600 lines
38 KiB
HTML
600 lines
38 KiB
HTML
<!DOCTYPE html>
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<html lang="zh-CN">
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<head>
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<meta charset="UTF-8">
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<meta name="viewport" content="width=device-width, initial-scale=1.0">
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<title>机械臂线束走向与总线电气示意图</title>
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<script src="https://www.gstatic.com/antigravity/web/dev/tailwindcss.min.js"></script>
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<style>
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.tab-btn.active {
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background-color: #3b82f6;
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color: #ffffff;
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border-color: transparent;
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}
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.hover-card:hover {
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filter: drop-shadow(0 4px 12px rgba(0,0,0,0.15));
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}
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</style>
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</head>
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<body class="bg-slate-950 text-slate-100 antialiased p-3 sm:p-5 font-sans min-h-screen">
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<div class="max-w-5xl mx-auto bg-slate-900 text-slate-100 border border-slate-800 rounded-2xl shadow-2xl overflow-hidden">
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<!-- Header -->
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<div class="p-5 border-b border-slate-800 bg-slate-800/40 flex flex-col sm:flex-row justify-between items-start sm:items-center gap-4">
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<div>
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<div class="flex items-center gap-2">
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<span class="inline-block w-3 h-3 rounded-full bg-emerald-500 animate-pulse"></span>
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<h1 class="text-lg sm:text-xl font-bold tracking-tight text-white">6自由度机械臂线束合理走线与总线拓扑设计方案</h1>
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</div>
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<p class="text-xs sm:text-sm text-slate-400 mt-1">
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针对圆形 PCBA 侧孔出线、4芯混合线缆(2×CAN + 2×电源)的机械走线与电气互联全景示意
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</p>
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</div>
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<!-- Navigation Tabs -->
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<div class="flex items-center gap-1.5 p-1 bg-slate-950 border border-slate-800 rounded-xl text-xs sm:text-sm">
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<button onclick="setTab('arm')" id="tab-arm" class="tab-btn active px-3 py-1.5 rounded-lg font-medium transition-all">
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🦾 机械走线路径
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</button>
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<button onclick="setTab('bus')" id="tab-bus" class="tab-btn px-3 py-1.5 rounded-lg font-medium transition-all text-slate-400 hover:text-white">
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🔌 总线拓扑架构
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</button>
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<button onclick="setTab('motor')" id="tab-motor" class="tab-btn px-3 py-1.5 rounded-lg font-medium transition-all text-slate-400 hover:text-white">
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⚙️ 电机座孔开槽
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</button>
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<button onclick="setTab('specs')" id="tab-specs" class="tab-btn px-3 py-1.5 rounded-lg font-medium transition-all text-slate-400 hover:text-white">
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📋 选型与规范
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</button>
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</div>
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</div>
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<!-- Content Sections -->
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<div class="p-4 sm:p-6 space-y-6">
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<!-- ================= TAB 1: 机械臂走线路径 ================= -->
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<div id="content-arm" class="space-y-4">
