和加速度）、更高的轴向刚性、更小的导程（实现更高精度）、优良的耐冲击性和抗振性、以及更低的运行噪音和更强的恶劣工况适应性。

　　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 不同类型丝杠性能对比

　　1.2.4 Performance comparison of different types of lead screws

　　丝杠类型的选择本质上是在性能、成本和特定应用场景需求之间进行的综合权衡。人形机器人，特别是其承载主要负载和执行精密动作的关节（如腿部、大负载臂部），对传动部件的性能要求达到了的高度，需要同时满足高动态负载、高冲击、高精度、率和长寿命等苛刻条件 。梯形丝杠因其传动效率和精度均较低，显然无法满足人形机器人的需求。

　　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.

　　滚珠丝杠虽然在许多工业领域表现优异，但在极高的负载能力、的紧凑性和超长的使用寿命方面，相较于行星滚柱丝杠仍有差距。行星滚柱丝杠凭借其多滚柱、多齿啮合 带来的多点线接触特性，实现了的承载能力、刚性和耐久性，能契合人形机器人对核 心传动部件的性能追求。因此尽管行星滚柱丝杠的制造成本和技术门槛目前相对较高，但在性能驱动下，它已成为人形机器人（尤其是高端型号和关键受力关节）线性执行器的理想乃必然选择。

　　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人形机器人对丝杠的革命性需求

　　Revolutionary demand for screw in humanoid robots

　　2.1 丝杠在人形机器人中的核心应用

　　2.1 Core Applications of Screw in Humanoid Robots

　　丝杠作为实现精密直线运动的关键部件，在人形机器人的结构中扮演着关重要的角色， 特别是在其线性执行器中。

　　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.

　　线性执行器的构成与丝杠的角色：人形机器人的许多关节运动，尤其是需要较大推力 或精确直线位移的关节，都依赖于线性执行器来驱动。典型的线性执行器通常由无框力矩电机、行星滚柱丝杠（或高性能滚珠丝杠）、驱动器、编码器以及力传感器等部件高 度集成而成。在此结构中，丝杠是核心的传动元件，其主要任务是将电机输出的旋转 运动、精确地转换为直线运动，从而驱动机器人关节的伸缩或摆动。

　　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.

　　躯干与四肢关节的应用：人形机器人的设计旨在模拟人体的运动功能，因此其大臂、小臂、大腿、小腿、膝关节、髋关节、肘部、腕部、踝部等多个部位的俯仰（pitch）、偏航（ yaw）等自由度，均可能采用基于丝杠的线性执行器进行驱动。这些部位，特别是如腿 部和腰部的核心受力关节，在机器人进行行走、跑跳、负载等动作时，需要承受较大的轴向力并进行精确的位移控制，这恰好是高性能丝杠（尤其是行星滚柱丝杠）的优势所在。

　　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).

　　灵巧手对微型丝杠的需求：随着人形机器人应用场景的拓展，对其进行精细操作能力的要求也越来越高，这直接推动了灵巧手技术的快速发展。为了实现手指的多自由度 灵活运动和精确力控制，灵巧手的驱动模块必须高度微型化和集成化。特斯拉在其 Optimus Gen3的灵巧手设计中，预计将采用更多的线性执行器和腱绳模块组合，其单手自由度更是高达22个，这将极大地推动对微型丝杠（包括微型滚珠丝杠和微型行星滚柱丝杠）的需求扩张。国内的优必选公司在其Walker X人形机器人的手指关节中， 也已经成功应用了微型线性执行器来实现高精度的抓取动作。

　　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.

　　人形机器人对丝杠的需求呈现出“多样化”和“极端化”并存的鲜明特点。所谓“多样化”，是指人形机器人身体的不同部位和关节，由于其功能和受力情况的差异，对丝杠的规格、负载能力、运动行程、精度等级等要求各不相同。例如驱动腿部进行支撑和行走的丝杠，需要具备极高的负载能力和刚性，而驱动手指进行精细操作的微型丝杠，则更强调微型化、高精度和快速响应。

　　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.

　　所谓“极端化”，是指人形机器人为了尽可能地模拟甚超越人类的运动能力，对丝杠的各项性能指标都提出了的追求，例如极高的功率密度（即在有限的体积和重量下实现的力输出）、极快的动态响应速度、极长的使用寿命以及极低的噪音等 。这种多样化和极端化的需求，无疑对丝杠供应商的设计创新能力、精密制造工艺水平以及产品线的覆盖广度和深度都构成了的巨大挑战。

　　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.

　　在人形机器人的关节驱动方案选择上，线性执行器（以丝杠为核心）与旋转执行器（通常由 电机直接驱动谐波减速器或RV减速器等组成）是两种主要的技术路线，它们在实际应用中往往并存，本体厂商会根据不同关节的具体需求进行权衡选择。线性执行器在高轴向力输出、实现较长直线行程以及直线定位精度方面具有优势；而旋转执行器则在高扭矩密度、紧凑的结构尺寸以及角位移控制精度方面表现更佳。

　　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.

