cbb
b0efb44368
- src/parts/p01~p09 + src/part_tools.py：几何、件号/配色/说明与装配帧归属随各自件文件走，arm_model.py 只留装配流水线并对件级符号做只读转发；P04_CH / P07_CH / P06_WIN_XZ / FENCE_OPEN_CUT 这类开关必须写所在件文件，写 arm_model.X 不生效，A/B 判据为翻转后体积变化
- docs/sheet_{exploded,front,side,joint}.svg + draw_sheet.py：四张工程图进查看器页签，支持图层开关、件号高亮与 BOM/3D 联动跳转
- travel/travel_detail/collide/bom/screws 随最新几何重生成；补线束走线、拆卸定位点与 P04 承压面剖切验证图
- .gitignore 排除 .bak/ 与 *.bak_* 源码快照（旧版本 git 历史里已有）
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98 KiB
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["<svg xmlns=\"http://www.w3.org/2000/svg\" viewBox=\"0 0 1200 800\" width=\"1200\" height=\"800\" class=\"assembly-sheet-svg\" data-sheet-id=\"front\" data-sheet-title=\"总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）\" data-sheet-note=\"实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面\" data-sheet-scale=\"0.98\" font-family=\"Microsoft YaHei,sans-serif\"><defs><filter id=\"partGlow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"0\" stdDeviation=\"3.5\" flood-color=\"#2563eb\" flood-opacity=\"0.85\"/></filter><filter id=\"balloonShadow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"1.5\" stdDeviation=\"1.5\" flood-color=\"#000\" flood-opacity=\"0.25\"/></filter></defs><rect class=\"sheet-bg\" width=\"1200\" height=\"800\" fill=\"#fff\"/><g class=\"sheet-border\"><rect class=\"sheet-border-outer\" x=\"8\" y=\"8\" width=\"1184\" height=\"784\" fill=\"none\" stroke=\"#111\" stroke-width=\"1.6\"/><rect class=\"sheet-border-inner\" x=\"14\" y=\"14\" width=\"1172\" height=\"772\" fill=\"none\" stroke=\"#111\" stroke-width=\".5\"/><line class=\"sheet-title-line\" x1=\"14\" y1=\"756\" x2=\"1185\" y2=\"756\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-title-text\" x=\"24\" y=\"773\" font-size=\"13\" font-weight=\"bold\">总装图 - 正视（沿 -X 投影；肢体在纸面内，显示左右交替堆叠）</text><text class=\"sheet-note-text\" x=\"24\" y=\"784\" font-size=\"9\" fill=\"#444\">实线=打印件，虚线=电机/已有联轴器；点划线为关节轴线；蓝色为节距链。俯仰电机一内一外交替，全部贴合面共用 Y=157 一个平面</text><line class=\"sheet-meta-line\" x1=\"932\" y1=\"756\" x2=\"932\" y2=\"785\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-scale-text\" x=\"940\" y=\"771\" font-size=\"9\">比例 1:0.98（按图幅适配） 单位 mm</text><text class=\"sheet-ver-text\" x=\"940\" y=\"783\" font-size=\"9\">六电机人形机器人手臂 v2 / 迭代 3</text></g><g class=\"sheet-axes-group\"><line class=\"sheet-axis\" x1=\"462\" y1=\"72\" x2=\"462\" y2=\"72\" stroke=\"#0b57a4\" stroke-width=\".8\" stroke-dasharray=\"14 3 2 3\"/><text class=\"sheet-axis-label\" x=\"465\" y=\"69\" font-size=\"10\" fill=\"#0b57a4\">J1</text><line class=\"sheet-axis\" x1=\"433\" y1=\"194\" x2=\"525\" y2=\"194\" stroke=\"#0b57a4\" stroke-width=\".8\" stroke-dasharray=\"14 3 2 3\"/><text class=\"sheet-axis-label\" x=\"528\" y=\"191\" font-size=\"10\" fill=\"#0b57a4\">J2</text><line class=\"sheet-axis\" x1=\"462\" y1=\"240\" x2=\"462\" y2=\"332\" stroke=\"#0b57a4\" stroke-width=\".8\" stroke-dasharray=\"14 3 2 3\"/><text class=\"sheet-axis-label\" x=\"465\" y=\"329\" font-size=\"10\" fill=\"#0b57a4\">J3</text><line class=\"sheet-axis\" x1=\"433\" y1=\"355\" x2=\"525\" y2=\"355\" stroke=\"#0b57a4\" stroke-width=\".8\" stroke-dasharray=\"14 3 2 3\"/><text class=\"sheet-axis-label\" x=\"528\" y=\"352\" font-size=\"10\" fill=\"#0b57a4\">J4</text><line