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<div class="flex items-center justify-between">
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<div class="text-xs sm:text-sm font-semibold flex items-center gap-2">
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<span class="px-2 py-0.5 rounded bg-blue-500/10 text-blue-400 border border-blue-500/20">构件拓扑与关节过线</span>
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<span class="text-slate-300">贯通主干暗管 + 跨关节柔性缓冲环(Service Loop)</span>
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</div>
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<div class="flex items-center gap-3 text-xs text-slate-400 hidden md:flex">
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<span class="flex items-center gap-1"><span class="w-2.5 h-2.5 rounded-full bg-amber-500"></span>4芯主干总线</span>
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<span class="flex items-center gap-1"><span class="w-2.5 h-2.5 rounded-full bg-cyan-400"></span>俯仰U型弯折(J2/J4/J5)</span>
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<span class="flex items-center gap-1"><span class="w-2.5 h-2.5 rounded-full bg-purple-400"></span>自转螺旋盘簧(J1/J3/J6)</span>
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</div>
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</div>
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<!-- SVG 走线图 -->
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<div class="w-full bg-slate-950 border border-slate-800 rounded-xl p-3 sm:p-5 flex justify-center items-center overflow-x-auto">
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<svg viewBox="0 0 950 540" class="w-full max-w-[950px] select-none" style="min-width: 700px;">
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<defs>
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<linearGradient id="trunkGrad" x1="0%" y1="0%" x2="0%" y2="100%">
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<stop offset="0%" stop-color="#f59e0b" />
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<stop offset="100%" stop-color="#ef4444" />
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</linearGradient>
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<linearGradient id="linkBg" x1="0%" y1="0%" x2="100%" y2="100%">
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<stop offset="0%" stop-color="#334155" stop-opacity="0.25" />
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<stop offset="100%" stop-color="#1e293b" stop-opacity="0.45" />
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</linearGradient>
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<filter id="glow" x="-20%" y="-20%" width="140%" height="140%">
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<feGaussianBlur stdDeviation="3" result="glow" />
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<feComposite in="SourceGraphic" in2="glow" operator="over" />
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</filter>
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</defs>
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<!-- Background Grid Lines for Scale -->
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<g stroke="#334155" stroke-opacity="0.2" stroke-width="1">
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<line x1="50" y1="80" x2="900" y2="80" />
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<line x1="50" y1="180" x2="900" y2="180" />
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<line x1="50" y1="280" x2="900" y2="280" />
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<line x1="50" y1="380" x2="900" y2="380" />
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<line x1="50" y1="480" x2="900" y2="480" />
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</g>
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<!-- 1. BASE / FIXTURE (P01 立柱) -->
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<g>
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<rect x="70" y="360" width="100" height="150" rx="8" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="120" y="445" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P01 立柱</text>
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<text x="120" y="465" font-size="11" fill="#94a3b8" text-anchor="middle">内部立柱走线管</text>
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<!-- Controller Box -->
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<rect x="80" y="480" width="80" height="24" rx="4" fill="#0284c7" fill-opacity="0.3" stroke="#0284c7" stroke-width="1" />
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<text x="120" y="496" font-size="10" font-weight="bold" fill="#38bdf8" text-anchor="middle">主控 / 供电基座</text>
