初始提交：机械臂 CadQuery 建模源码、设计文档与 3D 查看器
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<text x="15" y="24" font-size="12" fill="#64748b">图纸代号：DWG-JNT-01</text>
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<text x="260" y="24" font-size="12" fill="#0284c7">比例 2:1 (局部放大)</text>
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<text x="15" y="65" font-size="16" font-weight="bold" fill="#0f172a">标准化紧凑回转副 A-A 装配剖面草图</text>
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<text x="15" y="98" font-size="12" fill="#475569">涵盖电机固定、行星减速、端面花键、对开抱箍与贴合面尺寸链</text>
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<!-- Left Header -->
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<text x="50" y="65" font-size="22" font-weight="bold" fill="#0f172a">【核心关节剖面】标准化小型化集成回转副装配草图</text>
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<text x="50" y="90" font-size="13" fill="#475569">基准尺寸链解析：电机尾部基准面 (Z=0) ──> 电机输出面 (Z=54.94) ──> 盖板面 (Z=56.0) ──> 从动盘贴合面 (Z=65.000)</text>
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<!-- Main Assembly Cross-Section Drawing -->
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<!-- Central Joint Axis Line (蓝色中心线) -->
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<text x="50" y="250" font-size="12" fill="#0284c7" font-weight="bold">回转副回转轴线 (Joint Rotation Axis)</text>
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<!-- 1. Proximal Sleeve / Housing (近端紧凑套筒, 打印件) -->
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<text x="210" y="55" font-size="12" font-weight="bold" fill="#1e293b">近端构件薄壁套筒 (外径 Ø66.0, 壁厚 2.85mm)</text>
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<!-- 2. Motor Assembly (电机.STEP 模块) -->
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<!-- PCBA Square Tail (63.6 x 9.0) -->
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<text x="124" y="265" font-size="12" font-weight="bold" fill="#ffffff" text-anchor="middle" transform="rotate(-90 124 265)">PCBA 驱动板 (63.6方)</text>
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<!-- Motor Main Housing Drum (Ø60 x 42) -->
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<text x="252" y="255" font-size="14" font-weight="bold" fill="#0f172a" text-anchor="middle">两级 0.5M 行星减速机</text>
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<text x="252" y="278" font-size="12" fill="#475569" text-anchor="middle">24T 太阳轮 / 3x36T 行星轮 / 96T 内齿 (i=25:1)</text>
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<!-- Motor Top Cover (Ø60.3 x 3.5, Z=52.5..56.0) -->
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<text x="369" y="265" font-size="11" fill="#0f172a" text-anchor="middle" transform="rotate(-90 369 265)">顶盖板</text>
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<!-- 3. Face-Spline Couplings (端面齿半联轴器 A & B) -->
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<!-- Half-Coupling A (Bolted to Motor output flange via 3x M2) -->
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<!-- Curvic Teeth Meshing Zone (端面齿啮合带 R19..24.5) -->
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<!-- Half-Coupling B (Bolted to Distal Link) -->
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<text x="413" y="200" font-size="11" font-weight="bold" fill="#854d0e" text-anchor="middle" transform="rotate(-90 413 200)">12齿端面齿花键副</text>
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<!-- 4. Split Clamp Collar (对开抱箍) -->
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<rect x="390" y="383" width="46" height="25" rx="3" fill="#fdba74" stroke="#c2410c" stroke-width="1.5"/>
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<!-- Clamping Lug & M3 Bolt -->
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<circle cx="413" cy="98" r="3" fill="#ffffff"/>
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<circle cx="413" cy="422" r="8" fill="#ea580c"/>
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<circle cx="413" cy="422" r="3" fill="#ffffff"/>
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<text x="413" y="80" font-size="11" font-weight="bold" fill="#ea580c" text-anchor="middle">抱箍 M3 夹紧螺丝</text>
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<!-- 5. Distal Driven Link (远端从动构件贴合盘) -->
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<!-- Hub Disc Plate (9.0mm thick, growing Z >= 65.0) -->
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<text x="515" y="265" font-size="13" font-weight="bold" fill="#1e40af" transform="rotate(90 515 265)">从动盘 (复刻电机输出面)</text>
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<!-- Structural Link Arm extending outward -->
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<path d="M 487 180 L 640 180 L 640 340 L 487 340 Z" fill="#dcfce7" stroke="#15803d" stroke-width="1.8"/>
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<text x="560" y="265" font-size="13" font-weight="bold" fill="#15803d" text-anchor="middle">远端受力臂身结构</text>
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<!-- ==================== DIMENSION CHAINS (精确尺寸链标注) ==================== -->
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<!-- Dim 1: Motor Length 56.0mm -->
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<text x="242" y="-8" font-size="12" font-weight="bold" fill="#0284c7" text-anchor="middle">电机总长 56.0 mm</text>
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</g>