class=\"sheet-axis\" x1=\"433\" y1=\"468\" x2=\"525\" y2=\"468\" stroke=\"#0b57a4\" stroke-width=\".8\" stroke-dasharray=\"14 3 2 3\"/><text class=\"sheet-axis-label\" x=\"528\" y=\"465\" font-size=\"10\" fill=\"#0b57a4\">J5</text></g><g class=\"sheet-parts-group\"><path d=\"M428.3 671.6 L436.5 683.8 L487.5 683.8 L495.7 671.6 L495.7 518.5 L491.5 503.8 L490.0 502.2 L434.0 502.2 L432.5 503.8 L428.3 518.5Z\" fill=\"none\" stroke=\"#0284c7\" stroke-width=\"1.35\" class=\"sheet-part-path\" data-idx=\"1\" data-name=\"P01_A_立柱下段_三角形30%_墙4底5_竖打\" data-cn=\"立柱下段\" data-color=\"#0284c7\" data-printed=\"1\"/><path d=\"M428.3 518.5 L495.7 518.5 L495.7 366.6 L491.5 351.8 L490.0 350.2 L434.0 350.2 L432.5 351.8 L428.3 366.6Z\" fill=\"none\" stroke=\"#2563eb\" stroke-width=\"1.35\" class=\"sheet-part-path\" data-idx=\"2\" data-name=\"P01_B_立柱中段_三角形30%_墙4底5_竖打\" data-cn=\"立柱中段\" data-color=\"#2563eb\" data-printed=\"1\"/><path d=\"M428.3 366.6 L495.7 366.6 L495.7 214.6 L428.3 214.6Z\" fill=\"none\" stroke=\"#1d4ed8\" stroke-width=\"1.35\" class=\"sheet-part-path\" data-idx=\"3\" data-name=\"P01_C_立柱上段_三角形30%_墙4底5_竖打\" data-cn=\"立柱上段\" data-color=\"#1d4ed8\" 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class=\"sheet-balloon\" data-idx=\"19\" data-name=\"M6_J6\" data-cn=\"J6 电机模组\"><circle class=\"balloon-circle\" cx=\"577\" cy=\"563\" r=\"10\" fill=\"#fff\" stroke=\"#111\" stroke-width=\"1\"/><text class=\"balloon-text\" x=\"577\" y=\"567\" font-size=\"9.5\" text-anchor=\"middle\">19</text></g><polyline class=\"sheet-leader\" data-idx=\"13\" points=\"498,578 537,599 577,599\" fill=\"none\" stroke=\"#555\" stroke-width=\".6\"/><g class=\"sheet-balloon\" data-idx=\"13\" data-name=\"P09_工具法兰_螺旋体30%_墙4底5_竖打\" data-cn=\"末端工具法兰\"><circle class=\"balloon-circle\" cx=\"577\" cy=\"599\" r=\"10\" fill=\"#fff\" stroke=\"#111\" stroke-width=\"1\"/><text class=\"balloon-text\" x=\"577\" y=\"602\" font-size=\"9.5\" text-anchor=\"middle\">13</text></g><polyline class=\"sheet-leader\" data-idx=\"4\" points=\"501,623 539,634 577,634\" fill=\"none\" stroke=\"#555\" stroke-width=\".6\"/><g class=\"sheet-balloon\" data-idx=\"4\" data-name=\"P02_Center_底座中核心_螺旋体30%_墙5底6_平打\" data-cn=\"底座核心承力座\"><circle class=\"balloon-circle\" cx=\"577\" cy=\"634\" r=\"10\" fill=\"#fff\" stroke=\"#111\" stroke-width=\"1\"/><text class=\"balloon-text\" x=\"577\" y=\"637\" font-size=\"9.5\" text-anchor=\"middle\">4</text></g><polyline class=\"sheet-leader\" data-idx=\"5\" points=\"558,672 567,669 577,669\" fill=\"none\" stroke=\"#555\" stroke-width=\".6\"/><g class=\"sheet-balloon\" data-idx=\"5\" data-name=\"P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打\" data-cn=\"前向防翻力臂\"><circle class=\"balloon-circle\" cx=\"577\" cy=\"669\" r=\"10\" fill=\"#fff\" stroke=\"#111\" stroke-width=\"1\"/><text class=\"balloon-text\" x=\"577\" y=\"673\" font-size=\"9.5\" text-anchor=\"middle\">5</text></g><polyline class=\"sheet-leader\" data-idx=\"6\" points=\"558,672 567,704 577,704\" fill=\"none\" stroke=\"#555\" stroke-width=\".6\"/><g class=\"sheet-balloon\" data-idx=\"6\" data-name=\"P02_Rear_后向防翻力臂_螺旋体30%_墙4底5_平打\" data-cn=\"后向防翻力臂\"><circle class=\"balloon-circle\" cx=\"577\" cy=\"704\" r=\"10\" fill=\"#fff\" stroke=\"#111\" stroke-width=\"1\"/><text