feat: P01/P02阶梯榫卯面承载+P03侧开式托架/P04加长避让重构，精简零件显示名并同步重建模型数据与查看器，清理历史文档
This commit is contained in:
+132
-76
@@ -23,6 +23,7 @@ from OCP.BRepAlgoAPI import BRepAlgoAPI_Common
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from human_layout import (HUB, PLATE_T, R_MOT, Z_TIP, Z_WR, Z_EI, Z_SH, Z_RL, Z_R1,
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Z_R3, Z_HUB3, Z_EL, Z_R6, Z_HUB6,
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Z_R4, Z_CAP, Z_M6, Z_CHEST0, Z_CHEST1, X_J1_HUB, X_ARM, L1,
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X_FORK_GAP,
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Y_AXIS, Y_HUB, Y_REAR, Y_COVER, Y_H, Y_R_IN, Y_R_OUT,
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Y_M6, Y_CHEST, X_CHEST, FOOT_H)
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@@ -83,9 +84,9 @@ Y_COL = Y_AXIS # 128.0
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def p_chest():
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"""P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower - 后置台架立柱):
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1. 66x66mm 封闭中空厚壁箱型柱（壁厚 8mm），中心在 (-115.0, 128.0)，位于手臂正后方；
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1. 66x66mm 封闭中空厚壁箱型柱（壁厚 11mm，内腔 44x44），中心在 (-115.0, 128.0)，位于手臂正后方；
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2. 顶部接收 P03 48x48x15mm 榫头插槽与 4x M5 安装螺栓；
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3. 底部插入 P02 沉槽（深度 12mm），剪切力由槽壁全周承载；
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3. 底部 50x50x12mm 阶梯榫头插入 P02 榫座：环形台肩(66->50)面承载轴向力，槽壁全周承载剪切；
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4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
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5. 外棱角全部采用 R=6mm 圆角。
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"""
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@@ -99,14 +100,23 @@ def p_chest():
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s = cq.Shape(col.wrapped)
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cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot + 10.0))
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.rect(50.0, 50.0)
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.rect(44.0, 44.0)
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.extrude(z_top - z_bot + 1.0)
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.edges("|Z").fillet(4.0)).val()
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s = s.cut(cav)
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# 底部阶梯榫头：插入 P02 榫座后环形台肩坐实，轴向力走面压而非 M5 螺纹
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tenon = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
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.rect(50.0, 50.0).extrude(z_bot - 10.0)
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.edges("|Z").fillet(4.0)).val()
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s = s.fuse(tenon)
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# 底部 M5 夹紧孔（贯通榫头）：X 向非对称 (−20/+16) 与榫座孔位配对防反装/防转 90°
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for xx in (X_COL - 20.0, X_COL + 16.0):
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for yy in (Y_COL - 18.0, Y_COL + 18.0):
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s = s.cut(cyl(2.75, 9.99, z_bot + 15.0, xx, yy))
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for xx in (X_COL - 21.0, X_COL + 21.0):
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for yy in (Y_COL - 21.0, Y_COL + 21.0):
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s = s.cut(cyl(2.75, z_bot - 0.01, z_bot + 15.0, xx, yy))
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s = s.cut(cyl(2.75, z_top - 20.0, z_top + 0.01, xx, yy))
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w_bot = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 105.0))
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@@ -123,7 +133,8 @@ def p_chest():
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def split_p01_poka_yoke(p01):
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"""拆分 P01 为 A/B/C 三段（严格适配 200x200mm 打印机，竖直免支撑打印）：
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带 16mm 阶梯互锁榫卯、非对称 M4 横向对锁穿钉孔（物理防反装防呆）、以及本体 3D 凹刻朝向标识。
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带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 7.1，内腔收窄 51->44 换取双厚壁，
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单边配合间隙 0.3）、非对称 M4 横向对锁穿钉孔（物理防反装防呆）、以及本体 3D 凹刻朝向标识。
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"""
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z_bot = 22.0
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z_s1 = 172.0
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@@ -138,10 +149,10 @@ def split_p01_poka_yoke(p01):
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cut_above_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s1, z_top + 10.0)
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p01_a_base = p01.cut(cut_above_s1)
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tongue1_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1))
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.rect(64.8, 64.8).extrude(h_lap)
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.edges("|Z").fillet(5.5).edges(">Z").chamfer(1.5)).val()
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.rect(58.2, 58.2).extrude(h_lap)
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.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
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tongue1_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 1.0))
