一、從“機械傳動心臟” 到人形機器人核心：絲杠的雙重身份揭秘

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

　　（一）絲杠的基礎原理與核心類型絲杠，這一在機械傳動領域堪稱“元老” 級別的部件，其歷史可追溯至工業革命早期，伴隨著機械制造技術的萌芽而誕生，歷經數百年發展，始終是各類精密機械的 “幕后英雄” 。從基礎原理來看，絲杠通過螺桿、螺母與反向裝置的精妙配合，將電機輸出的旋轉運動快捷轉化為直線運動，實現毫米級甚至微米級的合理位移，就像給機械賦予了一雙 “合理的手”，能準確操控各類部件的位置。在人形機器人這一前沿領域，絲杠主要分為行星滾柱絲杠與微型滾珠絲杠兩大核心分支，二者分工明確，共同支撐起機器人的運動系統。行星滾柱絲杠憑借高承載、

　　（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

　　體積、快響應、低噪音、高精度等出眾優勢，成為人形機器人髖關節、膝關節等大關節的“動力樞紐”。以特斯拉 Optimus 為例，單臺機器人搭載 14 - 16 個行星滾柱絲杠，這些絲杠分布在大臂、小臂、大腿和小腿關節處，承擔著支撐機器人身體重量、驅動關節運動的重任，確保機器人在行走、奔跑、搬運重物等動作時，關節能穩定、有力地運轉。而微型滾珠絲杠則以其微米級精度，專注于控制機器人手指的開合，是支撐靈巧手完成復雜抓取動作的關鍵。當機器人需要抓取一個精致的玻璃杯，或是分揀微小的電子元件時，微型滾珠絲杠便能準確調節手指關節的位置和力度，實現輕柔、合理的操作，展現出人形機器人在精細作業方面的能力。

　　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）人形機器人對絲杠的“苛刻” 需求

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

　　相較于工業機械臂相對固定、單一的工作場景，人形機器人的應用場景復雜多變，對絲杠提出了近乎“苛刻” 的綜合性能要求，需同時滿足高負載能力、高動態響應、高精度與高可靠性 。在高負載能力方面，以步行場景為例，當人形機器人行走時，髖關節絲杠在每一步的過程中，需在出彩短的?0.1 秒內，完成從 50N 到 500N 的負載切換。這是因為在行走過程中，機器人身體的重心不斷轉移，髖關節不僅要支撐上半身的重量，還要承受行走時的沖擊力和慣性力，對絲杠的材料強度和結構設計是出彩大考驗，其負載能力要求達到工業級產品的 3 倍以上。高動態響應同樣關鍵，人形機器人需要像人類一樣靈活運動，快速改變動作姿態。這意味著絲杠要能在瞬間響應電機的指令，迅速調整運動狀態。在機器人進行舞蹈表演時，頻繁的轉身、跳躍動作，要求絲杠能在毫秒級時間內完成啟動、停止、變速等操作，確保動作流暢，不出現卡頓或延遲。高精度決定了人形機器人動作的準確性，在進行精密裝配任務時，如組裝小型電子產品，機器人需要將零部件準確放置在精選位置，誤差需控制在亞毫米甚至微米級別，這依賴于絲杠準確的位移控制能力。至于高可靠性，考慮到人形機器人可能在各種環境下長時間工作，絲杠建議具備出眾的穩定性和耐用性，減少故障發生概率，確保在復雜環境和長時間使用過程中，始終能穩定運行，維持機器人的正常工作狀態。

　　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、三大技術壁壘：解碼人形機器人絲杠的“制造珠峰”

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

　　（一）材料技術：從“毫米級” 到 “納米級” 的性能突圍在絲杠制造中，材料技術是構筑高性能絲杠的根基，其研發難度超乎想象，每一次性能突破都堪稱材料微觀世界里的“出眾挑戰” 。行星滾柱絲杠螺桿對材料的要求出彩為嚴苛，需采用含氮量?0.3% 以上的高氮軸承鋼，像 100Cr6+N 便是常用材料。在熱處理環節，需借助真空淬火工藝，讓螺桿表面硬度達到 HRC60 - 62，同時確保芯部韌性 AKV≥20J 。這一過程猶如在微觀層面進行一場精密的 “力學雕塑”，要讓材料表面堅硬如 “鎧甲”，抵御高負載下的磨損，芯部又要保持足夠韌性，避免在沖擊下脆裂。

　　（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.