　　目前高性能丝杠，特别是行星滚柱丝杠，由于其复杂的结构和精密的制造工艺，其成本相对较高，是构成线性执行器总成本的主要部分之一。因此丝杠技术能否在保持甚提升性能的同时，通过技术创新和规模化生产实现显著的成本优化，将直接影响线性执行器方案在人形机器人应用中的整体竞争力， 并进而影响人形机器人的终设计方案和市场。

　　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等典型方案对丝杠选型的启示

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

　　以特斯拉Optimus为代表的人形机器人，其在执行器方案上的选择和迭代，为整个行业在丝杠技术的应用和发展方向上提供了重要的参考和启示。特斯拉Optimus的丝杠应用方案技术迭代的体现：特斯拉在其人形机器人Optimus的早期版本（Gen-1）的小臂线性执行器中，曾尝试使用结构相对简单的滑动丝杠。然而在后续的Gen-2版本中， 则升级为性能更优越的行星滚柱丝杠，此举旨在显著减小机械传动间隙、提高系统的功率密度和动态响应性能。

　　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.

　　核心关节的选择：Optimus的躯干和四肢部位大量采用了基于“电机+行星滚柱丝 杠+轴承+传感器”集成方案的线性执行器。特别值得注意的是，其中14个关键的线 性执行器均选用了反向式行星滚柱丝杠，这主要是因为反向式行星滚柱丝杠在高 精度、高承载能力和高传动效率方面具有突出优势，能够满足机器人核心关节的严苛要求。

　　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.

　　具体分布与规格：根据特斯拉AI Day披露的信息，Optimus Gen-2全身共有28个执行器，其中14个为线性执行器，主要分布在腕部、踝部、髋部、肘部和膝部等需要承受较大作用力并进行精确姿态调整的俯仰角自由度上。具体来看，这14个线性执行器包括大臂2个、小臂4个、大腿4个、小腿4个，并根据不同关节的负载需求，设计了三种不同规格的线性执行器，其额定负载能力分别达到了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.

　　灵巧手的微型化趋势：在的Optimus Gen-3设计中，特斯拉对其灵巧手的驱动方案进行了重要革新，预计将采用更多数量的线性执行器（可能多达17个线性执行模块）与腱绳模块相结合的方式，以实现高达22个自由度的灵活手指运动。这一 设计趋势将极大地推动对高性能微型丝杠（包括微型滚珠丝杠和微型行星滚柱丝杠）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人形机器人中对行星滚柱丝杠，特别是反向式行星滚柱丝杠的规模化、 系统化应用，无疑在全球人形机器人行业内起到了重要的技术风向标作用。这一明确的技术选型，不仅验证了行星滚柱丝杠在高性能人形机器人应用中的可行性和优越性，也为整个产业链上游的丝杠制造商提供了清晰的研发方向和巨大的市场预期。为了满足像特斯拉这样的头部机器人厂商未来可能出现的百万台级别的量产需求，丝杠供应链必须在技术创新、产能扩张、质量控制以及成本优化等多个维度实现快速提升和突破，这将有力地带动整个行星滚柱丝杠产业的技术进步和生态成熟。可以预见，其他后发的人形机器人制造商在进行自身产品的技术选型时，很可能会深入研究并借鉴特斯拉在Optimus上的成功经验，从而可能进一步扩大行星滚柱丝杠在人形机器人领域的应用范围和市场份额。

　　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.

　　人形机器人的关节空间极为有限，要求丝杠不仅要在宏观尺寸上尽可能做小、做轻，更要在微观结构设计、新材料应用、精密制造工艺等方面不断创新，以便在极小的体积内实现高精度、率、高负载的传动性能。未来为了满足人形机器人对环境感知、自适应控制和精准力控的更高要求，丝杠产品可能需要与各类传感器（如位置传感器、力矩传感器、温度传感器等）进行更深度的集成，甚内嵌智能控制算法，实现从一个单纯的传动部件向一个智能化的机电一体化模块的转变。

　　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 人形机器人中丝杠的价值量占比分析

　　2.3 Analysis of the Value Proportion of Screw in Humanoid Robots

　　丝杠，特别是高性能的行星滚柱丝杠和精密滚珠丝杠，是构成人形机器人成本的重要组成部分，在其核心零部件中占据较高的价值量比例。根据中信建投证券的分析，以特斯拉人形机器人Optimus为例，丝杠部分（主要指用于躯干和四肢关节的行星滚柱丝杠）的价值量约占整个人形机器人总价值量的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丝杠行业市场洞察与产业链分析

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

　　3.1 全球及丝杠市场现状与规模

　　3.1 Current situation and scale of global and Chinese screw markets

　　根据东北证券的预测，人形机器人在工业领域将逐步取代传统工业机器人和人类劳动力。因此以工业机器人的保有量和劳动力数量为锚，假设人形机器人在工业机器人的渗透率将从2024年的1%逐步提升到2030年的30%，同时假设单个人形机器人能取 代2-5个人类劳动力且在劳动力的渗透率从2024年的0.0003%逐步提升到2030年的0.1%。对应2024年工业领域的人形机器人出货预计为1.6万台，到2030年这一数字将增加到328.4万台，CAGR达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%.