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</g>
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<!-- 2. P03 肩吊臂 & M1 (J1 轴向: +X) -->
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<g>
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<path d="M 120 360 L 120 220 L 210 220 L 210 280 L 150 280 Z" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<circle cx="170" cy="245" r="28" fill="#1e293b" stroke="#f59e0b" stroke-width="2" stroke-dasharray="3,3" />
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<text x="170" y="242" font-size="12" font-weight="bold" fill="#fbbf24" text-anchor="middle">M1 电机</text>
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<text x="170" y="258" font-size="9" fill="#94a3b8" text-anchor="middle">J1 肩回转(+X)</text>
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<rect x="190" y="210" width="45" height="18" rx="4" fill="#8b5cf6" fill-opacity="0.3" stroke="#8b5cf6" />
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<text x="212" y="223" font-size="10" fill="#c084fc" text-anchor="middle">T接板①</text>
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</g>
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<!-- J1 -> J2 扭转盘簧走线过渡 -->
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<g>
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<path d="M 170 217 C 220 180, 260 190, 290 230" fill="none" stroke="#c084fc" stroke-width="3" stroke-dasharray="4,2" />
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<text x="235" y="195" font-size="10" fill="#c084fc" font-weight="bold" text-anchor="middle">J1 螺旋扭转段 (80mm)</text>
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</g>
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<!-- 3. P04 肩叉 & M2 (J2 俯仰: +Y) -->
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<g>
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<rect x="290" y="200" width="105" height="150" rx="10" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="342" y="222" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P04 肩叉</text>
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<!-- P04 减重槽线管 -->
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<rect x="302" y="235" width="30" height="95" rx="5" fill="#0f172a" stroke="#38bdf8" stroke-width="1" stroke-dasharray="2,2" />
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<text x="317" y="285" font-size="9" fill="#38bdf8" text-anchor="middle" transform="rotate(-90 317 285)">立柱减重槽暗管</text>
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<!-- M2 电机 -->
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<circle cx="360" cy="285" r="26" fill="#1e293b" stroke="#f59e0b" stroke-width="2" />
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<text x="360" y="282" font-size="11" font-weight="bold" fill="#fbbf24" text-anchor="middle">M2 电机</text>
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<text x="360" y="297" font-size="9" fill="#94a3b8" text-anchor="middle">J2 肩俯仰</text>
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<rect x="345" y="325" width="45" height="18" rx="4" fill="#8b5cf6" fill-opacity="0.3" stroke="#8b5cf6" />
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<text x="367" y="338" font-size="10" fill="#c084fc" text-anchor="middle">T接板②</text>
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</g>
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<!-- J2 -> J3 过关节 U 型弯曲 (Service Loop) -->
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<g>
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<path d="M 370 345 C 385 410, 435 410, 445 350" fill="none" stroke="#38bdf8" stroke-width="3" filter="url(#glow)" />
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<text x="410" y="420" font-size="10" fill="#38bdf8" font-weight="bold" text-anchor="middle">J2 外部 U 型弯 (R≥25mm)</text>
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</g>
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<!-- 4. P05 大臂旋转座 & M3 (J3 自转: -Z) -->
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<g>
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<rect x="430" y="190" width="95" height="150" rx="10" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="477" y="212" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P05 旋转座</text>
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<!-- M3 电机 -->
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<circle cx="477" cy="270" r="26" fill="#1e293b" stroke="#f59e0b" stroke-width="2" />
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<text x="477" y="267" font-size="11" font-weight="bold" fill="#fbbf24" text-anchor="middle">M3 电机</text>