　　國內企業在攻克這一技術時，就曾因難以合理控制氮化物析出均勻性，導致螺桿在測試中頻繁出現斷裂，斷裂率一度超過 15%，經過長達 3 年的不懈攻關，才成功將缺陷率降至 0.5% 以下，其研發歷程充滿艱辛。而在微型絲杠領域，材料挑戰更是上升到新高度。靈巧手所用的微型絲杠，直徑僅在?0.6 - 3mm 之間，卻要在直徑 1mm 的螺桿上加工出螺距 0.2mm 的螺紋，這對材料強度提出了 “雙高” 要求：抗拉強度需≥1500MPa，彎曲疲勞出眾≥800MPa 。如此微小的尺寸下實現這般高強度，目前全球僅有 3 家企業掌握這種超細晶不銹鋼加工技術，技術壟斷性可見一斑。這不僅需要對材料晶體結構進行納米級調控，還要開發全新的加工工藝，以確保材料在微觀尺度下仍能保持穩定性能，每一項突破都可能改寫行業格局。

　　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）加工工藝：微米級精度的“雕刻藝術”

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

　　加工工藝是將優良材料轉化為高性能絲杠的關鍵環節，在人形機器人絲杠制造中，其精度控制達到了微米級，宛如一場在微觀世界里的“雕刻藝術” 表演 。行星滾柱絲杠的螺紋導程精度要達到?G3 級，即每 300mm 導程誤差≤5μm，這對磨削工藝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.

　　在磨削過程中，砂輪轉速、冷卻液溫度哪怕出現出彩其微小的波動，都會對螺紋精度產生顯著影響，因此建議將其控制在 ±0.1℃的出彩小范圍內。國內企業在提升精度的過程中，傳統工藝的精度誤差高達 20μm，難以滿足要求。為解決這一難題，企業引入激光熱誤差補償系統，通過實時監測和補償磨削過程中的熱變形，成功將精度誤差壓縮至 4μm，實現了從 “粗糙” 到 “精細” 的跨越，大幅提升了絲杠的性能和穩定性。

　　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.

　　反向裝置作為滾珠?/ 滾柱循環的核心部件，其裝配精度同樣至關重要。它的曲面與螺桿螺紋的配合間隙需嚴格控制在 1 - 2μm，僅為人類頭發絲直徑的 1/50 ，這一精度要求堪稱 “微觀精度的出彩挑戰”。某國產廠商在早期就曾因反向器倒角誤差，導致滾珠在循環過程中出現卡滯現象，嚴重影響絲杠性能。為攻克這一難題，企業自主研發視覺引導裝配機器人，利用機器視覺的高精度識別能力，對反向器裝配進行合理定位和調整，將裝配合格率從 85% 大幅提升至 99.97%，有效解決了裝配精度難題，確保了絲杠運行的流暢性和可靠性。

　　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）設計與檢測：從“經驗試錯” 到 “數字孿生”設計與檢測環節

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

　　貫穿絲杠研發、生產全過程，是確保絲杠性能的關鍵保障，隨著技術發展，正從傳統的“經驗試錯” 邁向 “數字孿生” 時代 。在絲杠設計中，高速運行時的摩擦熱是影響定位精度的關鍵因素。當絲杠高速運轉時，摩擦產生的熱量會使螺桿膨脹?0.05 - 0.1mm，導致定位偏差，影響機器人動作精度。為解決這一難題，需要借助 ANSYS 等仿真軟件，對機械應力、熱傳導與潤滑膜厚度進行同步計算，構建多物理場耦合模型 。然而，建立這樣的動力學模型難度出彩大，目前僅特斯拉、舍弗勒等少數行業巨頭具備完整的建模能力，國內企業在這方面起步較晚，只能依賴數百次臺架試驗，通過反復測試和調整參數，才能完成設計迭代，不僅耗時費力，還難以達到非常優設計效果。檢測環節是確保絲杠質量的“非常后一道關卡”，合格的人形機器人絲杠需通過 12 項關鍵檢測，涵蓋軸向剛度（誤差≤1.5%）、回程間隙（＜5μm）、噪音分貝（＜55dB）等多個維度 。某國內龍頭企業為達到國際檢測標準，投資 2 億元建設檢測中心，引入德國蔡司三坐標測量機，其精度可達亞微米級，能對絲杠復雜的幾何形狀進行高精度測量；同時配備激光多普勒測振儀，準確測量絲杠運行時的振動情況，通過全方位、高精度檢測，實現與國際標準接軌，確保產品質量達到國際先進水平。

　　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、從“關節驅動” 到 “智能控制”：絲杠的三大核心價值重構

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

　　（一）合理傳動：定義機器人“動作下限”