　　在此基础上计算，2030年人形机器人领域中丝杠的市场需求有望达到500多亿元。这不仅显示出人形机器人市场的广阔前景，也反映了丝杠作为核心部件在未来机器人商业化落地中的战略性作用。

　　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 丝杠产业链结构梳理

　　3.3 Sorting out the structure of the screw industry chain

　　丝杠产业已形成一个相对完整的产业链条，涵盖了从上游原材料、核心制造设备，到中游丝 杠产品设计与制造，再到下游广泛应用领域的各个环节。

　　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.

　　上游环节原

　　The original upstream link

　　材料：丝杠的制造对原材料的性能要求较高。通常丝杠轴体多选用的合金 结构钢，如50CrMo4（一种铬钼合金钢），以保证其强度、韧性和耐磨性；而螺母和滚柱（或滚珠）则多采用高碳铬轴承钢，如GCr15，因其具有优良的硬度、耐磨性和 接触疲劳寿命。对这些原材料的化学成分精确控制、内部组织的纯净度与均匀性、以及碳化物等析出相的形态与分布，都有着严格的技术要求，直接影响丝杠的终性能和使用寿命。

　　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.

　　核心制造设备：丝杠的精密制造离不开一系列专用和通用的高端设备。

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

　　热处理设备：包括用于退火、正火、调质等工序的各类热处理炉（如井式炉、卧 式轴类淬火生产线），以及用于表面淬火的感应淬火设备等。

　　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.

　　加工设备：这是丝杠制造的核心。主要包括用于车削加工的数控车床（特别是用 于硬态切削的硬车床）；用于磨削加工的数控螺纹磨床（分为外螺纹磨床和内螺 纹磨床）、高精度外圆磨床、导轨磨床等；用于旋风铣加工的旋风铣床；以 及用于轧制成型的轧制设备。

　　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：配合加工设备使用，例如用于硬车削和旋风铣的PCBN（聚晶立方氮 化硼）刀具、金刚石刀具等超硬刀具，以及用于磨削的各种规格和材质的砂轮。

　　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.

　　校直设备：由于丝杠是细长轴类零件，在加工和热处理过程中容易产生变形， 因此需要丝杠自动校直机进行精确校直。检测设备：用于保证丝杠的各项精度和性能指标，包括激光干涉仪（用于导程精 度测量）、三坐标测量机、轮廓测量仪、表面粗糙度仪、硬度计、金相显微 镜、力矩传感器、振动分析仪、热成像仪、以及专门的丝杠综合性能试验台 （用于寿命、刚度、温升等测试）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.).

　　中游环节，丝杠设计与制造：这是产业链的核心环节，主要包括梯形丝杠、滚珠丝杠和行星滚 柱丝杠等不同类型产品的研发设计、精密加工、精密装配、性能测试以及质量控制等全过程。

　　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.

　　下游环节，主要应用领域：丝杠作为关键的精密传动部件，其应用领域极为广泛，几乎涵盖了所有对精密直线运动有需求的行业。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:

　　工业母机：各类数控机床（如车床、铣床、磨床、加工中心等）的进给系统是丝杠 传统的应用市场。

　　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.

　　汽车工业：特别是在新能源汽车和智能驾驶领域，线控转向系统、线控制动系 统、电子驻车系统、主动悬架系统等均大量使用丝杠。

　　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.

　　人形机器人：这是丝杠未来爆发性增长潜力的应用领域，用于驱动机器人 的躯干、四肢和灵巧手等部位的线性运动。

　　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.

　　其他重要领域：还包括航空航天（如飞行器作动系统）、医疗器械（如CT扫描 床、手术机器人）、半导体设备（如光刻机工件台、检测设备）、3C电子制造自 动化设备、物流自动化系统、精密包装机械、以及光伏和锂电池等新能源装备 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全球与丝杠市场竞争格局

　　4. Global and Chinese screw market competition pattern

　　4.1 全球主要丝杠厂商及其优势分析

　　4.1 Analysis of Major Global Screw Manufacturers and Their Advantages

　　全球丝杠市场，特别是技术含量较高、附加值也较高的滚动丝杠（包括滚珠丝杠和行星滚柱丝杠）领域，呈现出由少数几家技术实力、历史悠久的国际巨头主导的竞争格局。

　　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.

　　滚珠丝杠领域

　　Ball screw field

　　日本厂商：日本的NSK（日本精工株式会社）和THK（帝业技凯株式会社）是全球滚珠丝杠和直线运动部件领域的，拥有数十年的技术积累，产品线极为丰富 ，覆盖从微型到重载的各种规格，其产品以高精度、高可靠性和长寿命著称，在全球范围内享有极高的声誉和市场份额。NSK不仅在轴承领域全球，其精密机械产品（包括滚珠丝杠）也处于世界水平 。THK则是直线运动导轨（LM导轨）的开创者，其滚珠丝杠产品同样性能。

　　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.

　　欧洲厂商：瑞典的SKF（斯凯孚）、德国的Bosch Rexroth（博世力士乐）以及德国的 Schaeffler（舍弗勒集团）也是全球滚珠丝杠市场的重要参与者。这些欧洲企业通 常在工业自动化、汽车制造等领域拥有深厚的根基和广泛的客户基础，其滚珠丝杠 产品同样以高品质和高性能闻名。台湾厂商：台湾的上银科技（HIWIN）和银泰科技（PMI）在全球中高端滚珠丝杠市场中占据了举足轻重的地位。它们的产品在性能上努力追赶日欧，同时在上更具竞争力，并且能够提供更快速的市场响应和客户服务，因此在性价比方面具有明显优势，深受市场欢迎。上银科技已成为全球滚珠丝杠和线性滑轨的主要生产商之一。

　　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.