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<text x="477" y="282" font-size="9" fill="#94a3b8" text-anchor="middle">J3 自转(-Z)</text>
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<rect x="455" y="305" width="45" height="18" rx="4" fill="#8b5cf6" fill-opacity="0.3" stroke="#8b5cf6" />
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<text x="477" y="318" font-size="10" fill="#c084fc" text-anchor="middle">T接板③</text>
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</g>
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<!-- J3 -> J4 螺旋盘簧扭转段 -->
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<g>
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<path d="M 477 325 C 500 355, 535 345, 555 310 C 570 280, 560 250, 580 230" fill="none" stroke="#c084fc" stroke-width="3" stroke-dasharray="4,2" />
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<text x="540" y="375" font-size="10" fill="#c084fc" font-weight="bold" text-anchor="middle">J3 盘簧盘旋段 (100mm)</text>
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</g>
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<!-- 5. P06 大臂骨架 & M4 (J4 肘俯仰: +Y) -->
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<g>
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<path d="M 570 180 L 680 180 L 670 330 L 580 330 Z" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="625" y="205" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P06 大臂骨架</text>
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<!-- 工字背脊走线凹槽 -->
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<rect x="600" y="220" width="50" height="30" rx="4" fill="#0f172a" stroke="#38bdf8" stroke-width="1" stroke-dasharray="2,2" />
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<text x="625" y="238" font-size="9" fill="#38bdf8" text-anchor="middle">工字背脊线槽</text>
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<!-- M4 肘电机 -->
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<circle cx="630" cy="290" r="25" fill="#1e293b" stroke="#f59e0b" stroke-width="2" />
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<text x="630" y="287" font-size="11" font-weight="bold" fill="#fbbf24" text-anchor="middle">M4 电机</text>
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<text x="630" y="302" font-size="9" fill="#94a3b8" text-anchor="middle">J4 肘俯仰</text>
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<rect x="645" y="325" width="45" height="18" rx="4" fill="#8b5cf6" fill-opacity="0.3" stroke="#8b5cf6" />
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<text x="667" y="338" font-size="10" fill="#c084fc" text-anchor="middle">T接板④</text>
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</g>
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<!-- J4 -> J5 肘部 U 型弯 -->
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<g>
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<path d="M 670 345 C 685 410, 725 410, 735 345" fill="none" stroke="#38bdf8" stroke-width="3" filter="url(#glow)" />
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<text x="705" y="420" font-size="10" fill="#38bdf8" font-weight="bold" text-anchor="middle">J4 肘部 U 型弯</text>
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</g>
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<!-- 6. P07 小臂骨架 & M5 (J5 腕俯仰: +Y) -->
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<g>
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<rect x="720" y="190" width="85" height="145" rx="10" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="762" y="212" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P07 小臂</text>
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<!-- P07 顶板减重槽 -->
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<rect x="732" y="225" width="22" height="50" rx="4" fill="#0f172a" stroke="#38bdf8" stroke-width="1" stroke-dasharray="2,2" />
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<text x="743" y="255" font-size="8" fill="#38bdf8" text-anchor="middle" transform="rotate(-90 743 255)">顶板减重槽</text>
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|||
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<!-- M5 电机 -->
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<circle cx="765" cy="290" r="22" fill="#1e293b" stroke="#f59e0b" stroke-width="2" />
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<text x="765" y="287" font-size="10" font-weight="bold" fill="#fbbf24" text-anchor="middle">M5 电机</text>
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<text x="765" y="301" font-size="8" fill="#94a3b8" text-anchor="middle">J5 腕俯仰</text>
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|||
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<rect x="740" y="325" width="45" height="18" rx="4" fill="#8b5cf6" fill-opacity="0.3" stroke="#8b5cf6" />