class=\"balloon-text\" x=\"577\" y=\"708\" font-size=\"9.5\" text-anchor=\"middle\">6</text></g></g><g class=\"sheet-legend-box\"><text x=\"974\" y=\"54\" font-size=\"10\" font-weight=\"bold\">零 件 表</text><g class=\"sheet-legend-row\" data-idx=\"1\" data-name=\"P01_A_立柱下段_三角形30%_墙4底5_竖打\" data-cn=\"立柱下段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"64\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"74\" font-size=\"8.5\">1</text><text class=\"legend-row-name\" x=\"987\" y=\"74\" font-size=\"8.5\">立柱下段</text></g><g class=\"sheet-legend-row\" data-idx=\"2\" data-name=\"P01_B_立柱中段_三角形30%_墙4底5_竖打\" data-cn=\"立柱中段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"77\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"87\" font-size=\"8.5\">2</text><text class=\"legend-row-name\" x=\"987\" y=\"87\" font-size=\"8.5\">立柱中段</text></g><g class=\"sheet-legend-row\" data-idx=\"3\" data-name=\"P01_C_立柱上段_三角形30%_墙4底5_竖打\" data-cn=\"立柱上段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"90\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"99\" font-size=\"8.5\">3</text><text class=\"legend-row-name\" x=\"987\" y=\"99\" font-size=\"8.5\">立柱上段</text></g><g class=\"sheet-legend-row\" data-idx=\"4\" data-name=\"P02_Center_底座中核心_螺旋体30%_墙5底6_平打\" data-cn=\"底座核心承力座\"><rect class=\"legend-row-bg\" x=\"971\" y=\"102\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"112\" font-size=\"8.5\">4</text><text class=\"legend-row-name\" x=\"987\" y=\"112\" font-size=\"8.5\">底座核心承力座</text></g><g class=\"sheet-legend-row\" data-idx=\"5\" data-name=\"P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打\" data-cn=\"前向防翻力臂\"><rect class=\"legend-row-bg\" x=\"971\" y=\"115\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"124\" font-size=\"8.5\">5</text><text class=\"legend-row-name\" x=\"987\" y=\"124\" font-size=\"8.5\">前向防翻力臂</text></g><g class=\"sheet-legend-row\" data-idx=\"6\" data-name=\"P02_Rear_后向防翻力臂_螺旋体30%_墙4底5_平打\" data-cn=\"后向防翻力臂\"><rect class=\"legend-row-bg\" x=\"971\" y=\"128\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"137\" font-size=\"8.5\">6</text><text class=\"legend-row-name\" x=\"987\" y=\"137\" font-size=\"8.5\">后向防翻力臂</text></g><g class=\"sheet-legend-row\" data-idx=\"7\" data-name=\"P03_肩吊臂_螺旋体35%_墙5底5_竖打\" data-cn=\"肩关节安装悬臂\"><rect class=\"legend-row-bg\" x=\"971\" y=\"140\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"150\" font-size=\"8.5\">7</text><text class=\"legend-row-name\" x=\"987\" y=\"150\" font-size=\"8.5\">肩关节安装悬臂</text></g><g class=\"sheet-legend-row\" data-idx=\"8\" data-name=\"P04_肩叉_螺旋体30%_墙5底5_竖打\" data-cn=\"肩叉\"><rect class=\"legend-row-bg\" x=\"971\" y=\"153\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"162\" font-size=\"8.5\">8</text><text class=\"legend-row-name\" x=\"987\" y=\"162\" font-size=\"8.5\">肩叉</text></g><g class=\"sheet-legend-row\" data-idx=\"9\" data-name=\"P05_大臂旋转座_螺旋体30%_墙4底5_竖打\" data-cn=\"大臂旋转座\"><rect class=\"legend-row-bg\" x=\"971\" y=\"165\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"175\" font-size=\"8.5\">9</text><text class=\"legend-row-name\" x=\"987\" y=\"175\" font-size=\"8.5\">大臂旋转座</text></g><g class=\"sheet-legend-row\" data-idx=\"10\" data-name=\"P06_大臂骨架_螺旋体25%_墙4底5_竖打\" data-cn=\"大臂骨架\"><rect