一、旋風銑工藝兼顧效率&精度，為絲杠加工未來趨勢絲杠導軌為核心傳動部件，加工方式眾多滾珠絲杠是將旋轉運動轉換成線性運動的理想傳動裝置，主要由絲杠軸、螺母、滾珠以及循 環部件組成。絲杠軸、螺母和端蓋上都制有圓弧形螺旋槽，將它們套裝在一起時，這些槽對 合起來就形成了螺旋通道，滾珠能夠在通道內循環滾動。當絲杠相對于螺母旋轉時，滾珠在 滾道內自轉，同時又在封閉的滾道內循環運動，使絲杠和螺母相對產生軸向運動。 按加工方式來看，絲杠加工可以分為純磨制工藝、軋制工藝和旋風銑工藝，目前旋風銑工藝 滲透率正逐步提升。

　　1、 The whirlwind milling process balances efficiency and accuracy, and is the future trend of screw machining. The screw guide is the core transmission component, and there are many processing methods. Ball screws are an ideal transmission device that converts rotational motion into linear motion, mainly composed of screw shafts, nuts, balls, and circulating components. The screw shaft, nut, and end cap are all made with arc-shaped spiral grooves. When they are fitted together, these grooves align to form a spiral channel, and the ball can circulate and roll in the channel. When the screw rotates relative to the nut, the ball rotates on its own in the raceway, while also circulating in the closed raceway, causing axial motion between the screw and nut. From the perspective of processing methods, screw machining can be divided into pure grinding process, rolling process, and whirlwind milling process. Currently, the penetration rate of whirlwind milling process is gradually increasing.

　　純磨制工藝：傳統方案，滿足絕大多數絲杠加工要求純磨制工藝主要加工步驟如下：

　　Pure grinding process: The traditional solution meets the requirements of the vast majority of screw processing. The main processing steps of pure grinding process are as follows:

　　（1）螺紋滾道車削+淬火：從一個圓鋼的毛坯件（沒有任何預處理），靠車床將絲杠上的滾 道慢慢地車削出來。滾道車削完后進行淬火，因為后續對滾道的磨削需要絲杠具有一定的硬度。

　　(1) Thread raceway turning+quenching: First, from a rough piece of round steel (without any pre-treatment), the raceway on the screw is slowly turned out by a lathe. After turning the raceway, quenching is carried out because subsequent grinding of the raceway requires the lead screw to have a certain hardness.

　　（2）粗磨+精磨：淬火完硬度合格之后，下一道工序是進行粗磨，把滾道的外圓和內壁進行 次粗打磨。粗磨完要進行時效處理（去掉熱處理和機加工產生的應力），時效完成后再進行半精 磨和精磨，制成一個絲杠。

　　(2) Rough Grinding+Fine Grinding: After quenching and passing the hardness test, the next process is rough grinding, which involves the first rough grinding of the outer circle and inner wall of the raceway. After rough grinding, it needs to undergo aging treatment (to remove the stress generated by heat treatment and machining). After aging is completed, semi precision grinding and precision grinding are carried out, and finally a screw is made.

　　純磨制工藝的特點在于：能滿足絕大多數種類絲杠的加工要求，但加工周期長，效率低。旋風銑工藝：兼顧效率&精度，絲杠加工未來趨勢旋風銑工藝主要加工步驟如下：

　　The characteristic of pure grinding technology is that it can meet the processing requirements of the vast majority of screw types, but the processing cycle is long and the efficiency is low. Whirlwind milling technology: Balancing efficiency and accuracy, the future trend of screw machining. The main processing steps of whirlwind milling technology are as follows:

　　（1）預先熱處理：對金屬圓棒進行淬火和簡單的外圓磨削，來保證絲杠表面的硬度、尺寸和公差

　　(1) Pre heat treatment: quenching and simple external grinding of metal round bars to ensure the hardness, size, and tolerance of the screw surface

　　（2）旋風銑加工滾道：直接用旋風銑將絲杠上的螺紋滾道銑削出來，此時絲杠的精度已經達到C4-C5級別。

　　(2) Whirlwind milling for machining raceways: Directly use cyclone milling to mill the threaded raceways on the lead screw, and at this point, the accuracy of the lead screw has reached the C4-C5 level.

　　（3）定制切割：按照客戶的要求，對絲杠的進行切割，對于精度要求不高的絲杠，加工這一步已經完成。

　　(3) Customized cutting: Cut the lead screw according to the customer's requirements. For lead screws with low precision requirements, the processing has been completed up to this step.

