Is the CIM motor enough to lift robot? After rope winds our motor stops and robot can not go up.
What gear reduction (if any) do you have connected to the CIM? What drum/winch diameter?
Any.
Can you post a picture of your robot? It would help us figure out a solution.
A CIM motor is plenty powerful enough to make the robot climb.
How to send photo easily? Only link?
The problem may be inadequate gear reduction.
But you need to provide more detail if you want more definitive help.
Describe the complete drivetrain from the CIM to the winch, including gear reductions, winch diameter, and rope diameter.
And post a couple of well-focused pictures.
You can attach them to your CD post, or you can upload them to imgur.com and provide links.
It looks like you have no gear reduction.
What is the diameter of the winch?
What is the diameter of your rope?
That works, thanks!
It looks like you need a larger gear reduction than what you have right now. If you can put a gearbox between the CIM and the climbing shaft, then the climbing shaft will have more torque. This would probably work: http://www.andymark.com/ToughBox-p/am-toughbox.htm
I am not sure how long shipping takes to your part of the world. Do you have any other gearboxes, or know teams in your area that might have old gearboxes?
You will need a gear reduction of some sort. Our robot for 2016 used about a 35:1 gear reduction or so for our winch. We also used only one CIM and it worked perfectly fine for us. We usually were able to climb in about 4 to 5 seconds after the hook was put on the bar.
A 12.75 GR AM Toughbox with a 150# robot, 2"dia winch, and a CIM motor will operate at over 60A of current. It is likely that a 40A breaker will trip during a 5 second climb. Try a GR ratio of ~25:1
The appropriate gear reduction depends on the winch diameter and – in some designs – on the rope diameter.
That’s why I’ve asked the OP to tell us their winch diameter and rope diameter.
Winch diameter is 3cm and rope diameter is 1,5cm.
Can we find another solution but using gearbox? On the motor side small gear, on the shaft side big gear possible?
Unfortunately I don’t think so. You need a bigger reduction for this than you can get from just a chain reduction. Look into a versaplanetary or a banebots planetary. Shipping may be an issue so id try to contact some local teams to see if they have anything laying around.
Based on the math I’ve done you need about a 9:1 ratio between the CIM motor and the spool (assuming a 1" diameter spool and a ratchet strap-style rope) to lift a fully loaded FRC robot with a decent margin of error (stalls at ~277lbs).
The biggest ratio you can get practically with sprockets (at least easily available ones) is about a 5:1. Now that said, at a 5:1 ratio, if you double the number of motors running it (like adding a second CIM to the opposite side of the system) that 5:1 ratio would work just fine.
Ideally though you would want a proper gearbox that will get you closer to that 9:1 ratio.
Have you taken into account the effective winch diameter changing as the rope wraps around it?
Actually no. Not yet.
I have enough power to climb a hill on my bicycle… but I cannot do it quickly. I have to do it very slowly. I must shift to a lower gear ratio in order to do it without getting too tired.
Similarly, the CIM motor has enough power to lift your robot, but it cannot do it quickly. It must be (as we say in the US) “geared down”. That means, you will have to use a small gear on the motor shaft to drive a shaft with a larger gear. That same shaft may need a small gear driving another shaft with another large gear. Eventually, the power will be “geared down” enough to lift your robot. A gearbox is another way to do it.
Another thing that could help is to wind your rope onto a smaller diameter. That too will have the effect of “gearing down” the CIM.
Good luck, and I hope we have been helpful to you!