Robot_Arm/arm/cad/parts/p01_column.py

# -*- coding: utf-8 -*-
"""P01 立柱三段（A/B/C）：躯干承力柱 + 阶梯榫卯与防反装对锁孔。"""
import cadquery as cq
from arm.cad.helpers import cyl
from arm.cad.arm_build import Ycyl, bx
from arm.kinematics import Y_AXIS, Z_CHEST1
from arm.cad.part_tools import Xcyl

# ========== 躯干部分 ==========
# ========== 躯干/测试台架部分 (后置防倾翻高刚性机架) ==========
X_COL = -115.0


Y_COL = Y_AXIS  # 128.0


Z_LOCK = 463.0  # 横向防脱锁紧螺钉高度（立柱后壁 → 榫头，M4x16 自攻）


def p_chest():
    """P01_胸腔支撑立柱 (High-Rigidity Box Mast Tower - 后置台架立柱):
    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；
    2. 顶部接收 P03 43.4x43.4x15mm 定位榫头（44x44 R4 内腔）、4x 竖向安装孔 + 1x 横向防脱锁紧孔
       （全部 Ø3.9 直孔：M4x16 从外部直接拧入自攻成型，无过孔/无沉孔/无预埋）；
    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；
    4. 前向开设两组大圆角走线工艺窗口（Z=60~150mm 与 Z=330~420mm）；
    5. 外棱角全部采用 R=6mm 圆角。
    """
    z_bot = 22.0
    z_top = Z_CHEST1 # 470.0
    
    col = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot))
           .rect(66.0, 66.0)
           .extrude(z_top - z_bot)
           .edges("|Z").fillet(6.0)).val()
    s = cq.Shape(col.wrapped)
    
    cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_bot + 10.0))
           .rect(44.0, 44.0)
           .extrude(z_top - z_bot + 1.0)
           .edges("|Z").fillet(4.0)).val()
    s = s.cut(cav)

    # 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
    tenon = (cq.Workplane("XY", origin=(X_COL, Y_COL, 10.0))
             .rect(50.0, 50.0).extrude(z_bot - 10.0)
             .edges("|Z").fillet(4.0)).val()
    s = s.fuse(tenon)

    # 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°
    for xx in (X_COL - 20.0, X_COL + 16.0):
        for yy in (Y_COL - 18.0, Y_COL + 18.0):
            s = s.cut(cyl(2.75, 9.99, z_bot + 15.0, xx, yy))
    # 顶部 4x 安装孔：统一 Ø3.9 直孔（M4x16 直接拧入自攻成型；只打这一个孔，无过孔/无沉孔），深 20mm
    # 位于 66x66 顶环 11mm 实体壁内（内腔 22 → 外壁 33），避开 44x44 内腔与 R4 内腔圆角；
    for xx in (X_COL - 27.5, X_COL + 27.5):
        for yy in (Y_COL - 13.5, Y_COL + 13.5):
            s = s.cut(cyl(1.95, z_top - 20.0, z_top + 0.01, xx, yy))
    # 横向防脱锁紧孔（后壁 → 榫头）：Ø3.9 贯穿 11mm 后壁 + 榫头同径（M4x16 拧入自攻）
    s = s.cut(Xcyl(1.95, X_COL - 34.0, X_COL - 20.0, Y_COL, Z_LOCK))
            
    w_bot = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 105.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_bot)
    
    w_top = (cq.Workplane("YZ", origin=(X_COL + 33.5, Y_COL, 375.0))
             .rect(34.0, 70.0)
             .extrude(-20.0)).val()
    s = s.cut(w_top)
    return s


def split_p01_poka_yoke(p01):
    """拆分 P01 为 A/B/C 三段（严格适配 200x200mm 打印机，竖直免支撑打印）：
    带 16mm 阶梯互锁榫卯（外套筒壁 3.6 + 公榫壁 6.9，内腔收窄 51->44 换取双厚壁，
    单边配合间隙 0.5）、以及统一 Ø3.9 直孔的分段对锁孔（M4x16 从外面直接拧入自攻成型，
    母口壁与公榫壁同径，无过孔/沉孔/预埋，前后两面对称各一颗）；
    孔位相对立柱中心 −16 / +22 非对称（物理防反装防呆）；本体 3D 凹刻朝向标识。
    """
    z_bot = 22.0
    z_s1 = 172.0
    z_s2 = 321.0
    z_top = 470.0
    h_lap = 16.0
    
    # 非对称对锁孔位（相对立柱中心偏心 -16mm 与 +22mm，偏心差 6mm，反装无法穿入螺栓）
    xx_bolts = (X_COL - 16.0, X_COL + 22.0)

    # 分段对锁孔：统一 Ø3.9 直孔（M4x16 从外面直接拧入自攻成型；母口壁与公榫壁同径，
    # 没有过孔/沉孔等其它孔），前后两面对称；杆尖伸过榫壁的一段在内腔侧留 Ø4.5 让位。
    def _seam_holes(part, xx, z):
        return (part.cut(Ycyl(1.95, Y_COL - 33.6, Y_COL - 21.4, xx, z))
                    .cut(Ycyl(1.95, Y_COL + 21.4, Y_COL + 33.6, xx, z))
                    .cut(Ycyl(2.25, Y_COL - 21.7, Y_COL - 15.5, xx, z))
                    .cut(Ycyl(2.25, Y_COL + 15.5, Y_COL + 21.7, xx, z)))
    
