{
  "meta": {
    "name": "RoboParts Mechanical Interface Registry",
    "description": "机械互换维度的归一化标准登记表。为『两个零部件能否在物理上装到一起』提供可机读的判定基准：法兰指定命名语法、标准尺寸族、装配红线。本表是规范参考层（normative reference），不是实体库；实体侧通过 entities.json 的 mechanical_interface.standard 引用本表 id。",
    "version": "1.0.0",
    "generated_at": "2026-08-05T16:00:00+08:00",
    "maintainer": "roboparts.cc",
    "rationale": "截至 2026-08-05，本平台 688 个实体中机械互换维度覆盖为 0/688 —— 电气/通信/协议维度已有数据，唯独『能不能拧上去』无法回答。本表为填补该缺口建立标准基线。",
    "coverage_policy": "只登记有公开可溯源出处的规格。无出处的尺寸一律不写，宁可留空，不可臆造。"
  },

  "designation_grammar": {
    "id": "GRAMMAR-ISO9409-1-A",
    "standard": "ISO 9409-1:2004",
    "title": "工业操作机器人 机械接口 第1部分：圆形法兰（型式 A）",
    "format": "ISO 9409-1-A{d1}-{n}-{thread}",
    "fields": {
      "d1": "螺栓节圆直径 (bolt circle diameter, mm)",
      "n": "螺栓数量",
      "thread": "螺纹规格 (公制, 如 M6)"
    },
    "example": "ISO 9409-1-A50-4-M6 = 节圆 φ50mm，4 个 M6 螺纹孔",
    "parse_regex": "^ISO\\s*9409-1-A(?<d1>\\d+(?:\\.\\d+)?)-(?<n>\\d+)-M(?<thread>\\d+)$",
    "interchange_rule": "d1、n、thread 三者全等 → 螺栓孔位可互换（必要条件）。但仍需校验 §pitfalls 中的螺纹旋入深度、法兰总厚、中心通孔直径，三者任一不符即不可直接互换。",
    "note": "1988 版已废止，现行有效版本为 2004 版。",
    "source": "ISO 9409-1:2004；ABB 机器人法兰标准说明 (abbpj.weisizhineng.com)",
    "source_tier": "A",
    "confidence": 0.92,
    "last_verified": "2026-08-05"
  },

  "flange_designations": [
    {
      "id": "ISO9409-1-A50-4-M6",
      "d1_mm": 50,
      "bolt_count": 4,
      "thread": "M6",
      "dowel_holes": "2×φ6H7",
      "typical_payload_class": "小型/协作",
      "known_hosts": ["ABB IRB1100", "ABB IRB1200", "ABB IRB120", "ABB CRB1100", "ABB IRB920/920T"],
      "source": "ABB 机型法兰规格对照 (abbpj.weisizhineng.com)",
      "source_tier": "A",
      "confidence": 0.9
    },
    {
      "id": "ISO9409-1-A80-4-M8",
      "d1_mm": 80,
      "bolt_count": 4,
      "thread": "M8",
      "dowel_holes": "2×φ8H7",
      "typical_payload_class": "中型",
      "known_hosts": ["ABB IRB1600", "ABB IRB2600", "ABB IRB4600", "ABB IRB360(部分版本)"],
      "source": "ABB 机型法兰规格对照 (abbpj.weisizhineng.com)",
      "source_tier": "A",
      "confidence": 0.9
    },
    {
      "id": "ISO9409-1-A100-6-M10",
      "d1_mm": 100,
      "bolt_count": 6,
      "thread": "M10",
      "dowel_holes": "2×φ10H7",
      "typical_payload_class": "大型",
      "known_hosts": ["ABB IRB6700", "ABB IRB5700", "ABB IRB760", "ABB IRB460"],
      "source": "ABB 机型法兰规格对照 (abbpj.weisizhineng.com)",
      "source_tier": "A",
      "confidence": 0.9
    },
    {
      "id": "ISO9409-1-A160-8-M12",
      "d1_mm": 160,
      "bolt_count": 8,
      "thread": "M12",
      "dowel_holes": null,
      "typical_payload_class": "超大负载",
      "known_hosts": ["ABB IRB8700"],
      "source": "ABB 机型法兰规格对照 (abbpj.weisizhineng.com)",
      "source_tier": "A",
      "confidence": 0.85
    }
  ],

  "humanoid_shoulder_3dof_2026": {
    "id": "SPEC-3DOF-SHOULDER-2026",
    "title": "人形机器人3DOF球肩驱控传一体化通用适配规范 (2026版)",
    "issuer": "寰识科技(上海)有限公司 牵头，联合产业链企业与检测机构编制",
    "status": "团体/联合规范（非国标）",
    "geometric_tolerance": {
      "孔位中心距公差": "±0.02mm",
      "安装端面跳动": "≤0.01mm",
      "配合面同轴度": "≤0.005mm"
    },
    "load_classes": [
      {
        "class": "轻载级",
        "rated_static_load_kg": 5,
        "flange_od_mm": 80,
        "bolt_pattern": "4×M5 均布",
        "bolt_circle_mm": 65,
        "dowel_holes": "2×φ4"
      },
      {
        "class": "中载级",
        "rated_static_load_kg": 15,
        "flange_od_mm": 120,
        "bolt_pattern": "6×M6 均布",
        "bolt_circle_mm": 100,
        "dowel_holes": "2×φ6"
      },
      {
        "class": "重载级",
        "rated_static_load_kg": 30,
        "flange_od_mm": 160,
        "bolt_pattern": "8×M8 均布",
        "bolt_circle_mm": 135,
        "dowel_holes": "2×φ8"
      }
    ],
    "other_requirements": {
      "自重与额定静负载比": "≤1:2",
      "运动包络": "屈曲/伸展 ±180°，内收/外展 ±90°，内旋/外旋 ±180°",
      "快拆维护": "无工具快拆，整机更换 ≤10 分钟，零点复核 ≤30s，更换后无需重标定运动学参数"
    },
    "source": "人形机器人3DOF球肩驱控传一体化通用适配规范(2026版) 公开稿",
    "source_tier": "B",
    "confidence": 0.75,
    "note": "为联合发起的行业规范，非强制国标；采用前需与具体厂商确认实施情况。"
  },