class=\"legend-row-bg\" x=\"971\" y=\"178\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"187\" font-size=\"8.5\">10</text><text class=\"legend-row-name\" x=\"987\" y=\"187\" font-size=\"8.5\">大臂骨架</text></g><g class=\"sheet-legend-row\" data-idx=\"11\" data-name=\"P07_小臂骨架_螺旋体30%_墙5底5_竖打\" data-cn=\"小臂骨架\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"64\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"74\" font-size=\"8.5\">11</text><text class=\"legend-row-name\" x=\"1093\" y=\"74\" font-size=\"8.5\">小臂骨架</text></g><g class=\"sheet-legend-row\" data-idx=\"12\" data-name=\"P08_腕偏转座_螺旋体25%_墙4底5_竖打\" data-cn=\"腕部转接座\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"77\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"87\" font-size=\"8.5\">12</text><text class=\"legend-row-name\" x=\"1093\" y=\"87\" font-size=\"8.5\">腕部转接座</text></g><g class=\"sheet-legend-row\" data-idx=\"13\" data-name=\"P09_工具法兰_螺旋体30%_墙4底5_竖打\" data-cn=\"末端工具法兰\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"90\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"99\" font-size=\"8.5\">13</text><text class=\"legend-row-name\" x=\"1093\" y=\"99\" font-size=\"8.5\">末端工具法兰</text></g><g class=\"sheet-legend-row\" data-idx=\"14\" data-name=\"M1_J1\" data-cn=\"J1 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"102\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"112\" font-size=\"8.5\">14</text><text class=\"legend-row-name\" x=\"1093\" y=\"112\" font-size=\"8.5\">J1 电机模组</text></g><g class=\"sheet-legend-row\" data-idx=\"15\" data-name=\"M2_J2\" data-cn=\"J2 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"115\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"124\" font-size=\"8.5\">15</text><text class=\"legend-row-name\" x=\"1093\" y=\"124\" font-size=\"8.5\">J2 电机模组</text></g><g class=\"sheet-legend-row\" data-idx=\"16\" data-name=\"M3_J3\" data-cn=\"J3 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"128\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"137\" font-size=\"8.5\">16</text><text class=\"legend-row-name\" x=\"1093\" y=\"137\" font-size=\"8.5\">J3 电机模组</text></g><g class=\"sheet-legend-row\" data-idx=\"17\" data-name=\"M4_J4\" data-cn=\"J4 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"140\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"150\" font-size=\"8.5\">17</text><text class=\"legend-row-name\" x=\"1093\" y=\"150\" font-size=\"8.5\">J4 电机模组</text></g><g class=\"sheet-legend-row\" data-idx=\"18\" data-name=\"M5_J5\" data-cn=\"J5 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"153\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"162\" font-size=\"8.5\">18</text><text class=\"legend-row-name\" x=\"1093\" y=\"162\" font-size=\"8.5\">J5 电机模组</text></g><g class=\"sheet-legend-row\" data-idx=\"19\" data-name=\"M6_J6\" data-cn=\"J6 电机模组\"><rect class=\"legend-row-bg\" x=\"1077\" y=\"165\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"1080\" y=\"175\" font-size=\"8.5\">19</text><text class=\"legend-row-name\" x=\"1093\" y=\"175\" font-size=\"8.5\">J6 电机模组</text></g></g><g class=\"sheet-dims-group\"><line class=\"sheet-dim-line\" x1=\"433\" y1=\"349\" x2=\"433\" y2=\"349\" stroke=\"#0b57a4\" stroke-width=\".9\"/><line class=\"sheet-dim-ext\" x1=\"433\" y1=\"194\" x2=\"433\" y2=\"349\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><line