feat(arm): 建模代码拆成每件一模块，查看器新增工程图与装配步骤页
- src/parts/p01~p09 + src/part_tools.py：几何、件号/配色/说明与装配帧归属随各自件文件走，arm_model.py 只留装配流水线并对件级符号做只读转发；P04_CH / P07_CH / P06_WIN_XZ / FENCE_OPEN_CUT 这类开关必须写所在件文件，写 arm_model.X 不生效，A/B 判据为翻转后体积变化
- docs/sheet_{exploded,front,side,joint}.svg + draw_sheet.py：四张工程图进查看器页签，支持图层开关、件号高亮与 BOM/3D 联动跳转
- travel/travel_detail/collide/bom/screws 随最新几何重生成；补线束走线、拆卸定位点与 P04 承压面剖切验证图
- .gitignore 排除 .bak/ 与 *.bak_* 源码快照（旧版本 git 历史里已有）
This commit is contained in:
+101
-65
@@ -76,28 +76,46 @@ def esc(t):
|
||||
return str(t).replace('&', '&').replace('<', '<').replace('>', '>')
|
||||
|
||||
|
||||
def frame(W, H, title, note, scale):
|
||||
return ['<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 %d %d" '
|
||||
'font-family="Microsoft YaHei,sans-serif">' % (W, H),
|
||||
'<rect width="%d" height="%d" fill="#fff"/>' % (W, H),
|
||||
'<rect x="8" y="8" width="%d" height="%d" fill="none" stroke="#111" stroke-width="1.6"/>' % (W - 16, H - 16),
|
||||
'<rect x="14" y="14" width="%d" height="%d" fill="none" stroke="#111" stroke-width=".5"/>' % (W - 28, H - 28),
|
||||
'<line x1="14" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (H - 44, W - 15, H - 44),
|
||||
'<text x="24" y="%d" font-size="13" font-weight="bold">%s</text>' % (H - 27, esc(title)),
|
||||
'<text x="24" y="%d" font-size="9" fill="#444">%s</text>' % (H - 16, esc(note)),
|
||||
'<line x1="%d" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (W - 268, H - 44, W - 268, H - 15),
|
||||
'<text x="%d" y="%d" font-size="9">比例 1:%s（按图幅适配） 单位 mm</text>' % (W - 260, H - 29, scale),
|
||||
'<text x="%d" y="%d" font-size="9">六电机人形机器人手臂 %s / 迭代 %s</text>' % (W - 260, H - 17, LAY["ver"], LAY["it"])]
|
||||
def frame(W, H, title, note, scale, sheet_id=""):
|
||||
return ['<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 %d %d" width="%d" height="%d" '
|
||||
'class="assembly-sheet-svg" data-sheet-id="%s" data-sheet-title="%s" data-sheet-note="%s" data-sheet-scale="%s" '
|
||||
'font-family="Microsoft YaHei,sans-serif">' % (W, H, W, H, sheet_id, esc(title), esc(note), scale),
|
||||
'<defs>'
|
||||
'<filter id="partGlow" x="-20%" y="-20%" width="140%" height="140%">'
|
||||
'<feDropShadow dx="0" dy="0" stdDeviation="3.5" flood-color="#2563eb" flood-opacity="0.85"/>'
|
||||
'</filter>'
|
||||
'<filter id="balloonShadow" x="-20%" y="-20%" width="140%" height="140%">'
|
||||
'<feDropShadow dx="0" dy="1.5" stdDeviation="1.5" flood-color="#000" flood-opacity="0.25"/>'
|
||||
'</filter>'
|
||||
'</defs>',
|
||||
'<rect class="sheet-bg" width="%d" height="%d" fill="#fff"/>' % (W, H),
|
||||
'<g class="sheet-border">',
|
||||
'<rect class="sheet-border-outer" x="8" y="8" width="%d" height="%d" fill="none" stroke="#111" stroke-width="1.6"/>' % (W - 16, H - 16),
|
||||
'<rect class="sheet-border-inner" x="14" y="14" width="%d" height="%d" fill="none" stroke="#111" stroke-width=".5"/>' % (W - 28, H - 28),
|
||||
'<line class="sheet-title-line" x1="14" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (H - 44, W - 15, H - 44),
|
||||
'<text class="sheet-title-text" x="24" y="%d" font-size="13" font-weight="bold">%s</text>' % (H - 27, esc(title)),
