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feat: 增加组合折叠姿态干涉扫描、力矩实测与结构强度复核数据

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cbb
2026-10-02 12:06:23 +08:00
parent 6fe97fc643
commit b593e47c76
21 changed files with 1587 additions and 1030 deletions
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docs/screws.json
+121 -111
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@@ -1,112 +1,122 @@
[
{
"id": "S01",
"规格": "M2 x 10",
"螺纹": "M2",
"长度mm": 10,
"头型": "圆柱头内六角",
"数量": 18,
"位置": "J1~J6 输出毂：P04/P05/P06/P07/P08/P09 各 3 颗",
"备注": "Ø2.8 通孔 + Ø5.6 沉孔，BCD 29（3 孔均布），旋入电机输出毂螺纹孔（深 6mm）"
},
{
"id": "S02",
"规格": "M3 x 10",
"螺纹": "M3",
"长度mm": 10,
"头型": "圆柱头内六角",
"数量": 20,
"位置": "P04/P05/P06/P07/P08 各 4 颗 -> 下级电机尾端面",
"备注": "Ø2.8 通孔 + Ø5.5 沉孔（深 4mm），旋入电机尾端面 4 螺纹孔 (±17.55, ±20.46)"
},
{
"id": "S03",
"规格": "M3 x 16",
"螺纹": "M3",
"长度mm": 16,
"头型": "沉头内六角",
"数量": 4,
"位置": "P03 后置重载法兰 -> M1 电机尾端面",
"备注": "Ø3.4 通孔 + Ø6.5 沉孔，孔距 35.1 x 40.9，轴向锁死防拉脱"
},
{
"id": "S04",
"位置": "P03 前置锁紧凸台(Ø10 x4) -> M1 电机前端面",
"备注": "Ø3.2 通孔 + Ø6.0 沉孔，BCD 55（R27.5，4 孔 17.8/107.8/197.8/287.8°）；座位为舱孔前段 4 个 Ø10 局部凸台（2026-10-02 平直舱孔方案），M3x10 旋入电机前端面咬合 3.5mm",
"头型": "沉头内六角",
"数量": 4,
"螺纹": "M3",
"规格": "M3 x 10",
"长度mm": 10
},
{
"id": "S05",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 8,
"位置": "P01 立柱分段对锁：A-B 缝 4 颗 + B-C 缝 4 颗（每缝前后各 2 颗）",
"备注": "统一 Ø3.9 直孔（母口壁与公榫壁同径，只有这一个孔，无过孔/沉孔/预埋）：M4x16 从外面直接拧入自攻成型，螺纹吃在母口壁 3.6 + 公榫壁 6.9 共 10.5mm；孔位 x=-131/-93 非对称物理防反装"
},
{
"id": "S06",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "沉头内六角",
"数量": 4,
"位置": "P09 末端工具法兰 -> 末端工具/夹爪",
"备注": "Ø3.7 通孔 + Ø7.0 沉孔（深 4mm），4 孔分布圆 R20"
},
{
"id": "S07",
"规格": "M5 x 25",
"螺纹": "M5",
"长度mm": 25,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P02 底座中核心 -> P01 立柱底部榫头",
"备注": "Ø5.5 通孔 + Ø10 沉孔（深 6mm），非对称孔位防反装，轴向力由榫座面承载"
},
{
"id": "S08",
"规格": "M5 x 25",
"螺纹": "M5",
"长度mm": 25,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P02 前/后力臂 -> 中核心：前臂 2 颗 + 后臂 2 颗",
"备注": "Ø5.5 通孔 + Ø10 沉孔；需另配 M5 六角螺母 4 枚（嵌入螺母沉槽）"
},
{
"id": "S09",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P03 肩吊臂 -> P01_C 立柱顶面（从腔体上方往下拧）",
"备注": "统一 Ø3.9 直孔（鞍座与立柱顶环同径，只有这一个孔，无过孔/沉孔/预埋）：M4x16 从上方直接拧入自攻成型，穿鞍座 9mm 后吃进立柱顶环 7mm；载荷走 2403mm² 承压面，螺钉只防上抬"
},
{
"id": "S11",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 1,
"位置": "P01_C 立柱后壁 -> P03 榫头（横向防脱锁紧）",
"备注": "与 S05/S09/S06 同为 M4x16（全机 M4x16 合计 17 颗）；Ø3.9 直孔贯穿 11mm 后壁 + 榫头同径：从后方直接拧入自攻成型，榫头内咬合 4.7mm"
},
{
"id": "S10",
"规格": "M6 x 35",
"螺纹": "M6",
"长度mm": 35,
"头型": "外六角",
"数量": 6,
"位置": "底座 6 组 28x7 紧固腰槽 -> 工作台/桌面",
"备注": "需另配 M6 螺母 + 平垫圈各 6（建议加弹垫防松）"
}
]
{
"id": "S01",
"规格": "M2 x 10",
