[Thuperscout]

It is legal because the 'mechanism' above the bumpers is not active, the only active piece is the part that changes which goals the balls will score to, and that only changes when the balls are NOT in contact with the robot.

If I'm understanding your picture correctly, the balls are only going into the mechanism by three inches... the funnels or ramps whatever you call them, only redirect the balls, and the ball enters them three inches in, and leaves three inches in, so there is no fault. The robot is not possesing the ball, only redirecting.