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<text x="762" y="338" font-size="10" fill="#c084fc" text-anchor="middle">T接板⑤</text>
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</g>
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<!-- J5 -> J6 弯折走线 -->
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<g>
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<path d="M 780 340 C 795 370, 815 370, 825 330" fill="none" stroke="#38bdf8" stroke-width="2.5" />
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</g>
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|||
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<!-- 7. P08 腕座 & M6 (J6 腕自转: -Z) -->
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<g>
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<rect x="820" y="190" width="85" height="135" rx="10" fill="url(#linkBg)" stroke="#64748b" stroke-width="1.5" />
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<text x="862" y="212" font-size="13" font-weight="bold" fill="#e2e8f0" text-anchor="middle">P08 腕座</text>
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<!-- M6 电机 -->
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<circle cx="862" cy="265" r="22" fill="#1e293b" stroke="#f59e0b" stroke-width="2" />
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<text x="862" y="262" font-size="10" font-weight="bold" fill="#fbbf24" text-anchor="middle">M6 电机</text>
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<text x="862" y="276" font-size="8" fill="#94a3b8" text-anchor="middle">J6 腕自转(-Z)</text>
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<!-- 终端电阻标记 -->
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<rect x="840" y="300" width="45" height="20" rx="4" fill="#ef4444" fill-opacity="0.25" stroke="#ef4444" stroke-width="1.5" />
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|
|
<text x="862" y="314" font-size="9" font-weight="bold" fill="#f87171" text-anchor="middle">120Ω 终端</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- P09 工具法兰 -->
|
|||
|
|
<g>
|
|||
|
|
<rect x="835" y="145" width="55" height="25" rx="5" fill="#475569" stroke="#94a3b8" />
|
|||
|
|
<text x="862" y="161" font-size="10" fill="#f8fafc" text-anchor="middle">P09 工具端</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 贯穿全程的主干总线 -->
|
|||
|
|
<g>
|
|||
|
|
<path d="M 120 480 L 120 280 L 170 245" fill="none" stroke="url(#trunkGrad)" stroke-width="3" stroke-linecap="round" />
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
</svg>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<div class="grid grid-cols-1 md:grid-cols-3 gap-3 text-xs">
|
|||
|
|
<div class="p-3 bg-slate-950 border border-slate-800 rounded-xl">
|
|||
|
|
<div class="font-semibold text-amber-500 mb-1 flex items-center gap-1.5">
|
|||
|
|
<span>●</span> 贯穿主干总线 (Trunk)
|
|||
|
|
</div>
|
|||
|
|
<p class="text-slate-400 leading-relaxed">
|
|||
|
|
整臂仅需一条 4 芯耐折弯拖链电缆贯穿始终,避免 6 组线并排拉扯造成的臃肿和过载阻力。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
<div class="p-3 bg-slate-950 border border-slate-800 rounded-xl">
|
|||
|
|
<div class="font-semibold text-cyan-400 mb-1 flex items-center gap-1.5">
|
|||
|
|
<span>●</span> 俯仰关节 U 型缓冲 (J2/J4/J5)
|
|||
|
|
</div>
|
|||
|
|
<p class="text-slate-400 leading-relaxed">
|
|||
|
|
线缆在旋转轴外侧留出半径 R≥25mm 的半圆弯曲环,关节转动只发生平面弯曲,严禁拉扯受力。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
<div class="p-3 bg-slate-950 border border-slate-800 rounded-xl">
|
|||
|
|
<div class="font-semibold text-purple-400 mb-1 flex items-center gap-1.5">
|
|||
|
|
<span>●</span> 回转螺旋盘簧 (J1/J3/J6)
|
|||
|
|
</div>
|
|||
|
|
<p class="text-slate-400 leading-relaxed">
|
|||
|
|
严禁短距离轴向拧麻花!沿圆柱外壁预留 80~100mm 螺旋环绕段,利用大范围扭转角吸收转动位移。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
|
|||
|
|
<!-- ================= TAB 2: 总线拓扑架构 ================= -->
|
|||
|
|
<div id="content-bus" class="hidden space-y-4">
|
|||
|
|
<div class="text-xs sm:text-sm font-semibold flex items-center gap-2">
|
|||
|
|
<span class="px-2 py-0.5 rounded bg-purple-500/10 text-purple-400 border border-purple-500/20">CAN 通信与供电架构</span>
|
|||
|
|
<span class="text-slate-300">手拉手主干总线 (Daisy-Chain) + 微型 T 型分接 (T-Tap)</span>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<!-- 电气连接原理 SVG -->
|
|||
|
|
<div class="w-full bg-slate-950 border border-slate-800 rounded-xl p-4 sm:p-6 overflow-x-auto">
|
|||
|
|
<svg viewBox="0 0 920 380" class="w-full max-w-[920px] select-none" style="min-width: 720px;">
|
|||
|
|
<defs>
|
|||
|
|
<filter id="shadow">
|
|||
|
|
<feDropShadow dx="0" dy="2" stdDeviation="3" flood-opacity="0.2"/>
|
|||
|
|
</filter>
|
|||
|
|
</defs>
|
|||
|
|
|
|||
|
|
<!-- 4 根总线主干水平线 -->
|
|||
|
|
<g stroke-width="3">
|
|||
|
|
<!-- VCC 24V (Red) -->
|
|||
|
|