class=\"sheet-dim-ext\" x1=\"433\" y1=\"355\" x2=\"433\" y2=\"349\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><text class=\"sheet-dim-text\" x=\"433\" y=\"346\" font-size=\"10\" fill=\"#0b57a4\" text-anchor=\"middle\">上臂 158</text><line class=\"sheet-dim-line\" x1=\"433\" y1=\"523\" x2=\"433\" y2=\"523\" stroke=\"#0b57a4\" stroke-width=\".9\"/><line class=\"sheet-dim-ext\" x1=\"433\" y1=\"355\" x2=\"433\" y2=\"523\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><line class=\"sheet-dim-ext\" x1=\"433\" y1=\"468\" x2=\"433\" y2=\"523\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><text class=\"sheet-dim-text\" x=\"433\" y=\"520\" font-size=\"10\" fill=\"#0b57a4\" text-anchor=\"middle\">前臂 110</text><line class=\"sheet-dim-line\" x1=\"331\" y1=\"453\" x2=\"433\" y2=\"453\" stroke=\"#0b57a4\" stroke-width=\".9\"/><line class=\"sheet-dim-ext\" x1=\"331\" y1=\"694\" x2=\"331\" y2=\"453\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><line class=\"sheet-dim-ext\" x1=\"433\" y1=\"468\" x2=\"433\" y2=\"453\" stroke=\"#0b57a4\" stroke-width=\".5\" stroke-dasharray=\"2 2\"/><text class=\"sheet-dim-text\" x=\"382\" y=\"450\" font-size=\"10\" fill=\"#0b57a4\" text-anchor=\"middle\">腕轴离地 222</text></g></svg>", "<svg xmlns=\"http://www.w3.org/2000/svg\" viewBox=\"0 0 1400 780\" width=\"1400\" height=\"780\" class=\"assembly-sheet-svg\" data-sheet-id=\"joint\" data-sheet-title=\"A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）\" data-sheet-note=\"电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → 从动盘（复刻电机输出面）。蓝色为关节轴线。\" data-sheet-scale=\"1/6（本图放大 6 倍）\" font-family=\"Microsoft YaHei,sans-serif\"><defs><filter id=\"partGlow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"0\" stdDeviation=\"3.5\" flood-color=\"#2563eb\" flood-opacity=\"0.85\"/></filter><filter id=\"balloonShadow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"1.5\" stdDeviation=\"1.5\" flood-color=\"#000\" flood-opacity=\"0.25\"/></filter></defs><rect class=\"sheet-bg\" width=\"1400\" height=\"780\" fill=\"#fff\"/><g class=\"sheet-border\"><rect class=\"sheet-border-outer\" x=\"8\" y=\"8\" width=\"1384\" height=\"764\" fill=\"none\" stroke=\"#111\" stroke-width=\"1.6\"/><rect class=\"sheet-border-inner\" x=\"14\" y=\"14\" width=\"1372\" height=\"752\" fill=\"none\" stroke=\"#111\" stroke-width=\".5\"/><line class=\"sheet-title-line\" x1=\"14\" y1=\"736\" x2=\"1385\" y2=\"736\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-title-text\" x=\"24\" y=\"753\" font-size=\"13\" font-weight=\"bold\">A-A 回转副局部放大 — 全部尺寸为实测值（按数值绘制，非网格投影）</text><text class=\"sheet-note-text\" x=\"24\" y=\"764\" font-size=\"9\" fill=\"#444\">电机 → 端面齿半联轴器 A/B（12 齿，盘脸贴死为唯一轴向止动）→ 对开抱箍防脱 → 从动盘（复刻电机输出面）。蓝色为关节轴线。</text><line class=\"sheet-meta-line\" x1=\"1132\" y1=\"736\" x2=\"1132\" y2=\"765\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-scale-text\" x=\"1140\" y=\"751\" font-size=\"9\">比例 1:1/6（本图放大 6 倍）（按图幅适配） 单位 mm</text><text class=\"sheet-ver-text\" x=\"1140\" y=\"763\" font-size=\"9\">六电机人形机器人手臂 v2 / 迭代 3</text></g><line class=\"sheet-axis\" x1=\"190\" y1=\"330\" x2=\"830\" y2=\"330\" stroke=\"#0b57a4\" stroke-width=\"1.1\" stroke-dasharray=\"22 5 4 5\"/><g class=\"joint-geom-group\" stroke=\"#111\" fill=\"none\" stroke-width=\"1.5\"><rect