　　行星滚柱丝杠领域欧洲厂商：在技术壁垒更高、市场更为集中的行星滚柱丝杠领域，欧洲企业占据着 的主导和垄断地位。主要的包括：Ewellix：原为瑞典SKF集团的线性运动技术事业部，后被舍弗勒集团收购，是全球的行星滚柱丝杠和线性作动器供应商。Rollvis：瑞士公司，自1970年起就开始研制行星滚柱丝杠，拥有悠久的技术历史和丰富的产品系列，现也隶属于舍弗勒集团。GSA (Gallien Stelmi SA)：瑞士公司，同样是行星滚柱丝杠领域的资深制造商，后被舍弗勒控股。 Rexroth (Bosch Rexroth)：德国公司，其行星滚柱丝杠产品在工业领域也有 广泛应用。 通过一系列的战略并购和整合（如舍弗勒对Ewellix、GSA、Rollvis 的整合），舍弗勒集团已经确立了其在全球行星滚柱丝杠市场的龙头地位。美国厂商：美国的CMC（Creative Motion Control）公司也是行星滚柱丝杠市场的参与者之一，提供相关产品和解决方案。国际企业的共同优势：这些国际的丝杠制造商普遍具有以下共同优势：起步早，技术积累深厚：它们大多拥有数十年甚上百年的发展历史，在丝杠的设计理论、材料科学、精密加工工艺、热处理技术以及检测与试验方法等方面积累了极为丰富的经验和核心技术诀窍（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.

　　应用经验丰富：产品广泛应用于机床、航空航天、半导体、汽车、医疗等各个高端 制造领域，积累了针对不同工况和需求的解决方案经验。全球化布局：普遍建立了完善的全球化生产基地、销售网络和技术服务体系，能够 快速响应全球客户的需求。效应强大：长期的高品质和高性能使其在全球范围内树立了的形象 和市场信誉。大陆的丝杠产业虽然起步相对较晚，但在政策的大力支持和下游市场需求的强劲 拉动下，近年来取得了显著的进步，特别是在中低端滚珠丝杠领域已经具备了较强的国际 竞争力，并正在积极向高端滚珠丝杠和技术壁垒更高的行星滚柱丝杠领域发起冲击。

　　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.

　　大陆的丝杠产业正呈现出一种“传统企业”与“新兴民营上市公司及厂商”共同发力、竞相发展的生动局面。南京工艺、汉江机床等老牌企业凭借其在滚动功能部件领域数十年的技术积累和稳定的客户基础，构成了国产替代的中坚力量和技术基石。

　　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.

　　与此同时，恒立液压、贝斯特、双林股份等一批上市公司，它们原本在各自的液压、汽车零部件、精密加工等主营业务领域已经建立了显著的竞争优势，现在正积极利用其已有的技术平台、制造能力、资本实力以及对市场机遇的快速反应能力，将业务触角延伸技术壁垒更高、市场前景也更为广阔的高端丝杠领域，特别是附加值和技 术含量都极高的人形机器人用行星滚柱丝杠市场。值得注意的是，在众多新进入者中，那些具有汽车零部件制造背景的企业，在切入人形机器 人用丝杠这一新兴领域时，往往展现出一些独特的先天优势。

　　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.

　　，汽车行业对零部件的精度、可靠性、一致性以及成本控制都有着极为严苛的要求，这套成熟的质量管理体系和成 本管控经验，与未来人形机器人实现大规模量产后对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， 部分汽车零部件（例如转向器中的齿条、座椅调节机构中的水平驱动器HDM等）的制造工艺 ，与丝杠的制造工艺在某些方面（如精密螺纹加工、齿轮加工、热处理等）具有一定的技术相 通性和经验可移植性。

　　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.).

　　更为重要的是，那些已经成功进入如特斯拉等全球新能源汽车企业供应链体系的零部件厂商，通常已经通过了这些头部客户在技术能力、质量管理、生产保障以及供应链协同等方面的严格审核和长期考验，因此也更容易获得这些客户在其新兴的人形机器人项目上的合作机会和早期订单。

　　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.

　　基于这些因素，像北特科技、双林股份、贝斯特等具有深厚汽车零部件产业背景的企业，在积极布局人形机器人用丝杠业务时，能够有效地利用其已有的技术储备、成熟的生产管理经验以及稳固的客户关系网络，从而在激烈的市场竞争中占据一定的先机。

　　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 高端丝杠国产化进程、挑战与机遇

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

　　高端丝杠的国产化是制造业转型升级和实现自主可控的关键一环，近年来在战略 的推动和市场需求的牵引下，取得了一定的进展，但同时也面临着诸多严峻的挑战，当然， 其中也蕴含着巨大的发展机遇。

　　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.