<line x1="160" y1="80" x2="840" y2="80" stroke="#ef4444" />
|
|||
|
|
<text x="100" y="85" font-size="12" font-weight="bold" fill="#ef4444">VCC (+24V)</text>
|
|||
|
|
|
|||
|
|
<!-- GND (Black/Gray) -->
|
|||
|
|
<line x1="160" y1="120" x2="840" y2="120" stroke="#64748b" />
|
|||
|
|
<text x="100" y="125" font-size="12" font-weight="bold" fill="#94a3b8">GND (电源地)</text>
|
|||
|
|
|
|||
|
|
<!-- CAN_H (Yellow) -->
|
|||
|
|
<line x1="160" y1="160" x2="840" y2="160" stroke="#eab308" />
|
|||
|
|
<text x="100" y="165" font-size="12" font-weight="bold" fill="#eab308">CAN_H</text>
|
|||
|
|
|
|||
|
|
<!-- CAN_L (Blue) -->
|
|||
|
|
<line x1="160" y1="200" x2="840" y2="200" stroke="#3b82f6" />
|
|||
|
|
<text x="100" y="205" font-size="12" font-weight="bold" fill="#3b82f6">CAN_L</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 主控端 (左侧) + 始端 120Ω 电阻 -->
|
|||
|
|
<g>
|
|||
|
|
<rect x="20" y="60" width="70" height="160" rx="8" fill="#1e293b" stroke="#0284c7" stroke-width="1.5" />
|
|||
|
|
<text x="55" y="135" font-size="11" font-weight="bold" fill="#38bdf8" text-anchor="middle">主控 / 驱动板</text>
|
|||
|
|
<text x="55" y="152" font-size="9" fill="#94a3b8" text-anchor="middle">24V 供电</text>
|
|||
|
|
|
|||
|
|
<!-- 始端 120Ω 电阻 -->
|
|||
|
|
<line x1="160" y1="160" x2="160" y2="200" stroke="#eab308" stroke-width="2" />
|
|||
|
|
<rect x="145" y="170" width="30" height="20" rx="3" fill="#0f172a" stroke="#eab308" stroke-width="1.5" />
|
|||
|
|
<text x="160" y="184" font-size="9" font-weight="bold" fill="#eab308" text-anchor="middle">120Ω</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 末端 (右侧) + 终端 120Ω 电阻 -->
|
|||
|
|
<g>
|
|||
|
|
<line x1="840" y1="160" x2="840" y2="200" stroke="#ef4444" stroke-width="2" />
|
|||
|
|
<rect x="825" y="170" width="30" height="20" rx="3" fill="#0f172a" stroke="#ef4444" stroke-width="1.5" />
|
|||
|
|
<text x="840" y="184" font-size="9" font-weight="bold" fill="#f87171" text-anchor="middle">120Ω</text>
|
|||
|
|
<text x="840" y="215" font-size="9" fill="#f87171" text-anchor="middle">末端电阻</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 6 个节点 T 型引出分支 (Node 1 to Node 6) -->
|
|||
|
|
<!-- 节点 1: M1 -->
|
|||
|
|
<g transform="translate(210, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M1 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 节点 2: M2 -->
|
|||
|
|
<g transform="translate(320, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M2 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 节点 3: M3 -->
|
|||
|
|
<g transform="translate(430, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M3 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 节点 4: M4 -->
|
|||
|
|
<g transform="translate(540, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M4 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 节点 5: M5 -->
|
|||
|
|
<g transform="translate(650, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M5 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 节点 6: M6 (终端) -->
|
|||
|
|
<g transform="translate(760, 0)">
|
|||
|
|
<circle cx="20" cy="80" r="4" fill="#ef4444" /><circle cx="20" cy="120" r="4" fill="#64748b" />
|
|||
|
|
<circle cx="20" cy="160" r="4" fill="#eab308" /><circle cx="20" cy="200" r="4" fill="#3b82f6" />
|
|||
|
|
<line x1="20" y1="80" x2="20" y2="240" stroke="#f59e0b" stroke-width="2" stroke-dasharray="2,2" />
|
|||
|
|
<rect x="0" y="240" width="40" height="22" rx="4" fill="#8b5cf6" fill-opacity="0.2" stroke="#8b5cf6" stroke-width="1" />
|
|||
|
|
<text x="20" y="255" font-size="9" fill="#c084fc" text-anchor="middle">T接板</text>
|
|||
|
|
<line x1="20" y1="262" x2="20" y2="290" stroke="#10b981" stroke-width="3" />
|
|||
|
|
<rect x="-10" y="290" width="60" height="55" rx="6" fill="#1e293b" stroke="#10b981" stroke-width="1.5" filter="url(#shadow)" />
|
|||
|
|
<text x="20" y="312" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">M6 电机</text>
|
|||
|
|
<text x="20" y="328" font-size="9" fill="#94a3b8" text-anchor="middle">圆形PCBA</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 标注:短分支说明 -->
|
|||
|
|
<text x="310" y="278" font-size="10" fill="#34d399">电机尾线分支 Stub < 50mm</text>
|
|||
|
|
</svg>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<div class="p-4 bg-slate-800/40 border border-slate-800 rounded-xl text-xs space-y-2">
|
|||
|
|
<div class="font-semibold text-sm text-slate-200">💡 为什么采用 T 型微型小板,而不是电机引出两组线?</div>
|
|||
|
|
<p class="text-slate-400 leading-relaxed">
|
|||
|
|
1. <strong>电机出线孔物理限制</strong>:电机模型实测引线孔仅 Ø4.0 mm,无法同时塞进两根 4 芯护套线。<br>
|
|||
|
|
2. <strong>独立热插拔与快拆维护</strong>:如果采用纯串联手拉手,换中间一台电机必须剪断总线;有了 T 型接板,拔掉故障电机插头即可单独更换,主干线完全不受损。<br>
|
|||
|
|
3. <strong>信号阻抗稳定</strong>:CAN 规范允许的 Stub 长度上限为 300mm,我们的电机尾线仅 50~80mm,完全处于安全无反射区间。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
