277 lines
18 KiB
XML
277 lines
18 KiB
XML
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<text x="12" y="24" font-size="12" fill="#64748b">项目代号</text>
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<text x="150" y="24" font-size="12" fill="#64748b">图纸版本</text>
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<text x="290" y="24" font-size="12" fill="#64748b">设计阶段</text>
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<text x="45" y="60" font-size="15" font-weight="bold" fill="#0f172a">ROBOT-V2</text>
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<text x="195" y="60" font-size="15" font-weight="bold" fill="#0f172a">Ver 1.1</text>
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<text x="310" y="60" font-size="14" font-weight="bold" fill="#0284c7">高平齐对齐版</text>
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<text x="15" y="102" font-size="16" font-weight="bold" fill="#0f172a">6-DOF 极简机械臂尺寸链与高平齐对齐总图</text>
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</g>
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<!-- Left Header Info -->
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<text x="50" y="42" font-size="19" font-weight="bold" fill="#0f172a">【总体方案草案】极简小型化人形机械臂架构与尺寸链（主/侧视高平齐对齐）</text>
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<text x="50" y="62" font-size="12" fill="#475569">标准投影规则：主视与侧视图严格遵循“长对正、高平齐”，各关节轴向高程线（J1~J6）贯通对齐，误差 0.0 mm</text>
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<!-- ==================== HORIZONTAL PROJECTION ALIGNMENT LINES (贯通高平齐对齐虚线) ==================== -->
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<!-- J1 Shoulder Roll Axis Alignment -->
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<rect x="520" y="105.4" width="110" height="20" rx="3" fill="#e0f2fe" stroke="#38bdf8" stroke-width="0.8"/>
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<text x="575" y="119.4" font-size="10.5" fill="#0369a1" font-weight="bold" text-anchor="middle">J1抬举轴平齐 Z=633</text>
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<!-- J2 Shoulder Pitch Axis Alignment -->
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<text x="575" y="269.5" font-size="10.5" fill="#0369a1" font-weight="bold" text-anchor="middle">J2俯仰轴平齐 Z=490</text>
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<!-- J3 Elbow Pitch Axis Alignment -->
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<text x="575" y="411.2" font-size="10.5" fill="#0369a1" font-weight="bold" text-anchor="middle">J3肘部轴平齐 Z=355</text>
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<!-- J5 Wrist Pitch Axis Alignment -->
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<text x="575" y="577.1" font-size="10.5" fill="#0369a1" font-weight="bold" text-anchor="middle">J5腕部轴平齐 Z=197</text>
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<!-- Fingertip Level Alignment -->
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<text x="575" y="748.7" font-size="10" fill="#e11d48" font-weight="bold" text-anchor="middle">指尖悬垂高度 Z=26</text>
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<!-- Ground Plane Alignment -->
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<text x="575" y="798" font-size="11" fill="#475569" font-weight="bold" text-anchor="middle">地面基准线 Z=0 (Ground Baseline)</text>
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<!-- ==================== VIEW 1: FRONT VIEW (正视图) ==================== -->
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<!-- Center X around 300 -->
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<g transform="translate(100, 0)">
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<!-- View Title at bottom beneath ground line -->
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<rect x="135" y="805" width="150" height="28" rx="4" fill="#f1f5f9" stroke="#cbd5e1" stroke-width="1"/>
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<text x="210" y="824" font-size="14" font-weight="bold" fill="#0f172a" text-anchor="middle">正 视 图 (FRONT VIEW)</text>
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<!-- Torso Spine / Mount (P01) -->
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<text x="60" y="382.4" font-size="11" fill="#475569" text-anchor="middle" transform="rotate(-90 60 382.4)">躯干立柱 (Torso)</text>
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<!-- Base Foot (P02) -->
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<rect x="25" y="760" width="90" height="20" fill="#374151" stroke="#1e293b"/>