　　（4）磨床精磨：對于精度要求高的絲杠，需要用磨床對滾道進行精磨，此時精度會從C4-C5提升C1-C2。 旋風銑工藝兼顧效率和精度，是絲杠加工的未來趨勢： 相較于磨制工藝，旋風銑工藝加工步驟較少，且對于預處理完的絲杠可以進行存儲，因此效率更高。

　　(4) Grinding machine precision grinding: For high-precision screw, it is necessary to use a grinder to perform final precision grinding on the raceway, and the accuracy will be improved from C4-C5 to C1-C2. Cyclone milling technology balances efficiency and accuracy, and is the future trend of screw machining: compared to grinding technology, cyclone milling technology has fewer processing steps and can store pre processed screws, resulting in higher efficiency.

　　而和軋制 絲杠對比，旋風銑工藝也能夠制作C1-C2精度級別的絲杠，加工精度更高。加工方案對比：各有所長，旋風銑綜合效果更佳各有所長，旋風銑綜合效果更佳，預計后續滲透率會持續提升：

　　Compared with rolling screw, the cyclone milling process can also produce screw with C1-C2 precision level, with higher machining accuracy. Comparison of processing schemes: Each has its own strengths, and the comprehensive effect of cyclone milling is better. Each has its own strengths, and the comprehensive effect of cyclone milling is better. It is expected that the penetration rate will continue to increase in the future:

　　①純磨制工藝：缺點在于效率很低，30多道工序；而且是先刻畫出滾道，再進行熱處理，很容易產生形變，需 要再進行一道粗磨；此外粗磨螺紋過程中，由于進給量較大，經常會出現由于切削溫度高而使螺紋滾道退火， 從而降低表面硬度的問題。優點在于因為是用車再磨的工藝，可以加工一些異形絲杠。

　　① Pure grinding process: The disadvantage is that the efficiency is very low, with more than 30 processes; Moreover, the raceway is first characterized and then subjected to heat treatment, which can easily cause deformation and requires a rough grinding process; In addition, during the rough grinding process of threads, due to the large feed rate, there is often a problem of annealing the thread raceway due to high cutting temperature, thereby reducing the surface hardness. The advantage is that because it is a process of grinding after use, it can process some irregular lead screws.

　　②軋制工藝：缺點在于精度比較低，但優點在于加工效率很高，一般用于低精度的絲杠。 ③旋風銑工藝：缺點在于淬火完的用于旋風銑的鐵棒，一定要是標準的圓柱形，因此一些異形絲杠沒法使用。行星滾柱絲杠加工：加工難度高&加工時間長相較于普通的滾珠絲杠，行星滾柱絲杠加工整體難度更高，主要體現在：

　　② Rolling process: The disadvantage is that the accuracy is relatively low, but the advantage is that the processing efficiency is very high, generally used for low precision lead screws Cyclone milling process: The disadvantage is that the quenched iron rod used for cyclone milling must be a standard cylindrical shape, so some irregular lead screws cannot be used. Planetary roller screw processing: high processing difficulty and long processing time. Compared to ordinary ball screws, planetary roller screw processing is generally more difficult, mainly reflected in:

　　（1）反向式行星滾柱絲杠螺母細而長，加工過程中容易發生碰撞干涉：通常加工螺母里面的內 螺紋滾道時，廠商采用砂輪中間穿一根桿子的辦法，通過桿子的彎折，把砂輪送進去磨削螺旋溝 道。然而反向式行星滾柱絲杠的螺母較長，桿子容易和螺母出現碰撞干涉。

　　(1) The reverse planetary roller screw nut is thin and long, and collision interference is prone to occur during the machining process. Usually, when machining the internal thread raceway inside the nut, manufacturers use the method of threading a rod through the middle of the grinding wheel, and through the bending of the rod, the grinding wheel is sent into the spiral groove for grinding. However, the nut of the reverse planetary roller screw is relatively long, and the rod is prone to collision and interference with the nut.

　　（2）新工藝方案包括干涉磨削、軟軸磨和內螺紋旋風銑：目前國內外針對螺母內螺紋加工，有三 種可行方法。種為干涉磨削法，即設計特殊的砂輪頂著碰撞加工，但這種方法效率低下且有 規格限制；第二種為軟軸磨，即仍采用砂輪中穿桿子的辦法，桿子與螺母平行，ongoing調整砂輪 和桿子的角度進行磨削；第三種為內螺紋旋風銑，目前系德國的主流加工方案，國內尚未突破。

　　(2) The new process plan includes interference grinding, soft shaft grinding, and internal thread whirlwind milling: currently, there are three feasible methods for nut internal thread machining at home and abroad. The first method is interference grinding, which involves designing a special grinding wheel to perform collision processing, but this method is inefficient and has specification limitations; The second method is soft shaft grinding, which still uses the method of inserting a rod through the grinding wheel, with the rod parallel to the nut, and adjusting the angle between the grinding wheel and the rod for grinding; The third method is internal thread whirlwind milling, which is currently the mainstream machining solution in Germany and has not yet been broken through domestically.