|
||||
'<text class="sheet-note-text" x="24" y="%d" font-size="9" fill="#444">%s</text>' % (H - 16, esc(note)),
|
||||
'<line class="sheet-meta-line" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#111" stroke-width=".8"/>' % (W - 268, H - 44, W - 268, H - 15),
|
||||
'<text class="sheet-scale-text" x="%d" y="%d" font-size="9">比例 1:%s（按图幅适配） 单位 mm</text>' % (W - 260, H - 29, scale),
|
||||
'<text class="sheet-ver-text" x="%d" y="%d" font-size="9">六电机人形机器人手臂 %s / 迭代 %s</text>' % (W - 260, H - 17, LAY["ver"], LAY["it"]),
|
||||
'</g>']
|
||||
|
||||
|
||||
def balloon(x, y, i):
|
||||
return ('<circle cx="%.0f" cy="%.0f" r="10" fill="#fff" stroke="#111" stroke-width="1"/>'
|
||||
'<text x="%.0f" y="%.0f" font-size="9.5" text-anchor="middle">%d</text>' % (x, y, x, y + 3.4, i))
|
||||
def balloon(x, y, p):
|
||||
idx = p.get("idx", 0)
|
||||
name = esc(p.get("name", ""))
|
||||
cn = esc(p.get("cn", ""))
|
||||
return ('<g class="sheet-balloon" data-idx="%d" data-name="%s" data-cn="%s">'
|
||||
'<circle class="balloon-circle" cx="%.0f" cy="%.0f" r="10" fill="#fff" stroke="#111" stroke-width="1"/>'
|
||||
'<text class="balloon-text" x="%.0f" y="%.0f" font-size="9.5" text-anchor="middle">%d</text>'
|
||||
'</g>' % (idx, name, cn, x, y, x, y + 3.4, idx))
|
||||
|
||||
|
||||
def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend=True):
|
||||
def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend=True, sheet_id=""):
|
||||
shp = []
|
||||
for p in P:
|
||||
if p["name"].startswith("ENV_") or p["name"].startswith("S"):
|
||||
continue
|
||||
h = hull(part_pts(p, kind, ex))
|
||||
if len(h) >= 3:
|
||||
shp.append((p, h))
|
||||
@@ -114,9 +132,10 @@ def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend
|
||||
ox = ML + (aw - (hi_x - lo_x) * sc) / 2 - lo_x * sc
|
||||
oy = 34 + (ah + (hi_y - lo_y) * sc) / 2 + lo_y * sc
|
||||
T = lambda q: (q[0] * sc + ox, oy - q[1] * sc)
|
||||
out = frame(W, H, title, note, round(1 / sc, 2))
|
||||
out = frame(W, H, title, note, round(1 / sc, 2), sheet_id)
|
||||
|
||||
if axes:
|
||||
out.append('<g class="sheet-axes-group">')
|
||||
for jid in ("J1", "J2", "J3", "J4", "J5"):
|
||||
j = JOINTS.get(jid)
|
||||
if not j:
|
||||
@@ -124,48 +143,56 @@ def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend
|
||||
a = proj(j["rear"], kind)
|
||||
b = proj([j["rear"][k] + j["d"][k] * 90 for k in range(3)], kind)
|
||||
pa, pb = T(a), T(b)
|
||||
out.append('<line x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
out.append('<line class="sheet-axis" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
'stroke-width=".8" stroke-dasharray="14 3 2 3"/>' % (pa[0], pa[1], pb[0], pb[1]))
|
||||
out.append('<text x="%.0f" y="%.0f" font-size="10" fill="#0b57a4">%s</text>'
|
||||
out.append('<text class="sheet-axis-label" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4">%s</text>'
|
||||
% (pb[0] + 3, pb[1] - 3, jid))
|
||||
out.append('</g>')
|
||||
|
||||
out.append('<g class="sheet-parts-group">')
|
||||
for p, h in shp:
|
||||
d = "M" + " L".join("%.1f %.1f" % T(q) for q in h) + "Z"