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<!-- J1: Shoulder Pod (P03, 肩吊臂) -->
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<!-- Pod drum surrounds J1 Axis -->
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<!-- M1 motor drum along X (fore-aft) -->
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<circle cx="160" cy="115.4" r="15" fill="#94a3b8" stroke="#0f172a" stroke-width="1"/>
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<text x="160" y="119.4" font-size="11" font-weight="bold" fill="#0f172a" text-anchor="middle">M1</text>
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<text x="200" y="97.4" font-size="10.5" fill="#0284c7">J1肩抬举(+X)</text>
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<!-- P04 Shoulder Fork (从动肩叉) -->
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<!-- Connects from J1 Hub to J2 Motor sleeve -->
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<path d="M 160 147.4 L 160 225.5 L 220 225.5 L 220 265.5" fill="none" stroke="#2563eb" stroke-width="3"/>
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<rect x="145" y="217.5" width="85" height="16" rx="3" fill="#bfdbfe" stroke="#2563eb" stroke-width="1.2"/>
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<text x="187" y="229.5" font-size="10" fill="#1e40af" text-anchor="middle">肩叉箱壳 (P04)</text>
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<!-- J2: Shoulder Pitch (M2 outboard) -->
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<!-- M2 Motor Cylinder at Z=490 -->
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<text x="248" y="269.5" font-size="11" font-weight="bold" fill="#0f172a" text-anchor="middle">M2</text>
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<!-- Coupling & Clamp -->
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<!-- Upper Arm Hub Disc (P05) -->
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<!-- P05 Upper Arm (大臂 L1 = 135 mm, Z=490 down to Z=355) -->
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<path d="M 206 299.5 L 206 373.2 L 155 373.2" fill="none" stroke="#059669" stroke-width="3"/>
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<!-- Slim Humerus Waist -->
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<rect x="185" y="303.5" width="22" height="65.69999999999999" rx="4" fill="#a7f3d0" stroke="#059669" stroke-width="1.2"/>
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<text x="196" y="340.35" font-size="10.5" font-weight="bold" fill="#047857" text-anchor="middle">大臂腰身</text>
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<!-- J3: Elbow Pitch (M3 inboard, at Z=355) -->
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<rect x="99" y="377.2" width="56" height="60" rx="3" fill="#cbd5e1" stroke="#0f172a" stroke-width="1.5"/>
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<text x="127" y="411.2" font-size="11" font-weight="bold" fill="#0f172a" text-anchor="middle">M3</text>
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<rect x="155" y="389.2" width="9" height="36" fill="#fde047" stroke="#ca8a04" stroke-width="1.2"/>
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<!-- Forearm Receiving Disc -->
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<rect x="164" y="373.2" width="9" height="68" rx="2" fill="#10b981" stroke="#047857" stroke-width="1.5"/>
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<!-- P06 Forearm Body (小臂 L2 = 158 mm, Z=355 down to Z=197) -->
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<!-- Housing M4 (J4 Forearm Roll motor) -->
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<rect x="150" y="445.2" width="42" height="97.90000000000003" rx="5" fill="#ccfbf1" stroke="#0f766e" stroke-width="1.8"/>
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<!-- Coaxial M4 Motor inside Forearm -->
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<rect x="155" y="451.3" width="32" height="68.30000000000001" rx="2" fill="#cbd5e1" stroke="#475569" stroke-dasharray="3,2"/>
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<text x="171" y="489.45000000000005" font-size="9.5" font-weight="bold" fill="#334155" text-anchor="middle">M4自转</text>
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<!-- J5: Wrist Pitch (M5 outboard, at Z=197) -->
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<!-- Wrist Cap C-bracket (P07) -->
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<path d="M 171 519.6 L 171 573.1 L 220 573.1" fill="none" stroke="#7c3aed" stroke-width="2.5"/>