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.rect(51.0, 51.0).extrude(h_lap + 2.0)).val()
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.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
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tongue1 = cq.Shape(tongue1_outer.wrapped).cut(tongue1_cav)
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p01_a = p01_a_base.fuse(tongue1)
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@@ -149,23 +160,30 @@ def split_p01_poka_yoke(p01):
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for xx in xx_bolts:
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p01_a = p01_a.cut(Ycyl(2.2, Y_COL - 40.0, Y_COL + 40.0, xx, z_bolt1))
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label_a = (cq.Workplane("YZ", origin=(-82.0, Y_COL, 120.0))
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.text("P01-A ▲ TOP", 9.0, -0.8)).val()
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# Engrave the front (-Y) flat face, reading VERTICALLY bottom-to-top along
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# the column (user request): local +X = world +Z, local +Y = world -X, so
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# the trailing "▶" glyph renders pointing world-up (+Z).
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front_label_plane_a = cq.Plane(
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origin=(X_COL, Y_COL - 33.0, 120.0),
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xDir=(0, 0, 1), normal=(0, -1, 0),
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)
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label_a = (cq.Workplane(front_label_plane_a)
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.text("P01-A TOP ▶", 9.0, -0.8)).val()
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p01_a = p01_a.cut(cq.Shape(label_a.wrapped))
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# --- P01_B (中段) ---
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cut_below_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 10.0, z_s1)
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cut_below_s1 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s1)
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cut_above_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_s2, z_top + 10.0)
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p01_b_base = p01.cut(cut_below_s1).cut(cut_above_s2)
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pocket1 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 0.1))
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.rect(65.4, 65.4).extrude(h_lap + 0.6).edges("|Z").fillet(5.8)).val()
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.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.7)).val()
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p01_b_base = p01_b_base.cut(pocket1)
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tongue2_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2))
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.rect(64.8, 64.8).extrude(h_lap)
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.edges("|Z").fillet(5.5).edges(">Z").chamfer(1.5)).val()
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.rect(58.2, 58.2).extrude(h_lap)
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.edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
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tongue2_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 1.0))
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.rect(51.0, 51.0).extrude(h_lap + 2.0)).val()
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.rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
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tongue2 = cq.Shape(tongue2_outer.wrapped).cut(tongue2_cav)
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p01_b = p01_b_base.fuse(tongue2)
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@@ -174,21 +192,29 @@ def split_p01_poka_yoke(p01):
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p01_b = p01_b.cut(Ycyl(2.2, Y_COL - 40.0, Y_COL + 40.0, xx, z_bolt1))
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p01_b = p01_b.cut(Ycyl(2.2, Y_COL - 40.0, Y_COL + 40.0, xx, z_bolt2))
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label_b = (cq.Workplane("YZ", origin=(-82.0, Y_COL, 240.0))
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.text("P01-B ▲ TOP", 9.0, -0.8)).val()
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front_label_plane_b = cq.Plane(
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origin=(X_COL, Y_COL - 33.0, 240.0),
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xDir=(0, 0, 1), normal=(0, -1, 0),
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)
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label_b = (cq.Workplane(front_label_plane_b)
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.text("P01-B TOP ▶", 9.0, -0.8)).val()
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p01_b = p01_b.cut(cq.Shape(label_b.wrapped))
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# --- P01_C (上段) ---
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cut_below_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 10.0, z_s2)
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cut_below_s2 = bx(X_COL - 50.0, X_COL + 50.0, Y_COL - 50.0, Y_COL + 50.0, z_bot - 14.0, z_s2)
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p01_c_base = p01.cut(cut_below_s2)
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pocket2 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 0.1))
