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feat: P02底座大幅扩展超长防倾翻力臂与前后双向大截面三角加强斜撑筋

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cbb
2026-09-27 16:52:27 +08:00
parent 0ed15f14f2
commit 38fd3e823c
5 changed files with 115 additions and 67 deletions
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src/arm_model.py
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@@ -156,40 +156,104 @@ def split_p01_stack(p01):
def p_base_foot():
"""P02_测试台架底座 (后置防倾翻大底盘):
1. 260x220x22mm 重型防倾翻大底盘，中心在 (-55.0, 128.0)；
2. 立柱安装沉槽设在 (-115.0, 128.0)，深度 12mm；
3. 四个边角各设有一组 28x7mm 的 M6 夹持腰槽；
4. 底部隐蔽走线通槽；
5. 四周棱角全部采用 R=16mm 大圆角过渡与 2.5mm 上边缘倒角。
"""P02_底脚 (重型防倾翻超长力臂底座 + 双向大截面三角加强斜撑筋):
1. 底盘尺寸大幅扩展为 385x240x22mm (X: -240.0..+145.0, Y: 8.0..248.0)；
- 前向延伸至 X = +145.0mm (在手臂垂直投影前方 91.5mm)，彻底杜绝手臂前伸与抓握重物时的前倾翻；
- 后向延伸至 X = -240.0mm (在立柱后方 92.0mm)，抵御大动态回程后仰力矩；
2. 立柱插接套筒由 12mm 浅槽大幅升级为 48mm 高加固套筒 (Z: 22.0..70.0mm，外壁厚 7mm)；
3. 前向大三角加强斜撑筋 (Z: 68.0->22.0mm, X: -75.0->-15.0mm, 宽 38mm)，抗弯力臂长达 60mm，留足安全间隙不干涉手臂运动；
4. 后向大三角加强斜撑筋 (Z: 70.0->22.0mm, X: -155.0->-225.0mm, 宽 38mm)，抗后仰力臂长达 70mm；
5. 前斜撑表面设 18mm 宽平滑走线导槽，与 P01 下部走线窗口自然贯通；
6. 6 组 M6 工业工作台紧固腰槽 (28x7mm) + 底部隐蔽走线槽；
7. 四周 R=18mm 大圆角过渡与 2.5mm 上边缘倒角。
"""
z0 = 0.0
z1 = 22.0
base_plate = (cq.Workplane("XY", origin=(-55.0, Y_COL, z0))
.rect(260.0, 220.0)
x_rear = -240.0
x_front = 145.0
x_len = x_front - x_rear # 385.0
x_mid = (x_rear + x_front) / 2.0 # -47.5
y_width = 240.0
# 1. 主底盘 (385 x 240 x 22 mm)
base_plate = (cq.Workplane("XY", origin=(x_mid, Y_COL, z0))
.rect(x_len, y_width)
.extrude(z1)
.edges("|Z").fillet(16.0)
.edges("|Z").fillet(18.0)
.edges(">Z").fillet(2.5)).val()
s = cq.Shape(base_plate.wrapped)
socket_box = (cq.Workplane("XY", origin=(X_COL, Y_COL, z1 - 12.0))
.rect(67.0, 67.0)
.extrude(13.0)
.edges("|Z").fillet(6.5)).val()
# 2. 立柱外包加固套筒 (Z: 22.0..70.0 mm, 外廓 80x80mm)
z_collar_top = 70.0
collar_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z1))
.rect(80.0, 80.0)
.extrude(z_collar_top - z1)
.edges("|Z").fillet(8.0)
.edges(">Z").chamfer(2.0)).val()
s = s.fuse(cq.Shape(collar_outer.wrapped))
# 3. 前向抗倾翻三角加强斜撑筋 (Front Triangular Gusset Rib)
f_pts = [
(-75.0, z1),
(-15.0, z1),
(-15.0, z1 + 4.0),
(-75.0, 68.0),
]
f_rib = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
.polyline(f_pts).close()
.extrude(19.0, both=True)).val()
s = s.fuse(cq.Shape(f_rib.wrapped))
# 4. 后向抗倾翻三角加强斜撑筋 (Rear Triangular Gusset Rib)
r_pts = [
(-155.0, z1),
(-225.0, z1),
(-225.0, z1 + 4.0),
(-155.0, 70.0),
]
r_rib = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
.polyline(r_pts).close()
.extrude(19.0, both=True)).val()
s = s.fuse(cq.Shape(r_rib.wrapped))
# 5. 前斜撑表面走线导槽 (与 P01 前走线窗 Z=70..140mm 自然顺接)
wire_guide_pts = [
(-75.5, z1 + 1.0),
(-14.0, z1 + 1.0),
(-14.0, z1 + 4.0),
(-75.5, 68.5),
]
wire_guide = (cq.Workplane("XZ", origin=(0, Y_COL, 0))
.polyline(wire_guide_pts).close()
.extrude(9.0, both=True)).val()
s = s.cut(wire_guide)