    # --- P01_A (下段) ---
    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)
    p01_a_base = p01.cut(cut_above_s1)
    tongue1_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1))
                     .rect(57.8, 57.8).extrude(h_lap)
                     .edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
    tongue1_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 1.0))
                   .rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
    tongue1 = cq.Shape(tongue1_outer.wrapped).cut(tongue1_cav)
    p01_a = p01_a_base.fuse(tongue1)
    
    z_bolt1 = z_s1 + h_lap / 2.0  # 180.0
    for xx in xx_bolts:
        p01_a = _seam_holes(p01_a, xx, z_bolt1)      # A-B 缝对锁孔（Ø3.9，前后两面）
        
    # Engrave the front (-Y) flat face, reading VERTICALLY bottom-to-top along
    # the column (user request): local +X = world +Z, local +Y = world -X, so
    # the trailing "▶" glyph renders pointing world-up (+Z).
    front_label_plane_a = cq.Plane(
        origin=(X_COL, Y_COL - 33.0, 120.0),
        xDir=(0, 0, 1), normal=(0, -1, 0),
    )
    label_a = (cq.Workplane(front_label_plane_a)
               .text("P01-A  TOP ▶", 9.0, -0.8)).val()
    p01_a = p01_a.cut(cq.Shape(label_a.wrapped))

    # --- P01_B (中段) ---
    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)
    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)
    p01_b_base = p01.cut(cut_below_s1).cut(cut_above_s2)
    pocket1 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s1 - 0.1))
               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
    p01_b_base = p01_b_base.cut(pocket1)
    
    tongue2_outer = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2))
                     .rect(57.8, 57.8).extrude(h_lap)
                     .edges("|Z").fillet(3.4).edges(">Z").chamfer(1.5)).val()
    tongue2_cav = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 1.0))
                   .rect(44.0, 44.0).extrude(h_lap + 2.0)).val()
    tongue2 = cq.Shape(tongue2_outer.wrapped).cut(tongue2_cav)
    p01_b = p01_b_base.fuse(tongue2)
    
    z_bolt2 = z_s2 + h_lap / 2.0  # 329.0
    for xx in xx_bolts:
        p01_b = _seam_holes(p01_b, xx, z_bolt1)      # A-B 缝对锁孔（Ø3.9，前后两面）
        p01_b = _seam_holes(p01_b, xx, z_bolt2)      # B-C 缝对锁孔（Ø3.9，前后两面）
        
    front_label_plane_b = cq.Plane(
        origin=(X_COL, Y_COL - 33.0, 240.0),
        xDir=(0, 0, 1), normal=(0, -1, 0),
    )
    label_b = (cq.Workplane(front_label_plane_b)
               .text("P01-B  TOP ▶", 9.0, -0.8)).val()
    p01_b = p01_b.cut(cq.Shape(label_b.wrapped))

    # --- P01_C (上段) ---
    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)
    p01_c_base = p01.cut(cut_below_s2)
    pocket2 = (cq.Workplane("XY", origin=(X_COL, Y_COL, z_s2 - 0.1))
               .rect(58.8, 58.8).extrude(h_lap + 0.6).edges("|Z").fillet(3.9)).val()
    p01_c = p01_c_base.cut(pocket2)
    for xx in xx_bolts:
        p01_c = _seam_holes(p01_c, xx, z_bolt2)      # B-C 缝对锁孔（Ø3.9，前后两面）
        
    front_label_plane_c = cq.Plane(
        origin=(X_COL, Y_COL - 33.0, 390.0),
        xDir=(0, 0, 1), normal=(0, -1, 0),
    )
    label_c = (cq.Workplane(front_label_plane_c)
               .text("P01-C  TOP ▶", 9.0, -0.8)).val()
    p01_c = p01_c.cut(cq.Shape(label_c.wrapped))

    return p01_a, p01_b, p01_c


JOINT = 'root'


def specs(JS):
    """本件的 (件号, 中文名, 构建 thunk, 配色, 说明) 清单；顺序即 BOM 顺序。"""
    p01_a, p01_b, p01_c = split_p01_poka_yoke(p_chest())

    return [
    ("P01_A_立柱下段_三角形30%_墙4底5_竖打", "立柱下段", lambda: p01_a, 0x0284c7,
        "200mm适配分段A：高166mm+16mm阶梯公榫+顶端 2x Ø3.9 对锁孔(M4x16 自攻)+底部50x50x12榫头+P01-A 竖排TOP刻字"),
    ("P01_B_立柱中段_三角形30%_墙4底5_竖打", "立柱中段", lambda: p01_b, 0x2563eb,
        "200mm适配分段B：高165mm+双端公母榫+两端各 2x Ø3.9 对锁孔(M4x16 自攻，非对称孔位防反装)+P01-B 竖排TOP刻字"),
    ("P01_C_立柱上段_三角形30%_墙4底5_竖打", "立柱上段", lambda: p01_c, 0x1d4ed8,
        "200mm适配分段C：高149mm+底端母榫+底端 2x Ø3.9 对锁孔(非对称孔位防反装)+顶面P03安装台(4x Ø3.9 安装孔 + 1x Ø3.9 横向锁紧孔)+P01-C 竖排TOP刻字"),
    ]