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<!-- Dim 2: Coupling Gap 9.0mm -->
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<g transform="translate(0, 480)">
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<line x1="442" y1="-50" x2="442" y2="10" stroke="#e11d48" stroke-width="0.8"/>
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<text x="412" y="20" font-size="12" font-weight="bold" fill="#e11d48" text-anchor="middle">花键跨距 9.0 mm</text>
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</g>
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<!-- Dim 3: Key Hub Station 65.000mm -->
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<g transform="translate(0, 525)">
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<line x1="102" y1="0" x2="442" y2="0" stroke="#e11d48" stroke-width="1.5" marker-start="url(#arr2-red)" marker-end="url(#arr2-red)"/>
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<line x1="102" y1="-10" x2="102" y2="10" stroke="#e11d48" stroke-width="1"/>
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<line x1="442" y1="-10" x2="442" y2="10" stroke="#e11d48" stroke-width="1"/>
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<text x="272" y="-8" font-size="13" font-weight="bold" fill="#e11d48" text-anchor="middle">【核心设计基准】电机尾基准 → 从动盘贴合面 = 65.000 mm (定死全臂站位)</text>
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</g>
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<!-- Diameter Dimension: Motor Ø60.0 & Sleeve Ø66.0 -->
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<line x1="-5" y1="450" x2="60" y2="450" stroke="#1e293b" stroke-width="0.8"/>
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<text x="-10" y="295" font-size="12" font-weight="bold" fill="#1e293b" text-anchor="end">套筒外径 Ø66.0 (小型化壁厚2.85mm)</text>
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</g>
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<!-- Explanatory Legend / Table -->
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<rect x="0" y="0" width="540" height="540" rx="8" fill="#f8fafc" stroke="#cbd5e1" stroke-width="1.2"/>
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<text x="20" y="32" font-size="15" font-weight="bold" fill="#0f172a">📋 回转副装配配合与装配工序说明</text>
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<g transform="translate(20, 60)">
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<text x="0" y="0" font-size="13" font-weight="bold" fill="#2563eb">【关键配合公差（实测值标定）】</text>
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<text x="0" y="25" font-size="12" fill="#334155">1. 机座滑配套孔：Ø60.30 mm（单边留 0.15mm 打印收缩滑配余量）</text>
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<text x="0" y="47" font-size="12" fill="#334155">2. PCBA方孔口袋：64.40 × 64.40 mm（容纳 63.6mm 驱动板与电容）</text>
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<text x="0" y="69" font-size="12" fill="#334155">3. 端面止口沉孔：从动盘 Ø36.0 × 1.70 mm 深，消除 B 半件轴向干涉</text>
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<text x="0" y="91" font-size="12" fill="#334155">4. 输出螺栓：3 × M2 @ Ø29 mm 节圆，时钟角度 8.6° / 127.7° / 247.9°</text>
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</g>
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<line x1="20" y1="180" x2="520" y2="180" stroke="#e2e8f0" stroke-width="1"/>
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<g transform="translate(20, 205)">
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<text x="0" y="0" font-size="13" font-weight="bold" fill="#059669">【5步极简模块化装配工序】</text>
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<text x="0" y="25" font-size="12" fill="#334155">步骤 1：将 电机.STEP 从输出端平推滑入近端件套筒，直到底面贴死；</text>
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<text x="0" y="47" font-size="12" fill="#334155">步骤 2：拧紧套筒侧面 2 颗 M3 顶丝，顶紧电机外壳实现抗扭与轴向锁紧；</text>
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<text x="0" y="69" font-size="12" fill="#334155">步骤 3：A 半件扣上电机端面，3 颗 M2 螺钉对角锁紧；</text>
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<text x="0" y="91" font-size="12" fill="#334155">步骤 4：B 半件锁入远端从动盘（3颗M2），齿对槽两盘脸贴合压实；</text>
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<text x="0" y="113" font-size="12" fill="#334155">步骤 5：对开抱箍径向卡入两半件环槽，2 颗 M3 紧固，完成关节闭环。</text>
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</g>
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<g transform="translate(20, 370)">
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<text x="0" y="0" font-size="13" font-weight="bold" fill="#d97706">【为什么能做得更小型化？】</text>
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<text x="0" y="25" font-size="12" fill="#334155">• 不做外挂冗余壳体：直接利用电机外壳作为主承力构件；</text>
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<text x="0" y="47" font-size="12" fill="#334155">• 贴皮壁厚控制：外壳套筒仅 2.85mm，既满足强度又消除厚重感；</text>
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<text x="0" y="69" font-size="12" fill="#334155">• 抱箍局部开口：仅在抱箍凸耳螺栓处开 112° 弧形口，其余全闭合；</text>
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<text x="0" y="91" font-size="12" fill="#334155">• 骨架镂空轻量化：大臂与小臂只保留受力加强筋，整臂净重大幅降低。</text>
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</g>
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</g>
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</svg>
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