2026-10-14 22:03:18 +08:00
|
|
|
# -*- coding: utf-8 -*-
|
|
|
|
|
"""P01 立柱三段（A/B/C）：躯干承力柱 + 阶梯榫卯与防反装对锁孔。"""
|
|
|
|
|
import cadquery as cq
|
2026-10-15 03:31:20 +08:00
|
|
|
from arm.cad.helpers import cyl
|
|
|
|
|
from arm.cad.arm_build import Ycyl, bx
|
|
|
|
|
from arm.kinematics import Y_AXIS, Z_CHEST1
|
|
|
|
|
from arm.cad.part_tools import Xcyl
|
2026-10-14 22:03:18 +08:00
|
|
|
|
|
|
|
|
# ========== 躯干部分 ==========
|
|
|
|
|
# ========== 躯干/测试台架部分 (后置防倾翻高刚性机架) ==========
|
|
|
|
|
X_COL = -115.0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Y_COL = Y_AXIS # 128.0
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Z_LOCK = 463.0 # 横向防脱锁紧螺钉高度（立柱后壁 → 榫头，M4x16 自攻）
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def p_chest():
|
|
|
|
|
"""P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower - 后置台架立柱):
|
|
|
|
|
1. 66x66mm 封闭中空厚壁箱型柱（壁厚 11mm，内腔 44x44），中心在 (-115.0, 128.0)，位于手臂正后方；
|
|
|
|
|
2. 顶部接收 P03 43.4x43.4x15mm 定位榫头（44x44 R4 内腔）、4x 竖向安装孔 + 1x 横向防脱锁紧孔
|
|
|
|
|
（全部 Ø3.9 直孔：M4x16 从外部直接拧入自攻成型，无过孔/无沉孔/无预埋）；
|
|
|
|
|
3. 底部 50x50x12mm 阶梯榫头插入 P02 榫座：环形台肩(66->50)面承载轴向力，槽壁全周承载剪切；
|
|
|
|
|
4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
|
|
|
|
|
5. 外棱角全部采用 R=6mm 圆角。
|
|
|
|
|
"""
|
|
|
|
|
z_bot = 22.0
|
|
|
|
|
z_top = Z_CHEST1 # 470.0
|
|
|
|
|
|
|
|
|
|
col = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot))
|
|
|
|
|
.rect(66.0, 66.0)
|
|
|
|
|
.extrude(z_top - z_bot)
|
|
|
|
|
.edges("|Z").fillet(6.0)).val()
|
|
|
|
|
s = cq.Shape(col.wrapped)
|
|
|
|
|
|
|
|
|
|
cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot + 10.0))
|
|
|
|
|
.rect(44.0, 44.0)
|
|
|
|
|
.extrude(z_top - z_bot + 1.0)
|
|
|
|
|
.edges("|Z").fillet(4.0)).val()
|
|
|
|
|
s = s.cut(cav)
|
|
|
|
|
|
|
|
|
|
# 底部阶梯榫头：插入 P02 榫座后环形台肩坐实，轴向力走面压而非 M5 螺纹
|
|
|
|
|
tenon = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
|
|
|
|
|
.rect(50.0, 50.0).extrude(z_bot - 10.0)
|
|
|
|
|
.edges("|Z").fillet(4.0)).val()
|
|
|
|
|
s = s.fuse(tenon)
|
|
|
|
|
|
|
|
|
|
# 底部 M5 夹紧孔（贯通榫头）：X 向非对称 (−20/+16) 与榫座孔位配对防反装/防转 90°
|
|
|
|
|
for xx in (X_COL - 20.0, X_COL + 16.0):
|
|
|
|
|
for yy in (Y_COL - 18.0, Y_COL + 18.0):
|
|
|
|
|
s = s.cut(cyl(2.75, 9.99, z_bot + 15.0, xx, yy))
|
|
|
|
|
# 顶部 4x 安装孔：统一 Ø3.9 直孔（M4x16 直接拧入自攻成型；只打这一个孔，无过孔/无沉孔），深 20mm
|
|
|
|
|
# 位于 66x66 顶环 11mm 实体壁内（内腔 22 → 外壁 33），避开 44x44 内腔与 R4 内腔圆角；
|
|
|
|
|
for xx in (X_COL - 27.5, X_COL + 27.5):