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

　　在人形機器人的復雜運動體系中，絲杠的合理傳動能力宛如基石，定義著機器人動作的“下限”，即非常基本的動作準確性和穩定性 。

　　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 抓取雞蛋這一經典場景為例，在手臂伸展過程中，行星滾柱絲杠承擔著關鍵的傳動任務。電機輸出的旋轉運動，通過 30:1 的減速比傳遞給絲杠，將電機的 0.1° 轉角誤差放大至直線位移誤差 0.03mm 。這一過程中，絲杠憑借自身高精度的螺紋加工和穩定的傳動性能，確保了位移的準確控制。同時，配合力傳感器形成閉環控制，當機器人的 “手指” 接近雞蛋時，力傳感器實時監測抓取力的變化，并將信號反饋給控制系統，控制系統根據反饋信號合理調節絲杠的運動，使 Optimus 能以恰到好處的力度抓取重量僅 50g 的雞蛋，

　　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,

　　既不會因力量過大而捏碎雞蛋，也不會因力量不足導致雞蛋滑落，展現出機器人在精細操作方面的出眾能力。

　　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.

　　在工業場景中，絲杠精度的重要性更加凸顯，直接決定機器人能否完成芯片封裝等微米級操作。在芯片封裝過程中，機器人需要將微小的芯片準確放置在基板上，芯片引腳與基板焊盤的對準精度要求達到微米級，如?0.005mm 。這就要求絲杠能夠準確控制機器人手臂的位置和運動軌跡，確保每一次操作大多能達到出眾的精度，明顯微小的誤差都可能導致芯片封裝失敗，造成巨大的經濟損失，因此，絲杠的合理傳動是保障工業機器人完成高精度任務的關鍵。

　　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：突破機器人“負載上限”

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

　　力效倍增是絲杠賦予人形機器人的又一核心價值，使其能夠突破“負載上限”，完成高難度的負重任務 。行星滾柱絲杠通過獨特的螺旋升角設計，實現了力的快捷放大。以常見的設計參數為例，當電機輸出的扭矩為?50N?m 時，經過絲杠的傳動，可轉化為 5000N 的軸向推力，這一強大的推力足以滿足機器人單腿支撐 200kg 體重的需求。在機器人行走、奔跑或搬運重物時，髖關節、膝關節等部位的絲杠需要承受巨大的負載，通過力效倍增，絲杠能夠將電機相對較小的扭矩轉化為足以支撐機器人身體重量和完成各種動作所需的強大推力，確保機器人在高負載情況下仍能穩定運動。相較于傳統蝸輪蝸桿方案，絲杠驅動的關節在功率密度方面具有顯著優勢，提升幅度可達?40% 。這意味著在相同的空間和能源消耗下，絲杠驅動的關節能夠輸出更大的功率，完成更復雜、更有力的動作。同時，同等負載下，采用絲杠驅動可使電機體積縮小 30% ，這對于人形機器人的輕量化設計至關重要。輕量化不僅能降低機器人的能耗，還能提高其運動靈活性和響應速度，使機器人在各種場景下大多能更加敏捷地行動，為機器人的實際應用拓展了更廣闊的空間。

　　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）智能反饋：構建

　　（3） Intelligent Feedback: Building

　　機器人“觸覺神經”在邁向智能化的進程中，絲杠通過與傳感器的集成，為人形機器人構建起“觸覺神經”，實現智能反饋，使其能夠感知外部環境并做出合理反應 。當絲杠螺母與傳感器集成時，能夠實時反饋?0.01mm 級的位移變化與 1N 級的力值波動，就像給機器人賦予了靈敏的 “觸覺” 。以攀爬樓梯場景為例，機器人在攀爬過程中，需要不斷調整自身姿態和重心，以確保安全穩定地爬上樓梯。此時，絲杠反饋的力矩變化成為機器人動態調整重心的關鍵依據。當機器人的腳接觸樓梯臺階時，絲杠上的傳感器會立即感知到力的變化，并將信息傳遞給控制系統，控制系統根據這些信息快速計算出機器人當前的重心位置和受力情況，進而調整電機的輸出，通過絲杠準確控制關節的運動，使機器人動態調整重心，保持平衡。通過這種智能反饋機制，機器人能夠將失穩概率從傳統方案的 8% 降至 1% 以下，大大提高了在復雜環境下的運動穩定性和可靠性，展現出更強的環境適應能力和智能決策能力

　　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、全球競速：從“卡脖子” 到 “破局者” 的產業突圍戰

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

　　（一）國際巨頭的“技術護城河”

　　（1） The 'technological moat' of international giants

　　在全球絲杠市場，德國舍弗勒與日本?THK 堪稱兩大巨頭，憑借深厚的技術積累與專利布局，構筑起難以逾越的 “技術護城河”，長期壟斷出眾絲杠市場 。

　　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.