class=\"joint-geom-part\" data-part=\"电机机座\" x=\"283.0\" y=\"150.0\" width=\"282.0\" height=\"360.0\"/><rect class=\"joint-geom-part\" data-part=\"尾部PCBA\" x=\"250.0\" y=\"139.2\" width=\"54.0\" height=\"381.6\"/><rect class=\"joint-geom-part\" data-part=\"电机输出端盖\" x=\"565.0\" y=\"149.1\" width=\"21.0\" height=\"361.8\"/><rect class=\"joint-geom-part\" data-part=\"半联轴器A\" x=\"586.0\" y=\"168.0\" width=\"27.0\" height=\"324.0\"/><rect class=\"joint-geom-part\" data-part=\"半联轴器B\" x=\"613.0\" y=\"168.0\" width=\"27.0\" height=\"324.0\"/><rect class=\"joint-geom-part\" data-part=\"从动盘\" x=\"640.0\" y=\"84.0\" width=\"144.0\" height=\"492.0\"/><rect class=\"joint-geom-part\" data-part=\"对开抱箍\" x=\"589.6\" y=\"150.0\" width=\"50.4\" height=\"360.0\" stroke-dasharray=\"6 3\"/></g><g class=\"sheet-dim\"><line x1=\"250.0\" y1=\"90\" x2=\"586.0\" y2=\"90\" stroke=\"#c00\" stroke-width=\"1\"/><line x1=\"250.0\" y1=\"84\" x2=\"250.0\" y2=\"96\" stroke=\"#c00\" stroke-width=\".6\"/><line x1=\"586.0\" y1=\"84\" x2=\"586.0\" y2=\"96\" stroke=\"#c00\" stroke-width=\".6\"/><text x=\"418.0\" y=\"82\" font-size=\"11\" fill=\"#c00\" text-anchor=\"middle\">整机长 56.0</text></g><g class=\"sheet-dim\"><line x1=\"586.0\" y1=\"115\" x2=\"640.0\" y2=\"115\" stroke=\"#c00\" stroke-width=\"1\"/><line x1=\"586.0\" y1=\"109\" x2=\"586.0\" y2=\"121\" stroke=\"#c00\" stroke-width=\".6\"/><line x1=\"640.0\" y1=\"109\" x2=\"640.0\" y2=\"121\" stroke=\"#c00\" stroke-width=\".6\"/><text x=\"620.0\" y=\"107\" font-size=\"11\" fill=\"#c00\" text-anchor=\"end\">两盖板面跨距 9.00</text><line x1=\"624.0\" y1=\"104\" x2=\"586.0\" y2=\"115\" stroke=\"#c00\" stroke-width=\".6\"/></g><g class=\"sheet-dim\"><line x1=\"250.0\" y1=\"580\" x2=\"640.0\" y2=\"580\" stroke=\"#c00\" stroke-width=\"1\"/><line x1=\"250.0\" y1=\"574\" x2=\"250.0\" y2=\"586\" stroke=\"#c00\" stroke-width=\".6\"/><line x1=\"640.0\" y1=\"574\" x2=\"640.0\" y2=\"586\" stroke=\"#c00\" stroke-width=\".6\"/><text x=\"445.0\" y=\"572\" font-size=\"11\" fill=\"#c00\" text-anchor=\"middle\">电机尾基准 → 从动盘贴合面 = 65.000 ← 全臂节距的唯一来源</text></g><g class=\"sheet-dim\"><line x1=\"589.6\" y1=\"545\" x2=\"640.0\" y2=\"545\" stroke=\"#c00\" stroke-width=\"1\"/><line x1=\"589.6\" y1=\"539\" x2=\"589.6\" y2=\"551\" stroke=\"#c00\" stroke-width=\".6\"/><line x1=\"640.0\" y1=\"539\" x2=\"640.0\" y2=\"551\" stroke=\"#c00\" stroke-width=\".6\"/><text x=\"470.0\" y=\"537\" font-size=\"11\" fill=\"#c00\" text-anchor=\"end\">抱箍轴向 56.602~64.402</text><line x1=\"474.0\" y1=\"534\" x2=\"589.6\" y2=\"545\" stroke=\"#c00\" stroke-width=\".6\"/></g><g class=\"sheet-note\"><polyline points=\"418.0,150.0 418.0,140.0 235.0,140.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"232.0\" y=\"143.5\" font-size=\"10.5\" text-anchor=\"end\">机座 Ø60 x 42，滑配孔按 Ø60.3</text></g><g class=\"sheet-note\"><polyline points=\"274.0,139.2 274.0,170.0 235.0,170.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"232.0\" y=\"173.5\" font-size=\"10.5\" text-anchor=\"end\">尾部 PCBA 方 63.6 → 口袋 64.4</text></g><g class=\"sheet-note\"><polyline points=\"599.2,168.0 599.2,130.0 900.0,130.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"903.0\" y=\"133.5\" font-size=\"10.5\" text-anchor=\"start\">半联轴器 A（12 齿端面花键 R19.0~24.5，齿高 2.5）</text></g><g class=\"sheet-note\"><polyline points=\"626.2,492.0 626.2,160.0 900.0,160.