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<!-- M5 Motor -->
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<rect x="220" y="543.1" width="56" height="60" rx="3" fill="#cbd5e1" stroke="#0f172a" stroke-width="1.5"/>
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<text x="248" y="577.1" font-size="11" font-weight="bold" fill="#0f172a" text-anchor="middle">M5</text>
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<rect x="211" y="557.1" width="9" height="32" fill="#fde047" stroke="#ca8a04" stroke-width="1.2"/>
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<!-- Palm Disc (P08) -->
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<rect x="202" y="543.1" width="9" height="60" rx="2" fill="#fed7aa" stroke="#ea580c" stroke-width="1.5"/>
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<!-- J6: Hand & Gripper (Z=197 down to Z=26) -->
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<path d="M 206 603.1 L 206 621.5 L 155 621.5" fill="none" stroke="#ea580c" stroke-width="2"/>
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<!-- Shell P09 containing M6 -->
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<rect x="140" y="621.5" width="50" height="68.20000000000005" rx="4" fill="#ffedd5" stroke="#c2410c" stroke-width="1.5"/>
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<text x="165" y="659.6" font-size="10" font-weight="bold" fill="#c2410c" text-anchor="middle">M6夹爪</text>
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<!-- Two Fingers (P10, P11) reaching down to Y_TIP -->
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<path d="M 148 689.7 L 148 752.7 L 158 752.7 L 158 714.7 L 160 689.7 Z" fill="#ef4444" stroke="#b91c1c"/>
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<path d="M 182 689.7 L 182 752.7 L 172 752.7 L 172 714.7 L 170 689.7 Z" fill="#ef4444" stroke="#b91c1c"/>
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<!-- Left Dimensions -->
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<line x1="5" y1="265.5" x2="5" y2="407.2" stroke="#0284c7" stroke-width="1.2" marker-start="url(#arr)" marker-end="url(#arr)"/>
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<text x="-5" y="340.35" font-size="11" font-weight="bold" fill="#0284c7" text-anchor="end">大臂 L1=135</text>
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<line x1="5" y1="407.2" x2="5" y2="573.1" stroke="#0284c7" stroke-width="1.2" marker-start="url(#arr)" marker-end="url(#arr)"/>
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<text x="-5" y="494.15" font-size="11" font-weight="bold" fill="#0284c7" text-anchor="end">前臂 L2=158</text>
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<line x1="5" y1="573.1" x2="5" y2="752.7" stroke="#0284c7" stroke-width="1.2" marker-start="url(#arr)" marker-end="url(#arr)"/>
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<text x="-5" y="666.9000000000001" font-size="11" font-weight="bold" fill="#0284c7" text-anchor="end">手长 171</text>
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</g>
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<!-- ==================== VIEW 2: SIDE VIEW (侧视图, 严格高平齐) ==================== -->
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<!-- Center X around 780 -->
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<g transform="translate(680, 0)">
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<!-- View Title at bottom beneath ground line -->
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<rect x="65" y="805" width="150" height="28" rx="4" fill="#f1f5f9" stroke="#cbd5e1" stroke-width="1"/>
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<text x="140" y="824" font-size="14" font-weight="bold" fill="#0f172a" text-anchor="middle">侧 视 图 (SIDE VIEW)</text>
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<!-- Torso Spine Side -->
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<rect x="70" y="262.4" width="14" height="497.6" fill="#f1f5f9" stroke="#334155" stroke-width="1.8"/>
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<text x="77" y="382.4" font-size="10" fill="#64748b" text-anchor="middle" transform="rotate(-90 77 382.4)">立柱14厚</text>
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||
<!-- Foot -->
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<rect x="40" y="760" width="100" height="20" fill="#374151" stroke="#1e293b"/>
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<!-- J1 Shoulder Pod Side (at Y_POD_TOP down to Y_TORSO_TOP) -->
