diff --git a/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly.schema.json b/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly.schema.json new file mode 100644 index 0000000..265af3e --- /dev/null +++ b/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly.schema.json @@ -0,0 +1,841 @@ +{ + "$schema": "http://json-schema.org/draft-07/schema#", + "$id": "schemas/joint_module_assembly.schema.json", + "title": "完整关节模组装配JSON - 填写规范 + 行星关节实例", + "description": "前部分是Schema填写规范，后部分是具体数据实例", + "metadata": { + "author": "设计团队", + "source": "SolidWorks 2025", + "version": "1.0", + "notes": "行星关节模组完整实例，包含joints、verification_rules、power_flow" + }, + "field_definitions": { + "_comment_schema": "========== 以下是字段定义（填写说明） ==========", + "design_id": { + "type": "string", + "pattern": "^[A-Z0-9_]+$", + "required": true, + "description": "设计唯一标识符", + "example": "PJ_NGW_S2_090_T80_001", + "rule": "必须大写字母+数字+下划线" + }, + "module_type": { + "type": "string", + "enum": [ + "planetary", + "harmonic" + ], + "required": true, + "description": "减速器类型", + "example": "planetary", + "rule": "planetary=行星齿轮，harmonic=谐波减速" + }, + "global_frame": { + "type": "object", + "required": true, + "description": "定义全局坐标系的参考基准。程序读取此字段后，将指定零件的坐标系作为全局坐标系，所有'frame':'global'的关节都基于此坐标系计算运动", + "example": { + "reference_part": "Main_case", + "coordinate_system_name": "MAIN_CSYS", + "description": "以Main_case零件中的MAIN_CSYS坐标系作为全局坐标系基准" + }, + "fields": { + "reference_part": { + "type": "string", + "required": true, + "description": "作为全局坐标系基准的零件id，该零件的坐标系将被映射为全局坐标系" + }, + "coordinate_system_name": { + "type": "string", + "required": true, + "description": "该零件STEP文件中定义的坐标系名称（在SolidWorks中命名），程序从STEP文件中读取此坐标系" + }, + "description": { + "type": "string", + "description": "说明文字" + } + } + }, + "units": { + "type": "object", + "required": true, + "description": "全局单位声明，所有数值字段必须使用这些单位", + "example": { + "length": "mm", + "angle": "deg", + "torque": "N_m", + "mass": "kg", + "speed": "rpm" + }, + "fields": { + "length": { + "enum": [ + "mm", + "m", + "cm" + ], + "default": "mm" + }, + "angle": { + "enum": [ + "deg", + "rad" + ], + "default": "deg" + }, + "torque": { + "enum": [ + "N_m", + "N_mm", + "kgf_m" + ], + "default": "N_m" + }, + "mass": { + "enum": [ + "kg", + "g", + "lb" + ], + "default": "kg" + }, + "speed": { + "enum": [ + "rpm", + "rad_s", + "deg_s" + ], + "default": "rpm" + } + } + }, + "parts": { + "type": "array", + "required": true, + "description": "零件列表，每个零件一个对象。每个零件对应一个STEP文件，通过coordinate_system字段指定该STEP文件中定义的坐标系名称", + "minItems": 1, + "item_fields": { + "id": { + "type": "string", + "required": true, + "pattern": "^[a-zA-Z][a-zA-Z0-9_]*$", + "description": "零件唯一标识，其他字段（如constraints、joints）通过此id引用该零件" + }, + "role": { + "type": "string", + "required": true, + "enum": [ + "stator", + "rotor", + "sun_gear", + "planet_gear", + "ring_gear", + "planet_carrier", + "housing", + "end_cap", + "output_flange", + "bearing", + "motor_assembly", + "coupling", + "shaft", + "controller_mount", + "magnet_holder", + "magnet", + "bearing_retainer", + "other" + ], + "description": "零件功能角色，用于验证程序识别零件的功能类型" + }, + "file": { + "type": "string", + "required": true, + "description": "STEP文件路径，相对于JSON文件的路径" + }, + "coordinate_system": { + "type": "string", + "required": true, + "description": "该零件STEP文件中定义的坐标系名称。程序加载STEP文件时，会读取此名称对应的坐标系作为该零件的局部坐标系。多个零件可引用同一个STEP文件（如多个行星轮），此时应使用相同的坐标系名称", + "example": "PLANET_CSYS" + }, + "material": { + "type": "object", + "required": true, + "fields": { + "class": { + "enum": [ + "steel", + "aluminum", + "plastic", + "copper", + "magnet", + "other" + ] + }, + "subclass": { + "type": "string", + "description": "材料子类，如20CrMnTi、6061-T6" + } + } + }, + "gear": { + "type": "object", + "description": "齿轮参数（齿轮件必填）", + "fields": { + "teeth": { + "type": "integer", + "minimum": 1 + }, + "module_mm": { + "type": "number", + "minimum": 0 + }, + "face_width_mm": { + "type": "number", + "minimum": 0 + }, + "pressure_angle_deg": { + "type": "number", + "default": 20 + }, + "helix_angle_deg": { + "type": "number", + "default": 0 + }, + "gear_type": { + "enum": [ + "external_gear", + "internal_gear" + ] + } + } + }, + "notes": { + "type": "string", + "description": "备注说明" + } + } + }, + "constraints": { + "type": "array", + "required": true, + "description": "几何装配约束，程序根据这些约束将分散的STEP零件拼装成完整的模组。