近日有對(duì)我們提到，杭州一家公司通過冷鐓（也可稱為冷精鍛）技術(shù)，將人形機(jī)器人絲杠的運(yùn)行壽命提升到了真正可用級(jí)別，成本公攤也有望降到可用范圍。

　　Recently, an expert mentioned to us that a company in Hangzhou has improved the operating life of humanoid robot screws to a truly usable level through cold heading (also known as cold precision forging) technology, and the cost sharing is expected to be reduced to a usable range.

　　目前，人形機(jī)器人有兩個(gè)部位主要用到絲杠，分別是腿部線性執(zhí)行器和靈巧手，前者多采用反向行星滾柱絲杠，后者則多用微型滾珠絲杠，兩者精度要求都不算低，在原先，市場上大多靈巧手用的微型滾珠絲杠，多是由磨床制造，設(shè)備要求較高，精密加工和裝配的要求也高，大多企業(yè)單位生產(chǎn)時(shí)間達(dá)數(shù)十分鐘，能保證余量、精度、效率都能滿足的企業(yè)少之又少，大多終生產(chǎn)的絲杠產(chǎn)品運(yùn)行壽命普遍就僅20?萬次，對(duì)于落地而言成本過高，因?yàn)檫@意味著如果人形機(jī)器人每天在工廠干?12?小時(shí)，每分鐘抓放?10?次工件，約拉升約7200?次，20?萬次晚1?個(gè)月就會(huì)報(bào)廢更換。

　　At present, there are two main parts of humanoid robots that use screws, namely leg linear actuators and dexterous hands. The former mostly uses reverse planetary roller screws, while the latter mostly uses micro ball screws, both of which have high accuracy requirements. In the past, most of the micro ball screws used by dexterous hands in the market were manufactured by grinding machines, with high equipment requirements and high precision machining and assembly requirements. Most enterprises have a production time of tens of minutes per unit, and few can ensure that the margin, accuracy, and efficiency can be met. Most of the final produced screw products generally have a service life of only 20? Ten thousand times, the cost is too high for landing, because it means that if humanoid robots work in factories every day? 12 hours, catch and release every minute? 10 pieces per day, approximately 7200 pieces per day? Next time, 20? Ten thousand times at the latest? It will be scrapped and replaced within a month.

　　反向行星滾珠絲杠運(yùn)行架構(gòu)是螺母帶絲杠運(yùn)行，因此設(shè)計(jì)上難度在于需要緊湊適配機(jī)器人關(guān)節(jié)、制造公差小、可傳大載荷扭矩，而且球軸承隨著磨損精度衰減問題較為明顯，動(dòng)態(tài)響應(yīng)滯后，加之加工慢、產(chǎn)量低，行星滾柱絲杠的精度等級(jí)從P0?到?P7，P0?，人形機(jī)器人大多得需要P5?級(jí)精度，P5?級(jí)對(duì)應(yīng)?ISO?標(biāo)準(zhǔn)的?C5?級(jí)，指的是?300?毫米行程誤差在±0.01?毫米內(nèi)。

　　The operating architecture of the reverse planetary ball screw is nut with screw operation, so the difficulty in design lies in the need for compact adaptation of robot joints, small manufacturing tolerances, and the ability to transmit large load torque. In addition, the ball bearing has a significant problem of accuracy degradation with wear, and the dynamic response lags behind. In addition, the processing is slow and the output is low. The accuracy level of the planetary roller screw ranges from P0? To? P7，P0? Most humanoid robots require P5 level precision, which corresponds to P5 level accuracy? ISO? Standard? C5 level, what does it mean? 300? Is the millimeter stroke error within ± 0.01? Within millimeters.

