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Originally Posted by Mini-Mullet
Ok, my team had a very similar problem. we couldn't add a motor because we didnt have the space to do so. next best thing? a pneumatic. it didn't take long to put on and it proved very very effective. i threw together a little page real quick so you could see it, if you have any questions about it let me know and i'll fill you in.
how 1504 fixed their problem |
I agree with mini-mullet in suggesting that you add a pneumatic agitator to your chute. Even though you have already stated that you do not wish to add another actuator to your robot, I think that no matter what, the balls are going to jam, based on their physical properties (see Art's post). I don't think that any of the design sketches you presented will consistently prevent jams (although like others have said, number 2 is the best option).
Take a look at how team 716 decided to deal with this problem this year.
The top picture (a side view) shows our ball agitator before we added a pneumatic cylinder to make it move in and out of the slot in the lexan (so that it would hit the balls inside the chute). For context, the pictures also show a full view of our hopper and where the agitator is located (the pneumatic cylinder is visible in these pictures).
This really wasn't too difficult of a mechanism to add. While we still have jam problems occasionally, it's very rare. The past few times it has happened was because the heat in the pits at Philly was causing the lexan chute to warp inwards and cause the space for the balls to pass to become smaller. Other times it has been because our starting balls were positioned in the chute incorrectly.
First of all, I would like to ask you how many balls are designed to come out of your rollers at once. If it is designed to release two balls at once, and the balls are jamming in a triangular pattern, here is my advice for adding a pneumatic actuator (lets see if I can put my artistic skills to work):
So, to add a verbal explanation to my idea.... you would add an agitator similar to the one found on 716's machine, except positioned differently. You would position it on the underside of your chute (as shown in the side view), centered so that when it was extended, it would knock out the middle ball in the jam triangle (as pictured in the top view).
I don't know if this is compatible with your actual robot, but even if it's not, hopefully it will at least get you thinking
. If this doesn't make sense, ask me and I will offer a further explaination. If you need any help, come to 716's pit and we will assist you if you need anything. I'm sure our programmer, Dillon, would be willing to help (that is, if he has a spare minute or two).
Good luck!
-- Jaine