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<rect x="50" y="71.2" width="115" height="206.2" rx="10" fill="#e2e8f0" stroke="#1e293b" stroke-width="1.8"/>
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<!-- J1 Axis Dot -->
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<circle cx="107" cy="115.4" r="5" fill="#0284c7"/>
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<text x="120" y="119.4" font-size="10.5" fill="#0284c7" font-weight="bold">J1轴</text>
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||
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||
<!-- J2 Shoulder Pitch Hinge (at Y_J2_AXIS) -->
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||
<!-- QJ204 4-point Bearing Cartridge -->
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<circle cx="107" cy="265.5" r="32" fill="#cbd5e1" stroke="#0f172a" stroke-width="1.8"/>
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<circle cx="107" cy="265.5" r="23.5" fill="#bfdbfe" stroke="#2563eb" stroke-width="1.2"/>
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<circle cx="107" cy="265.5" r="10" fill="#1e40af"/>
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||
<text x="107" y="229.5" font-size="10" fill="#1e40af" font-weight="bold" text-anchor="middle">QJ204轴承座</text>
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||
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||
<!-- Humerus Link Slim Profile (from Y_J2_AXIS to Y_J3_AXIS) -->
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||
<path d="M 97 295.5 L 97 377.2 L 117 377.2 L 117 295.5 Z" fill="#a7f3d0" stroke="#059669" stroke-width="2"/>
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||
<text x="107" y="340.35" font-size="10.5" font-weight="bold" fill="#047857" text-anchor="middle">大臂梁</text>
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||
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||
<!-- J3 Elbow Hinge (at Y_J3_AXIS) -->
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||
<circle cx="107" cy="407.2" r="30" fill="#cbd5e1" stroke="#0f172a" stroke-width="1.8"/>
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||
<circle cx="107" cy="407.2" r="5" fill="#0f172a"/>
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||
|
||
<!-- Forearm Slim Tube (from Y_J3_AXIS to Y_J5_AXIS) -->
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||
<path d="M 95 435.2 L 95 545.1 L 119 545.1 L 119 435.2 Z" fill="#ccfbf1" stroke="#0f766e" stroke-width="2"/>
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||
<text x="107" y="494.15" font-size="10.5" font-weight="bold" fill="#0f766e" text-anchor="middle">前臂筒</text>
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||
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||
<!-- J5 Wrist Pitch Hinge (at Y_J5_AXIS) -->
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||
<circle cx="107" cy="573.1" r="27" fill="#fed7aa" stroke="#ea580c" stroke-width="1.8"/>
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||
<circle cx="107" cy="573.1" r="4" fill="#0f172a"/>
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||
|
||
<!-- Hand & Gripper (from Y_J5_AXIS to Y_TIP) -->
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||
<rect x="87" y="593.1" width="40" height="106.60000000000002" rx="4" fill="#ffedd5" stroke="#c2410c" stroke-width="1.5"/>
|
||
<rect x="92" y="699.7" width="30" height="53.0" rx="2" fill="#ef4444" stroke="#b91c1c" stroke-width="1.5"/>
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||
<text x="107" y="734.7" font-size="10" font-weight="bold" fill="#ffffff" text-anchor="middle">夹爪</text>
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||
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||
<!-- Swept Arc (运动扫掠) -->
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||
<path d="M 107 407.2 A 135 135 0 0 0 225 347.2" fill="none" stroke="#e11d48" stroke-width="1.2" stroke-dasharray="4,3"/>
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||
<text x="180" y="327.2" font-size="10" fill="#e11d48">大臂俯仰扫掠</text>
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||
</g>
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||
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||
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||
<!-- ==================== KEY CALLOUTS & DESIGN HIGHLIGHTS ==================== -->
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||
<g transform="translate(1120, 100)">