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.rect(65.4, 65.4).extrude(h_lap + 0.6).edges("|Z").fillet(5.8)).val()
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.rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.7)).val()
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p01_c = p01_c_base.cut(pocket2)
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for xx in xx_bolts:
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p01_c = p01_c.cut(Ycyl(2.2, Y_COL - 40.0, Y_COL + 40.0, xx, z_bolt2))
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label_c = (cq.Workplane("YZ", origin=(-82.0, Y_COL, 390.0))
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.text("P01-C ▲ TOP", 9.0, -0.8)).val()
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front_label_plane_c = cq.Plane(
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origin=(X_COL, Y_COL - 33.0, 390.0),
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xDir=(0, 0, 1), normal=(0, -1, 0),
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)
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label_c = (cq.Workplane(front_label_plane_c)
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.text("P01-C TOP ▶", 9.0, -0.8)).val()
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p01_c = p01_c.cut(cq.Shape(label_c.wrapped))
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return p01_a, p01_b, p01_c
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@@ -242,14 +268,23 @@ def make_p02_poka_yoke():
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wire_guide = (cq.Workplane("XZ", origin=(0, Y_COL, 0)).polyline(wg_pts).close().extrude(9.0, both=True)).val()
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p02_c = p02_c.cut(wire_guide)
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# Column socket
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socket = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
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.rect(66.6, 66.6).extrude(z_collar_top - 10.0 + 1.0).edges("|Z").fillet(6.3)).val()
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p02_c = p02_c.cut(socket)
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# Column socket — stepped mortise: upper 66.6 bore for the 66 box walls,
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# lower 50.6 recess (floor 0.6 low) for the 50x50 bottom tenon; the recess
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# rim at z=22 is the axial seat, so column weight bears on face, not threads.
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socket_upper = (cq.Workplane("XY", origin=(X_COL, Y_COL, z1))
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.rect(66.6, 66.6).extrude(z_collar_top - z1 + 1.0)
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.edges("|Z").fillet(6.3)).val()
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p02_c = p02_c.cut(socket_upper)
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socket_lower = (cq.Workplane("XY", origin=(X_COL, Y_COL, 9.4))
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.rect(50.6, 50.6).extrude(z1 - 9.4)
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.edges("|Z").fillet(4.3)).val()
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p02_c = p02_c.cut(socket_lower)
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# Vertical M5 base bolts
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for xx in (X_COL - 21.0, X_COL + 21.0):
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for yy in (Y_COL - 21.0, Y_COL + 21.0):
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# Vertical M5 clamp bolts (offsets match the asymmetric column tenon holes:
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# X −20/+16 blocks 180° flip, the ±18 Y span blocks 90° rotation).
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# Threads engage the tenon 15mm — clamp only, axial load rides on the seat.
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for xx in (X_COL - 20.0, X_COL + 16.0):
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for yy in (Y_COL - 18.0, Y_COL + 18.0):
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p02_c = p02_c.cut(cyl(2.75, -0.01, 10.5, xx, yy)).cut(cyl(5.0, -0.01, 6.0, xx, yy))
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# Center clamp slots
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@@ -278,9 +313,13 @@ def make_p02_poka_yoke():
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p02_c = p02_c.cut(cyl(2.75, -0.01, z1 + 1.0, -185.0, yy))
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p02_c = p02_c.cut(cyl(5.0, z1 - 5.0, z1 + 1.0, -185.0, yy))
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# Debossed text on P02_Center top face
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txt_c_f = (cq.Workplane("XY", origin=(-35.0, Y_COL, z1)).text("▲ FRONT (前向) ▲", 9.0, -0.8)).val()
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txt_c_r = (cq.Workplane("XY", origin=(-165.0, Y_COL, z1)).text("▲ REAR (后向) ▲", 9.0, -0.8)).val()
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# Debossed text on P02_Center top face. The mid-plate line (y=Y_COL) is
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# hidden behind the column collar and the gusset ribs, so both labels sit on
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# the flat -Y side strip (y = Y_COL-68) where they stay in full view from the
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# label side: REAR on the rear half, FRONT on the front half, clear of the
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# clamp slot (x -101..-94) and the M5 screw counterbores.
