Ball Shell Skipping Teeth

Under normal conditions of sand quantity and motor torque rotation, there is a possibility of the ball shell being displaced by the gears. Therefore, we conducted repeated tests and verifications focusing on the gears, ring gear, and inclined angle of the support legs. Indeed, we discovered that under specific circumstances, the issue of the ball shell skipping teeth and slipping does occur.

We then attempted various positions for repairs and adjustments, aiming to eliminate this issue entirely. After numerous experiments and testing, we eventually settled on a modification plan involving the extension of the supporting legs. However, merely elevating the support legs could potentially lead to issues with the ball's forward stability. As a result, we also conducted pendulum tests to ensure that a 10 kg cat, simulating a force of 1.5 meters per second, charging into the litter box, would not cause the box to tip over.