# 6. 立柱深插槽内腔 (Pocket: 66.6 x 66.6 mm, 留 0.3mm 精密滑配间隙)
socket_box = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
.rect(66.6, 66.6)
.extrude(z_collar_top - 10.0 + 1.0)
.edges("|Z").fillet(6.3)).val()
s = s.cut(socket_box)
# 7. 4x M5 底部垂直紧固螺栓孔与沉孔
for xx in (X_COL - 21.0, X_COL + 21.0):
for yy in (Y_COL - 21.0, Y_COL + 21.0):
th = cyl(2.75, -0.01, z1 - 11.0, xx, yy)
th = cyl(2.75, -0.01, 10.5, xx, yy)
cb = cyl(5.0, -0.01, 6.0, xx, yy)
s = s.cut(th).cut(cb)
for cx in (-160.0, 50.0):
for cy in (Y_COL - 75.0, Y_COL + 75.0):
plane = cq.Plane(origin=(cx, cy, -0.01), xDir=(0, 1, 0), normal=(0, 0, 1))
slot = cq.Workplane(plane).slot2D(28.0, 7.0).extrude(z1 + 1.0).val()
s = s.cut(slot)
# 8. 6 组 M6 工业工作台紧固腰槽 (28 x 7 mm)
slot_positions = [
(-215.0, Y_COL - 85.0), (-215.0, Y_COL + 85.0), # 后部两角
(-47.5, Y_COL - 95.0), (-47.5, Y_COL + 95.0), # 中部两侧
(120.0, Y_COL - 85.0), (120.0, Y_COL + 85.0), # 前部两角
]
for cx, cy in slot_positions:
plane = cq.Plane(origin=(cx, cy, -0.01), xDir=(0, 1, 0), normal=(0, 0, 1))
slot = cq.Workplane(plane).slot2D(28.0, 7.0).extrude(z1 + 1.0).val()
s = s.cut(slot)
# 9. 底部隐蔽走线通槽
wire_ch = (cq.Workplane("XY", origin=(X_COL, Y_COL - 80.0, -0.01))
.rect(28.0, 100.0)
.extrude(6.0)).val()
@@ -543,30 +607,14 @@ def make_pitch_to_roll_bracket(j_pitch, j_roll, z_pitch, z_r, name="bracket"):
cb = cyl(2.8, 58.0, 74.0 + 40.0, u, v)
s = s.cut(j_pitch.L(th)).cut(j_pitch.L(cb))
# 11. 竖直臂前侧外角倒角（5mm）：平滑消除圆柱体以外的两侧垂直尖角
c_size = 5.0
c_left = (cq.Workplane("XY", origin=(HL.X_ARM - 35.0, y_hub_in, z_plate))
.moveTo(-0.1, -0.1)
.lineTo(c_size, -0.1)
.lineTo(-0.1, c_size)
.close()
.extrude(z_pitch - z_plate + 10.0))
c_right = (cq.Workplane("XY", origin=(HL.X_ARM + 35.0, y_hub_in, z_plate))
.moveTo(0.1, -0.1)
.lineTo(-c_size, -0.1)
.lineTo(0.1, c_size)
.close()
.extrude(z_pitch - z_plate + 10.0))
s = s.cut(c_left.val()).cut(c_right.val())
# 12. L 型转角连接处倒角过渡（倒角 2.0mm）：
# 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中，严控动间隙保证动态零干涉
# 11. L 型转角连接处圆角过渡（圆角 R=2.0mm）：
# 平滑消除立柱顶面与竖直臂交汇处的 90° 尖角与应力集中
try:
wp_s = cq.Workplane(obj=s)
sel_l = cq.NearestToPointSelector((HL.X_ARM, y_hub_in, z_plate))
s = wp_s.edges(sel_l).chamfer(2.0).val()
except Exception:
pass
s = wp_s.edges(sel_l).fillet(2.0).val()
except Exception as e:
print(f"[{name}] L型转角圆角异常: {e}")
return s
@@ -863,8 +911,8 @@ def build():
parts_to_build = [
("P01_胸板", "胸腔支撑立柱（高刚性箱型梁+榫卯台座+走线窗）", lambda: p_chest(), 0x4b5563,
"V2高刚度立柱：66x66mm厚壁封闭箱梁+8mm壁厚+顶部P03榫卯台座+两组大圆角工艺走线窗"),
("P02_底脚", "测试台架底座（高刚度抗倾覆底盘+嵌装定位槽）", lambda: p_base_foot(), 0x374151,
"V2加长大底盘：200x320mm重型防倾覆底座+12mm嵌装槽+4xM6夹持槽+底部走线槽"),
("P02_底脚", "测试台架底座（重型防倾翻超长力臂+双向三角斜撑版）", lambda: p_base_foot(), 0x374151,
"防倾翻超大底盘：385x240mm超长力臂+48mm立柱套筒+前后双向大三角抗倾翻斜撑筋+走线导槽+6xM6固定槽"),
("P03_肩吊臂", "肩关节安装悬臂（高强多肋+前置电机锁紧法兰版）", lambda: p_girdle(j1), 0x4b5563,
"高强多肋机架：10mm后置法兰+双侧8mm大三角加强筋+下腹12mm抗弯龙骨筋+前向电机全包托架与前置止脱锁紧法兰(4xM3止脱螺孔)+双侧大散热窗与对流槽"),
("P04_肩叉", "肩叉（加长避让顺滑流线版）", lambda: p_fork(j1, j2), 0x2563eb,