约束中的a和b字段可带面名（如'Main_case:Top_Face'）以指定具体几何特征", + "minItems": 1, + "item_fields": { + "type": { + "enum": [ + "fixed_to_ground", + "coaxial", + "coincident", + "distance", + "parallel", + "bearing_support", + "bolt_pattern", + "shaft_hub", + "keyed" + ], + "required": true, + "description": "约束类型：fixed_to_ground=固定于大地，coaxial=同轴，coincident=面贴合，distance=保持距离，parallel=平行，bearing_support=轴承支承，bolt_pattern=螺栓连接，shaft_hub=轴毂连接，keyed=键连接" + }, + "a": { + "type": "string", + "required": true, + "description": "第一个零件id，可带面名，如'sun_gear:Top_Face'" + }, + "b": { + "type": "string", + "required": true, + "description": "第二个零件id，可带面名" + }, + "value_mm": { + "type": "number", + "description": "距离类约束的数值（mm）" + }, + "source": { + "enum": [ + "sw_mate", + "manual" + ], + "description": "约束来源：sw_mate=来自SolidWorks配合，manual=人工添加" + }, + "mate_name": { + "type": "string", + "description": "SolidWorks配合名称，用于溯源" + }, + "semantic_hint": { + "type": "string", + "description": "自然语言描述约束意图" + } + } + }, + "meshes": { + "type": "array", + "required": true, + "description": "齿轮啮合副（减速器核心），明确声明哪两个齿轮咬合传力。验证程序据此检查中心距、齿侧间隙、干涉等", + "minItems": 1, + "item_fields": { + "pair": { + "type": "array", + "minItems": 2, + "maxItems": 2, + "required": true, + "items": { + "type": "string" + }, + "description": "啮合的两个齿轮id" + }, + "type": { + "enum": [ + "external_gear", + "internal_gear" + ], + "required": true, + "description": "外啮合或内啮合" + }, + "center_distance_mm": { + "type": "number", + "minimum": 0, + "required": true, + "description": "中心距（mm），两个齿轮轴心之间的距离" + }, + "backlash_mm": { + "type": "number", + "minimum": 0, + "description": "齿侧间隙（mm）" + }, + "source": { + "enum": [ + "sw_mate", + "manual" + ], + "description": "啮合来源" + }, + "semantic_hint": { + "type": "string", + "description": "自然语言描述啮合关系" + } + } + }, + "joints": { + "type": "array", + "required": true, + "description": "运动副定义 - 告诉程序零件之间如何相对运动。每个joint定义一对零件之间的相对运动关系，frame字段指定运动轴基于哪个坐标系", + "minItems": 1, + "item_fields": { + "id": { + "type": "string", + "required": true, + "description": "运动副唯一标识" + }, + "type": { + "enum": [ + "revolute", + "fixed", + "cylindrical", + "prismatic" + ], + "required": true, + "description": "运动副类型：revolute=旋转副，fixed=固定副（无相对运动），cylindrical=圆柱副（旋转+移动），prismatic=移动副" + }, + "a": { + "type": "string", + "required": true, + "description": "主动件id（运动件）" + }, + "b": { + "type": "string", + "required": true, + "description": "从动件/支架id（参考件）" + }, + "axis": { + "enum": [ + "x", + "y", + "z" + ], + "description": "旋转轴方向，基于frame指定的坐标系。与axis_vector二选一使用，优先使用axis_vector" + }, + "axis_vector": { + "type": "array", + "minItems": 3, + "maxItems": 3, + "items": { + "type": "number" + }, + "description": "方向向量 [x, y, z]，基于frame指定的坐标系。与axis二选一使用，当轴方向不是标准XYZ轴时使用此字段" + }, + "frame": { + "type": "string", + "default": "global", + "description": "坐标系引用：'global'=使用global_frame定义的全局坐标系；或指定零件id，使用该零件在STEP中定义的坐标系（需在parts中配置coordinate_system字段）" + }, + "description": { + "type": "string", + "description": "自然语言描述运动关系" + } + } + }, + "kinematics": { + "type": "object", + "required": true, + "description": "传动计算参数，定义减速器的类型和传动比。验证程序据此校核传动比是否与齿数自洽", + "fields": { + "type": { + "enum": [ + "planetary", + "harmonic" + ], + "required": true, + "description": "减速器类型" + }, + "planet_count": { + "type": "integer", + "minimum": 1, + "description": "行星轮数量（行星专用）" + }, + "fixed_member": { + "enum": [ + "ring_gear", + "carrier", + "sun_gear" + ], + "description": "固定件（行星专用）：ring_gear=齿圈固定，carrier=行星架固定，sun_gear=太阳轮固定" + }, + "ratio_claimed": { + "type": "number", + "minimum": 0, + "required": true, + "description": "声称的传动比（输入转速/输出转速）" + }, + "ratio_formula": { + "type": "string", + "description": "传动比计算公式说明（人类可读）" + }, + "ratio_derived": { + "type": "object", + "description": "机器可读的派生计算，程序可据此自动校验传动比", + "fields": { + "formula": { + "type": "string", + "description": "表达式，引用parts中的齿轮参数，如'(ring_gear.teeth + sun_gear.teeth) / sun_gear.teeth'" + }, + "input_params": { + "type": "array", + "items": { + "type": "string" + }, + "description": "表达式中引用的零件id列表" + } + } + }, + "notes": { + "type": "string", + "description": "备注" + } + } + }, + "verification_rules": { + "type": "object", + "required": true, + "description": "程序可执行的验证规则。