　　国产化进程：根据金属加工杂志社《第三届滚动功能部件用户调查分析报告》的数据，从2011年到2020年，国产滚珠丝杠副在中高档数控机床等应用场景中的使用比例有了显著提升，这表明国产丝杠的性能和市场认可度在稳步提高。政策的引导作用也十分明显。在有相关政策鼓励和引导的情况下，高达85.1%的被 调查企业表示愿意尝试使用或购买国产的中高档滚动功能部件，这为国产丝杠的 推广应用创造了有利的市场环境。国内部分企业在高端丝杠的技术研发和产业化方面也取得了一些突破，例如秦川机床（汉江机床）已能稳定生产P1级精度的滚珠丝杠，并正在攻关更高等级的P0级产品；贝斯特也已实现C0级滚珠丝杠副的交付。

　　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.

　　面临的挑战核心技术壁垒突出：

　　The core technological barriers are prominent in the challenges faced:

　　尽管取得了进步，但国产高端丝杠在精度（尤其是精度保持 性）、额定寿命、动态性能（如高速下的稳定性、噪音、温升控制）、可靠性以及产品 一致性等方面，与国际（如日本的NSK、THK，德国的舍弗勒等）相比，仍然存在较为明显的差距。这些差距的根源在于核心技术、关键材料的冶炼与制备、精密热处理工艺的掌握、超精密加工工艺的实现以及检测与试验技术的应用等多个环节的积累不足。

　　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.

　　关键设备与仪器的瓶颈：高端丝杠的制造高度依赖于一系列高精密的专用加工设 备和检测仪器，例如高精度数控螺纹磨床、大型丝杠旋风铣床、激光干涉仪、三坐标测量机等。目前，这些设备的核心技术主要掌握在少数发达企业手中， 国内厂商在采购这些设备时不仅面临高昂、采购周期长的问题，有时甚可能 遭遇技术封锁或出口限制，这严重制约了国产高端丝杠的制造效率、成本竞争力和 产能扩张。市场认可度与应用生态尚需培育：由于历史原因和性能差距，国内下游高端用户 （如高档数控机床制造商、精密仪器制造商等）对国产高端丝杠的信任度和使用意 愿仍有待进一步提高，市场上仍普遍存在“优先选用进口”甚“指定采用进口 ”的现象。打破这种局面需要国产丝杠在性能上真正达到甚超越进口产品， 并通过充分的应用验证来逐步建立市场信心。产业生态系统不完善：高端丝杠产业的发展需要一个完善的生态系统支撑，包括上 游高品质原材料的稳定供应、核心零部件的协同开发、高端装备的自主保障、专 业人才队伍的培养以及产学研用金的紧密结合等。目前国内在这些方面与发达国 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.

　　国产化的机遇

　　Opportunities for localization

　　战略的强力支持：“工业母机自主可控”已被提升到的战略高度， 和地方政府相继出台了一系列强有力的支持政策，包括加大研发投入补贴（如 研发费用加计扣除比例提高120%）、实施增值税加计抵减、鼓励首台（套）重大技 术装备的推广应用等，为高端丝杠的国产化营造了良好的政策环境。

　　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.

　　人形机器人等新兴市场的爆发式需求：人形机器人产业的快速发展，为国产丝杠提 供了一个巨大的、全新的增量市场。由于这是一个新兴领域，国内外厂商几乎处于 同一起跑线，这为技术实力强、市场反应快的国内企业提供了实现“弯道超车”或 “换道”的历史性机遇。全球供应链风险意识提升：近年来，全球地缘政治冲突加剧，贸易保护主义抬头，使得全球供应链的脆弱性和不确定性凸显。确保核心零部件的自主可控和供 应链，已成为经济和产业发展的迫切需求，这为高端丝杠的国产替代 提供了强大的内生动力。

　　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.

　　本土企业的成本与服务优势：一旦国产丝杠在关键性能指标上能够满足高端应用 的需求，国内厂商凭借其在生产成本控制、快速响应客户需求以及提供本地化技术 支持和服务等方面的优势，有望在与国际的竞争中逐步占据有利地位。

　　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丝杠制造的核心壁垒与技术突破方向

　　Core barriers and technological breakthroughs in screw manufacturing

　　5.1 材料科学与热处理工艺的关键性

　　5.1 The criticality of materials science and heat treatment processes

　　丝杠作为精密机械传动的核心部件，其制造过程涉及多学科知识和复杂的工艺技术，形成 了较高的技术壁垒。突破这些壁垒，是丝杠产业实现高端化和自主可控的关键。材料的选择及其后续的热处理工艺，是决定丝杠终性能（如承载能力、耐磨性、疲劳寿命、尺寸稳定性等）的基础，也是丝杠制造中的核心壁垒之一。

　　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.

　　材料选择的考量

　　Consideration of material selection

　　常用材料：滚珠丝杠的丝杠轴和滚珠通常采用GCr15高碳铬轴承钢，因其具有良好 的淬透性、高硬度和优良的耐磨性。对于行星滚柱丝杠，由于其工作载荷通常更高，对材料的综合力学性能要求也更为严苛，其丝杠轴和螺母可能选用50CrMo4 或42CrMo等合金结构钢，这类钢种在调质处理后能获得较好的强韧性配合；而滚 柱则可能依然选用GCr15等轴承钢，以保证其高硬度和耐磨性。

　　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.

