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docs: 更新V2版机器人手臂零件设计说明与渲染截图

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2026-09-27 00:28:49 +08:00
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[
{
"件号": "P01_胸板",
"名称": "躯干/胸腔安装板",
"名称": "胸腔支撑立柱（V2高刚性箱型梁+榫卯台座+工艺走线窗）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 565.9,
"质量g_PLA": 701.7,
"包络": "[-6.0 -62.0 20.0 .. 6.0 62.0 470.0] (12.0x124.0x450.0)",
"说明": "手臂根部；12 厚板，顶面与肩吊臂桥板用 4x M4 连接，另有走线窗"
"体积cm3": 847.7,
"质量g_PLA": 1051.2,
"包络": "[-60.0 14.0 22.0 .. 6.0 80.0 470.0] (66.0x66.0x448.0)",
"说明": "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"
},
{
"件号": "P02_底脚",
"名称": "站立底脚",
"名称": "测试台架底座（V2高刚度抗倾覆底盘+嵌装定位槽）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 864.8,
"质量g_PLA": 1072.3,
"包络": "[-84.0 -86.0 -0.0 .. 84.0 172.0 20.0] (168.0x258.0x20.0)",
"说明": "0..20，与机架安装面连接"
"体积cm3": 1305.9,
"质量g_PLA": 1619.3,
"包络": "[-121.3 -91.3 -0.0 .. 81.3 231.3 22.0] (202.6x322.6x22.0)",
"说明": "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"
},
{
"件号": "P03_肩吊臂",
"名称": "肩部基座（对标灵犀X1，胸部直出）",
"名称": "肩关节基座机壳（V2高刚性规整风道散热版）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 298.4,
"质量g_PLA": 370.0,
"包络": "[-59.0 40.0 436.0 .. 35.0 163.0 645.0] (94.0x123.0x209.0)",
"说明": "胸腔顶部直出基座；抱紧M1定子"
"体积cm3": 386.5,
"质量g_PLA": 479.2,
"包络": "[-59.0 16.0 455.0 .. 5.0 167.5 649.5] (64.0x151.5x194.5)",
"说明": "V2浑然一体散热版：Ø73mm机舱+7组轴向散热格栅+PCBA对流窗+一体化顺滑斜挑立柱"
},
{
"件号": "P04_肩叉",
"名称": "正交肩肘（取消独立联轴器，3×M2螺钉直锁M1输出轴，贯通沉头孔）",
"名称": "肩叉（V2深度圆角版：顶部凸台R=8mm圆弧+圆盘边缘R=10mm）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 306.3,
"质量g_PLA": 379.8,
"体积cm3": 347.3,
"质量g_PLA": 430.7,
"包络": "[-16.5 90.0 455.0 .. 53.5 166.0 648.0] (70.0x76.0x193.0)",
"说明": "受 J1 驱动，一体化 3x M2 螺钉直锁 M1 电机输出轴，贯通沉头孔；90°一体化高刚度正交转向肘，抱紧 M2 电机"
"说明": "V2圆角：顶部方形突起改为R=8mm圆弧过渡，圆盘边缘R=10mm大圆角"
},
{
"件号": "P05_大臂旋转座",
"名称": "大臂旋转座（取消独立联轴器，3×M2螺钉直锁M2输出轴，贯通沉头孔）",
"名称": "大臂旋转座（V2深度圆角版：16层Loft+连接处R=15mm）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 182.3,
"质量g_PLA": 226.1,
"体积cm3": 162.9,
"质量g_PLA": 202.0,
"包络": "[-16.5 93.0 389.0 .. 53.5 174.0 525.0] (70.0x81.0x136.0)",
"说明": "受 J2 驱动，彻底取消黄色独立联轴器；基座直接贴合 M2 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；90°正交抱紧 M3 电机，中间 100% 敞开散热"
"说明": "V2圆角：Loft外轮廓R=10mm，后骨架与法兰连接处R=15mm超大圆角"
},
{
"件号": "P06_大臂骨架",
"名称": "大臂骨架（取消独立联轴器，3×M2螺钉直锁M3输出轴，贯通沉头孔）",
"名称": "大臂骨架（V2深度圆角版：大圆弧收腰+外轮廓R=10mm）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 182.9,
"质量g_PLA": 226.8,
"体积cm3": 165.8,
"质量g_PLA": 205.5,
"包络": "[-16.5 91.8 297.0 .. 53.5 163.0 390.1] (70.0x71.2x93.1)",
"说明": "受 J3 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M3 输出轴；流线型工字骨架+走线槽，底端抱紧 M4 肘部电机"
"说明": "V2圆角：XZ大圆弧零台阶，外轮廓R=10mm，过渡区R=6mm"
},
{
"件号": "P07_小臂骨架",
"名称": "小臂骨架（取消独立联轴器，3×M2螺钉直锁M4输出轴，贯通沉头孔）",
"名称": "小臂骨架（V2 L型高刚度折角版：+Y立柱+折角刚性连接+半包散热）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 277.1,
"质量g_PLA": 343.6,
"体积cm3": 176.8,
"质量g_PLA": 219.3,
"包络": "[-16.5 92.0 187.0 .. 53.5 174.0 367.0] (70.0x82.0x180.0)",
"说明": "受 J4 驱动，彻底取消黄色独立联轴器；从动盘直接贴合 M4 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；轻量高刚度骨架，底端抱紧 M5 电机"
"说明": "V2 L型结构：+Y侧背脊立柱避让大臂骨架，折角刚性过渡，下方M5电机半包散热，俯仰大范围自由运动零干涉"
},
{
"件号": "P08_腕偏转座",
"名称": "腕部转接座（取消独立联轴器，3×M2螺钉直锁M5输出轴，贯通沉头孔）",
"名称": "腕部转接座（V2深度圆角版：16层Loft+连接处R=15mm）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 185.2,
"质量g_PLA": 229.6,
"体积cm3": 163.1,
"质量g_PLA": 202.3,
"包络": "[-16.5 93.0 120.0 .. 53.5 174.0 257.0] (70.0x81.0x137.0)",
"说明": "受 J5 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M5 输出轴；两端刚性固定 M6 立式电机，中间 100% 敞开散热"
"说明": "V2圆角：Loft外轮廓R=10mm，后骨架与法兰连接处R=15mm超大圆角"
},
{
"件号": "P09_工具法兰",
"名称": "末端工具法兰（取消独立联轴器，3×M2螺钉直锁M6输出轴，贯通沉头孔）",
"名称": "末端工具法兰（V2深度圆角版：外轮廓R=3mm）",
"类型": "3D打印",
"数量": 1,
"体积cm3": 98.8,
"质量g_PLA": 122.5,
"包络": "[-16.5 93.0 93.0 .. 53.5 163.0 121.1] (70.0x70.0x28.1)",
"说明": "受 J6 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M6 输出轴；标准工业法兰接口，4x M4 螺孔 BCD 40mm + 定位止口与走线孔"
"说明": "V2圆角：外轮廓R=3mm，法兰面倒角2mm"
},
{
"件号": "M1_J1",