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txt_c_f = (cq.Workplane("XY", origin=(-49.0, Y_COL - 68.0, z1)).text("▲ FRONT (前向) ▲", 9.0, -0.8)).val()
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txt_c_r = (cq.Workplane("XY", origin=(-146.0, Y_COL - 68.0, z1)).text("▲ REAR (后向) ▲", 9.0, -0.8)).val()
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p02_c = p02_c.cut(cq.Shape(txt_c_f.wrapped)).cut(cq.Shape(txt_c_r.wrapped))
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# 2. P02_Front (X = 0.0 .. 145.0, 145x190mm)
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@@ -305,7 +344,12 @@ def make_p02_poka_yoke():
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nut_pocket = (cq.Workplane("XY", origin=(-10.0, yy, -0.01)).polygon(6, 9.2).extrude(5.0)).val()
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p02_f = p02_f.cut(nut_pocket)
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txt_f = (cq.Workplane("XY", origin=(60.0, Y_COL, z1)).text("P02-FRONT [前向防倾翻力臂] ◀ JOIN", 9.0, -0.8)).val()
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# Top-face engraving rotated 90 deg to run across the plate along +Y (user
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# request): letter tops face -X, so it reads upright from the front (+X).
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# "▲" points local +Y = world -X, i.e. toward the centre joint.
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txt_f = (cq.Workplane(cq.Plane(origin=(x_f_mid, Y_COL, z1), xDir=(0, 1, 0),
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normal=(0, 0, 1)))
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.text("P02-FRONT ▲ JOIN", 8.0, -0.8)).val()
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p02_f = p02_f.cut(cq.Shape(txt_f.wrapped))
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# 3. P02_Rear (X = -240.0 .. -195.0, 45x190mm)
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@@ -330,7 +374,12 @@ def make_p02_poka_yoke():
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nut_pocket = (cq.Workplane("XY", origin=(-185.0, yy, -0.01)).polygon(6, 9.2).extrude(5.0)).val()
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p02_r = p02_r.cut(nut_pocket)
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txt_r = (cq.Workplane("XY", origin=(-215.0, Y_COL, z1)).text("P02-REAR ▶ JOIN", 7.5, -0.8)).val()
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# Same +Y rotation as the front plate; "▼" points local -Y = world +X,
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# i.e. toward the centre joint. Along +Y the ~73 mm text fits the 190 mm
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# plate width instead of overhanging its 45 mm X span.