　　二、加工設備：螺紋磨床&旋風銑床為絲杠加工核心裝備螺紋磨床：提升絲杠精度的關鍵設備磨床是利用磨具對工件表面進行磨削加工的機床： 磨床主要使用高速旋轉的砂輪及砂帶等磨具研磨工件的多余量，以獲取所需形狀、尺寸及加工面。按照工藝的 不同，磨床可主要分為外圓磨床、內圓磨床、無心磨床、平面磨床、軋輥磨床及其它專用磨床等。

　　2、 Processing equipment: Thread grinder&cyclone milling machine are the core equipment for screw processing. Thread grinder: the key equipment to improve screw accuracy. Grinding machine is a machine tool that uses grinding tools to grind the surface of the workpiece. Grinding machine mainly uses high-speed rotating grinding wheels and abrasive belts to grind the excess amount of the workpiece to obtain the desired shape, size, and processing surface. According to different processes, grinding machines can be mainly divided into external cylindrical grinding machines, internal cylindrical grinding machines, centerless grinding machines, surface grinding machines, roll grinding machines, and other specialized grinding machines.

　　按照加工對 象的不同，磨床則可分為螺紋磨床、齒輪磨床、葉片磨床等。人形機器人催生大量絲杠需求，高精度磨床同樣受益遠期來看，人形機器人若迅速放量有望催生大量絲杠需求，因此高精度磨床作為關鍵生產設備 同樣受益。根據我們測算，中性假設下，2030年人形機器人行星滾柱絲杠用磨床市場空間可 達50億元，遠期空間廣闊。關鍵假設如下： 1）人形機器人產量：悲觀/中性/樂觀假設下2030年人形機器人產量分別為50/100/300萬臺 ；2）單臺磨床制作行星滾珠絲杠用時：

　　According to the different processing objects, grinding machines can be divided into thread grinding machines, gear grinding machines, blade grinding machines, etc. Humanoid robots have generated a large demand for lead screws, and high-precision grinding machines have also benefited. In the long run, if humanoid robots rapidly increase in quantity, it is expected to generate a large demand for lead screws. Therefore, high-precision grinding machines, as key production equipment, will also benefit. According to our calculations, under the neutral assumption, the market space for planetary roller screw grinding machines for humanoid robots can reach 5 billion yuan by 2030, with a vast future space. The key assumptions are as follows: 1) Production of humanoid robots: Under pessimistic/neutral/optimistic assumptions, the production of humanoid robots in 2030 will be 50/100/3 million units respectively; 2) When using a single grinder to produce planetary ball screws:

　　悲觀/中性/樂觀假設下分別為1.2/1/0.8小時/根。三井精機：量測具起家，高精度磨床龍頭三井精機成立于1928年，始終將“高精度”作為公司發展。1938年，三井精機制造了日本臺高精密加工 機床4型坐標鏜床，為日后研發各類高精度機床打下了堅實的基礎。NC數控裝置誕生后，公司和日本工業技術院 機械試驗所共同開發了NC數控坐標鏜床，率先實現了高精度加工的自動化。

　　Under pessimistic/neutral/optimistic assumptions, the hourly rates are 1.2/1/0.8 hours per root. Mitsui Precision Machinery: Starting with measuring tools, Mitsui Precision Machinery, the leader in high-precision grinding machines, was established in 1928 and has always regarded "high precision" as the focus of the company's development. In 1938, Mitsui Seiki manufactured Japan's first high-precision machining machine, the Type 4 coordinate boring machine, laying a solid foundation for the development of various high-precision machine tools in the future. After the birth of the NC numerical control device, the company and the Mechanical Testing Institute of the Japanese Industrial Technology Institute jointly developed the NC numerical control coordinate boring machine, which was the first to achieve automation of high-precision machining.

　　在90多年的發展歷史中, 高精度是公 司始終追求的目標。公司主營產品為臥加、立加、磨床（坐標磨床和螺紋磨床），均處于世界水平，具體來看： 1）臥式加工中心：公司核心的機型，工作臺面尺寸從400mm（小型機）到1500mm（超大型機）。其中HU63A、 HU80A適合高精度量產；H5D、H6D是具備全軸刮研滑動面的超高精度加工中心。

　　In the more than 90 year development history, high precision has always been the goal pursued by the company. The company's main products are horizontal machining, vertical machining, and grinding machines (coordinate grinding machines and thread grinding machines), all of which are at the world's leading level. Specifically, 1) Horizontal machining center: the company's most core model, with worktable sizes ranging from 400mm (small machines) to 1500mm (super large machines). Among them, HU63A and HU80A are suitable for high-precision mass production; H5D and H6D are ultra high precision machining centers with full axis scraping and sliding surfaces.

