Re: Championship Robot Mechanism Pictures 2017
The first row of ninja stars are used to sweep in fuel and send it into the stripper blade (not pictured). The gear passes under the stripper blade and hits a roller covered in surgical tubing which pops it off the ground. The second row of ninja stars pulls the gear onto the storage platform. A sensor tells the driver that the sequence has been completed and the gear is ready to be staged. There is a second sensor that stops the process when the gear is loaded completely on the storage shelf to be staged for delivery. When the driver wants to hang the gear, they stage the gear out of the back of the robot. This is done by a third set of ninja stars that push the gear out onto the delivery shelf. A clamp, run by two large servos, holds the gear onto the delivery shelf. The gear is then staged by rotating the shelf from a horizontal to a vertical position. The driver drives into the spring and the gear is released. One motor and a VP gearbox runs all the ninja stars, the other motor and VP gearbox tilts the delivery shelf, and two servos clamp the gear. IMO one cool thing is the way we read the first sensor. We hooked it up to the an empty limit switch position on one of the Talons. We then told the Talon to ignore the limit switch but report its status to the RoBoRio. Tada!.. no more running limit switches to the RoBoRio.
As far as the “process” of the design, we decided early on that picking off the floor was going to be faster than a human can load. The area under the robot was where the gear mechanism would live. We also decided to capitalize on the whole swerve thing in order to run over the gear. The biggest challenge was getting the gear from horizontal the vertical which took a couple of prototype iterations.