程序解析expression字段中的表达式，计算出结果后与expected或compare_to对比，判断设计是否合理", + "fields": { + "ratio": { + "type": "array", + "description": "传动比验证规则", + "item_fields": { + "rule_id": { + "type": "string", + "description": "规则唯一标识" + }, + "expression": { + "type": "string", + "description": "计算公式，引用parts中的齿轮参数" + }, + "expected": { + "type": "number", + "description": "期望值" + }, + "tolerance": { + "type": "number", + "default": 0.01, + "description": "允许偏差" + }, + "description": { + "type": "string", + "description": "规则说明" + } + } + }, + "torque": { + "type": "array", + "description": "扭矩验证规则", + "item_fields": { + "rule_id": { + "type": "string" + }, + "expression": { + "type": "string", + "description": "扭矩计算公式" + }, + "compare_to": { + "type": "string", + "description": "对比目标字段，如'targets.rated_torque_nm'" + }, + "description": { + "type": "string" + } + } + }, + "geometry": { + "type": "array", + "description": "几何验证规则，如中心距校验、齿数关系校验", + "item_fields": { + "rule_id": { + "type": "string" + }, + "expression": { + "type": "string", + "description": "几何计算公式" + }, + "compare_to": { + "type": "string", + "description": "对比目标" + }, + "tolerance": { + "type": "number", + "description": "允许偏差" + }, + "description": { + "type": "string" + } + } + } + } + }, + "power_flow": { + "type": "object", + "required": true, + "description": "动力传输路径，声明动力从哪个零件输入、经过哪些零件、最终输出到哪个零件", + "fields": { + "path": { + "type": "array", + "items": { + "type": "string" + }, + "description": "动力流经的零件id顺序" + }, + "efficiency": { + "type": "number", + "minimum": 0, + "maximum": 1, + "description": "传输效率（0~1）" + }, + "coupling_type": { + "enum": [ + "direct", + "coupling", + "keyed", + "spline" + ], + "description": "连接方式" + }, + "notes": { + "type": "string", + "description": "备注" + } + } + }, + "io": { + "type": "object", + "required": true, + "description": "输入/输出/固定定义，明确整机的动力流向和约束边界", + "fields": { + "ground": { + "type": "array", + "items": { + "type": "string" + }, + "description": "相对大地固定的零件id列表" + }, + "input": { + "type": "string", + "description": "动力输入零件id" + }, + "output": { + "type": "string", + "description": "动力输出零件id" + }, + "dof_expected": { + "type": "string", + "description": "期望的自由度描述，如'输出法兰绕Z轴旋转'" + }, + "notes": { + "type": "string", + "description": "备注" + } + } + }, + "motor_spec": { + "type": "object", + "required": true, + "description": "电机规格参数，用于扭矩、功率、气隙等验证。早期可填估算值，但必须注明来源", + "fields": { + "motor_type": { + "type": "string", + "description": "电机类型，如bldc、pmsm" + }, + "rated_torque_nm": { + "type": "number", + "description": "电机额定扭矩（N·m）" + }, + "peak_torque_nm": { + "type": "number", + "description": "电机峰值扭矩（N·m）" + }, + "rated_speed_rpm": { + "type": "number", + "description": "电机额定转速（rpm）" + }, + "pole_pairs": { + "type": "integer", + "description": "电机极对数" + }, + "air_gap_target_mm": { + "type": "number", + "description": "气隙目标值（mm）" + }, + "air_gap_tol_mm": { + "type": "number", + "description": "气隙允许公差（mm）" + }, + "voltage_v": { + "type": "number", + "description": "额定电压（V）" + }, + "max_current_a": { + "type": "number", + "description": "最大电流（A）" + }, + "assumption_notes": { + "type": "string", + "description": "参数来源说明，如'待台架标定'、'参考手册'等" + } + } + }, + "targets": { + "type": "object", + "required": true, + "description": "整机性能及格线，是验证程序判断设计是否通过的标准", + "fields": { + "rated_torque_nm": { + "type": "number", + "description": "输出端额定扭矩目标（N·m）" + }, + "peak_torque_nm": { + "type": "number", + "description": "输出端峰值扭矩目标（N·m）" + }, + "ratio": { + "type": "number", + "description": "目标传动比" + }, + "max_od_mm": { + "type": "number", + "description": "最大外径限制（mm）" + }, + "max_length_mm": { + "type": "number", + "description": "最大长度限制（mm）" + }, + "max_mass_kg": { + "type": "number", + "description": "最大重量限制（kg）" + }, + "max_temp_rise_c": { + "type": "number", + "description": "允许最大温升（°C）" + } + } + } + }, + "_comment_data_start": "========== 以下是具体数据实例（行星关节模组） ==========", + "design_id": "PJ_NGW_S2_090_T80_001", + "module_type": "planetary", + "version": "1.0", + "created_date": "2026-08-07", + "global_frame": { + "reference_part": "gear_housing", + "coordinate_system_name": "HOUSING_CSYS", + "description": "以减速器壳体HOUSING_CSYS作为全局坐标系基准" + }, + "units": { + "length": "mm", + "angle": "deg", + "torque": "N_m", + "mass": "kg", + "speed": "rpm" + }, + "requirement_text": "行星齿轮模组，包含电机、行星减速器、外壳，输出端目标扭矩80N·m，最大外径≤150mm，总长≤120mm，总重≤2kg", + "parts": [ + {"id": "motor_stator", "role": "motor_stator", "file": "零件/motor_stator.step", "coordinate_system": "STATOR_CSYS", "material": {"class": "aluminum"}, "notes": "电机定子，坐标系定义在定子轴线上"}, + {"id": "motor_rotor", "role": "motor_rotor", "file": "零件/motor_rotor.step", "coordinate_system": "ROTOR_CSYS", "material": {"class": "steel"}, "notes": "电机转子，坐标系定义在转子输出轴线上"}, + {"id": "sun_gear", "role": "sun_gear", "file": "零件/sun_gear.step", "coordinate_system": "SUN_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 19, "module_mm": 2.5, "face_width_mm": 8, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "太阳轮，坐标系定义在分度圆中心"}, + {"id": "planet_gear_1", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮1，坐标系定义在自转轴线上"}, + {"id": "planet_gear_2", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮2，坐标系定义在自转轴线上"}, + {"id": "planet_gear_3", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮3，坐标系定义在自转轴线上"}, + {"id": "ring_gear", "role": "ring_gear", "file": "零件/ring_gear.step", "coordinate_system": "RING_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 53, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "internal_gear"}, "notes": "内齿圈，坐标系定义在齿圈自转轴线上"}, + {"id": "planet_gear_bearing_1", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮1轴承，坐标系定义在轴承中轴线"}, + {"id": "planet_gear_bearing_2", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮2轴承，坐标系定义在轴承中轴线"}, + {"id": "planet_gear_bearing_3", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮3轴承，坐标系定义在轴承中轴线"}, + {"id": "carrier", "role": "carrier", "file": "零件/carrier.step", "coordinate_system": "CARRIER_CSYS", "material": {"class": "steel"}, "notes": "行星架，坐标系定义在输出轴线上"}, + {"id": "carrier_bearing", "role": "bearing_seat", "file": "零件/carrier_bearing.step", "coordinate_system": "CARRIER_BEARING_CSYS", "material": {"class": "other"}, "notes": "行星架主轴承，坐标系定义在轴承中轴线上"}, + {"id": "gear_housing", "role": "gear_housing", "file": "零件/gear_housing.step", "coordinate_system": "HOUSING_CSYS", "material": {"class": "aluminum"}, "notes": "减速器壳体，坐标系HOUSING_CSYS作为全局基准"}, + {"id": "back_plate", "role": "output_flange", "file": "零件/back_plate.step", "coordinate_system": "BACKPLATE_CSYS", "material": {"class": "aluminum"}, "notes": "后端盖/输出法兰，坐标系定义在端盖中心"}, + {"id": "seal_cover", "role": "seal_cover", "file": "零件/seal_cover.step", "coordinate_system": "SEAL_COVER_CSYS", "material": {"class": "aluminum"}, "notes": "密封盖，坐标系定义在密封盖中心"} + ], + + "constraints": [ + {"type": "fixed_to_ground", "a": "gear_housing", "source": "sw_mate", "semantic_hint": "电机外壳固定于机座"}, + {"type": "coaxial", "a": "motor_rotor:Outer_Cyl", "b": "motor_stator:Outer_Cyl", "source": "sw_mate", "mate_name": "Rotor_Stator_Coaxial", "semantic_hint": "转子外圆柱面与定子外圆柱面同轴"}, + {"type": "coincident", "a": "motor_rotor:Bottom_Face", "b": "motor_stator:Bottom_Step", "source": "sw_mate", "mate_name": "Rotor_Stator_Coincident", "semantic_hint": "转子下平面与定子下台阶面重合"}, + {"type": "coincident", "a": "motor_stator:Top_Face", "b": "back_plate:Bottom_Face", "source": "sw_mate", "mate_name": "Motor_BackPlate_Coincident", "semantic_hint": "电机上平面与后盖下平面重合"}, + {"type": "coaxial", "a": "motor_stator:Threaded_Hole_1", "b": "back_plate:Threaded_Hole_1", "source": "sw_mate", "mate_name": "Motor_BackPlate_Hole1_Coaxial", "semantic_hint": "电机与后盖螺纹孔1同轴"}, + {"type": "coaxial", "a": "back_plate:Outer_Cyl", "b": "gear_housing:Outer_Cyl", "source": "sw_mate", "mate_name": "BackPlate_Housing_Coaxial", "semantic_hint": "后盖外圆柱面与壳体外圆柱面同轴"}, + {"type": "coincident", "a": "back_plate:Top_Face", "b": "gear_housing:Top_Face", "source": "sw_mate", "mate_name": "BackPlate_Housing_Top_Coincident", "semantic_hint": "后盖上平面与壳体上平面重合"}, + {"type": "coaxial", "a": "back_plate:Side_Hole_1", "b": "gear_housing:Side_Hole_1", "source": "sw_mate", "mate_name": "BackPlate_Housing_SideHole1_Coaxial", "semantic_hint": "后盖与壳体侧边螺纹孔1同轴"}, + {"type": "coaxial", "a": "sun_gear:Inner_Cyl", "b": "motor_rotor:Output_Shaft_Outer_Cyl", "source": "sw_mate", "mate_name": "SunGear_Rotor_Coaxial", "semantic_hint": "太阳轮内圆柱面与电机转子输出轴外圆柱面同轴"}, + {"type": "coincident", "a": "sun_gear:Bottom_Face", "b": "motor_rotor:Output_Shaft_Bottom_Face", "source": "sw_mate", "mate_name": "SunGear_Rotor_Coincident", "semantic_hint": "太阳轮下平面与电机转子输出轴下平面重合"}, + {"type": "coaxial", "a": "ring_gear:Outer_Cyl", "b": "gear_housing:Inner_Cyl", "source": "sw_