|
||||
col = "#%06x" % p["color"]
|
||||
idx = p.get("idx", 0)
|
||||
cn = esc(p.get("cn", ""))
|
||||
name = esc(p.get("name", ""))
|
||||
printed = 1 if p.get("printed") else 0
|
||||
attrs = 'class="sheet-part-path" data-idx="%d" data-name="%s" data-cn="%s" data-color="%s" data-printed="%d"' % (
|
||||
idx, name, cn, col, printed)
|
||||
if p["printed"]:
|
||||
out.append('<path d="%s" fill="none" stroke="%s" stroke-width="1.35"/>' % (d, col))
|
||||
out.append('<path d="%s" fill="none" stroke="%s" stroke-width="1.35" %s/>' % (d, col, attrs))
|
||||
else:
|
||||
out.append('<path d="%s" fill="none" stroke="#9aa1ad" stroke-width=".7" '
|
||||
'stroke-dasharray="4 2"/>' % d)
|
||||
'stroke-dasharray="4 2" %s/>' % (d, attrs))
|
||||
out.append('</g>')
|
||||
|
||||
# balloons in two side columns. Sort each column by the ANCHOR height (the nearest point
|
||||
# on the part's own outline), not by centroid - sorting by centroid made the leaders cross
|
||||
# in the middle of the sheet because the anchor can sit far from the centroid.
|
||||
# balloons in two side columns.
|
||||
side = []
|
||||
for p, h in shp:
|
||||
cx = sum(T(q)[0] for q in h) / len(h)
|
||||
cy = sum(T(q)[1] for q in h) / len(h)
|
||||
anchor = T(nearest(h, (cx, cy)))
|
||||
side.append((p, anchor, cx))
|
||||
# A hanging arm projects tall and narrow, so splitting the balloons left/right pushed the
|
||||
# whole left column's leaders across the assembly. When the view is taller than wide every
|
||||
# balloon goes to one column just right of the drawing, sorted by anchor height.
|
||||
tall = (hi_y - lo_y) > 1.25 * (hi_x - lo_x)
|
||||
right = sorted(side, key=lambda s: s[1][1]) if tall else sorted([s for s in side if s[2] >= ox + (hi_x - lo_x) * sc / 2.0], key=lambda s: s[1][1])
|
||||
right = sorted(side, key=lambda s: s[1][1]) if tall else sorted([s for s in side if s[2] >= ox + (hi_x - lo_x) * sc / 2.0], key=lambda s: s[1][1])
|
||||
left = [] if tall else sorted([s for s in side if s[2] < ox + (hi_x - lo_x) * sc / 2.0],
|
||||
key=lambda s: s[1][1])
|
||||
|
||||
out.append('<g class="sheet-balloons-group">')
|
||||
def col(lst, x):
|
||||
n = max(1, len(lst))
|
||||
span = H - 130
|
||||
for i, (p, t, _cx) in enumerate(lst):
|
||||
by = 52 + span * (i + 0.5) / n
|
||||
out.append('<polyline points="%.0f,%.0f %.0f,%.0f %.0f,%.0f" fill="none" '
|
||||
'stroke="#555" stroke-width=".6"/>' % (t[0], t[1], (t[0] + x) / 2, by, x, by))
|
||||
out.append(balloon(x, by, p["idx"]))
|
||||
out.append('<polyline class="sheet-leader" data-idx="%d" points="%.0f,%.0f %.0f,%.0f %.0f,%.0f" fill="none" '
|
||||
'stroke="#555" stroke-width=".6"/>' % (p["idx"], t[0], t[1], (t[0] + x) / 2, by, x, by))
|
||||
out.append(balloon(x, by, p))
|
||||
col(left, ML - 30)
|
||||
col(right, (ox + (hi_x - lo_x) * sc + 52.0) if tall else (W - MR + 44))
|
||||
out.append('</g>')
|
||||
|
||||
if legend:
|
||||
out.append('<g class="sheet-legend-box">')
|
||||
rows = sorted(side, key=lambda s: s[0]["idx"])
|
||||
half = (len(rows) + 1) // 2
|
||||
tx, ty0 = W - MR + 74, 62
|
||||