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txt_r = (cq.Workplane(cq.Plane(origin=(x_r_mid, Y_COL, z1), xDir=(0, 1, 0),
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normal=(0, 0, 1)))
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.text("P02-REAR ▼ JOIN", 7.5, -0.8)).val()
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p02_r = p02_r.cut(cq.Shape(txt_r.wrapped))
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return p02_c, p02_f, p02_r
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@@ -443,12 +492,12 @@ def p_base_foot():
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def p_girdle(j1):
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"""P03_肩关节安装悬臂 (高强受力多筋桁架 + 前向电机全包托架与前置止脱锁紧法兰):
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"""P03_肩关节安装悬臂 (高强受力多筋桁架 + 侧开式电机托架与前置止脱锁紧法兰):
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1. 10mm 后端重载法兰盘 (X: -61.0..-51.0, 74x74mm)；
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2. 双侧大截面三角加强筋 (8mm 厚，Y = Y_ARM ± 28mm)；
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3. 下腹部纵向大受力龙骨筋 (12mm 厚)；
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4. 顶部横向锁紧环抱筋 (60x10x10mm)；
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5. 前向电机全包托架与前置止脱锁紧法兰 (X: -51.0..8.5)，将 M1 电机定子完全包覆并向前锁死；
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5. 侧开式电机托架 (+Y侧全开, X: -51.0..8.5)，M1 电机可从侧方滑入装配，由后端法兰 4xM3 与前置止脱锁紧法兰 4xM3 双向锁死；
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6. 端面 4x Ø3.2mm 沉头通孔直连 M1 定子端面螺纹孔 (BCD=55mm)，彻底消除轴向拉脱风险；
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7. 两侧大面积散热舷窗 (34x20mm) + 顶部双斜向对流排热槽 (30x6.5mm)，确保散热畅通；
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8. 4x 直通式螺丝刀安装通道 (Ø8.5mm) 与 Ø26mm 中央走线孔。
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@@ -573,6 +622,12 @@ def p_girdle(j1):
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th = Xcyl(1.6, 4.5, X_FRONT + 0.5, fy, fz)
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cb = Xcyl(3.0, 6.5, X_FRONT + 0.5, fy, fz)
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s = s.cut(th).cut(cb)
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# 8. 电机托架 +Y 侧全开（侧开式半包，替代原封闭全包筒）：
|
||||
# M1 电机可从 +Y 侧方直线滑入托架完成装配——原封闭筒电机物理上无法装入。
|
||||
# 轴向约束：后端法兰 4xM3（电机尾端面）+ 前置止脱法兰 4xM3（电机前端面）双向锁死；
|
||||