|
|
|
|
|
for yy in (Y_COL - 13.5, Y_COL + 13.5):
|
|
|
|
|
s = s.cut(cyl(1.95, z_top - 20.0, z_top + 0.01, xx, yy))
|
|
|
|
|
# 横向防脱锁紧孔（后壁 → 榫头）：Ø3.9 贯穿 11mm 后壁 + 榫头同径（M4x16 拧入自攻）
|
|
|
|
|
s = s.cut(Xcyl(1.95, X_COL - 34.0, X_COL - 20.0, Y_COL, Z_LOCK))
|
|
|
|
|
|
|
|
|
|
w_bot = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 105.0))
|
|
|
|
|
.rect(34.0, 70.0)
|
|
|
|
|
.extrude(-20.0)).val()
|
|
|
|
|
s = s.cut(w_bot)
|
|
|
|
|
|
|
|
|
|
w_top = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 375.0))
|
|
|
|
|
.rect(34.0, 70.0)
|
|
|
|
|
.extrude(-20.0)).val()
|
|
|
|
|
s = s.cut(w_top)
|
|
|
|
|
return s
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def split_p01_poka_yoke(p01):
|
|
|
|
|
"""拆分 P01 为 A/B/C 三段（严格适配 200x200mm 打印机，竖直免支撑打印）：
|
|
|
|
|
带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 6.9，内腔收窄 51->44 换取双厚壁，
|
|
|
|
|
单边配合间隙 0.5）、以及统一 Ø3.9 直孔的分段对锁孔（M4x16 从外面直接拧入自攻成型，
|
|
|
|
|
母口壁与公榫壁同径，无过孔/沉孔/预埋，前后两面对称各一颗）；
|
|
|
|
|
孔位相对立柱中心 −16 / +22 非对称（物理防反装防呆）；本体 3D 凹刻朝向标识。
|
|
|
|
|
"""
|
|
|
|
|
z_bot = 22.0
|
|
|
|
|
z_s1 = 172.0
|
|
|
|
|
z_s2 = 321.0
|
|
|
|
|
z_top = 470.0
|
|
|
|
|
h_lap = 16.0
|
|
|
|
|
|
|
|
|
|
# 非对称对锁孔位（相对立柱中心偏心 -16mm 与 +22mm，偏心差 6mm，反装无法穿入螺栓）
|
|
|
|
|
xx_bolts = (X_COL - 16.0, X_COL + 22.0)
|
|
|
|
|
|
|
|
|
|
# 分段对锁孔：统一 Ø3.9 直孔（M4x16 从外面直接拧入自攻成型；母口壁与公榫壁同径，
|
|
|
|
|
# 没有过孔/沉孔等其它孔），前后两面对称；杆尖伸过榫壁的一段在内腔侧留 Ø4.5 让位。
|
|
|
|
|
def _seam_holes(part, xx, z):
|
|
|
|
|
return (part.cut(Ycyl(1.95, Y_COL - 33.6, Y_COL - 21.4, xx, z))
|
|
|
|
|
.cut(Ycyl(1.95, Y_COL + 21.4, Y_COL + 33.6, xx, z))
|
|
|
|
|
.cut(Ycyl(2.25, Y_COL - 21.7, Y_COL - 15.5, xx, z))
|
|
|
|
|
.cut(Ycyl(2.25, Y_COL + 15.5, Y_COL + 21.7, xx, z)))
|
|
|
|
|
|
|
|
|
|
# --- P01_A (下段) ---
|
|
|
|
|
cut_above_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s1, z_top + 10.0)
|
|
|
|
|
p01_a_base = p01.cut(cut_above_s1)
|
|
|
|
|
tongue1_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1))
|
|
|
|
|
.rect(57.8, 57.8).extrude(h_lap)
|
|
|
|
|
.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
|
|
|
|
|
tongue1_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 1.0))
|
|
|
|
|
.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
|
|
|
|
|
tongue1 = cq.Shape(tongue1_outer.wrapped).cut(tongue1_cav)
|
|
|
|
|
p01_a = p01_a_base.fuse(tongue1)
|
|
|
|
|
|
|
|
|
|
z_bolt1 = z_s1 + h_lap / 2.0 # 180.0
|
|
|
|
|
for xx in xx_bolts:
|
|
|
|
|
p01_a = _seam_holes(p01_a, xx, z_bolt1) # A-B 缝对锁孔（Ø3.9，前后两面）
|
|
|
|
|
|
|
|
|
|
# Engrave the front (-Y) flat face, reading VERTICALLY bottom-to-top along
|
|
|
|
|
# the column (user request): local +X = world +Z, local +Y = world -X, so
|
|
|
|
|
# the trailing "▶" glyph renders pointing world-up (+Z).
|
|
|
|
|
front_label_plane_a = cq.Plane(
|
|
|
|
|
origin=(X_COL, Y_COL - 33.0, 120.0),
|
|
|
|
|
xDir=(0, 0, 1), normal=(0, -1, 0),
|
|
|
|
|
)
|
|
|
|
|
label_a = (cq.Workplane(front_label_plane_a)
|
|
|
|
|
.text("P01-A TOP ▶", 9.0, -0.8)).val()
|
|
|
|
|
p01_a = p01_a.cut(cq.Shape(label_a.wrapped))
|
|
|
|
|
|
|
|
|
|
# --- P01_B (中段) ---
|
|
|
|
|
cut_below_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s1)
|
|
|
|
|
cut_above_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s2, z_top + 10.0)
|
|
|
|
|
p01_b_base = p01.cut(cut_below_s1).cut(cut_above_s2)
|
|
|
|
|
pocket1 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 0.1))
|
|
|
|
|
.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
|
|
|
|
|
p01_b_base = p01_b_base.cut(pocket1)
|
|
|
|
|
|
|
|
|
|
tongue2_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2))
|
|
|
|
|
.rect(57.8, 57.8).extrude(h_lap)
|
|
|
|
|
.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
|
|
|
|
|
tongue2_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 1.0))
|
|
|
|
|
.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
|
|
|
|
|
tongue2 = cq.Shape(tongue2_outer.wrapped).cut(tongue2_cav)
|
|
|
|
|
p01_b = p01_b_base.fuse(tongue2)
|
|
|
|
|
|
|
|
|
|
z_bolt2 = z_s2 + h_lap / 2.0 # 329.0
|
|
|
|
|
for xx in xx_bolts:
|
|
|
|
|
p01_b = _seam_holes(p01_b, xx, z_bolt1) # A-B 缝对锁孔（Ø3.9，前后两面）
|
|
|
|
|
p01_b = _seam_holes(p01_b, xx, z_bolt2) # B-C 缝对锁孔（Ø3.9，前后两面）
|
|
|
|
|
|
|
|
|
|
front_label_plane_b = cq.Plane(
|
|
|
|
|
origin=(X_COL, Y_COL - 33.0, 240.0),
|
|
|
|
|
xDir=(0, 0, 1), normal=(0, -1, 0),
|
|
|
|
|
)
|
|
|
|
|
label_b = (cq.Workplane(front_label_plane_b)
|
|
|
|
|
.text("P01-B TOP ▶", 9.0, -0.8)).val()
|
|
|
|
|
p01_b = p01_b.cut(cq.Shape(label_b.wrapped))
|
|
|
|
|
|
|
|
|
|
# --- P01_C (上段) ---
|
|
|
|
|
cut_below_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s2)
|
|
|
|
|
p01_c_base = p01.cut(cut_below_s2)
|
|
|
|
|
pocket2 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 0.1))
|
|
|
|
|
.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
|
|
|
|
|
p01_c = p01_c_base.cut(pocket2)
|
|
|
|
|
for xx in xx_bolts:
|
|
|
|
|
p01_c = _seam_holes(p01_c, xx, z_bolt2) # B-C 缝对锁孔（Ø3.9，前后两面）
|
|
|
|
|
|
|
|
|
|
front_label_plane_c = cq.Plane(
|
|
|
|
|
origin=(X_COL, Y_COL - 33.0, 390.0),
|
|
|
|
|
xDir=(0, 0, 1), normal=(0, -1, 0),
|
|
|
|
|
)
|
|
|
|
|
label_c = (cq.Workplane(front_label_plane_c)
|
|
|
|
|
.text("P01-C TOP ▶", 9.0, -0.8)).val()
|
|
|
|
|
p01_c = p01_c.cut(cq.Shape(label_c.wrapped))
|
|
|
|
|
|
|
|
|
|
return p01_a, p01_b, p01_c
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
JOINT = 'root'
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
def specs(JS):
|
|
|
|
|
"""本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
|
|
|
|
|
p01_a, p01_b, p01_c = split_p01_poka_yoke(p_chest())
|
|
|
|
|
|
|
|
|
|
return [
|
|
|
|
|
("P01_A_立柱下段_三角形30%_墙4底5_竖打", "立柱下段", lambda: p01_a, 0x0284c7,
|
|
|
|
|
"200mm适配分段A：高166mm+16mm阶梯公榫+顶端 2x Ø3.9 对锁孔(M4x16 自攻)+底部50x50x12榫头+P01-A 竖排TOP刻字"),
|
|
|
|
|
("P01_B_立柱中段_三角形30%_墙4底5_竖打", "立柱中段", lambda: p01_b, 0x2563eb,
|
|
|
|
|
"200mm适配分段B：高165mm+双端公母榫+两端各 2x Ø3.9 对锁孔(M4x16 自攻，非对称孔位防反装)+P01-B 竖排TOP刻字"),
|
|
|
|
|
("P01_C_立柱上段_三角形30%_墙4底5_竖打", "立柱上段", lambda: p01_c, 0x1d4ed8,
|
|
|
|
|
"200mm适配分段C：高149mm+底端母榫+底端 2x Ø3.9 对锁孔(非对称孔位防反装)+顶面P03安装台(4x Ø3.9 安装孔 + 1x Ø3.9 横向锁紧孔)+P01-C 竖排TOP刻字"),
|
|
|
|
|
]
|