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"903.0\" y=\"163.5\" font-size=\"10.5\" text-anchor=\"start\">半联轴器 B = A 绕局部 X 转 180° 后沿轴移 2xPART_Z</text></g><g class=\"sheet-note\"><polyline points=\"712.0,576.0 712.0,480.0 900.0,480.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"903.0\" y=\"483.5\" font-size=\"10.5\" text-anchor=\"start\">从动盘：Ø36x1.0 颈孔 + Ø6.5x5.0 中心孔 + 3xM2 @Ø29</text></g><g class=\"sheet-note\"><polyline points=\"640.0,513.0 640.0,508.0 900.0,508.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"903.0\" y=\"511.5\" font-size=\"10.5\" text-anchor=\"start\">盘脸贴死 = 唯一轴向止动；齿只传扭，不定位</text></g><g class=\"sheet-note\"><polyline points=\"643.0,210.0 643.0,536.0 900.0,536.0\" fill=\"none\" stroke=\"#555\" stroke-width=\".7\"/><text x=\"903.0\" y=\"539.5\" font-size=\"10.5\" text-anchor=\"start\">从动面卸荷：Ø54.6 x 0.35（B 半件背面实测越过贴合面 0.06）+ Ø36 x 1.70 导柱孔</text></g><text x=\"60\" y=\"718\" font-size=\"10.5\">M2 相位（时钟）：电机侧 8.1/128.1/248.1 ；从动盘侧取镜像 351.9/231.9/111.9</text><text x=\"60\" y=\"732\" font-size=\"10.5\">抱箍：带宽 Ø60，凸耳 R37.0（位于关节局部 ±X，包壳在此处开口）；M3 x2 @ R32.5</text></svg>", "<svg xmlns=\"http://www.w3.org/2000/svg\" viewBox=\"0 0 1200 800\" width=\"1200\" height=\"800\" class=\"assembly-sheet-svg\" data-sheet-id=\"exploded\" data-sheet-title=\"爆炸装配图（轴测）\" data-sheet-note=\"爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序\" data-sheet-scale=\"1.33\" font-family=\"Microsoft YaHei,sans-serif\"><defs><filter id=\"partGlow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"0\" stdDeviation=\"3.5\" flood-color=\"#2563eb\" flood-opacity=\"0.85\"/></filter><filter id=\"balloonShadow\" x=\"-20%\" y=\"-20%\" width=\"140%\" height=\"140%\"><feDropShadow dx=\"0\" dy=\"1.5\" stdDeviation=\"1.5\" flood-color=\"#000\" flood-opacity=\"0.25\"/></filter></defs><rect class=\"sheet-bg\" width=\"1200\" height=\"800\" fill=\"#fff\"/><g class=\"sheet-border\"><rect class=\"sheet-border-outer\" x=\"8\" y=\"8\" width=\"1184\" height=\"784\" fill=\"none\" stroke=\"#111\" stroke-width=\"1.6\"/><rect class=\"sheet-border-inner\" x=\"14\" y=\"14\" width=\"1172\" height=\"772\" fill=\"none\" stroke=\"#111\" stroke-width=\".5\"/><line class=\"sheet-title-line\" x1=\"14\" y1=\"756\" x2=\"1185\" y2=\"756\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-title-text\" x=\"24\" y=\"773\" font-size=\"13\" font-weight=\"bold\">爆炸装配图（轴测）</text><text class=\"sheet-note-text\" x=\"24\" y=\"784\" font-size=\"9\" fill=\"#444\">爆炸量 100%：每个关节沿肢体方向逐级错开一节，电机与端面齿组件再沿各自轴线抽出 —— 自上而下即装配顺序</text><line class=\"sheet-meta-line\" x1=\"932\" y1=\"756\" x2=\"932\" y2=\"785\" stroke=\"#111\" stroke-width=\".8\"/><text class=\"sheet-scale-text\" x=\"940\" y=\"771\" font-size=\"9\">比例 1:1.33（按图幅适配） 单位 mm</text><text class=\"sheet-ver-text\" x=\"940\" y=\"783\" font-size=\"9\">六电机人形机器人手臂 v2 / 迭代 3</text></g><g class=\"sheet-parts-group\"><path d=\"M385.7 498.1 L385.8 498.5 L386.0 499.0 L386.3 499.4 L386.8 499.8 L393.9 505.5 L394.3 505.8 L394.9 506.0 L422.3 515.1 L422.9 515.3 L423.6 515.3 L424.2 515.3 L424.9 515.2 L425.5 515.0 L426.0 514.8 L426.4 514.5 L442.2 498.8 L449.7 490.9 L450.2 490.0 L450.2 489.1 L450.3 397.1 L450.2 396.6 L446.7 388.1 L446.6 387.8 L446.3 