|
|||
|
|
<!-- ================= TAB 3: 电机座孔开槽与构件改造 ================= -->
|
|||
|
|
<div id="content-motor" class="hidden space-y-4">
|
|||
|
|
<div class="text-xs sm:text-sm font-semibold flex items-center gap-2">
|
|||
|
|
<span class="px-2 py-0.5 rounded bg-emerald-500/10 text-emerald-400 border border-emerald-500/20">3D打印构件改造清单</span>
|
|||
|
|
<span class="text-slate-300">在电机座孔壁增加跑道型出线槽与双扎带固定扣</span>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<!-- 机械剖视示意 SVG -->
|
|||
|
|
<div class="w-full bg-slate-950 border border-slate-800 rounded-xl p-4 sm:p-6 overflow-x-auto">
|
|||
|
|
<svg viewBox="0 0 900 420" class="w-full max-w-[900px] select-none" style="min-width: 700px;">
|
|||
|
|
<!-- 左侧:改前(目前被封死) -->
|
|||
|
|
<g transform="translate(60, 30)">
|
|||
|
|
<rect x="0" y="0" width="340" height="340" rx="12" fill="#1e293b" fill-opacity="0.3" stroke="#ef4444" stroke-width="1.5" stroke-dasharray="4,4" />
|
|||
|
|
<text x="170" y="35" font-size="15" font-weight="bold" fill="#ef4444" text-anchor="middle">❌ 当前设计(线孔完全被封死)</text>
|
|||
|
|
|
|||
|
|
<!-- 座孔轮廓 (外壁 R35) -->
|
|||
|
|
<circle cx="170" cy="180" r="110" fill="#334155" fill-opacity="0.3" stroke="#64748b" stroke-width="2" />
|
|||
|
|
<!-- 电机轮廓 (R30) -->
|
|||
|
|
<circle cx="170" cy="180" r="95" fill="#0f172a" stroke="#f59e0b" stroke-width="2" />
|
|||
|
|
<!-- 圆形 PCBA (R22.5) -->
|
|||
|
|
<circle cx="170" cy="180" r="68" fill="#065f46" stroke="#10b981" stroke-width="1.5" />
|
|||
|
|
<text x="170" y="175" font-size="12" font-weight="bold" fill="#34d399" text-anchor="middle">圆形 PCBA</text>
|
|||
|
|
<text x="170" y="195" font-size="10" fill="#94a3b8" text-anchor="middle">Ø45 mm 实测</text>
|
|||
|
|
|
|||
|
|
<!-- 实测出线孔 (第三象限) -->
|
|||
|
|
<circle cx="95" cy="225" r="9" fill="#ef4444" stroke="#ffffff" stroke-width="1.5" />
|
|||
|
|
|
|||
|
|
<!-- 碰撞/堵死提示 -->
|
|||
|
|
<path d="M 85 240 L 50 280" stroke="#ef4444" stroke-width="2" />
|
|||
|
|
<rect x="15" y="280" width="120" height="35" rx="5" fill="#ef4444" fill-opacity="0.2" stroke="#ef4444" />
|
|||
|
|
<text x="75" y="297" font-size="10" font-weight="bold" fill="#fca5a5" text-anchor="middle">8mm 打印件实心底壁</text>
|
|||
|
|
<text x="75" y="310" font-size="9" fill="#fca5a5" text-anchor="middle">线束无任何出路!</text>
|
|||
|
|
</g>
|
|||
|
|
|
|||
|
|
<!-- 右侧:改后(增设出线槽与扎带扣) -->
|
|||
|
|
<g transform="translate(480, 30)">
|
|||
|
|
<rect x="0" y="0" width="360" height="340" rx="12" fill="#1e293b" fill-opacity="0.3" stroke="#10b981" stroke-width="2" />
|
|||
|
|
<text x="180" y="35" font-size="15" font-weight="bold" fill="#10b981" text-anchor="middle">✅ 改造方案(开设跑道型出线槽)</text>
|
|||
|
|
|
|||
|
|
<!-- 座孔外壁 -->
|
|||
|
|
<circle cx="180" cy="180" r="110" fill="#334155" fill-opacity="0.3" stroke="#64748b" stroke-width="2" />
|
|||
|
|
<!-- 电机 -->
|
|||
|
|
<circle cx="180" cy="180" r="95" fill="#0f172a" stroke="#f59e0b" stroke-width="2" />
|
|||
|
|
<!-- 圆形 PCBA -->
|
|||
|
|
<circle cx="180" cy="180" r="68" fill="#065f46" stroke="#10b981" stroke-width="1.5" />
|
|||
|
|
<text x="180" y="185" font-size="11" font-weight="bold" fill="#34d399" text-anchor="middle">PCBA</text>
|
|||
|
|
|
|||
|
|
<!-- 出线孔 -->
|
|||
|
|
<circle cx="105" cy="225" r="9" fill="#10b981" stroke="#ffffff" stroke-width="1.5" />
|
|||
|
|
|
|||
|
|
<!-- 新增 8x14mm 跑道型缺口 (Relief Slot) -->
|
|||
|
|
<path d="M 60 210 L 115 210 A 15 15 0 0 1 115 240 L 60 240 A 15 15 0 0 1 60 210 Z" fill="#0284c7" fill-opacity="0.4" stroke="#38bdf8" stroke-width="2" />
|
|||
|
|
<text x="85" y="260" font-size="10" font-weight="bold" fill="#38bdf8" text-anchor="middle">8×14mm 跑道槽</text>
|
|||
|
|
|
|||
|
|
<!-- 4芯引出线 -->
|
|||
|
|
<path d="M 105 225 C 70 225, 45 235, 30 270" fill="none" stroke="#f59e0b" stroke-width="4" stroke-linecap="round" />
|
|||
|
|
|
|||
|
|
<!-- 扎带固定扣 (Zip-tie mount) -->
|
|||
|
|
<rect x="15" y="260" width="28" height="18" rx="3" fill="#334155" stroke="#facc15" stroke-width="1.5" />
|
|||
|
|
<line x1="20" y1="269" x2="38" y2="269" stroke="#facc15" stroke-width="2" />
|
|||
|
|
<text x="29" y="295" font-size="9" fill="#facc15" text-anchor="middle">扎带扣</text>
|
|||
|
|
|
|||
|
|
<!-- 引出到外部减重槽 -->
|
|||
|
|
<path d="M 30 270 L 30 315" fill="none" stroke="#f59e0b" stroke-width="4" />
|
|||
|
|
<text x="85" y="325" font-size="11" font-weight="bold" fill="#fbbf24">通向构件减重槽暗管 ➔</text>
|
|||
|
|
</g>
|
|||
|
|
</svg>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<div class="grid grid-cols-1 md:grid-cols-2 gap-3 text-xs">
|
|||
|
|
<div class="p-3 bg-slate-950 border border-slate-800 rounded-xl space-y-1">
|
|||
|
|
<span class="font-semibold text-blue-400">1. 修改 Joint.pocket 切削函数</span>
|
|||
|
|
<p class="text-slate-400">
|
|||
|
|