# 径向约束：Ø60.7 精密滑配托架底 + 重力贴底。开口前端至 5.06 保留完整止脱法兰环。
|
||||
s = s.cut(bx(X_MOUNT, 5.06, Y_ARM, Y_ARM + 60.0, Z_ARM - 60.0, Z_ARM + 60.0))
|
||||
|
||||
# 7. 散热系统：双侧大视窗 + 顶部斜向对流排热槽
|
||||
for sign in (-1, 1):
|
||||
@@ -598,8 +653,9 @@ def p_girdle(j1):
|
||||
|
||||
|
||||
def p_fork(j1, j2):
|
||||
"""P04_肩叉 (Shoulder Fork / L-Bracket) - 加长避让与大扭矩强化版:
|
||||
1. 头部与身子起点自 X=5.5 前移加长至 X=10.5，与 P03 前置锁紧法兰 (X=8.5) 保持 2.0mm 均匀轴向安全间隙；
|
||||
"""P04_肩叉 (Shoulder Fork / L-Bracket) - 加长避让顺滑流线版:
|
||||
1. 头部与身子起点自 X=5.5 前移加长至 X=10.5，与 P03 前置锁紧法兰 (X=8.5) 保持 2.0mm 均匀轴向安全间隙
|
||||
（X_FORK_GAP=0：不做整体前移，保持 J1 输出端最短悬伸力臂，避免额外弯矩负荷）；
|
||||
2. J1 从动法兰盘厚度 17.5mm (X: 10.5..28.0, R=38mm)，顶部连续齐平于 Z=648.0mm，以 R=18mm 大圆弧倒角顺滑过渡；
|
||||
3. 头部转接凸台加长贯通 P03 前盖中心孔 (R=19.5mm)，直连 J1 旋转法兰盘；
|
||||
4. M2 前端定位环 (R=35mm) 与后端安装板完整保留，中间镂空散热；
|
||||
@@ -612,13 +668,13 @@ def p_fork(j1, j2):
|
||||
front_collar = Ycyl(35.0, Y_COVER - 6.5, Y_COVER - 0.5, X_ARM, Z_SH)
|
||||
s = rear_plate.fuse(front_collar)
|
||||
|
||||
# 3. J1 从动法兰盘 (自 X=10.5 延伸至 28.0，厚度 17.5mm)
|
||||
disc_j1 = Xcyl(38.0, 10.5, 28.0, Y_AXIS, Z_RL)
|
||||
# 3. J1 从动法兰盘 (自 X=16.5 延伸至 34.0，厚度 17.5mm)
|
||||
disc_j1 = Xcyl(38.0, 10.5 + X_FORK_GAP, 28.0 + X_FORK_GAP, Y_AXIS, Z_RL)
|
||||
s = s.fuse(disc_j1)
|
||||
|
||||
# 4. XZ 平面有机连续流线轮廓（加长避让顺滑过渡）：
|
||||
x_b, z_b = -12.65, 506.0
|
||||
x_a, z_a = 10.5, 545.0
|
||||
# 4. XZ 平面有机连续流线轮廓（随 X_FORK_GAP 整体前移，避让顺滑过渡）：
|
||||
x_b, z_b = -12.65 + X_FORK_GAP, 506.0
|
||||
x_a, z_a = 10.5 + X_FORK_GAP, 545.0
|
||||
Lz = z_a - z_b
|
||||
d0 = 0.514 * Lz
|
||||
d1 = 0.0
|
||||
@@ -635,20 +691,20 @@ def p_fork(j1, j2):
|
||||
zh = z_b + t * Lz
|
||||
hermite_pts.append((xh, zh))
|
||||
|
||||
dx_flare = 53.5 - 44.0
|
||||
dx_flare = (53.5 + X_FORK_GAP) - (44.0 + X_FORK_GAP)
|
||||
dz_flare = 545.0 - 490.0
|
||||
R_flare = (dx_flare**2 + dz_flare**2) / (2.0 * dx_flare)
|
||||
|
||||
xz_wire = (cq.Workplane("XZ", origin=(0, Y_AXIS, 0))
|
||||
.moveTo(10.5, 545.0)
|
||||
.lineTo(10.5, Z_RL + 38.0)
|
||||
.lineTo(28.0, Z_RL + 38.0)
|
||||
.radiusArc((44.0, 630.0), 18.0)
|
||||
.lineTo(44.0, 545.0)
|
||||
.radiusArc((53.5, 490.0), -R_flare)
|
||||
.lineTo(18.5, 490.0)
|
||||
.lineTo(-16.5, 490.0)
|
||||
.threePointArc((-15.1, 498.5), (-12.65, 506.0)))
|
||||
.moveTo(10.5 + X_FORK_GAP, 545.0)
|
||||
.lineTo(10.5 + X_FORK_GAP, Z_RL + 38.0)
|
||||
