初始提交：机械臂 CadQuery 建模源码、设计文档与 3D 查看器

2026-09-26 18:05:21 +08:00
commit 1dfd48278b
172 changed files with 11116 additions and 0 deletions
@@ -0,0 +1,152 @@
+[
+ {
+  "件号": "P01_胸板",
+  "名称": "躯干/胸腔安装板",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 565.9,
+  "质量g_PLA": 701.7,
+  "包络": "[-6.0 -62.0 20.0 .. 6.0 62.0 470.0] (12.0x124.0x450.0)",
+  "说明": "手臂根部；12 厚板，顶面与肩吊臂桥板用 4x M4 连接，另有走线窗"
+ },
+ {
+  "件号": "P02_底脚",
+  "名称": "站立底脚",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 864.8,
+  "质量g_PLA": 1072.3,
+  "包络": "[-84.0 -86.0 -0.0 .. 84.0 172.0 20.0] (168.0x258.0x20.0)",
+  "说明": "0..20，与机架安装面连接"
+ },
+ {
+  "件号": "P03_肩吊臂",
+  "名称": "肩部基座（对标灵犀X1，胸部直出）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 298.4,
+  "质量g_PLA": 370.0,
+  "包络": "[-59.0 40.0 436.0 .. 35.0 163.0 645.0] (94.0x123.0x209.0)",
+  "说明": "胸腔顶部直出基座；抱紧M1定子"
+ },
+ {
+  "件号": "P04_肩叉",
+  "名称": "正交肩肘（取消独立联轴器，3×M2螺钉直锁M1输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 306.3,
+  "质量g_PLA": 379.8,
+  "包络": "[-16.5 90.0 455.0 .. 53.5 166.0 648.0] (70.0x76.0x193.0)",
+  "说明": "受 J1 驱动，一体化 3x M2 螺钉直锁 M1 电机输出轴，贯通沉头孔；90°一体化高刚度正交转向肘，抱紧 M2 电机"
+ },
+ {
+  "件号": "P05_大臂旋转座",
+  "名称": "大臂旋转座（取消独立联轴器，3×M2螺钉直锁M2输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 182.3,
+  "质量g_PLA": 226.1,
+  "包络": "[-16.5 93.0 389.0 .. 53.5 174.0 525.0] (70.0x81.0x136.0)",
+  "说明": "受 J2 驱动，彻底取消黄色独立联轴器；基座直接贴合 M2 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；90°正交抱紧 M3 电机，中间 100% 敞开散热"
+ },
+ {
+  "件号": "P06_大臂骨架",
+  "名称": "大臂骨架（取消独立联轴器，3×M2螺钉直锁M3输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 182.9,
+  "质量g_PLA": 226.8,
+  "包络": "[-16.5 91.8 297.0 .. 53.5 163.0 390.1] (70.0x71.2x93.1)",
+  "说明": "受 J3 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M3 输出轴；流线型工字骨架+走线槽，底端抱紧 M4 肘部电机"
+ },
+ {
+  "件号": "P07_小臂骨架",
+  "名称": "小臂骨架（取消独立联轴器，3×M2螺钉直锁M4输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 277.1,
+  "质量g_PLA": 343.6,
+  "包络": "[-16.5 92.0 187.0 .. 53.5 174.0 367.0] (70.0x82.0x180.0)",
+  "说明": "受 J4 驱动，彻底取消黄色独立联轴器；从动盘直接贴合 M4 输出轴，3 颗 M2 贯通沉头螺钉直锁输出轴；轻量高刚度骨架，底端抱紧 M5 电机"
+ },
+ {
+  "件号": "P08_腕偏转座",
+  "名称": "腕部转接座（取消独立联轴器，3×M2螺钉直锁M5输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 185.2,
+  "质量g_PLA": 229.6,
+  "包络": "[-16.5 93.0 120.0 .. 53.5 174.0 257.0] (70.0x81.0x137.0)",
+  "说明": "受 J5 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M5 输出轴；两端刚性固定 M6 立式电机，中间 100% 敞开散热"
+ },
+ {
+  "件号": "P09_工具法兰",
+  "名称": "末端工具法兰（取消独立联轴器，3×M2螺钉直锁M6输出轴，贯通沉头孔）",
+  "类型": "3D打印",
+  "数量": 1,
+  "体积cm3": 98.8,
+  "质量g_PLA": 122.5,
+  "包络": "[-16.5 93.0 93.0 .. 53.5 163.0 121.1] (70.0x70.0x28.1)",
+  "说明": "受 J6 驱动，彻底取消黄色独立联轴器；一体化 3x M2 贯通沉头螺钉直锁 M6 输出轴；标准工业法兰接口，4x M4 螺孔 BCD 40mm + 定位止口与走线孔"
+ },
+ {
+  "件号": "M1_J1",
+  "名称": "J1 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-51.0 96.2 578.3 .. 5.0 159.8 641.9] (56.0x63.6x63.6)",
+  "说明": "复用 电机.STEP"
+ },
+ {
+  "件号": "M2_J2",
+  "名称": "J2 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-13.3 100.0 458.1 .. 50.3 156.0 521.7] (63.6x56.0x63.6)",
+  "说明": "复用 电机.STEP"
+ },
+ {
+  "件号": "M3_J3",
+  "名称": "J3 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-13.3 96.1 389.0 .. 50.3 159.7 445.0] (63.6x63.6x56.0)",
+  "说明": "复用 电机.STEP"
+ },
+ {
+  "件号": "M4_J4",
+  "名称": "J4 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-13.3 100.0 300.1 .. 50.3 156.0 363.7] (63.6x56.0x63.6)",
+  "说明": "复用 电机.STEP"
+ },
+ {
+  "件号": "M5_J5",
+  "名称": "J5 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-13.3 100.0 190.1 .. 50.3 156.0 253.7] (63.6x56.0x63.6)",
+  "说明": "复用 电机.STEP"
+ },
+ {
+  "件号": "M6_J6",
+  "名称": "J6 电机模组",
+  "类型": "已有/电机",
+  "数量": 1,
+  "体积cm3": 116.4,
+  "质量g_PLA": 144.4,
+  "包络": "[-13.3 96.1 120.0 .. 50.3 159.7 176.0] (63.6x63.6x56.0)",
+  "说明": "复用 电机.STEP"
+ }
+]