387.5 L446.0 387.3 L445.2 386.8 L444.9 386.7 L411.7 375.7 L411.3 375.6 L411.0 375.6 L410.6 375.6 L410.2 375.7 L409.9 375.8 L409.1 376.3 L408.7 376.6 L389.5 395.7 L389.3 396.0 L386.0 404.7 L385.7 405.6Z\" fill=\"none\" stroke=\"#0284c7\" 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data-name=\"P02_Center_底座中核心_螺旋体30%_墙5底6_平打\" data-cn=\"底座核心承力座\" data-color=\"#475569\" data-printed=\"1\"/><path d=\"M495.5 565.1 L495.6 565.4 L499.6 581.8 L583.7 609.6 L586.2 610.3 L588.8 610.5 L591.5 610.5 L594.1 610.1 L596.5 609.4 L598.6 608.4 L600.2 607.1 L659.6 548.0 L660.2 547.3 L661.0 545.9 L661.2 544.3 L661.2 532.7 L661.2 531.7 L661.1 530.9 L660.8 530.1 L660.4 529.5 L659.9 528.7 L659.7 528.4 L659.0 527.8 L658.8 527.6 L658.2 527.2 L657.1 526.5 L655.9 526.0 L654.8 525.6 L571.3 497.9 L550.8 505.2 L550.6 505.2 L550.2 505.5 L549.5 505.9 L534.9 520.4 L510.4 544.8 L495.8 559.3 L495.5 559.9Z\" fill=\"none\" stroke=\"#e11d48\" stroke-width=\"1.35\" class=\"sheet-part-path\" data-idx=\"5\" data-name=\"P02_Front_前向防翻力臂_螺旋体30%_墙4底5_平打\" data-cn=\"前向防翻力臂\" data-color=\"#e11d48\" data-printed=\"1\"/><path d=\"M262.8 499.6 L263.2 501.2 L264.2 502.6 L265.7 503.9 L267.7 504.9 L268.8 505.3 L287.7 511.6 L315.0 496.8 L315.8 496.3 L316.1 496.1 L356.3 456.2 L356.5 455.9 L356.5 455.6 L359.2 440.6 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font-weight=\"bold\">零 件 表</text><g class=\"sheet-legend-row\" data-idx=\"1\" data-name=\"P01_A_立柱下段_三角形30%_墙4底5_竖打\" data-cn=\"立柱下段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"64\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"74\" font-size=\"8.5\">1</text><text class=\"legend-row-name\" x=\"987\" y=\"74\" font-size=\"8.5\">立柱下段</text></g><g class=\"sheet-legend-row\" data-idx=\"2\" data-name=\"P01_B_立柱中段_三角形30%_墙4底5_竖打\" data-cn=\"立柱中段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"77\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"974\" y=\"87\" font-size=\"8.5\">2</text><text class=\"legend-row-name\" x=\"987\" y=\"87\" font-size=\"8.5\">立柱中段</text></g><g class=\"sheet-legend-row\" data-idx=\"3\" data-name=\"P01_C_立柱上段_三角形30%_墙4底5_竖打\" data-cn=\"立柱上段\"><rect class=\"legend-row-bg\" x=\"971\" y=\"90\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text 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y=\"54\" font-size=\"10\" font-weight=\"bold\">零 件 表</text><g class=\"sheet-legend-row\" data-idx=\"1\" data-name=\"P01_A_立柱下段_三角形30%_墙4底5_竖打\" data-cn=\"立柱下段\"><rect class=\"legend-row-bg\" x=\"671\" y=\"64\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"674\" y=\"74\" font-size=\"8.5\">1</text><text class=\"legend-row-name\" x=\"687\" y=\"74\" font-size=\"8.5\">立柱下段</text></g><g class=\"sheet-legend-row\" data-idx=\"2\" data-name=\"P01_B_立柱中段_三角形30%_墙4底5_竖打\" data-cn=\"立柱中段\"><rect class=\"legend-row-bg\" x=\"671\" y=\"77\" width=\"102\" height=\"12.5\" fill=\"transparent\" rx=\"2\"/><text class=\"legend-row-idx\" x=\"674\" y=\"87\" font-size=\"8.5\">2</text><text class=\"legend-row-name\" x=\"687\" y=\"87\" font-size=\"8.5\">立柱中段</text></g><g class=\"sheet-legend-row\" data-idx=\"3\" data-name=\"P01_C_立柱上段_三角形30%_墙4底5_竖打\" data-cn=\"立柱上段\"><rect class=\"legend-row-bg\" x=\"671\" y=\"90\" width=\"102\" height=\"12.5\" 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