@@ -173,20 +200,30 @@ def build_sheet(kind, title, W, H, ex=0.0, note="", axes=True, dims=None, legend
|
||||
for c in (0, 1):
|
||||
for i, (p, _t, _cx) in enumerate(rows[c * half:(c + 1) * half]):
|
||||
y = ty0 + 12 + i * 12.6
|
||||
out.append('<text x="%d" y="%.0f" font-size="8.5">%d</text>' % (tx + c * 106, y, p["idx"]))
|
||||
nm = esc(p["cn"].replace(" 半联轴器/抱箍", " 联轴器/抱箍").replace("端面齿", "")[:11])
|
||||
out.append('<text x="%d" y="%.0f" font-size="8.5">%s</text>' % (tx + c * 106 + 13, y, nm))
|
||||
out.append('<g class="sheet-legend-row" data-idx="%d" data-name="%s" data-cn="%s">'
|
||||
'<rect class="legend-row-bg" x="%d" y="%.0f" width="102" height="12.5" fill="transparent" rx="2"/>'
|
||||
'<text class="legend-row-idx" x="%d" y="%.0f" font-size="8.5">%d</text>'
|
||||
'<text class="legend-row-name" x="%d" y="%.0f" font-size="8.5">%s</text>'
|
||||
'</g>' % (p["idx"], esc(p.get("name","")), esc(p.get("cn","")),
|
||||
tx + c * 106 - 3, y - 9.5,
|
||||
tx + c * 106, y, p["idx"],
|
||||
tx + c * 106 + 13, y, nm))
|
||||
out.append('</g>')
|
||||
|
||||
for (a, b, lab, off) in (dims or []):
|
||||
pa, pb = T(proj(a, kind)), T(proj(b, kind))
|
||||
y = (pa[1] + pb[1]) / 2 + off
|
||||
out.append('<line x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" stroke-width=".9"/>'
|
||||
% (pa[0], y, pb[0], y))
|
||||
for q in (pa, pb):
|
||||
out.append('<line x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
'stroke-width=".5" stroke-dasharray="2 2"/>' % (q[0], q[1], q[0], y))
|
||||
out.append('<text x="%.0f" y="%.0f" font-size="10" fill="#0b57a4" text-anchor="middle">%s</text>'
|
||||
% ((pa[0] + pb[0]) / 2, y - 3, lab))
|
||||
if dims:
|
||||
out.append('<g class="sheet-dims-group">')
|
||||
for (a, b, lab, off) in dims:
|
||||
pa, pb = T(proj(a, kind)), T(proj(b, kind))
|
||||
y = (pa[1] + pb[1]) / 2 + off
|
||||
out.append('<line class="sheet-dim-line" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" stroke-width=".9"/>'
|
||||
% (pa[0], y, pb[0], y))
|
||||
for q in (pa, pb):
|
||||
out.append('<line class="sheet-dim-ext" x1="%.0f" y1="%.0f" x2="%.0f" y2="%.0f" stroke="#0b57a4" '
|
||||
'stroke-width=".5" stroke-dasharray="2 2"/>' % (q[0], q[1], q[0], y))
|
||||
out.append('<text class="sheet-dim-text" x="%.0f" y="%.0f" font-size="10" fill="#0b57a4" text-anchor="middle">%s</text>'
|
||||
% ((pa[0] + pb[0]) / 2, y - 3, lab))
|
||||
out.append('</g>')
|
||||
out.append('</svg>')
|
||||
return "".join(out)
|
||||
|
||||
@@ -202,32 +239,31 @@ def joint_detail():
|
||||
x_hub = x_cover + CT["gap"] * s
|
||||
out = frame(W, H, "A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）",
|
||||
"电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → "
|
||||
"从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）")
|
||||
out.append('<line x1="%d" y1="%d" x2="%d" y2="%d" stroke="#0b57a4" stroke-width="1.1" '
|
||||
"从动盘（复刻电机输出面）。蓝色为关节轴线。", "1/6（本图放大 6 倍）", "joint")
|
||||
out.append('<line class="sheet-axis" x1="%d" y1="%d" x2="%d" y2="%d" stroke="#0b57a4" stroke-width="1.1" '
|
||||
'stroke-dasharray="22 5 4 5"/>' % (x0 - 60, cy, x_hub + 190, cy))
|
||||
g = ['<g stroke="#111" fill="none" stroke-width="1.5">']