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<rect x="0" y="0" width="280" height="690" rx="8" fill="#f8fafc" stroke="#cbd5e1" stroke-width="1.2"/>
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||
<text x="15" y="28" font-size="14.5" font-weight="bold" fill="#0f172a">🎯 极简小型化与对齐说明</text>
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||
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||
<g transform="translate(15, 48)">
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<circle cx="6" cy="6" r="4" fill="#0284c7"/>
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||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">1. 高度 100% 绝对平齐</text>
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||
<text x="18" y="26" font-size="11" fill="#475569">主视与侧视由同一个数学 Z 坐标</text>
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<text x="18" y="40" font-size="11" fill="#475569">驱动（1mm CAD = 1.05px），J1/J2/</text>
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<text x="18" y="54" font-size="11" fill="#475569">J3/J5 轴高程贯通，严格投影对齐。</text>
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||
</g>
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||
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||
<g transform="translate(15, 122)">
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<circle cx="6" cy="6" r="4" fill="#0284c7"/>
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||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">2. M4 电机的作用（前臂自转）</text>
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||
<text x="18" y="26" font-size="11" fill="#475569">对应人手臂的桡尺骨旋前/旋后，</text>
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||
<text x="18" y="40" font-size="11" fill="#475569">实现前臂 360° 沿肢体轴自转，</text>
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||
<text x="18" y="54" font-size="11" fill="#475569">使手爪能翻转角度以抓取不同姿态物体。</text>
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||
</g>
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||
|
||
<g transform="translate(15, 196)">
|
||
<circle cx="6" cy="6" r="4" fill="#0284c7"/>
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||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">3. 贴皮薄壁套筒 (Skin-Tight)</text>
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||
<text x="18" y="26" font-size="11" fill="#475569">外壳不做大，仅在 Ø60 机座外保留</text>
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||
<text x="18" y="40" font-size="11" fill="#475569">2.85mm 打印壁厚，整机外径 Ø66，</text>
|
||
<text x="18" y="54" font-size="11" fill="#475569">横向总厚度控制在极限 74mm。</text>
|
||
</g>
|
||
|
||
<g transform="translate(15, 270)">
|
||
<circle cx="6" cy="6" r="4" fill="#0284c7"/>
|
||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">4. 仿生骨架减重窗</text>
|
||
<text x="18" y="26" font-size="11" fill="#475569">大臂与小臂受力侧保留箱梁筋，</text>
|
||
<text x="18" y="40" font-size="11" fill="#475569">非受力侧贯通镂空减重 35%，</text>
|
||
<text x="18" y="54" font-size="11" fill="#475569">同时作为内部动力与CAN走线槽。</text>
|
||
</g>
|
||
|
||
<g transform="translate(15, 344)">
|
||
<circle cx="6" cy="6" r="4" fill="#0284c7"/>
|
||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">5. QJ204 轴承弯矩解耦</text>
|
||
<text x="18" y="26" font-size="11" fill="#475569">肩关节 J2 承受最大 38 N·m 弯矩，</text>
|
||
<text x="18" y="40" font-size="11" fill="#475569">由四点角接触轴承承受，端面花键</text>
|
||
<text x="18" y="54" font-size="11" fill="#475569">只传纯扭矩，彻底消除层间拉撕。</text>
|
||
</g>
|
||
|
||
<g transform="translate(15, 418)">
|
||
<circle cx="6" cy="6" r="4" fill="#0284c7"/>
|
||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">6. 模块化快拆端面花键</text>
|
||
<text x="18" y="26" font-size="11" fill="#475569">统一采用 12 齿端面花键 + 对开抱箍，</text>
|
||
<text x="18" y="40" font-size="11" fill="#475569">2 颗 M3 螺丝即可锁紧/分离关节，</text>
|
||
<text x="18" y="54" font-size="11" fill="#475569">维护与装配极其简易。</text>
|
||
</g>
|
||
|
||
<g transform="translate(15, 492)">
|
||
<circle cx="6" cy="6" r="4" fill="#0284c7"/>
|
||
<text x="18" y="10" font-size="12" font-weight="bold" fill="#0f172a">7. 关键尺寸链总结 (mm)</text>
|
||
<text x="18" y="26" font-size="11" fill="#334155">• 大臂节距 L1 = 135</text>
|
||
<text x="18" y="42" font-size="11" fill="#334155">• 前臂节距 L2 = 158</text>
|
||
<text x="18" y="58" font-size="11" fill="#334155">• 腕俯仰轴到指尖 = 171</text>
|
||
<text x="18" y="74" font-size="11" fill="#334155">• 悬垂零位指尖离地 = 26~30</text>
|
||
<text x="18" y="90" font-size="11" fill="#334155">• 躯干立柱高度 = 493</text>
|
||
</g>
|
||
</g>
|
||
</svg> |