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feat(arm): 电机双向夹紧与2mm厚度公差让位，立柱减重槽及文档同步更新

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cbb
2026-10-04 13:16:32 +08:00
parent b593e47c76
commit e3b25452e1
70 changed files with 14420 additions and 496 deletions
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src/shot.py
+27 -1
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@@ -55,6 +55,10 @@ VIEWS = {
"user_p06_yz": "?az=0&po=1.5708&rd=260&tx=18.5&ty=350&tz=-110&xray=0",
"user_p06_iso": "?az=-0.65&po=1.25&rd=260&tx=-15&ty=350&tz=-128&xray=0",
"user_p07_creases": "?az=-0.65&po=1.25&rd=260&tx=30&ty=270&tz=-130&xray=0",
# 电机腔内壁（隐藏全部电机，从腔内看 R35/R30.15 两段同心圆弧是否连续）
"bay_p06_inside": "?az=1.5708&po=1.5708&rd=250&tx=18.5&ty=345&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
"bay_p07_inside": "?az=1.5708&po=1.5708&rd=240&tx=18.5&ty=235&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
"bay_p08_inside": "?az=1.5708&po=1.5708&rd=210&tx=18.5&ty=175&tz=-128&xray=0&hide=J1,J2,J3,J4,J5,J6",
"user_p04_side": "?az=1.5708&po=1.5708&rd=300&tx=18.5&ty=520&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
"user_p04_bottom": "?az=0.5&po=2.0&rd=240&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
"user_p04_bottom2": "?az=1.2&po=2.0&rd=260&tx=18.5&ty=490&tz=-128&xray=0&hide=胸板,底脚,肩吊臂",
@@ -67,10 +71,26 @@ VIEWS = {
"p03_light_rear": "?az=0.0&po=1.45&rd=300&tx=-70&ty=548&tz=-128&xray=0&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
"p03_light_join": "?az=0.62&po=1.15&rd=420&tx=18.5&ty=520&tz=-128&xray=0",
"p03_light_xray": "?az=0.62&po=1.15&rd=300&tx=-70&ty=548&tz=-128&xray=1&hide=P01,P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
# 减重版（2026-10-02）：P04 立柱槽 / P06 过渡块窗 / P07 顶板槽 的孤立视图
# 俯视看朝上敞开的槽口，斜视看槽壁与留下来的抗弯腹板
"hollow_p04_top": "?az=0.0&po=0.05&rd=250&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
"hollow_p04_iso": "?az=0.7&po=1.05&rd=280&tx=18.5&ty=585&tz=-128&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
"hollow_p07_top": "?az=0.0&po=0.05&rd=230&tx=18.5&ty=270&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
"hollow_p07_iso": "?az=0.7&po=1.05&rd=260&tx=18.5&ty=275&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
"hollow_p06_iso": "?az=0.7&po=1.05&rd=190&tx=18.5&ty=368&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M4,M5,M6,S0,S1,ENV",
# P03↔立柱 安装接口（新版 4xM5 从腔体上方拧入）：俯视看螺钉落位
"p03_mount_top": "?az=0.9&po=1.30&rd=190&tx=-115&ty=476&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
"p03_mount_iso": "?az=2.2&po=0.95&rd=230&tx=-115&ty=486&tz=-128&xray=0&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
"p03_mount_loose": "?az=0.9&po=0.42&rd=260&tx=-115&ty=500&tz=-128&xray=0&expl=60&hide=P02,P04,P05,P06,P07,P08,P09,M1,M2,M3,M4,M5,M6,ENV",
"j3_前端压盖_装配": "?az=0.7&po=2.72&rd=190&tx=19.5&ty=396&tz=-128&xray=0&hide=立柱,底座,肩关节安装悬臂,肩叉,大臂骨架,小臂骨架,腕部转接座,末端工具法兰,M1,M2,M4,M5,M6,包络经纬网",
"j3_前端压盖_全件": "?az=0.7&po=2.6&rd=300&tx=19.5&ty=420&tz=-128&xray=0",
# 承压面下沉 2mm 留下的"悬空凸台"（2026-10-04 整改）：沿电机轴线从尾端面方向看，
# 四个视图分别对应 P04/P05/P06/P07 的后端。ax/po 沿轴向，rd 拉近到 R35 座圈。
# 沿电机轴线从尾端面看过去：承压面(R35圆面) + 4xS02 沉孔，凸台消失后应是干净圆面
"boss_p04": "?az=0.55&po=1.30&rd=150&tx=19.5&ty=490&tz=-158&xray=0&hide=P01,P02,P03,P05,P06,P07,P08,P09,M3,M4,M5,M6,ENV",
"boss_p05": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=392&tz=-128&xray=0&hide=P01,P02,P03,P04,P06,P07,P08,P09,M2,M4,M5,M6,ENV",
"boss_p06": "?az=1.5708&po=1.5708&rd=190&tx=18.5&ty=332&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P07,P08,P09,M1,M2,M3,M5,M6,ENV",
"boss_p07": "?az=0&po=0.0&rd=210&tx=19.5&ty=215&tz=-128&xray=0&hide=P01,P02,P03,P04,P05,P06,P08,P09,M1,M2,M3,M4,M6,ENV",
"svg_side": f"file:///{DOCS}/sheet_side.svg",
"svg_joint": f"file:///{DOCS}/sheet_joint.svg",
"svg_exploded": f"file:///{DOCS}/sheet_exploded.svg",
@@ -82,17 +102,23 @@ want = sys.argv[1:] or list(VIEWS)
def take_shot(nm):
q = VIEWS[nm]
out = "%s/%s.png" % (SHOTS, nm)
import time
# 不预先删除旧图：Edge 的 --screenshot 本来就会覆盖，而 os.remove 在带
# safe-delete 垫片的环境里会把"删到回收站"的失败抛出来，直接打断整轮渲染。
import time, tempfile
t_bust = int(time.time() * 1000)
target = q if q.startswith("file://") else "file:///" + HTML.replace("\\", "/") + q + (
f"&still=1&_t={t_bust}" if "?" in q else f"?still=1&_t={t_bust}")
# 每次用独立 profile：共用默认 profile 时并发实例会互相抢锁，表现为随机 FAIL。
udd = tempfile.mkdtemp(prefix="eshot")
cmd = [EDGE, "--headless=new", "--use-gl=angle", "--use-angle=d3d11",
"--disable-cache", "--disable-application-cache", "--disk-cache-size=0",
"--user-data-dir=" + udd,
"--enable-gpu-rasterization", "--ignore-gpu-blocklist",
"--hide-scrollbars", "--force-device-scale-factor=1",
"--window-size=1500,860", "--virtual-time-budget=20000",
"--screenshot=" + out, target]
r = subprocess.run(cmd, capture_output=True, timeout=180)
shutil.rmtree(udd, ignore_errors=True)
ok = os.path.exists(out) and os.path.getsize(out) > 20000
err = (r.stderr or b"").decode("utf-8", errors="ignore").strip()[:90].replace("\n", " ")
sz = os.path.getsize(out) if os.path.exists(out) else 0