It took Jiang Hao two days to complete the rough machining of the three combination gears.

Ductile iron is harder and more difficult to process than ordinary cast iron.

Machining workpieces with a lathe is not just pushing the tool inward, it is a comprehensive control involving the spindle speed, tool feed, and tool cutting depth.

Depending on the characteristics and hardness of the material, the choice of speed, feed and depth of cut during processing is different.

For example, carbon steel materials generally choose high speed, high feed, and large depth of cut, while cemented carbide should choose low speed, low feed, and small depth of cut.

The people who process are different, and the tools, parameters and skills selected are also different.

Experience is especially important.

Because these three pieces of ductile iron were not easy to come by, and there was no more stocking, Jiang Hao chose a safe processing method of coarse first and then fine.

He first completed the rough processing according to the drawing parameters given by Li Siyuan, and was ready to take it for trial assembly first, and then carry out fine processing and polishing according to the effect.

Li Siyuan didn't bother him in the past two days, and he was so quiet that he didn't bother to take the initiative to contact him. Anyway, Zhao Chang has been modifying the control program in the Innovation Factory, and he can just go over and try it out himself.

When he arrived at the Innovation Factory, Zhao Chang was really nested inside.

Instant noodle boxes were piled up on a table.

"You eat this every day?" Jiang Hao asked.

Zhao Chang stared at a pair of panda eyes and raised his head in confusion.

"Well, I've been eating and sleeping here for the past few days."

"Has the control program been changed?"

"Soon, the code test has been completed, and I will try to write it into the board card later."

Jiang Hao said: "Then let's rest for a while, I'll ask my roommate to buy something from the snack street, and you can change your taste." ”

Zhao Chang is like this, and if he doesn't rest, Jiang Hao is really afraid that he will die suddenly here.

Hearing that there was something delicious, Zhao Chang put down the work in his hand.

Jiang Hao called Ma Dong and asked him to buy some food. I thought he was busy playing games, but when he heard that he could come to Sinovation Works, he readily agreed and said that he could have a treat.

So Jiang Hao kindly didn't tell him the news that Zhang Lingling was not here.

After a while, Ma Dong came in with two bags of food.

As soon as she saw that Zhang Lingling was not there, the hippie smiling face immediately turned cloudy.

"Twenty-six in total, thank you." He said to Jiang Hao.

Jiang Hao: "With a WeChat ID, you forget about brotherhood, right?" ”

Zhao Chang: "What WeChat ID?" ”

Ma Dong hurriedly made a "shhhh ”

"You've been talking to her for so many days, and she doesn't even know who you are?" Jiang Hao said he was surprised.

Ma Dong nodded embarrassedly.

Jiang Hao: "I'm afraid you don't have any habits?" ”

Ma Dong: "It's called keeping the mystery of love, I learned it from books. ”

Jiang Hao: "What book?" ”

Ma Dong: "Teacher Chen Teaches You to Flirt with Girls"

Jiang Hao: "You Teacher Chen, is he serious?" ”

Ma Dong: ...

In the end, after friendly negotiation between the two, Qian Ma Dong gave him a five-fold discount for dinner, thirteen yuan.

After dinner, Zhao Chang decided to rest for a while, and when he saw that Jiang Hao was ready to try out the combination gear, he came to help.

He often loads and unloads robotic arms with Li Siyuan and is very familiar with this work.

The entire robotic arm is shaped like a human arm.

Two joints that can rotate 180°, like the elbow and wrist, are the core kinematics of the robotic arm, which they named Joint 1 and Joint 2.

Now they're going to upgrade the two joints from 180° rotation to 3360° rotation.

Because the moving joints of the robotic arm need to be replaced frequently, it is relatively simple to disassemble. The two worked together, and it didn't take long to complete the disassembly.

After disassembly, replace the whole set of rotating mechanism with a combined gear mechanism that can rotate 360°, and the assembly is basically completed.

"Come on, write your program in and give it a try." Jiang Hao said.

"Okay."

Zhao Chang brought his laptop over, plugged the data cable into the interface of the board, and wrote the new program after debugging.

"Power on!"

Jiang Hao took the operating handle and unscrewed the power button.

After two "Didi" starts, he manipulated the steering stick to make the No. 1 joint of the robotic arm start to rotate.

Jiang Hao gently pushed the steering rod, but the mechanical arm only trembled slightly symbolically twice before it stuck. No matter how he manipulated the steering stick, the No. 1 joint just didn't rotate, only the servo motor was buzzing.

"How so?"

Jiang Hao stopped the operation and asked Zhao Chang, who was observing the No. 1 joint.

"The combination gear didn't turn." Zhao Changdao.

"Impossible, I processed it according to Li Siyuan's drawings, although it has not been refined, but the size will not be so different, right?" Jiang Hao wondered.

He had double-checked the drawings, and it was impossible for him to make such a low-level mistake as wrong with the amount of data.

Zhao Chang pointed to the slight gap between the two gears and said, "Look, it seems that the bevel of the helical gear and the combination gear on the motor has an angular deviation." ”

Jiang Hao leaned over, turned on the flash of his mobile phone to take a closer look, and found that it was indeed this problem.

The helical gear has a semi-conical appearance and the serrations are oblique, mainly used for power transmission between two non-parallel shafts.

The helical gears to be engaged with each other have strict requirements for the bevel angle of the two.

Their problem was that there was a gap between the two gear bevels, and the bite was not tight.

The lack of occlusion has nothing to do with the fact that the two combination gears are not finely machined and polished. After fine grinding, the gap between these two sets of helical gears will be greater.

Jiang Hao hurriedly took out the processing drawings of the combined gears, and asked Zhao Chang to go to the data box to turn out the drawings of the motor gears.

For these two helical gears to convert the power from the horizontal direction to the vertical direction, the sum of the inclination angles of the two inclined planes should be equal to 90°.

One 36 ° and one 54 ° marked on the drawing, there is no problem.

What's the problem?

Jiang Hao frowned and fell into deep thought.

"What to do? Is there any salvation? Zhao Chang asked anxiously.

If this mistake caused the combination gear to be scrapped, then the upgrade of their robotic arm freedom would definitely be in vain.

I went to buy materials for processing, and it was too late.

Zhao Chang was so anxious that he wanted to call Li Siyuan immediately to ask about the situation, but Jiang Hao stopped him.

He forced himself to calm down, mentally calculated the number of sawtooth teeth and the angle of the two gears, and found the problem.

The machining inclination angle marked by Li Siyuan is directly added by the inclined plane, and he forgets to deduct the height of the sawtooth.

"Fortunately, the inclination angle of the inclined plane is more, not less." Jiang Hao said.

If you have more, you can subtract it, but if you have less, you can't add it back.

"Can you get it back?" Zhao Chang's eyes widened.

With a round head, round inches, a round face, and round eyes, if it weren't for the fact that the skin was a little darker, he would be like a brother in the cartoon.

Jiang Hao said: "I grind the inclined plane down, and then draw the serration a little deeper, it should be no problem." ”

"That's good."

Zhao Chang took a long breath and sat down on the ground.

"What is Li Siyuan doing day by day, so carelessly, he almost missed a big event."

Zhao Chang complained and took out his mobile phone and called Li Siyuan.

I dialed twice, but no one answered both times.

"He won't go to the movies with Zhang Lingling again, will he?" Zhao Chang muttered.

"Do they often go out to the movies?" Jiang Hao asked.

"Yes, I still like to choose movies with low attendance, and I don't know why."

Jiang Hao: ...

---- to collect, to follow