mate", "mate_name": "RingGear_Motor_Coaxial", "semantic_hint": "齿圈外圆柱面与电机壳体内圆柱面重合"}, + {"type": "coincident", "a": "ring_gear:Bottom_Face", "b": "gear_housing:Step_Face", "source": "sw_mate", "mate_name": "RingGear_Motor_Step_Coincident", "semantic_hint": "齿圈下平面与电机外壳台阶面重合"}, + {"type": "coaxial", "a": "ring_gear:Threaded_Hole_1", "b": "motor_stator:Threaded_Hole_1", "source": "sw_mate", "mate_name": "RingGear_Motor_Hole_Coaxial", "semantic_hint": "齿圈螺纹孔与电机定子螺纹孔同轴"}, + {"type": "coaxial", "a": "planet_gear_bearing_1:Outer_Cyl", "b": "planet_gear_1:Inner_Cyl", "source": "sw_mate", "mate_name": "Bearing1_Gear1_Coaxial", "semantic_hint": "行星轮1轴承外圆柱面与行星轮1内圆柱面重合"}, + {"type": "coincident", "a": "planet_gear_bearing_1:Step_Face", "b": "planet_gear_1:Step_Face", "source": "sw_mate", "mate_name": "Bearing1_Gear1_Step_Coincident", "semantic_hint": "行星轮1轴承台阶面与行星轮1台阶面重合"}, + {"type": "coaxial", "a": "planet_gear_bearing_1:Inner_Cyl", "b": "carrier:Small_Cyl_1", "source": "sw_mate", "mate_name": "Bearing1_Carrier_Coaxial", "semantic_hint": "行星轮1轴承内圆柱面与行星架小圆柱面1同心"}, + {"type": "coincident", "a": "planet_gear_bearing_1:Bottom_Face", "b": "carrier:Top_Face", "source": "sw_mate", "mate_name": "Bearing1_Carrier_Coincident", "semantic_hint": "行星轮1轴承下平面与行星架上平面1重合"}, + {"type": "coaxial", "a": "planet_gear_bearing_2:Outer_Cyl", "b": "planet_gear_2:Inner_Cyl", "source": "sw_mate", "mate_name": "Bearing2_Gear2_Coaxial", "semantic_hint": "行星轮2轴承外圆柱面与行星轮2内圆柱面重合"}, + {"type": "coincident", "a": "planet_gear_bearing_2:Step_Face", "b": "planet_gear_2:Step_Face", "source": "sw_mate", "mate_name": "Bearing2_Gear2_Step_Coincident", "semantic_hint": "行星轮2轴承台阶面与行星轮2台阶面重合"}, + {"type": "coaxial", "a": "planet_gear_bearing_2:Inner_Cyl", "b": "carrier:Small_Cyl_2", "source": "sw_mate", "mate_name": "Bearing2_Carrier_Coaxial", "semantic_hint": "行星轮2轴承内圆柱面与行星架小圆柱面2同心"}, + {"type": "coincident", "a": "planet_gear_bearing_2:Bottom_Face", "b": "carrier:Top_Face", "source": "sw_mate", "mate_name": "Bearing2_Carrier_Coincident", "semantic_hint": "行星轮2轴承下平面与行星架上平面2重合"}, + {"type": "coaxial", "a": "planet_gear_bearing_3:Outer_Cyl", "b": "planet_gear_3:Inner_Cyl", "source": "sw_mate", "mate_name": "Bearing3_Gear3_Coaxial", "semantic_hint": "行星轮3轴承外圆柱面与行星轮3内圆柱面重合"}, + {"type": "coincident", "a": "planet_gear_bearing_3:Step_Face", "b": "planet_gear_3:Step_Face", "source": "sw_mate", "mate_name": "Bearing3_Gear3_Step_Coincident", "semantic_hint": "行星轮3轴承台阶面与行星轮3台阶面重合"}, + {"type": "coaxial", "a": "planet_gear_bearing_3:Inner_Cyl", "b": "carrier:Small_Cyl_3", "source": "sw_mate", "mate_name": "Bearing3_Carrier_Coaxial", "semantic_hint": "行星轮3轴承内圆柱面与行星架小圆柱面3同心"}, + {"type": "coincident", "a": "planet_gear_bearing_3:Bottom_Face", "b": "carrier:Top_Face", "source": "sw_mate", "mate_name": "Bearing3_Carrier_Coincident", "semantic_hint": "行星轮3轴承下平面与行星架上平面3重合"}, + {"type": "coaxial", "a": "carrier_bearing:Outer_Cyl", "b": "gear_housing:Bearing_Inner_Cyl", "source": "sw_mate", "mate_name": "CarrierBearing_Motor_Coaxial", "semantic_hint": "行星架轴承外圆柱面与电机外壳内圆柱面重合"}, + {"type": "coincident", "a": "carrier_bearing:Top_Face", "b": "gear_housing:Bottom_Step", "source": "sw_mate", "mate_name": "CarrierBearing_Motor_Coincident", "semantic_hint": "行星架轴承上平面与电机外壳下台阶面重合"}, + {"type": "coaxial", "a": "carrier:Outer_Cyl", "b": "carrier_bearing:Inner_Cyl", "source": "sw_mate", "mate_name": "Carrier_CarrierBearing_Coaxial", "semantic_hint": "行星架外圆柱面与行星架轴承内圆柱面重合"}, + {"type": "coincident", "a": "planet_gear_1:Top_Face", "b": "ring_gear:Top_Face", "source": "sw_mate", "mate_name": "PlanetGear1_RingGear_Coincident", "semantic_hint": "行星轮1上平面与齿圈上平面重合"}, + {"type": "coincident", "a": "seal_cover:Top_Face", "b": "gear_housing:Bottom_Face", "source": "sw_mate", "mate_name": "SealCover_Motor_Coincident", "semantic_hint": "密封盖上平面与电机外壳下平面重合"}, + {"type": "coaxial", "a": "seal_cover:Outer_Cyl", "b": "gear_housing:Outer_Cyl", "source": "sw_mate", "mate_name": "SealCover_Motor_Coaxial", "semantic_hint": "密封盖外圆柱面与电机外壳外圆柱面同轴"}, + {"type": "coaxial", "a": "seal_cover:Threaded_Hole_1", "b": "gear_housing:Bottom_Hole_1", "source": "sw_mate", "mate_name": "SealCover_Motor_Hole1_Coaxial", "semantic_hint": "密封盖与电机外壳螺纹孔1同轴"} + ], + "meshes": [ + {"pair": ["sun_gear", "planet_gear_1"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮1外啮合"}, + {"pair": ["sun_gear", "planet_gear_2"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮2外啮合"}, + {"pair": ["sun_gear", "planet_gear_3"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮3外啮合"}, + {"pair": ["ring_gear", "planet_gear_1"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮1内啮合"}, + {"pair": ["ring_gear", "planet_gear_2"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮2内啮合"}, + {"pair": ["ring_gear", "planet_gear_3"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮3内啮合"} + ], + + "joints": [ + {"id": "joint_sun_gear", "type": "revolute", "a": "sun_gear", "b": "gear_housing", "axis": "z", "frame": "global", "description": "太阳轮相对于壳体绕全局Z轴旋转"}, + {"id": "joint_carrier_output", "type": "revolute", "a": "carrier", "b": "gear_housing", "axis": "z", "frame": "global", "description": "行星架（输出端）相对于壳体绕全局Z轴旋转"}, + {"id": "joint_carrier_planet_1", "type": "revolute", "a": "planet_gear_1", "b": "gear_housing", "axis": "z", "frame": "global", "description": "行星轮1随行星架绕全局Z轴公转"}, + {"id": "joint_carrier_planet_2", "type": "revolute", "a": "planet_gear_2", "b": "gear_housing", "axis": "z", "frame": "global", "description": "行星轮2随行星架绕全局Z轴公转"}, + {"id": "joint_carrier_planet_3", "type": "revolute", "a": "planet_gear_3", "b": "gear_housing", "axis": "z", "frame": "global", "description": "行星轮3随行星架绕全局Z轴公转"}, + {"id": "joint_planet_1", "type": "revolute", "a": "planet_gear_1", "b": "carrier", "axis": "z", "frame": "PLANET_CSYS", "description": "行星轮1相对于行星架绕自身Z轴自转"}, + {"id": "joint_planet_2", "type": "revolute", "a": "planet_gear_2", "b": "carrier", "axis": "z", "frame": "PLANET_CSYS", "description": "行星轮2相对于行星架绕自身Z轴自转"}, + {"id": "joint_planet_3", "type": "revolute", "a": "planet_gear_3", "b": "carrier", "axis": "z", "frame": "PLANET_CSYS", "description": "行星轮3相对于行星架绕自身Z轴自转"}, + {"id": "joint_fixed_ring", "type": "fixed", "a": "ring_gear", "b": "gear_housing", "axis": "z", "frame": "global", "description": "齿圈固定于主框架，不旋转"} + ], + "kinematics": { + "type": "planetary", + "planet_count": 3, + "fixed_member": "ring_gear", + "ratio_claimed": 3.7895, + "ratio_formula": "(ring_gear_teeth + sun_gear_teeth) / sun_gear_teeth = (100 + 20) / 20 = 6.0", + "ratio_derived": { + "formula": "(ring_gear.teeth + sun_gear.teeth) / sun_gear.teeth", + "input_params": [ + "ring_gear", + "sun_gear" + ] + }, + "notes": "齿圈固定(T80)，太阳轮输入(约T20)，行星架输出，理论传动比3.7895:1" + }, + "verification_rules": { + "ratio": [ + { + "rule_id": "ratio_check", + "expression": "(ring_gear.teeth + sun_gear.teeth) / sun_gear.teeth", + "expected": 3.7895, + "tolerance": 0.01, + "description": "齿圈固定时，传动比=(Zr+Zs)/Zs" + } + ], + "torque": [ + { + "rule_id": "torque_output_check", + "expression": "motor_spec.rated_torque_nm * kinematics.ratio_claimed * power_flow.efficiency", + "compare_to": "targets.rated_torque_nm", + "description": "输出扭矩=电机扭矩×传动比×效率" + } + ], + "geometry": [ + { + "rule_id": "center_distance_check", + "expression": "(sun_gear.gear.teeth + planet_gear_1.gear.teeth) * sun_gear.gear.module_mm / 2", + "compare_to": "meshes[0].center_distance_mm", + "tolerance": 0.05, + "description": "理论中心距=(Zs+Zp)×m/2" + }, + { + "rule_id": "ring_gear_teeth_check", + "expression": "sun_gear.gear.teeth + 2 * planet_gear_1.gear.teeth", + "compare_to": "ring_gear.gear.teeth", + "description": "齿圈齿数=Zs+2×Zp" + } + ] + }, + "power_flow": { + "path": [ + "motor", + "motor_to_sun_gear_coupling", + "sun_gear" + ], + "efficiency": 0.97, + "coupling_type": "coupling", + "notes": "电机→联轴器→太阳轮，效率按97%估算" + }, + "io": { + "ground": [ + "motor_stator", + "ring_gear", + "gear_housing" + ], + "input": "motor_rotor", + "output": "carrier", + "dof_expected": "行星架绕Z轴旋转", + "notes": "电机转子驱动太阳轮，行星架输出；定子、齿圈、壳体固定" + }, + "motor_spec": { + "motor_type": "bldc", + "rated_torque_nm": 20, + "peak_torque_nm": 35, + "rated_speed_rpm": 3000, + "pole_pairs": 7, + "air_gap_target_mm": 0.5, + "air_gap_tol_mm": 0.1, + "voltage_v": 24, + "max_current_a": 15, + "assumption_notes": "3500电机：额定扭矩2.0N·m@3000rpm，峰值4.0N·m，气隙0.5mm" + }, + "targets": { + "rated_torque_nm": 80, + "peak_torque_nm": 100, + "ratio": 3.7895, + "max_od_mm": 150, + "max_length_mm": 120, + "max_mass_kg": 2, + "max_temp_rise_c": 60 + } +} diff --git a/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly_sop.json b/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly_sop.json