59 lines
3.0 KiB
Python
59 lines
3.0 KiB
Python
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# -*- coding: utf-8 -*-
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"""实测接口数值：电机模组、端面齿联轴器、配合公差与电机轴向公差。
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全部 MEASURED 自 G:/Robot_v2/Model/Solidworks/电机.STEP 与配件（见 docs/interfaces.md）。
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改之前先确认量的是同一个基准面。"""
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# 注：本段由 armcore.py 原样搬来，行内容与注释未作改动。
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# ---------------- MEASURED: motor module (local frame: origin = PCBA rear face centre, +Z = output) ----
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M = dict(
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pcba_w=63.6, # square PCBA across flats
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pcba_t=9.0, # z 0 -> 9.0
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rearplate_d=60.0, # z 5.5 -> 10.5
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hous_d=60.0, # housing OD, z 10.5 -> 52.5
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hous_len=42.0,
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cover_d=60.30, # top cover OD (R30.15), z 52.5 -> 56.0
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cover_z=56.0, # cover front face = module total length
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flange_z=54.942, # 2nd-stage output flange face
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neck_d=36.0, # female neck bore in the cover
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neck_depth=1.0,
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centre_d=6.5, # centre bore in the flange
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centre_depth=4.0,
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m2_bcd=29.0,
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m2_clock=(8.05, 128.07, 248.06),
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m2_tap_d=1.85, # M2 pilot for self-tapping in printed material
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m2_depth=6.0,
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m2_clear_d=2.75,
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m2_cb_d=5.2,
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)
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# ---------------- MEASURED: face-spline coupling (existing, printed by the user) ------------------------
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C = dict(
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n_teeth=12, tooth_r0=19.0, tooth_r1=24.5, tooth_s=2.5,
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flange_t=4.50, part_z=5.560, # mirrored stack
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hub_r=27.0,
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gap=9.00, # cover-face to cover-face when closed
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clamp_od_r=30.0, clamp_len=7.80,
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lug_r1=37.0, lug_t=4.50,
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bolt_r=32.50, bolt_d=3.80,
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z0=1.66, z1=9.46, # clamp envelope in the flange frame (motor cover face = 1.060)
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)
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# axial stations, motor local frame:
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COVER_Z = M["cover_z"] # 56.0
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HUB_FACE_Z = COVER_Z + C["gap"] # 65.0 = mating face of the driven hub
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CLAMP_R = C["clamp_od_r"] + 0.6 # radial keep-out around the joint axis
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LUG_R = C["lug_r1"] + 1.0 # radial keep-out where the bolt lugs are
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# ---------------- clearances / print rules -------------------------------------------------------------
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CLR = dict(bore_slip=0.20, pilot=0.10, hole_3=3.4, hole_27=2.8, wall_min=2.0)
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FIT = dict(motor_bore_d=M["hous_d"] + 2 * 0.15, cover_cb_d=M["cover_d"] + 2 * 0.35)
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# 电机【轴向长度】公差（用户 2026-10-07 要求：余量偏大稍微减去 1mm，由 2mm 改为 1mm）。
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# 这条链是"后端板螺钉 + 前端压盖螺钉"两个刚性夹持面，螺钉头一旦坐死在沉孔台阶上
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# 就再也不能进给，所以公差没法靠"拧紧"消化，只能靠两件事吃掉（见 arm_build.Joint.pocket
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# 与 motor_front_clamp）：
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# 长出来的 0~+1mm -> 后端板 4xM3 螺钉头下垫 0~1mm 垫片圈（螺钉被垫高 -> 电机被拉回）
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# 短下去的 0~-1mm -> 电机尾端面与后端板承压面之间垫 0~1mm 垫片（承压面已按 MOTOR_TOL
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# 让空，见 Joint.pocket 的 REAR_SEAT）
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# 两边都不动压盖/凸台的几何，关节轴向长度不变。
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MOTOR_TOL = 1.0
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