　　2）立式加工中心：具有代表性的機型為VU65A，其X軸行程1280mm，Y軸行程為650mm。主要應用于精密零件和 精密模具加工領域。

　　2) Vertical machining center: The representative model is VU65A, with an X-axis stroke of 1280mm and a Y-axis stroke of 650mm. Mainly used in the fields of precision parts and precision mold processing.

　　3）磨床：代表機型J300Ｇ是V-V（一部分V-F）刮研滑動面，定位精度在±0.0007mm，是能代表公司精度追求的 。在精密模具、光學儀器等終的精磨削加工過程中不可缺少。【秦川機床】老牌機床龍頭，絲杠&磨床業務協同發展秦川機床下設子公司漢江機床負責磨床&絲杠導軌業務，其競爭實力處于國內梯隊。

　　3) Grinding machine: The representative model J300G is V-V (partially V-F) scraping and grinding sliding surface, with a positioning accuracy of ± 0.0007mm, which is the most representative of the company's precision pursuit. It is indispensable in the final precision grinding process of precision molds, optical instruments, etc. Qinchuan Machine Tool is a veteran machine tool leader with collaborative development of screw and grinding machine business. Its subsidiary Hanjiang Machine Tool is responsible for grinding machine and screw guide rail business, and its competitive strength is in the first tier in China.

　　1）從規模來看，處于國產廠商前列：漢江機床2022年營收達4.0億元，同比+28.8%，實現凈利 潤2479萬元，同比+162.2%，在行業景氣度較低的背景下逆勢增長。

　　1) In terms of scale, Hanjiang Machine Tool is among the top domestic manufacturers: its revenue in 2022 reached 400 million yuan, a year-on-year increase of 28.8%, and achieved a net profit of 24.79 million yuan, a year-on-year increase of 162.2%, growing against the trend against the backdrop of low industry prosperity.

　　2）從競爭優勢來看：

　　2) From the perspective of competitive advantage:

　　①絲杠導軌業務歷史悠久，技術沉淀深厚：漢江機床從事滾動功能部 件50余年，是機床工具工業協會滾動功能部件分會的會長單位；

　　① The history of screw guide business is long and the technical accumulation is profound: Hanjiang Machine Tool specializes in rolling functional components for more than 50 years and is the president unit of the Rolling Functional Components Branch of the China Machine Tool Industry Association;

　　③擁有的螺紋磨削技 術：漢江機床是國內螺紋磨床龍頭，掌握了螺紋磨削核心技術，其中絲杠導軌產品精度等級可 達P2-P3，核心滾動功能件進口替代；

　　③ Having leading thread grinding technology: Hanjiang Machine Tool is the leader in domestic thread grinding machines and has mastered the core technology of thread grinding. The precision level of screw guide products can reach P2-P3, leading the import substitution of core rolling functional components;

　　③磨床與絲杠導軌業務協同發展：高精度磨床是絲杠 導軌生產的必要設備，公司磨床和滾動功能件業務的無縫對接有效促進研發的良性循環。【日發精機】：國產高端軸承磨領域龍頭地緣政治影響短期業績，切入絲杠導軌磨領域打開成長空間： 2021年來盡管受到疫情的影響，但公司收入端基本保持穩定，2023Q1-Q3受制造業景氣度下滑影響收入 端同比-4.6%。利潤端受地緣政治影響較大，Airwork公司飛機被扣留導致出現大額的資產減值損失。憑 借在軸承磨領域的經驗積累，公司切入絲桿導軌磨領域，目前已處于客戶驗證的關鍵時期，有望打開公 司長期成長空間。

　　③ The coordinated development of grinding machine and screw guide business: High precision grinding machine is a necessary equipment for the production of screw guide, and the seamless integration of the company's grinding machine and rolling functional parts business effectively promotes a virtuous cycle of research and development. Nichatsu Precision Machinery: Geopolitics has affected the short-term performance of domestic high-end bearing grinding industry leaders, and entering the field of screw and guide rail grinding has opened up growth space: Despite the impact of the epidemic in 2021, the company's revenue has remained stable, with a year-on-year decrease of -4.6% in revenue from Q1 to Q3 2023 due to the decline in manufacturing prosperity. The profit side is greatly affected by geopolitical factors, and Airwork's aircraft have been detained, resulting in significant asset impairment losses. With accumulated experience in the field of bearing grinding, the company has entered the field of screw guide rail grinding and is currently in a critical period of customer verification, which is expected to open up long-term growth space for the company.

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