|
||||
g = ['<g class="joint-geom-group" stroke="#111" fill="none" stroke-width="1.5">']
|
||||
# motor: housing Ø60 x 42, rear plate, cover Ø60.3 x 3.5
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
g.append('<rect class="joint-geom-part" data-part="电机机座" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x0 + 5.5 * s, cy - 30 * s, 47 * s, 60 * s))
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
g.append('<rect class="joint-geom-part" data-part="尾部PCBA" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x0, cy - MT["pcba_w"] / 2.0 * s, MT["pcba_t"] * s, MT["pcba_w"] * s))
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
g.append('<rect class="joint-geom-part" data-part="电机输出端盖" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>'
|
||||
% (x_cover - 3.5 * s, cy - 30.15 * s, 3.5 * s, 60.3 * s))
|
||||
# coupling halves (4.5 each) and the driven hub
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="半联轴器A" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="半联轴器B" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_cover + 4.5 * s, cy - 27 * s, 4.5 * s, 54 * s))
|
||||
g.append('<rect class="joint-geom-part" data-part="从动盘" x="%.1f" y="%.1f" width="%.1f" height="%.1f"/>' % (x_hub, cy - 41 * s, 24 * s, 82 * s))
|
||||
# clamp band over the closed pair
|
||||
g.append('<rect x="%.1f" y="%.1f" width="%.1f" height="%.1f" stroke-dasharray="6 3"/>'
|
||||
g.append('<rect class="joint-geom-part" data-part="对开抱箍" x="%.1f" y="%.1f" width="%.1f" height="%.1f" stroke-dasharray="6 3"/>'
|
||||
% (x_cover + 0.6 * s, cy - 30 * s, 8.4 * s, 60 * s))
|
||||
g.append('</g>')
|
||||
out.extend(g)
|
||||
|
||||
def dim(y, xa, xb, txt, col="#c00", lx=None):
|
||||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width="1"/>' % (xa, y, xb, y, col))
|
||||
out.append('<g class="sheet-dim"><line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width="1"/>' % (xa, y, xb, y, col))
|
||||
for x in (xa, xb):
|
||||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>' % (x, y - 6, x, y + 6, col))
|
||||
# a short span cannot hold a long label centred on it - hang the text off to the left
|
||||
if lx is None:
|
||||
out.append('<text x="%.1f" y="%d" font-size="11" fill="%s" text-anchor="middle">%s</text>'
|
||||
% ((xa + xb) / 2, y - 8, col, txt))
|
||||
@@ -236,19 +272,16 @@ def joint_detail():
|
||||
% (lx, y - 8, col, txt))
|
||||
out.append('<line x1="%.1f" y1="%d" x2="%.1f" y2="%d" stroke="%s" stroke-width=".6"/>'
|
||||
% (lx + 4, y - 11, xa, y, col))
|
||||
out.append('</g>')
|
||||
dim(cy - 240, x0, x_cover, "整机长 %.1f" % MT["cover_z"])
|
||||
dim(cy - 215, x_cover, x_hub, "两盖板面跨距 %.2f" % CT["gap"], lx=620)
|
||||
dim(cy + 250, x0, x_hub, "电机尾基准 → 从动盘贴合面 = %.3f ← 全臂节距的唯一来源" % MS["HUB_FACE_Z"])
|
||||
dim(cy + 215, x_cover + 0.6 * s, x_cover + 9.0 * s, "抱箍轴向 %.3f~%.3f" % tuple(MS["CLAMP_SPAN"]), lx=470)
|
||||
|
||||
def note(x, y, tx, ty, txt, anchor="start"):
|
||||
"""Leader + label. Labels go in one of the two gutters (x=235 right-aligned, x=900
|
||||
left-aligned) - the first version dropped them on top of the geometry they describe.
