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Unread 08-02-2010, 03:03
RRLedford RRLedford is offline
FTC 3507 Robo Theosis -- FRC 3135
AKA: Dick Ledford
FRC #3135 (Robotic Colonels)
Team Role: Mentor
 
Join Date: Jan 2010
Rookie Year: 2009
Location: Chicago, IL USA
Posts: 286
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Re: pic: Winch for Kicker

Quote:
Originally Posted by squirrel View Post
The spool that the orange strap wraps around, can turn freely on the shaft. It can also move side to side. When the motor/transmsission turns, it drives the shaft. When the spool is shifted to the right, as in the picture, the bolt on the side of the spool is engaged with the bolt on the shaft, so the motor drives the spool. To release the winch, the pneumatic cylinder pulls the lever, which moves the spool to the left, so the bolts disengage.

The orange strap connects to the kicker arm, which has "springs" made of latex tubing pulling it away from the winch.

http://www.youtube.com/watch?v=rId6Lnw-Hl4

http://www.youtube.com/watch?v=YFmG_b4B-BE
Looks very consistent and reliable. How much RPM geardown are you using with CIM on a single toughbox (with encoder to manage kick strength too I assume)?
Our winder has 6+" diameter winder wheel which directly stretches (via synthetic cable) our 4-cord bungee set up to 100+ lbs. tension, and so it needs much lower RPM (12-24) with much higher torque (~100 Ft-Lb),. So we're building an additional two stage sprocket reduction after Toughbox to get winder RPM down much lower, where we need it.
Our "dog" system is between the synthetic fiber tension cable and the winder wheel. Our pneumatic trigger action pulls the tension cable completely off the winder for an instant snap back to pre-wound extension point. Released bungee energy, stored on wind up, pulls cable, with attached kicker, forward with major power for full length of field kicks.
I'll have actual kicker/kicking PICs/VIDs up on Mon or Tue, after the initial winder wheel mounting is completed.
-Dick Ledford
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