　　化学成分与组织：材料的化学成分（如碳、铬、钼、钒等元素的含量）对其淬透性、 硬度、耐磨性、耐腐蚀性、抗冲击韧性以及高温性能等都有着显著影响。此外，钢材的纯净度（如非金属夹杂物的含量）、组织的均匀性（如碳化物的形态、尺寸和分 布）等因素，对丝杠的接触疲劳寿命和整体可靠性也关重要。

　　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，随着制造技术的不断进步，各企业在材料优化方面也不断探索新型合金和复 合材料的应用，旨在进一步提高丝杠的整体性能。通过引入新型高强度材料，不仅 能提升丝杠的耐磨性和抗冲击能力，还能在一定程度上降低因材料老化和疲劳引起 的性能衰减，从而延长产品使用寿命，为高端设备的长期稳定运行提供更为可靠的 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.

　　热处理工艺的核心作用与难点热处理的目的：热处理是赋予丝杠优异机械性能和稳定组织结构的关键工序。其主 要目的包括：改善材料的切削加工性能（如球化退火）；锻造、粗加工等工序产 生的内应力，稳定组织（如调质处理、时效处理）；显著提高丝杠工作表面（螺纹滚 道）的硬度和耐磨性，并形成一定的硬化层深度（如表面淬火）；淬火应力，调整 硬度与韧性的匹配，进一步稳定组织（如回火）；以及通过特殊处理（如深冷处理）进 一步优化材料的微观结构和性能。

　　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.

　　技术难点：热处理工艺的成功与否，关键在于对工艺参数（如加热温度、保温时间、 冷却速度、气氛控制等）的精确控制。此外，如何获得理想的硬化层深度及其梯度 分布、均匀细小的金相组织、以及有效控制热处理过程中的变形和开裂，都是热处 理技术的难点所在。

　　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.

　　相关设备：热处理过程需要依赖的设备，如用于整体热处理的井式热处理炉、 箱式炉、网带炉等，以及用于表面淬火的卧式轴类淬火生产线、中频/高频感应淬 火机床等。

　　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.

　　材料和热处理工艺是丝杠制造的“基因”和“底蕴”，它们共同决定了丝杠根本的物理性能和力学性能。这些环节的Know-how积累，往往需要长时间的研发投入、大量的实验数据以及丰富的实践经验，因此构成了丝杠制造领域难以被轻易复制和超越的隐形核心壁垒。即使是采用相同的加工设备和设计图纸，如果选用的材料牌号、纯净度、 内部组织存在差异，或者热处理工艺的参数控制、执行细节有所不同，终生产出的丝杠产品在性能上（如承载能力、疲劳寿命、精度保持性、耐磨性等）也可能出现巨大的差别。

　　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.).

　　热处理过程涉及到复杂的固态相变和微观组织演变规律，其工艺参数的确定和优化，往往需要通过大量的 试验摸索和数据分析才能获得，难以通过简单的逆向工程或模仿来完全掌握。因此，一个丝杠企业是否真正掌握了的材料冶金技术和核心的热处理工艺诀窍，是其能否建立长期、可持续核心竞争优势的根本所在。

　　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.

　　深冷处理作为一种新兴的热处理技术，正逐步在高端丝杠产品中得到应用。 深冷处理可以在低温环境下对材料进行进一步的结构调控，从而提高材料的稳定性 和耐磨性，防止因长期高负载运行而产生的微观结构变化。据相关论文，深冷处理 不仅能够延长丝杠的使用寿命，还能在一定程度上提高传动系统的动态响应能力， 为高端应用提供更为坚实的技术保障。

　　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 精密加工工艺的挑战与创新

　　5.2 Challenges and Innovations in Precision Machining Processes

　　精密加工工艺是赋予丝杠精确几何形状和优良表面质量的核心环节，其技术水平直接决定了丝杠的传动精度、运动平稳性和使用寿命。丝杠的加工工艺选择多样，主要需要在精度、 效率和成本之间进行权衡。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

　　行星滚柱丝杠和滚珠丝杠中，丝杠通过螺纹啮合来实现精密传动，螺纹的加工 精度将直接影响丝杠系统的传动精度、使用寿命、平稳性，故螺纹的加工工艺是 影响行星滚柱丝杠性能的关键因素，壁垒深厚。

　　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.

　　丝杠螺纹加工工艺主要包括轧制和切削法，其中切削包括硬态车削、磨削加工、 旋风铣削等工艺，目前看磨削加工是高精密丝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.

　　轧制法采用 成形滚压模具使工件产生塑性变形以获得螺纹，而切削法则通过去除材料来形成 螺纹。

　　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.

　　具体来看：

　　Specifically, let's take a look:

　　1）轧制工艺使用硬化钢模具将工件材料变形为螺纹轮廓，无需切削，加工效率高，但一般精度较低（约P5～P10级）；

　　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）磨制工艺加工工序复 杂、效率较低，但精度可达P0级，是精密滚珠/滚柱丝杠的主流精加工工艺；

　　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）车削工艺相对磨削效率有所提升（以车代磨的优势），但加工精度不及磨削， 且车刀有时存在损耗问题；

　　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）旋风铣介于磨制和轧制工艺之间，精度和加工效率 平衡较好，但在高精度方面与磨削还有差距，且铣刀也存在损耗问题。轧制：效率高但精度相对受限的加工工艺轧制成形螺纹工艺是一种局部连续渐进成形的加工方法，使用滚压轮或搓丝板滚 压轧件坯料，利用金属材料的可塑性，坯料表面在滚压力的作用下发生塑性变形 而逐渐成形为螺纹。

　　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.