|
||||
The leader runs vertical off the anchor first, then horizontal: a straight diagonal
|
||||
from anchor to gutter cut across the section it is describing."""
|
||||
out.append('<polyline points="%.1f,%.1f %.1f,%.1f %.1f,%.1f" fill="none" stroke="#555" stroke-width=".7"/>'
|
||||
out.append('<g class="sheet-note"><polyline points="%.1f,%.1f %.1f,%.1f %.1f,%.1f" fill="none" stroke="#555" stroke-width=".7"/>'
|
||||
% (x, y, x, ty, tx, ty))
|
||||
out.append('<text x="%.1f" y="%.1f" font-size="10.5" text-anchor="%s">%s</text>'
|
||||
out.append('<text x="%.1f" y="%.1f" font-size="10.5" text-anchor="%s">%s</text></g>'
|
||||
% (tx + (3 if anchor == "start" else -3), ty + 3.5, anchor, txt))
|
||||
note(x0 + 28 * s, cy - 30 * s, 235, cy - 190, "机座 Ø%.0f x %.0f，滑配孔按 Ø%.1f"
|
||||
% (MT["hous_d"], MT["hous_len"], 60.3), "end")
|
||||
@@ -271,7 +304,10 @@ def joint_detail():
|
||||
return "".join(out)
|
||||
|
||||
|
||||
SH, EL, WR = LAY["SH"], LAY["EL"], LAY["WR"]
|
||||
j2 = JOINTS["J2"]["rear"]
|
||||
j4 = JOINTS["J4"]["rear"]
|
||||
j5 = JOINTS["J5"]["rear"]
|
||||
SH, EL, WR = (j2[1], j2[2]), (j4[1], j4[2]), (j5[1], j5[2])
|
||||
DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74),
|
||||
((0, EL[0], EL[1]), (0, WR[0], WR[1]), "前臂 %.0f" % LAY["L2"], 112),
|
||||
((0, 0, 0), (0, WR[0], WR[1]), "腕轴离地 %.0f" % WR[1], -128)]
|
||||
@@ -279,13 +315,13 @@ DIMS_ARM = [((0, SH[0], SH[1]), (0, EL[0], EL[1]), "上臂 %.0f" % LAY["L1"], 74
|
||||
sheets = [
|
||||
build_sheet("front", "总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）", 1200, 800, 0.0,
|
||||
"实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。"
|
||||
"俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM),
|
||||
"俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面", True, DIMS_ARM, sheet_id="front"),
|
||||
joint_detail(),
|
||||
build_sheet("iso", "爆炸装配图（轴测）", 1200, 800, 1.0,
|
||||
"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None),
|
||||
"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序", False, None, sheet_id="exploded"),
|
||||
build_sheet("side", "总装图 - 侧视（沿 +Y 投影；俯仰轴垂直纸面）", 900, 800, 0.0,
|
||||
"肩抬举(J1)轴沿 X 前后布置，与俯仰轴平行偏置 92 mm；"
|
||||
"肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None),
|
||||
"肩吊臂侧板在 |x| ≥ 64，肢体包络 |x| ≤ 60.5，故整周不碰", True, None, sheet_id="side"),
|
||||
]
|
||||
os.makedirs(DOCS, exist_ok=True)
|
||||
for n, s in zip(("sheet_front", "sheet_joint", "sheet_exploded", "sheet_side"), sheets):
|
||||
|
||||
Reference in New Issue
Block a user