"螺纹": "M2",
"长度mm": 10,
"头型": "圆柱头内六角",
"数量": 18,
"位置": "J1~J6 输出毂：P04/P05/P06/P07/P08/P09 各 3 颗",
"备注": "Ø2.8 通孔 + Ø5.6 沉孔，BCD 29（3 孔均布），旋入电机输出毂螺纹孔（深 6mm）"
},
{
"id": "S02",
"规格": "M3 x 10",
"螺纹": "M3",
"长度mm": 10,
"头型": "圆柱头内六角",
"数量": 20,
"位置": "P04/P05/P06/P07/P08 各 4 颗 -> 下级电机尾端面",
"备注": "Ø2.8 通孔 + Ø5.5 沉孔（深 4mm），旋入电机尾端面 4x M3 螺纹径向槽（电机.STEP 实测：BCD55、相位 39.9°+90k，槽宽 2.5）"
},
{
"id": "S03",
"规格": "M3 x 16",
"螺纹": "M3",
"长度mm": 16,
"头型": "沉头内六角",
"数量": 4,
"位置": "P03 后置重载法兰 -> M1 电机尾端面",
"备注": "Ø3.4 通孔 + Ø6.5 沉孔，孔位 BCD55、相位 39.9°+90k（电机.STEP 实测螺纹径向槽），轴向锁死防拉脱；旧 35.1×40.9 矩形孔距对角两颗偏出槽位 ~4.7mm，2026-10-02 修正"
},
{
"id": "S04",
"位置": "P03 前置锁紧凸台(Ø10 x4) -> M1 电机前端面",
"备注": "Ø3.2 通孔 + Ø6.0 沉孔，BCD 55（R27.5，4 孔 17.8/107.8/197.8/287.8°）；座位为舱孔前段 4 个 Ø10 局部凸台（2026-10-02 平直舱孔方案），M3x10 旋入电机前端面咬合 3.5mm",
"头型": "沉头内六角",
"数量": 4,
"螺纹": "M3",
"规格": "M3 x 10",
"长度mm": 10
},
{
"id": "S05",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 8,
"位置": "P01 立柱分段对锁：A-B 缝 4 颗 + B-C 缝 4 颗（每缝前后各 2 颗）",
"备注": "统一 Ø3.9 直孔（母口壁与公榫壁同径，只有这一个孔，无过孔/沉孔/预埋）：M4x16 从外面直接拧入自攻成型，螺纹吃在母口壁 3.6 + 公榫壁 6.9 共 10.5mm；孔位 x=-131/-93 非对称物理防反装"
},
{
"id": "S06",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "沉头内六角",
"数量": 4,
"位置": "P09 末端工具法兰 -> 末端工具/夹爪",
"备注": "Ø3.7 通孔 + Ø7.0 沉孔（深 4mm），4 孔分布圆 R20"
},
{
"id": "S07",
"规格": "M5 x 25",
"螺纹": "M5",
"长度mm": 25,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P02 底座中核心 -> P01 立柱底部榫头",
"备注": "Ø5.5 通孔 + Ø10 沉孔（深 6mm），非对称孔位防反装，轴向力由榫座面承载"
},
{
"id": "S08",
"规格": "M5 x 25",
"螺纹": "M5",
"长度mm": 25,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P02 前/后力臂 -> 中核心：前臂 2 颗 + 后臂 2 颗",
"备注": "Ø5.5 通孔 + Ø10 沉孔；需另配 M5 六角螺母 4 枚（嵌入螺母沉槽）"
},
{
"id": "S09",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P03 肩吊臂 -> P01_C 立柱顶面（从腔体上方往下拧）",
"备注": "统一 Ø3.9 直孔（鞍座与立柱顶环同径，只有这一个孔，无过孔/沉孔/预埋）：M4x16 从上方直接拧入自攻成型，穿鞍座 9mm 后吃进立柱顶环 7mm；载荷走 2403mm² 承压面，螺钉只防上抬"
},
{
"id": "S11",
"规格": "M4 x 16",
"螺纹": "M4",
"长度mm": 16,
"头型": "圆柱头内六角",
"数量": 1,
"位置": "P01_C 立柱后壁 -> P03 榫头（横向防脱锁紧）",
"备注": "与 S05/S09/S06 同为 M4x16（全机 M4x16 合计 17 颗）；Ø3.9 直孔贯穿 11mm 后壁 + 榫头同径：从后方直接拧入自攻成型，榫头内咬合 4.7mm"
},
{
"id": "S10",
"规格": "M6 x 35",
"螺纹": "M6",
"长度mm": 35,
"头型": "外六角",
"数量": 6,
"位置": "底座 6 组 28x7 紧固腰槽 -> 工作台/桌面",
"备注": "需另配 M6 螺母 + 平垫圈各 6（建议加弹垫防松）"
},
{
"id": "S12",
"规格": "M3 x 8",
"螺纹": "M3",
"长度mm": 8,
"头型": "圆柱头内六角",
"数量": 4,
"位置": "P04 前端压盖 -> M2 电机前端盖（J2）",
"备注": "Ø3.4 通孔 + Ø6.0 沉孔（深 3.0，自压盖前端面 Y=161 沉到 Y=158），BCD 55（R27.5，4 孔 17.8/107.8/197.8/287.8°，与 P03→M1 的 S04 同约定）；螺钉头全沉入压盖，头面 Y=158 压孔口台阶，压盖背面 Y=156 与电机前端盖外端面0.0 间隙面压贴合 —— 与后端安装板 S02 的 4xM3x10 一起把 M2 前后双向夹死，消掉大扭矩下电机绕 J2 轴点头/翘起的倾向；M3x8 穿过 3.5mm 端盖后再自攻入壳体约 4.5mm"
}
]