　　轧制工艺生产滚柱效率高、损伤小 ，成形率远远高于切削加 工成形，其局部连续渐进成形，极少损伤金属纤维，塑性变形又能大大增加螺纹 滚柱的表面强度，提升螺纹滚柱的机械性能。轧制工艺一般可分为热轧和冷轧。冷轧与热轧的界限是以再结晶温度来区分的， 低于再结晶温度为冷轧，高于再结晶温度为热轧（钢的再结晶温度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 ℃).

　　热轧 一般将钢材加热1100～1250℃进行轧制，热轧后钢材具更高成型性和 可加工性，更易于在后续加工中使用。但热轧钢在冷却阶段有收缩，其终 形状的可控制程度较低，因此热轧常用于不需非常严格精度的场景。

　　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.

　　冷轧 时钢材不进行加热，需更高压力将其轧制成所需的尺寸。冷轧钢的强度 更高，表面光滑，在成型后不会收缩，比热轧钢具有更高强度、硬度、精度， 因此在丝杠等高精度产品中，轧制工艺主要使用的是冷轧。

　　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.

　　车削：以车代磨提率，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

　　螺纹车削是刀具在丝杆表面沿螺旋线切削出成型槽的工艺，将工件表面以直代 曲，刀具沿直线方向施加主切削速度，工件沿进给方向施加进给速度，可以在工 件表面以螺纹升角切出螺纹槽。车削的刀具材料是聚晶立方氮化硼PCBN，硬度可 高达HV8000～9000（硬度仅低于金刚石）。

　　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).

　　当前车削丝杠的加工工艺主要采用车削+磨削结合：车削工艺流程可大概总结为： 下料-预备热处理-车削-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）车削：丝杠加工螺纹滚道时，先对 螺纹滚道进行粗加工即粗车螺纹，然后进行淬火（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，对滚道进行粗磨，之后进行时效处理（去应力），再进行精磨，制成丝杠。

　　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：精度的关键精加工工艺，但加工效率较低

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

　　磨削是目前高精度丝杠螺纹的主要加工方法，实质是使用螺纹磨床高速旋转的成 型砂轮对加工工件表面进行高速切削，砂轮的表面磨粒划擦、刻划和切削工件表面，进而获得更高的精度。磨削砂轮的截面形状与被磨削工件的螺纹截面形状类 似，通过高精度的数控磨床可加工出高精度的小螺距螺纹，目前对于热后的高硬 度螺纹面或硬脆材料螺纹面的高精度加工，磨削是为行之有效的加工方式。以 滚珠丝杠为例，使用磨削加工后精度可达到P0级。行星滚柱丝杠中丝杠、螺母、滚柱等不同部位的磨削工艺存在差异，提高工艺壁 垒。磨削工艺流程长、加工复杂繁琐，同时既需要针对丝杠和滚柱的外螺纹磨削， 又需要针对螺母的内螺纹磨削，其中螺母内螺纹加工难度。丝杠磨削工序整体流程较长，滚珠丝杠的螺杆部分和螺母部分各需经过十多道工 艺方可成形，其中包括粗磨和精磨工艺；行星滚柱丝杠则工艺流程更长，且在螺 杆、螺母和滚柱中均需采用磨削工艺。

　　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.

　　旋风铣：兼顾精度与效率，但国内工艺仍需摸索

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

　　旋风铣螺纹是采用旋风铣头来加工螺纹，只需一次切削就能完成螺纹的加工方 法 ，借助刀盘旋转中心与工件中心的偏心量完成渐进式高速铣削加工，具有铣削 速度高、加工效率快、高精度、低成本等优点。加工过程中，旋风铣被安装在车 床中拖板上，采用6～8把均匀对称的高强度对称铣刀，车床夹持工件完成低速进 给运动，旋风铣带动硬质合金刀具高速旋转，完成切削运动，从工件上铣削出螺纹，工件每转360°时，刀盘纵向进给一个导程，铣出螺纹。

　　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.

　　旋风铣的工艺壁垒主要体现在工艺积累和铣刀耗材等方面。工艺积累方面，旋风铣削运动规律复杂，加工过程中刀架安装倾角、偏心距、刀盘直径及转速比等参数都会对终加工质量产生影响，需较深的工艺积累；铣刀方面 ，丝杠工件往往 硬度较高，铣刀存在损耗问题，影响刀具切削性能。目前海外在旋风铣的基础理 论和关键技术等方面具一定优势，国内螺纹旋风铣削仍具改进和提升的空间。

　　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 核心制造设备（磨床、铣床等）的技术瓶颈与国产化进展

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

　　高端丝杠的制造严重依赖于一系列高精密的专用加工设备和检测仪器，这些设备的技术水 平和供应状况，直接构成了丝杠产业发展的核心瓶颈之一，也是国产替代进程中亟待突破的关键环节。

　　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.