.lineTo(28.0 + X_FORK_GAP, Z_RL + 38.0)
|
||||
.radiusArc((44.0 + X_FORK_GAP, 630.0), 18.0)
|
||||
.lineTo(44.0 + X_FORK_GAP, 545.0)
|
||||
.radiusArc((53.5 + X_FORK_GAP, 490.0), -R_flare)
|
||||
.lineTo(18.5 + X_FORK_GAP, 490.0)
|
||||
.lineTo(-16.5 + X_FORK_GAP, 490.0)
|
||||
.threePointArc((-15.1 + X_FORK_GAP, 498.5), (-12.65 + X_FORK_GAP, 506.0)))
|
||||
for pt in hermite_pts[1:]:
|
||||
xz_wire = xz_wire.lineTo(pt[0], pt[1])
|
||||
xz_wire = xz_wire.close()
|
||||
@@ -680,15 +736,15 @@ def p_fork(j1, j2):
|
||||
c_m2 = [cyl(BORE_R, -0.6, COVER_Z - 3.5), cyl(CB_R, COVER_Z - 3.5, COVER_Z + 0.6)]
|
||||
s = s.cut(*[j2.L(item) for item in c_m2])
|
||||
|
||||
# 8. 头部转接凸台加长（贯通 P03 前盖中心孔，连接 J1 输出盘）
|
||||
boss = cyl(17.8, 54.942, 61.5)
|
||||
# 8. 头部转接凸台加长（贯通 P03 前盖中心孔，跨越装配缝直连 J1 输出盘）
|
||||
boss = cyl(17.8, 54.942, 61.5 + X_FORK_GAP)
|
||||
s = s.fuse(j1.L(boss))
|
||||
s = s.cut(j1.L(cyl(3.5, 54.0, 74.0 + 30.0)))
|
||||
for a in AB.HUB_M2_CLOCK:
|
||||
u = AB.M['m2_bcd'] / 2.0 * math.cos(a * AB.D2R)
|
||||
v = AB.M['m2_bcd'] / 2.0 * math.sin(a * AB.D2R)
|
||||
th = cyl(1.4, 54.0, 63.0, u, v)
|
||||
cb = cyl(2.8, 63.0, 74.0 + 40.0, u, v)
|
||||
th = cyl(1.4, 54.0, 63.0 + X_FORK_GAP, u, v)
|
||||
cb = cyl(2.8, 63.0 + X_FORK_GAP, 74.0 + 40.0 + X_FORK_GAP, u, v)
|
||||
s = s.cut(j1.L(th)).cut(j1.L(cb))
|
||||
|
||||
return s
|
||||
@@ -1108,31 +1164,31 @@ def build():
|
||||
p02_c, p02_f, p02_r = make_p02_poka_yoke()
|
||||
|
||||
parts_to_build = [
|
||||
("P01_A_立柱下段", "立柱下段（P01-A 标识版）", lambda: p01_a, 0x0284c7,
|
||||
"200mm适配分段A：高166mm+16mm阶梯公榫+非对称M4防反装通孔+P01-A ▲ TOP刻字"),
|
||||
("P01_B_立柱中段", "立柱中段（P01-B 标识版）", lambda: p01_b, 0x2563eb,
|
||||
"200mm适配分段B：高165mm+双端公母榫+非对称M4防反装通孔+P01-B ▲ TOP刻字"),
|
||||
("P01_C_立柱上段", "立柱上段（P01-C 标识版）", lambda: p01_c, 0x1d4ed8,
|
||||
"200mm适配分段C：高149mm+底端母榫+非对称M4防反装通孔+顶面P03安装台+P01-C ▲ TOP刻字"),
|
||||
("P02_Center_底座中核心", "底座核心承力座（防呆榫卯版）", lambda: p02_c, 0x475569,
|
||||
"200mm适配中座：195x190mm核心承力座+48mm立柱套筒+前后三角加强筋+前后非对称防呆母榫槽+刻字"),
|
||||
("P02_Front_前向防翻力臂", "前向防翻力臂（P02-FRONT 标识版）", lambda: p02_f, 0xe11d48,
|
||||
("P01_A_立柱下段", "立柱下段", lambda: p01_a, 0x0284c7,
|
||||
"200mm适配分段A：高166mm+16mm阶梯公榫+非对称M4防反装通孔+底部50x50x12榫头+P01-A 竖排TOP刻字"),
|
||||
("P01_B_立柱中段", "立柱中段", lambda: p01_b, 0x2563eb,
|
||||
"200mm适配分段B：高165mm+双端公母榫+非对称M4防反装通孔+P01-B 竖排TOP刻字"),
|
||||