　　因此業(yè)界傳聞部分企業(yè)據(jù)稱放棄線性執(zhí)行器方案改用旋轉(zhuǎn)式方案，或者較為可行的方案是將滾珠絲杠替換為行星滾柱絲杠，因?yàn)橥染瘸叽绲男行菨L柱絲杠的壽命遠(yuǎn)高于滾珠絲杠，但目前行星滾柱絲杠的應(yīng)用難點(diǎn)在于加工難度高、加工效率低和成本高，因此如何降本將成為未來重要課題，冷鐓工藝有望解決微型行星滾柱絲杠成本問題。

　　Therefore, there are rumors in the industry that some companies have abandoned linear actuator solutions and switched to rotary solutions, or a more feasible solution is to replace ball screws with planetary roller screws, because planetary roller screws of the same precision size have a much longer lifespan than ball screws. However, the current application difficulties of planetary roller screws lie in high processing difficulty, low processing efficiency, and high cost. Therefore, how to reduce costs will become an important issue in the future, and cold heading technology is expected to solve the cost problem of micro planetary roller screws.

　　▍絲杠冷鐓工藝是個(gè)新思路？

　　Is the cold heading process for lead screws a new idea?

　　9月24日，新坐標(biāo)發(fā)布冷鐓工藝微型行星滾柱絲杠，精度可達(dá)C3，絲杠齒形一次成形精度可達(dá)IT4?級(jí)，效率5min/根（高于市面平均效率5-10倍）。而且目前手部微型絲杠加工已經(jīng)成熟，產(chǎn)品送樣中，公司稱正在研發(fā)冷鐓工藝腿部大絲杠，而且絲杠滾壓工藝迎來突破進(jìn)展，布局循環(huán)式、反向式大小滾珠絲杠，預(yù)計(jì)十月底推出0.5mm及7.5mm導(dǎo)程絲杠，靜荷載500N、20000N，充分驗(yàn)證冷鍛工藝技術(shù)路徑的可行性。

　　On September 24th, New Coordinates released a micro planetary roller screw with cold heading technology, with an accuracy of C3 and a one-time forming accuracy of IT4 for the screw tooth profile? Grade, efficiency of 5 minutes per root (5-10 times higher than the market average efficiency). And currently, the processing of hand micro screws has become mature. In the product sample submission process, the company claims to be developing cold heading technology for leg large screws, and the screw rolling technology has made breakthrough progress. The layout includes circular and reverse sized ball screws. It is expected to launch 0.5mm and 7.5mm lead screws with static loads of 500N and 20000N by the end of October, fully verifying the feasibility of the cold forging process technology path.

　　新坐標(biāo)成立于2002?年，總部位于杭州市余杭區(qū)倉前工業(yè)園，是國內(nèi)精密冷鍛件制造的龍頭企業(yè)，于?2017?年在上交所主板上市。該公司早是深耕汽車零部件制造，采用冷鐓工藝技術(shù)打造類似產(chǎn)品，積極開拓汽車變速器、精密電磁閥、空心電機(jī)軸、動(dòng)力電池殼體精密零部件、絲杠精密零部件，以及不銹鋼精密冷鍛制品等多個(gè)高附加值領(lǐng)域。

　　The new coordinates were established in 2002? In the year, headquartered in Cangqian Industrial Park, Yuhang District, Hangzhou City, it is a leading enterprise in precision cold forging manufacturing in China? 2017? Listed on the main board of the Shanghai Stock Exchange in the year. The company was originally deeply involved in the manufacturing of automotive parts, using cold heading technology to create similar products, actively exploring multiple high value-added fields such as automotive transmissions, precision solenoid valves, hollow motor shafts, precision components for power battery casings, precision components for lead screws, and stainless steel precision cold forging products.

　　冷鐓成形鍛造是指利用鍛壓機(jī)械對(duì)金屬坯料施加壓力，使金屬坯料產(chǎn)生塑性變形，以獲得具有一定機(jī)械性能、形狀和尺寸鍛件的一種加工工藝，目前主要有三種生產(chǎn)模式，分別是分序冷精鍛、多工位冷精鍛、單工位多動(dòng)作冷精鍛。國內(nèi)普遍采用分序冷精鍛。新坐標(biāo)采用的模式則是多工位冷精鍛成形技術(shù)。多工位冷精鍛成形技術(shù)就是選擇合適的金屬坯料放置在冷鍛機(jī)上，施加高壓力將其壓入模具中成型，每次成型一部分，在多個(gè)工位上分次擠壓，形成所需的形狀和尺寸。