在电机座孔的第三象限(角度约 200°~240°),增加长 14mm、宽 8mm 的圆角矩形布尔掏槽,径向直接切通到外侧壁,让电机的出线孔露出。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
<div class="p-3 bg-slate-950 border border-slate-800 rounded-xl space-y-1">
|
|||
|
|
<span class="font-semibold text-amber-400">2. 增设扎带防拉扯沉孔 (Relief Mount)</span>
|
|||
|
|
<p class="text-slate-400">
|
|||
|
|
在出线槽出口 15mm 处,设置一对 2.5×3.5mm 的扎带穿线孔。将线缆牢牢捆扎在打印件本体上,杜绝因机械臂运动晃动而拉扯到电机内 PCBA 焊盘。
|
|||
|
|
</p>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
|
|||
|
|
<!-- ================= TAB 4: 选型与工艺规范 ================= -->
|
|||
|
|
<div id="content-specs" class="hidden space-y-4">
|
|||
|
|
<div class="text-xs sm:text-sm font-semibold flex items-center gap-2">
|
|||
|
|
<span class="px-2 py-0.5 rounded bg-amber-500/10 text-amber-500 border border-amber-500/20">工程实操指南</span>
|
|||
|
|
<span class="text-slate-300">线缆规格、接插件选型与装配施工顺序建议</span>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<div class="overflow-x-auto border border-slate-800 rounded-xl">
|
|||
|
|
<table class="w-full text-left text-xs sm:text-sm">
|
|||
|
|
<thead class="bg-slate-800/40 border-b border-slate-800 text-slate-400">
|
|||
|
|
<tr>
|
|||
|
|
<th class="p-3">系统部件</th>
|
|||
|
|
<th class="p-3">推荐规格 / 型号</th>
|
|||
|
|
<th class="p-3">核心参数与技术要求</th>
|
|||
|
|
<th class="p-3">安装注意要点</th>
|
|||
|
|
</tr>
|
|||
|
|
</thead>
|
|||
|
|
<tbody class="divide-y divide-slate-800">
|
|||
|
|
<tr>
|
|||
|
|
<td class="p-3 font-semibold text-amber-500">贯穿主干总线</td>
|
|||
|
|
<td class="p-3 font-mono">4芯高柔拖链专用电缆</td>
|
|||
|
|
<td class="p-3">耐折弯≥500万次,2×0.75mm²(电源) + 2×0.2mm²(双绞CAN)</td>
|
|||
|
|
<td class="p-3 text-slate-400">线缆外皮套 PET 伸缩编织网管,防止与打印件边缘摩擦</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td class="p-3 font-semibold text-emerald-400">电机分支引出线</td>
|
|||
|
|
<td class="p-3 font-mono">特软硅胶线 20AWG/24AWG</td>
|
|||
|
|
<td class="p-3">长度 60~80 mm,红黑电源(20AWG) + 黄蓝CAN(24AWG双绞)</td>
|
|||
|
|
<td class="p-3 text-slate-400">根部点 704 硅橡胶或热熔胶加固,避免铜丝断在焊盘处</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td class="p-3 font-semibold text-purple-400">接插件与T接端子</td>
|
|||
|
|
<td class="p-3 font-mono">JST-GH 1.25mm 4P (带锁扣)</td>
|
|||
|
|
<td class="p-3">额定电流 1.0A(信号) / 若大电流建议 XT30(电源)+GH(CAN)</td>
|
|||
|
|
<td class="p-3 text-slate-400">机械臂运动震动大,严禁使用杜邦线或无锁扣的普通端子</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td class="p-3 font-semibold text-red-400">CAN 终端电阻</td>
|
|||
|
|
<td class="p-3 font-mono">120 Ω 贴片/色环金属膜电阻</td>
|
|||
|
|
<td class="p-3">阻值 120Ω ±1%,功耗 1/8W 或 1/4W</td>
|
|||
|
|
<td class="p-3 text-slate-400">只需 2 颗:主控端(M1旁)并联1颗,手腕末端(M6旁)并联1颗</td>
|
|||
|
|
</tr>
|
|||
|
|
<tr>
|
|||
|
|
<td class="p-3 font-semibold text-cyan-400">关节过线保护套</td>
|
|||
|
|
<td class="p-3 font-mono">阻燃 PET 伸缩编织网管 (Ø6~8mm)</td>
|
|||
|
|
<td class="p-3">耐磨损、伸缩比 150%、两端套热缩管收口</td>
|
|||
|
|
<td class="p-3 text-slate-400">穿过 J2/J4 铰链缝隙处,必须加套保护管,防止极限角度夹伤线皮</td>
|
|||
|
|
</tr>
|
|||
|
|
</tbody>
|
|||
|
|
</table>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<div class="p-4 bg-slate-950 border border-slate-800 rounded-xl text-xs space-y-2">
|
|||
|
|
<div class="font-semibold text-sm text-slate-200">🔧 推荐实操装配顺序</div>
|
|||
|
|
<ol class="list-decimal list-inside space-y-1 text-slate-400 leading-relaxed">
|
|||
|
|
<li><strong>焊线与胶封</strong>:在电机内部 PCBA 上焊接好 80mm 长、带 JST-GH 公头的 4 芯尾线,孔位出口处打 704 硅橡胶固线;</li>
|
|||
|
|
<li><strong>电机入座</strong>:顺着新开的跑道槽将线束引出,将电机装入座孔,锁紧后端板与前端压盖;</li>
|
|||
|
|
<li><strong>主干铺设</strong>:将 4 芯主干线从 P01 立柱自下而上穿入,依次走过 P04 立柱槽、P06 工字背、P07 顶板槽;</li>
|
|||
|
|
<li><strong>节点对插</strong>:在各构件的减重槽内,将主干线上的 T 接小板与电机的 GH 接头对插,并用扎带紧固;</li>
|
|||
|
|
<li><strong>行程实测与定型</strong>:手动将 J1~J6 掰动到正负极限角度,观察过关节处的 U 型环和盘簧段是否顺畅、有无受拉挤压,调整扎带固定点。</li>
|
|||
|
|
</ol>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<!-- Footer Note -->
|
|||
|
|
<div class="p-4 border-t border-slate-800 bg-slate-800/20 text-xs text-slate-400 flex justify-between items-center">
|
|||
|
|
<span>💡 点击上方按钮可随时切换不同视角的图解与方案细节</span>
|
|||
|
|
<span class="font-mono">Robot Arm v2.0 Cable Harness Guide</span>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
|
<script>
|
|||
|
|
function setTab(name) {
|
|||
|
|
const tabs = ['arm', 'bus', 'motor', 'specs'];
|
|||
|
|
tabs.forEach(t => {
|
|||
|
|
const btn = document.getElementById('tab-' + t);
|
|||
|
|
const content = document.getElementById('content-' + t);
|
|||
|
|
if (t === name) {
|
|||
|
|
btn.classList.add('active');
|
|||
|
|
btn.classList.remove('text-slate-400');
|
|||
|
|
content.classList.remove('hidden');
|
|||
|
|
} else {
|
|||
|
|
btn.classList.remove('active');
|
|||
|
|
btn.classList.add('text-slate-400');
|
|||
|
|
content.classList.add('hidden');
|
|||
|
|
}
|
|||
|
|
});
|
|||
|
|
}
|
|||
|
|
</script>
|
|||
|
|
</body>
|
|||
|
|
</html>
|