("P01_C_立柱上段", "立柱上段", lambda: p01_c, 0x1d4ed8,
|
||||
"200mm适配分段C：高149mm+底端母榫+非对称M4防反装通孔+顶面P03安装台+P01-C 竖排TOP刻字"),
|
||||
("P02_Center_底座中核心", "底座核心承力座", lambda: p02_c, 0x475569,
|
||||
"200mm适配中座：195x190mm核心承力座+48mm套筒+12mm阶梯榫座(轴向面承载)+前后三角加强筋+前后非对称防呆母榫槽+刻字"),
|
||||
("P02_Front_前向防翻力臂", "前向防翻力臂", lambda: p02_f, 0xe11d48,
|
||||
"200mm适配前臂：145x190mm扩展力臂+104mm宽跨距双公榫+底部M5预埋螺母沉槽+P02-FRONT刻字"),
|
||||
("P02_Rear_后向防翻力臂", "后向防翻力臂（P02-REAR 标识版）", lambda: p02_r, 0xd97706,
|
||||
("P02_Rear_后向防翻力臂", "后向防翻力臂", lambda: p02_r, 0xd97706,
|
||||
"200mm适配后臂：45x190mm扩展力臂+80mm窄跨距双公榫+底部M5预埋螺母沉槽+P02-REAR刻字"),
|
||||
("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,
|
||||
"加长避让版：头部与身子前移加长至X=10.5，与P03锁紧法兰保持2.0mm轴向安全间隙，顶部顺滑齐平于Z=648mm，单实体全角度零干涉"),
|
||||
("P05_大臂旋转座", "大臂旋转座（深度圆角版：16层Loft+内部L转角2mm倒角+动态零干涉）", lambda: p_shoulder_roll_base(j2, j3, None), 0x059669,
|
||||
("P03_肩吊臂", "肩关节安装悬臂", 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+侧开式电机托架(M1从+Y侧滑入装配,前后法兰8xM3双向锁死)+前置止脱锁紧法兰(4xM3止脱螺孔)+大散热窗与对流槽"),
|
||||
("P04_肩叉", "肩叉", lambda: p_fork(j1, j2), 0x2563eb,
|
||||
"加长避让版：头部与身子前移加长至X=10.5，与P03锁紧法兰保持2.0mm轴向安全间隙（不做前移，保持输出端最短悬伸力臂），J1输出凸台贯通直连电机，顶部顺滑齐平于Z=648mm，单实体全角度零干涉"),
|
||||
("P05_大臂旋转座", "大臂旋转座", lambda: p_shoulder_roll_base(j2, j3, None), 0x059669,
|
||||
"V2圆角：Loft外轮廓R=10mm，L型转角内部2mm倒角，彻底清除立壁保证J2全角度0干涉"),
|
||||
("P06_大臂骨架", "大臂骨架（Loft圆弧转方有机过渡版）", lambda: p_humerus_bone(j3, j4), 0x0d9488,
|
||||
("P06_大臂骨架", "大臂骨架", lambda: p_humerus_bone(j3, j4), 0x0d9488,
|
||||
"Loft有机过渡版：借鉴P05圆弧变方形放样算法，顶端Ø70正圆与J3平齐无台阶，底端渐变融入M4抱紧套筒与壳体，单实体0干涉"),
|
||||
("P07_小臂骨架", "小臂骨架（L型圆弧加强版：R=28mm双相切内凹大圆弧+消除悬空块）", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
|
||||
("P07_小臂骨架", "小臂骨架", lambda: p_forearm_bone(j4, j5, None), 0x7c3aed,
|
||||
"V2 L型结构：+Y侧背脊立柱避让大臂骨架，过渡区采用与顶面和立柱双相切的R=28mm平滑内凹大圆弧，彻底消除直斜线折角与悬空阶梯小块，下方M5电机半包散热，俯仰大范围自由运动零干涉"),
|
||||
("P08_腕偏转座", "腕部转接座（深度圆角版：16层Loft+内部L转角2mm倒角+动态零干涉）", lambda: p_wrist_bracket(j5, j6), 0xd97706,
|
||||
("P08_腕偏转座", "腕部转接座", lambda: p_wrist_bracket(j5, j6), 0xd97706,
|
||||
"V2圆角：Loft外轮廓R=10mm，L型转角内部2mm倒角，彻底清除立壁保证J5全角度0干涉"),
|
||||
("P09_工具法兰", "末端工具法兰（深度圆角版：外轮廓R=3mm）", lambda: p_tool_flange(j6), 0xdc2626,
|
||||
("P09_工具法兰", "末端工具法兰", lambda: p_tool_flange(j6), 0xdc2626,
|
||||
"V2圆角：外轮廓R=3mm，法兰面倒角2mm"),
|
||||
]
|
||||
|
||||
|
||||
Reference in New Issue
Block a user