  "gb_modular_humanoid": {
    "id": "GB-HUMANOID-MODULAR",
    "title": "人形机器人模块化通用技术要求",
    "issuer": "全国标准信息公共服务平台 (std.samr.gov.cn) 立项",
    "granularity": "硬件最小模块 = 一体化关节；软件最小模块 = ROS 2 组件",
    "mechanical_interface_clause": "标准化法兰尺寸、孔位、公差、空心轴通孔最小内径",
    "compliance_tiers": {
      "L1_基础互操作": ["机械安装面", "电气 48V 供电", "CAN 通信", "最小 ROS 2 控制接口", "热参数基本声明"],
      "L2_高性能互操作": ["快速换装法兰", "EtherCAT + PTP", "完整 ROS 2 API", "液冷/风冷接口", "能力声明完整验证"]
    },
    "adjacent_interfaces": {
      "电气": "统一 48V DC 供电总线；标准连接器针脚定义（含 STO）",
      "通信": "驱动级强制 EtherCAT；全系统 PTP 微秒级同步；统一对象字典",
      "热": "导热接触面平整度/粗糙度/接触压力；风冷风道；液冷快插；Rth/Cth 声明",
      "安全": "SIL/PL 等级功能安全接口 (STO、SLS、SS1/SS2)"
    },
    "conformance_framework": ["一致性测试", "年度互操作 PlugFest", "第三方型式试验", "能力声明文件签名与在线验证"],
    "source": "std.samr.gov.cn 标准详情页",
    "source_tier": "A",
    "confidence": 0.85
  },

  "mounting_taxonomy": {
    "id": "TAXO-MOTOR-MOUNT",
    "description": "关节电机安装方式分类（用于 mechanical_interface.mount_type 取值）",
    "values": [
      { "key": "flange", "label": "法兰安装型", "definition": "通过法兰面与关节结构固定连接" },
      { "key": "shaft_sleeve", "label": "轴套安装型", "definition": "通过轴套与关节轴系配合固定" },
      { "key": "embedded", "label": "嵌入式安装型", "definition": "直接嵌入关节壳体内部，无外露安装结构" },
      { "key": "direct_mount", "label": "直装型", "definition": "厂商声明无需转接法兰即可直接安装于目标机型" },
      { "key": "unknown", "label": "未知", "definition": "厂商未公开或尚未采集" }
    ],
    "source": "《人形机器人关节用轴向磁通电机》标准文本 4.1.6 (cssn.net.cn)",
    "source_tier": "A",
    "confidence": 0.88
  },

  "pitfalls": [
    {
      "id": "PIT-THREAD-DEPTH",
      "severity": "critical",
      "title": "螺纹有效旋入深度",
      "detail": "每个机型法兰螺纹有效旋入深度固定；螺栓过长会顶破腕部内部油封，造成减速器漏油。设计转接法兰必须查该机型规格手册标注的最大允许旋深。",
      "implication_for_matching": "节圆+孔数+螺纹相同 ≠ 螺栓长度可通用。"
    },
    {
      "id": "PIT-BOLT-GRADE",
      "severity": "high",
      "title": "螺栓等级",
      "detail": "ABB 官方强制 12.9 级高强度螺栓；禁止 4.8/8.8 级及不锈钢螺栓（易咬死、塑性变形松动）。"
    },
    {
      "id": "PIT-DOWEL-FIT",
      "severity": "high",
      "title": "定位销配合",
      "detail": "机器人法兰销孔 H7；工装销外径推荐 g6 过渡配合；严禁过盈硬敲装配。"
    },
    {
      "id": "PIT-SAME-A80-DIFFERS",
      "severity": "high",
      "title": "同名法兰参数不等价",
      "detail": "相同 A80 designation 在不同机型上，螺纹深度、法兰总厚度、中心通孔直径可能不同。",
      "implication_for_matching": "designation 匹配只能作为『候选』，不能作为『确认』。"
    },
    {
      "id": "PIT-LEGACY-NONSTANDARD",
      "severity": "medium",
      "title": "老款非标法兰",
      "detail": "并非所有工业机器人法兰都符合 ISO 9409（例：ABB IRB140、IRB2400 早期版本为厂商专用非标），不能直接用标准转接板，须按原厂图纸加工。"
    },
    {
      "id": "PIT-HOLLOW-SHAFT",
      "severity": "medium",
      "title": "中心通孔",
      "detail": "中空手腕(ID 版本)中心大孔用于内置气管/电缆；实心手腕无大通孔。设计工装时需预留避让。"
    }
  ],

  "ecosystem_watch": {
    "note": "机械接口标准化在 2026 年处于活跃竞争期，登记表需随之更新。",
    "items": [
      {
        "actor": "泉智博",
        "event": "2026-06 向多家整机厂商发布《关节接口白皮书》；PA/HA/CA 三大产品系列统一安装孔位、法兰尺寸与线缆插头规格",
        "adopters": ["乐聚", "智元", "腾讯 RoboticsX", "松延动力", "星海图"],
        "torque_range": "2–400 Nm",
        "source_tier": "B"
      },
      {
        "actor": "中国电子技术标准化研究院",
        "event": "2025 年立项《人形机器人一体化关节通用规范》",
        "source_tier": "B"
      }
    ]
  }
}