　　对进口设备的严重依赖：目前，全球范围内用于制造高精度丝杠的核心加工设备，如高精度数控螺纹磨床、大型丝杠旋风铣床以及与之配套的精密在线/离线检测仪器等，其技术和市场供应主要掌握在少数工业发达（如瑞士、德国、日本、美国等）的企业手中。大陆的丝杠制造商在追求高端产品时，很大程度上仍需依赖进口这些关键设备进口设备带来的瓶颈与挑战高昂的采购成本：

　　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:

　　进口的精密丝杠加工设备不菲。例如，一台大型丝杠旋风铣 床的售价可能超过百万美元，而秦川机床在其募投项目中披露的部分进口高精度磨床的单台甚达到了千万元人民币级别。如此高昂的设备投入，无疑加重了国内丝杠企业的资本负担，也推高了高端丝杠的制造成本。

　　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.

　　漫长的采购周期：海外高端设备的采购周期通常较长，从下订单到设备到厂安装调 试完毕，往往需要一年甚更长时间 。这不仅影响了企业快速响应市场需求和扩 大产能的灵活性，也可能错失市场机遇。

　　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.

　　潜在的技术封锁与出口限制：在当前复杂的地缘政治和国际贸易环境下，一些西方对包括高端五轴联动数控机床在内的尖 端技术和装备向等特定的出口设置了严格的限制 。虽然这些限制可能不直接针对所有丝杠加工设备，但其核心部件（如高精度数控系统、精密传感器等） 或相关联的超精密制造技术，仍可能受到波及，从而对国内获取的丝杠制造设备构成潜在风险。海外供应商产能有限：即使没有直接的出口限制，全球范围内能够提供丝杠加 工设备的厂商数量也相对有限，其自身的产能也可能难以完全满足全球市场，特别 是在面临像人形机器人这样可能带来爆发性需求的市场时的供应瓶颈。

　　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.

　　在关键加工设备方面，螺纹磨床和旋风铣床构成了高端丝杠制造的技术“心脏”。

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

　　螺纹磨床：磨削工艺在加工过程中需要经过多道工序，每一步都对设备的精度和稳 定性提出高要求，而高端螺纹磨床正是满足这一需求的关键装备。螺纹磨床作为实 现螺纹高精度成形的核心设备，其加工精度和稳定性直接决定了丝杠的传动精度和 使用寿命。自从瑞士SIP公司于1917年研制出世界上台螺纹磨床，今已经有 100 多年的发展历史。国外相关螺纹磨床生产厂家从20世纪90年代就开始大力发 展数控螺纹磨床，为研制和生产高端滚珠丝杠副产品提供了技术基础。比较的 数控螺纹床生产厂家大多出自于瑞士、英国、日本和德国等发达，其中典型的磨床厂商有瑞士莱森豪尔、英国MATRIX、日本三井、德国SMC、德国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.

　　国内生产数控螺纹磨床的骨干企业包括汉江机床、上海机床厂等近年来奋力直追国 外技术，目前已经能够自主设计和制造具有世界水平的数控螺纹磨床，但在稳定性、重复定位精度和自动化水平上尚有部分差距，导致产品批次间的一致性 和可靠性可能难以完全满足高端应用需求。旋风铣床：利用高速旋转刀盘上的PCBN成型刀具一次性铣削出完整螺纹，该方法 比传统加工效率提高 5 倍以上，切屑长而薄、可带走大部分热量，旋铣切削力小、 工件变形小，加工后的零件精度高、表面粗糙度值低，其、绿色的特点为降低 加工周期和成本提供了有力支撑。德国等西方工业发达从20世纪60年代就已 经对旋风铣削工艺技术进行研究，并在80年代推出CNC旋风铣床，用于滚珠丝杠 的硬铣削加工，知名企业是德国Leistritz公司，其LWN 300 HP产品加工长度 长可达12m、加工直径32-160 mm。我国在这一方面发展较慢，大型丝杠铣床主要 依赖进口，而昂贵的是制约我国制造技术提高的关键因素，目前部分机床厂商 自研已取得一定进展。由于相关生产设备售价高昂，且交付期较长，因此具备较强资金实力、在丝杠行业布局较早的公司或具备一定优势。

　　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.

　　国产化进展：大陆的一些骨干机床企业和新兴厂商也在积极研发和生 产数控螺纹磨床。例如，秦川机床的子公司汉江机床、上海机床厂、华辰装备、 日发精机以及双林股份收购的无锡科之鑫（专注于内螺纹磨床）等，都在该领域有所布局。目前，国产中高档螺纹磨床已经能够满足C3C4级精度丝杠的加 工需求，但在批量加工更高精度等级（如C0C2级）的丝杠时，其稳定性和一 致性与进口设备相比仍有提升空间。值得欣慰的是，上海机床厂研发的SK7420型数控丝杠磨床已能实现P1级精度的滚珠丝杠副加工，显示出国产设备在技术上的进步。华辰装备和日发精机等公司也已成功将其研发的精密螺纹磨床推向市场，并获得了客户订单或实现了交付使用。

　　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.

　　未来在高端设备领域，国产高精度螺纹磨床 和旋风铣床的突破有望在中长期内显著提升国内高端丝杠产品的技术水平和市场 竞争力，从而推动全球丝杠产业链的重构和在国际市场的份额的提升。

　　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.