　　Cold heading forging refers to a processing technology that uses forging machinery to apply pressure to metal billets, causing plastic deformation of the metal billets to obtain forgings with certain mechanical properties, shapes, and sizes. Currently, there are three main production modes, namely sequential cold precision forging, multi station cold precision forging, and single station multi action cold precision forging. Sequential cold precision forging is commonly used domestically. The new coordinate adopts a multi station cold precision forging forming technology. The multi station cold precision forging technology is to select suitable metal billets and place them on the cold forging machine, apply high pressure to press them into the mold for forming, forming a part each time, and extruding them in multiple stations to form the desired shape and size.

　　因?yàn)闈L柱絲杠主要由絲杠軸、螺母、滾珠以及循環(huán)部件組成，傳統(tǒng)絲杠加工工藝為先用車床做粗加工，再用磨床做精磨，此種工藝能夠保證精度但效率極低；為追求效率提升，產(chǎn)業(yè)研發(fā)出通過以車代磨（即車床直接車削，不需要精磨）直接加工，此種工藝效率高，但目前精度存在上限。因此在機(jī)器人腿部的反向式行星滾柱絲杠，業(yè)界關(guān)注的焦點(diǎn)在于絲杠精度，若精度要求較高，則必須在粗加工后加一道精磨工藝；若精度要求一般（C5左右），則以車代磨將是性價(jià)比更高的工藝。

　　Because the roller screw is mainly composed of the screw shaft, nut, ball, and circulating components, the traditional screw machining process is to first use a lathe for rough machining, and then use a grinder for fine grinding. This process can ensure accuracy but has extremely low efficiency; In order to pursue efficiency improvement, the industry has developed a process that uses turning instead of grinding (i.e. turning directly with a lathe without precision grinding) for direct processing. This process has high efficiency, but there is currently an upper limit to accuracy. Therefore, in the reverse planetary roller screw of robot legs, the industry's focus is on the accuracy of the screw. If high accuracy is required, a precision grinding process must be added after rough machining; If the accuracy requirement is average (around C5), then replacing grinding with a car will be a more cost-effective process.

　　在汽車界，冷鐓技術(shù)壁壘相對(duì)高，覆蓋材料、模具、設(shè)備等全產(chǎn)業(yè)鏈技術(shù)，絲杠用冷精鍛成型技術(shù)的優(yōu)勢(shì)在于，能夠快速成型螺母和絲杠軸，可以減少在切削加工時(shí)形成金屬廢屑，減少原材料損耗，節(jié)約原材料成本，此外冷精鍛生產(chǎn)的工件形狀和尺寸容易控制，可以避免高溫導(dǎo)致的外形誤差，表面質(zhì)量和精度較高。可以說冷鐓工藝兼具加工效率高、材料損耗率低、綠色等優(yōu)點(diǎn)，近年來在汽車零部件加工方案的滲透率逐步提升，所以冷鐓工藝也被認(rèn)為是靈巧手微型絲杠重要降本方案。

　　In the automotive industry, cold heading technology has relatively high barriers, covering the entire industry chain technology such as materials, molds, and equipment. The advantage of cold precision forging technology for lead screws is that it can quickly form nuts and lead screw shafts, reduce the formation of metal chips during cutting, reduce raw material consumption, and save raw material costs. In addition, the shape and size of workpieces produced by cold precision forging are easy to control, which can avoid shape errors caused by high temperatures, and have high surface quality and accuracy. It can be said that cold heading technology has the advantages of high processing efficiency, low material loss rate, and green environmental protection. In recent years, the penetration rate of automotive parts processing solutions has gradually increased, so cold heading technology is also considered an important cost reduction solution for dexterous hand micro screws.

　　▍新坐標(biāo)強(qiáng)在哪？

　　Where is the strength of the new coordinates?