new file mode 100644 index 0000000..358975a --- /dev/null +++ b/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/joint_module_assembly_sop.json @@ -0,0 +1,92 @@ +{ + "$schema": "../joint_module_assembly_with_example.schema", + "design_id": "PJ_NGW_S2_090_T80_001", + "module_type": "planetary", + "version": "1.0", + "created_date": "2026-08-07", + + "units": { + "length": "mm", + "angle": "deg", + "torque": "N_m", + "mass": "kg", + "speed": "rpm" + }, + + "parts": [ + {"id": "motor_stator", "role": "motor_stator", "file": "零件/motor_stator.step", "coordinate_system": "STATOR_CSYS", "material": {"class": "aluminum"}, "notes": "电机定子，坐标系定义在定子轴线上"}, + {"id": "motor_rotor", "role": "motor_rotor", "file": "零件/motor_rotor.step", "coordinate_system": "ROTOR_CSYS", "material": {"class": "steel"}, "notes": "电机转子，坐标系定义在转子输出轴线上"}, + {"id": "sun_gear", "role": "sun_gear", "file": "零件/sun_gear.step", "coordinate_system": "SUN_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 19, "module_mm": 2.5, "face_width_mm": 8, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "太阳轮，坐标系定义在分度圆中心"}, + {"id": "planet_gear_1", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮1，坐标系定义在自转轴线上"}, + {"id": "planet_gear_2", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮2，坐标系定义在自转轴线上"}, + {"id": "planet_gear_3", "role": "planet_gear", "file": "零件/planet_gear.step", "coordinate_system": "PLANET_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 17, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "external_gear"}, "notes": "行星轮3，坐标系定义在自转轴线上"}, + {"id": "ring_gear", "role": "ring_gear", "file": "零件/ring_gear.step", "coordinate_system": "RING_CSYS", "material": {"class": "steel"}, "gear": {"teeth": 53, "module_mm": 2.5, "face_width_mm": 4, "pressure_angle_deg": 20, "helix_angle_deg": 0, "gear_type": "internal_gear"}, "notes": "内齿圈，坐标系定义在齿圈自转轴线上"}, + {"id": "planet_gear_bearing_1", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮1轴承，坐标系定义在轴承中轴线"}, + {"id": "planet_gear_bearing_2", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮2轴承，坐标系定义在轴承中轴线"}, + {"id": "planet_gear_bearing_3", "role": "bearing", "file": "零件/planet_gear_bearing.step", "coordinate_system": "BEARING_CSYS", "material": {"class": "steel"}, "notes": "行星轮3轴承，坐标系定义在轴承中轴线"}, + {"id": "carrier", "role": "carrier", "file": "零件/carrier.step", "coordinate_system": "CARRIER_CSYS", "material": {"class": "steel"}, "notes": "行星架，坐标系定义在输出轴线上"}, + {"id": "carrier_bearing", "role": "bearing_seat", "file": "零件/carrier_bearing.step", "coordinate_system": "CARRIER_BEARING_CSYS", "material": {"class": "other"}, "notes": "行星架主轴承，坐标系定义在轴承中轴线上"}, + {"id": "gear_housing", "role": "gear_housing", "file": "零件/gear_housing.step", "coordinate_system": "HOUSING_CSYS", "material": {"class": "aluminum"}, "notes": "减速器壳体，坐标系HOUSING_CSYS作为全局基准"}, + {"id": "back_plate", "role": "output_flange", "file": "零件/back_plate.step", "coordinate_system": "BACKPLATE_CSYS", "material": {"class": "aluminum"}, "notes": "后端盖/输出法兰，坐标系定义在端盖中心"}, + {"id": "seal_cover", "role": "seal_cover", "file": "零件/seal_cover.step", "coordinate_system": "SEAL_COVER_CSYS", "material": {"class": "aluminum"}, "notes": "密封盖，坐标系定义在密封盖中心"} + ], + + "constraints": [ + {"type": "fixed_to_ground", "a": "gear_housing", "source": "sw_mate", "semantic_hint": "电机外壳固定于机座"}, + {"type": "coaxial", "a": "motor_rotor:Outer_Cyl", "b": "motor_stator:Outer_Cyl", "source": "sw_mate", "mate_name": "Rotor_Stator_Coaxial", "semantic_hint": "转子外圆柱面与定子外圆柱面同轴"}, + {"type": "coincident", "a": "motor_rotor:Bottom_Face", "b": "motor_stator:Bottom_Step", "source": "sw_mate", "mate_name": "Rotor_Stator_Coincident", "semantic_hint": "转子下平面与定子下台阶面重合"}, + {"type": "coincident", "a": "motor_stator:Top_Face", "b": "back_plate:Bottom_Face", "source": "sw_mate", "mate_name": "Motor_BackPlate_Coincident", "semantic_hint": "电机上平面与后盖下平面重合"}, + {"type": "coaxial", "a": "motor_stator:Threaded_Hole_1", "b": "back_plate:Threaded_Hole_1", "source": "sw_mate", "mate_name": "Motor_BackPlate_Hole1_Coaxial", "semantic_hint": "电机与后盖螺纹孔1同轴"}, + {"type": "coaxial", "a": "back_plate:Outer_Cyl", "b": "gear_housing:Outer_Cyl", "source": "sw_mate", "mate_name": "BackPlate_Housing_Coaxial", "semantic_hint": "后盖外圆柱面与壳体外圆柱面同轴"}, + {"type": "coincident", "a": "back_plate:Top_Face