　　舍弗勒作為行業領軍者，在行星滾柱絲杠領域占據著全球出眾市場?70% 的份額，通過旗下 GSA 品牌，成功壟斷特斯拉 Optimus 的核心供應鏈 。其反向式行星滾柱絲杠采用專利的 “雙循環滾道” 設計，巧妙地優化了滾柱的循環路徑，使滾柱在循環過程中受力更加均勻，有效減少了磨損和疲勞，相較于傳統結構，壽命提升了 50% 。這一創新設計不僅大幅延長了絲杠的使用壽命，降低了維護成本，還為其在出眾市場贏得了競爭優勢，成為眾多出眾裝備制造商的優選。

　　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 則在微型絲杠領域獨占鰲頭，尤其在 0.8mm 直徑產品市場，占據全球 90% 的份額，處于絕對壟斷地位 。其產品以微米級精度和出眾的穩定性著稱，滿足了電子、醫療等行業對高精度、小尺寸絲杠的嚴苛需求。國內企業在早期發展中，曾面臨 “有錢買不到” 的困境，即便愿意支付高昂價格，也難以從 THK 采購到所需產品，這嚴重制約了國內相關產業的發展，凸顯了國際巨頭在技術和市場上的雙重壟斷地位。

　　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）中國企業的“破冰之路”

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

　　面對國際巨頭的技術封鎖與市場壟斷，中國企業并未退縮，而是在材料、工藝、應用等多個關鍵環節展開攻關，踏上了艱難的“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，天工國際聯合潤孚動力成功開發出高氮合金鋼，這是一次重大的技術突破。該材料抗拉強度高達?1800MPa，優于同類產品，同時成本較進口材料降低了 40%，在性能與成本上取得了絕佳平衡 。目前，這款材料已進入特斯拉二級供應鏈認證階段，有望打破國際材料巨頭的壟斷，為國內絲杠產業提供穩定、優良且低成本的材料供應，從源頭提升國產絲杠的競爭力。

　　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.

　　工藝端創新同樣成果顯著，雙林股份自主研發的反向式行星滾柱絲杠磨床，堪稱“工業母機” 領域的杰作。該磨床將加工周期從進口設備的 8 小時 / 根大幅縮短至 5 小時 / 根，生產效率提升近 40%，同時精度達到國際一流的 ISO3 級 。這一突破不僅提高了生產效率，降低了生產成本，還使國產絲杠在精度上與國際巨頭并駕齊驅，為國產絲杠的大規模生產和市場推廣奠定了堅實基礎。2024 年，雙林股份已實現 10 萬根產能，展現出強大的市場供應能力。

　　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.

　　在應用端，開普勒機器人的?12 軸行星滾柱絲杠執行器令人矚目。該執行器使 K2 機器人負重能力達 30kg，續航長達 8 小時，性能表現優異，而成本較同規格進口產品降低 60% ，性價比優勢突出。憑借出眾的性能和價格優勢，K2 機器人成為首個進入歐美消費級市場的國產人形機器人，成功打開國際市場大門，讓世界看到了中國在人形機器人領域的創新實力和制造能力，為國產人形機器人的國際化發展樹立了榜樣。

　　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）百億市場倒計時：從“1 到 N” 的爆發前夜

　　隨著人形機器人產業的蓬勃發展，絲杠市場正站在爆發的前夜，迎來前所未有的發展機遇。據國泰君安測算，若?2030 年全球人形機器人銷量達 100 萬臺，按照單臺平均搭載 16 根行星滾柱絲杠（單價 1000 元）與 20 根微型絲杠（單價 200 元）來計算，市場規模將突破 320 億元 。這一龐大的市場規模，猶如一座待開采的 “金礦”，吸引著全球企業紛紛布局。目前，國內企業在絲杠市場的市占率僅?15%，但發展勢頭迅猛。隨著五洲新春在 0.6mm 微型絲杠領域的技術突破和產能擴張，以及貝斯特在高精度滾柱絲杠副方面的持續創新，國產絲杠的市場份額有望快速提升。預計 2025 年，國產替代率將迅速提升至 30% ，國產企業正憑借不斷提升的技術實力和成本優勢，逐步打破國際巨頭的市場壟斷，在全球絲杠市場中占據越來越重要的地位，開啟從 “1 到 N” 的快速增長新篇章，為人形機器人產業的發展注入強大的國產動力。

　　絲杠雖小，卻丈量著人形機器人產業的技術高度

　　從材料配方到納米級加工，從單部件精度到系統級協同，人形機器人絲杠的進化史，正是智能制造領域“細節決定成敗” 的非常佳注腳。當每一根絲杠大多能在 0.1 秒內完成 2000 次合理往復，當每一個關節大多能承載 50 倍于自身重量的負荷，我們離 “機器人走進千萬家庭” 的愿景，便更近了一步。這或許就是精密制造的魅力：在毫厘之間，構筑未來世界的基石。