　　新坐標(biāo)在設(shè)備端自研自制內(nèi)螺紋滾壓設(shè)備及熱成型設(shè)備，同時(shí)通過引進(jìn)國際的多工位冷鐓機(jī)，結(jié)合公司長期積累的“平板卷制”工藝，能夠完成冷鐓加工，材料利用率達(dá)?91%，遠(yuǎn)高于行業(yè)平均的?65%，成本直降?42%，而且內(nèi)螺紋可3～5分鐘成型C3精度，內(nèi)螺紋設(shè)備成本僅幾十萬。

　　New Coordinates has independently developed and manufactured internal thread rolling equipment and hot forming equipment on the equipment side. At the same time, by introducing internationally advanced multi station cold heading machines and combining them with the company's long-term accumulated "flat plate rolling" process, it can efficiently complete cold heading processing with a material utilization rate of up to? 91%, much higher than the industry average? 65%, cost reduction? 42%, and the internal thread can be molded with C3 precision in 3-5 minutes, with a cost of only a few hundred thousand yuan for internal thread equipment.

　　有消息稱其給三花智控提供的汽車熱管理項(xiàng)目里的閥芯閥柱就采用類似工藝，10月底可做好5臺(tái)，月產(chǎn)能達(dá)2萬套，從而已經(jīng)使得原材料使用量下降，且用冷凍的工藝生產(chǎn)，大大提高生產(chǎn)效率，明年3月底達(dá)到3萬套，明年12月底達(dá)到4萬套，根據(jù)客戶需求擴(kuò)產(chǎn)能周期為3個(gè)月，從而能為客戶降本增效。

　　It is reported that the valve core and valve column in the automotive thermal management project provided to Sanhua Intelligent Control will use a similar process. By the end of October, 5 units can be produced, with a monthly production capacity of 20000 sets, which has already reduced the use of raw materials. In addition, the production process will be frozen, greatly improving production efficiency. By the end of March next year, the production capacity will reach 30000 sets, and by the end of December next year, it will reach 40000 sets. According to customer demand, the production capacity expansion cycle is 3 months, which can reduce costs and increase efficiency for customers.

　　近年來，公司開始將業(yè)務(wù)拓展汽車發(fā)動(dòng)機(jī)以外的領(lǐng)域，開始涉足汽車用駐車絲杠&機(jī)器人用絲杠領(lǐng)域的研發(fā)和制造，有望打造第二成長曲線。2025年4月29日，新坐標(biāo)聯(lián)合浙江陀曼智能（專攻高端磨床及智能制造）成立杭州九月八精密傳動(dòng)，持股77%，聚焦?jié)L柱絲杠、滾珠絲杠生產(chǎn)。公司積極布局全球市場，在歐洲（捷克）、北美（墨西哥）設(shè)立制造基地，隨著海外工廠陸續(xù)投產(chǎn)，公司業(yè)績持續(xù)增長，展現(xiàn)出較強(qiáng)的盈利能力和國際競爭力。

　　In recent years, the company has begun to expand its business beyond automotive engines, entering the research and manufacturing of parking screws for automobiles and screws for robots, and is expected to create a second growth curve. On April 29, 2025, New Coordinates partnered with Zhejiang Tuoman Intelligent (specializing in high-end grinding machines and intelligent manufacturing) to establish Hangzhou September 8th Precision Transmission, holding 77% of the shares, focusing on the production of roller screws and ball screws. The company actively expands its global market by establishing manufacturing bases in Europe (Czech Republic) and North America (Mexico). With the continuous production of overseas factories, the company's performance continues to grow, demonstrating strong profitability and international competitiveness.

　　憑借全球化布局和深耕，公司業(yè)績保持穩(wěn)健增長，2020-2024年收入CAGR=16.0%，其中24年海外收入實(shí)現(xiàn)同比+47%，海外收入占比從2020年的17%迅速提升2024年的43%，客戶方面綁定歐洲大眾、通用等高端客戶。

　　With a global layout and deep cultivation, the company's performance has maintained steady growth, with a CAGR of 16.0% in revenue from 2020 to 2024. Among them, overseas revenue achieved a year-on-year increase of 47% in 24 years, and the proportion of overseas revenue rapidly increased from 17% in 2020 to 43% in 2024. The customer side is bound to high-end customers such as Volkswagen and General Motors in Europe.