", "b": "gear_housing:Top_Face", "source": "sw_mate", "mate_name": "BackPlate_Housing_Top_Coincident", "semantic_hint": "后盖上平面与壳体上平面重合"}, + {"type": "coaxial", "a": "back_plate:Side_Hole_1", "b": "gear_housing:Side_Hole_1", "source": "sw_mate", "mate_name": "BackPlate_Housing_SideHole1_Coaxial", "semantic_hint": "后盖与壳体侧边螺纹孔1同轴"}, + {"type": "coaxial", "a": "sun_gear:Inner_Cyl", "b": "motor_rotor:Output_Shaft_Outer_Cyl", "source": "sw_mate", "mate_name": "SunGear_Rotor_Coaxial", "semantic_hint": "太阳轮内圆柱面与电机转子输出轴外圆柱面同轴"}, + {"type": "coincident", "a": "sun_gear:Bottom_Face", "b": "motor_rotor:Output_Shaft_Bottom_Face", "source": "sw_mate", "mate_name": "SunGear_Rotor_Coincident", "semantic_hint": "太阳轮下平面与电机转子输出轴下平面重合"}, + {"type": "coaxial", "a": "ring_gear:Outer_Cyl", "b": "gear_housing:Inner_Cyl", "source": "sw_mate", "mate_name": "RingGear_Motor_Coaxial", "semantic_hint": "齿圈外圆柱面与电机壳体内圆柱面重合"}, + {"type": "coincident", "a": "ring_gear:Bottom_Face", "b": "gear_housing:Step_Face", "source": "sw_mate", "mate_name": "RingGear_Motor_Step_Coincident", "semantic_hint": "齿圈下平面与电机外壳台阶面重合"}, + {"type": "coaxial", "a": "ring_gear:Threaded_Hole_1", "b": "motor_stator:Threaded_Hole_1", "source": "sw_mate", "mate_name": "RingGear_Motor_Hole_Coaxial", "semantic_hint": "齿圈螺纹孔与电机定子螺纹孔同轴"}, + {"type": "coaxial", "a": "planet_gear_bearing_1:Outer_Cyl", "b": "planet_gear_1:Inner_Cyl", "source": "sw_mate", "mate_name": "Bearing1_Gear1_Coaxial", "semantic_hint": 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"semantic_hint": "行星轮3轴承内圆柱面与行星架小圆柱面3同心"}, + {"type": "coincident", "a": "planet_gear_bearing_3:Bottom_Face", "b": "carrier:Top_Face", "source": "sw_mate", "mate_name": "Bearing3_Carrier_Coincident", "semantic_hint": "行星轮3轴承下平面与行星架上平面3重合"}, + {"type": "coaxial", "a": "carrier_bearing:Outer_Cyl", "b": "gear_housing:Bearing_Inner_Cyl", "source": "sw_mate", "mate_name": "CarrierBearing_Motor_Coaxial", "semantic_hint": "行星架轴承外圆柱面与电机外壳内圆柱面重合"}, + {"type": "coincident", "a": "carrier_bearing:Top_Face", "b": "gear_housing:Bottom_Step", "source": "sw_mate", "mate_name": "CarrierBearing_Motor_Coincident", "semantic_hint": "行星架轴承上平面与电机外壳下台阶面重合"}, + {"type": "coaxial", "a": "carrier:Outer_Cyl", "b": "carrier_bearing:Inner_Cyl", "source": "sw_mate", "mate_name": "Carrier_CarrierBearing_Coaxial", "semantic_hint": "行星架外圆柱面与行星架轴承内圆柱面重合"}, + {"type": "coincident", "a": "planet_gear_1:Top_Face", "b": "ring_gear:Top_Face", "source": "sw_mate", "mate_name": "PlanetGear1_RingGear_Coincident", "semantic_hint": "行星轮1上平面与齿圈上平面重合"}, + {"type": "coincident", "a": "seal_cover:Top_Face", "b": "gear_housing:Bottom_Face", "source": "sw_mate", "mate_name": "SealCover_Motor_Coincident", "semantic_hint": "密封盖上平面与电机外壳下平面重合"}, + {"type": "coaxial", "a": "seal_cover:Outer_Cyl", "b": "gear_housing:Outer_Cyl", "source": "sw_mate", "mate_name": "SealCover_Motor_Coaxial", "semantic_hint": "密封盖外圆柱面与电机外壳外圆柱面同轴"}, + {"type": "coaxial", "a": "seal_cover:Threaded_Hole_1", "b": "gear_housing:Bottom_Hole_1", "source": "sw_mate", "mate_name": "SealCover_Motor_Hole1_Coaxial", "semantic_hint": "密封盖与电机外壳螺纹孔1同轴"} + ], + + "meshes": [ + {"pair": ["sun_gear", "planet_gear_1"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮1外啮合"}, + {"pair": ["sun_gear", "planet_gear_2"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮2外啮合"}, + {"pair": ["sun_gear", "planet_gear_3"], "type": "external_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "太阳轮与行星轮3外啮合"}, + {"pair": ["ring_gear", "planet_gear_1"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮1内啮合"}, + {"pair": ["ring_gear", "planet_gear_2"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮2内啮合"}, + {"pair": ["ring_gear", "planet_gear_3"], "type": "internal_gear", "center_distance_mm": 45, "source": "sw_mate", "semantic_hint": "齿圈与行星轮3内啮合"} + ], + + "io": { + "ground": ["gear_housing", "ring_gear"], + "input": "motor", + "output": "carrier", + "dof_expected": "输出法兰绕Z轴旋转", + "notes": "电机驱动太阳轮，行星架输出；电机外壳固定" + }, + + "metadata": { + "author": "csj", + "source": "SolidWorks 2025", + "version": "1.0", + "notes": "装配SOP：程序根据parts加载STEP文件，根据constraints拼装，根据meshes建立啮合关系，根据io确定输入输出边界" + } +} \ No newline at end of file diff --git a/1_行星关节模组/1.1_NGW/1.1.1_一级/PJ_NGW_S1_150_T80_001/导出/Assembly.STEP 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