Video of 1114

[Aidan H.]

After some digging, I was able to actually get a pretty good understanding of their passive (-ish) lift. It seems like there is no vertical actuation of the tall lift at all that is only for the bin holder (it can go up by itself). It looks like there is actually some surgical tubing passively pulling the bin holder down (easily seen at ~30 sec in video), so that it can't "bounce" off the top of the stack while one is being made or when the stack is jiggling around. Also, when 1114 grabs a can, they have to first lift it to the height of 1 tote, which is actually done with the use of their normal "tote lifters" pushing their can grabber up while it is holding a can (at ~25 sec, little spinner is rotating to confirm the "tote lift" being run). It is not clear, at least from the video I can find, how the can grabber is kept at the 1 tote height after being lifted there, but there is a chance that there is a passive 1-way latch mechanism that locks it to (/above) that 1 tote height when the bin grabber is closed (dual use mechanism, can clamp on bins, and engage lift latch). The can grabber can drop all the way to the bottom and miss the latch because the can grabber is always open when it drops to the bottom, and (I presume) was designed to miss the locking level when the grabber was in the open state.
This is all just speculation as to what might be at work behind that beautiful red powdercoat, and it will probably be thoroughly explained when they post their robot poster for SideSwipe.

I am absolutely astounded by the complexity and simplicity that went into this robot, and the level of foresight that was paid to how this game would play out. Intaking fast and being able to sturdily handle a full stack seemed to have been top priorities for 1114, and they were definitely able to achieve them.

Here's the video that I referenced up there (Quarters 8): 2015 - Greater Toronto Central Regional - Quarter Final - 8
(watch in HD for a better view)

[mman1506]

Originally Posted by Aidan H.

It looks like there is actually some surgical tubing passively pulling the bin holder down (easily seen at ~30 sec in video), so that it can't "bounce" off the top of the stack while one is being made or when the stack is jiggling around

That is just spiral pneumatic tubing that connects to the pneumatic actuator on the bin grabber.

[Aidan H.]

Originally Posted by mman1506

That is just spiral pneumatic tubing that connects to the pneumatic actuator on the bin grabber.

It actually seems like it might have been some surgical tubing that was tied on at a later time in the competition, as it seems to be absent at ~37 sec in this video (Qual 30), but was there in at least their 2nd quarter final (QF8 at ~30 sec).
If it isn't spiral pneumatic tubing, I don't know where their pneumatics would be run through as I can't spot them (yet).

[Mike Marandola]

Originally Posted by Aidan H.

It actually seems like it might have been some surgical tubing that was tied on at a later time in the competition, as it seems to be absent at ~37 sec in this video (Qual 30), but was there in at least their 2nd quarter final (QF8 at ~30 sec).
If it isn't spiral pneumatic tubing, I don't know where their pneumatics would be run through as I can't spot them (yet).

I am pretty sure what you believe to be surgical tubing is actually the spiral air tubing. If there was surgical tubing stretched that distance, it would drop much faster. I think the cylinder is visible in the picture as well.

[Aidan H.]

Originally Posted by Mike Marandola

I am pretty sure what you believe to be surgical tubing is actually the spiral tubing. If there was surgical tubing stretched that distance, it would drop much faster. I think the cylinder is visible in the picture as well.

Yeah, you're right. Sorry about that. I guess the video just is pretty hard to see clearly enough.
On that note, does anyone have some close-up photos of any mechanisms?
Though in the future, I wouldn't be surprised to see something like a constant force spring pulling the lift down, as it definitely seems advantageous to have downward pressure on the stack (but gravity is probably enough). It also might just not matter; it's working perfectly as it is.

[118418]

Originally Posted by Aidan H.

After some digging, I was able to actually get a pretty good understanding of their passive (-ish) lift. It seems like there is no vertical actuation of the tall lift at all that is only for the bin holder (it can go up by itself). It looks like there is actually some surgical tubing passively pulling the bin holder down (easily seen at ~30 sec in video), so that it can't "bounce" off the top of the stack while one is being made or when the stack is jiggling around. Also, when 1114 grabs a can, they have to first lift it to the height of 1 tote, which is actually done with the use of their normal "tote lifters" pushing their can grabber up while it is holding a can (at ~25 sec, little spinner is rotating to confirm the "tote lift" being run). It is not clear, at least from the video I can find, how the can grabber is kept at the 1 tote height after being lifted there, but there is a chance that there is a passive 1-way latch mechanism that locks it to (/above) that 1 tote height when the bin grabber is closed (dual use mechanism, can clamp on bins, and engage lift latch). The can grabber can drop all the way to the bottom and miss the latch because the can grabber is always open when it drops to the bottom, and (I presume) was designed to miss the locking level when the grabber was in the open state.
This is all just speculation as to what might be at work behind that beautiful red powdercoat, and it will probably be thoroughly explained when they post their robot poster for SideSwipe.

I am absolutely astounded by the complexity and simplicity that went into this robot, and the level of foresight that was paid to how this game would play out. Intaking fast and being able to sturdily handle a full stack seemed to have been top priorities for 1114, and they were definitely able to achieve them.

Here's the video that I referenced up there (Quarters 8): 2015 - Greater Toronto Central Regional - Quarter Final - 8
(watch in HD for a better view)

For the RC flip, it looks like they have a low arm (2"-4" high from the ground) that comes out and pushes on (or holds) the lower rim of the RC bottom, while the intake wheels pull the RC in. This creates a torque for the RC to rotate up. Look at ~63 sec of the game clock. The low push arm that comes out is not colored.

[Tyler2517]

Originally Posted by 118418

For the RC flip, it looks like they have a low arm (2"-4" high from the ground) that comes out and pushes on (or holds) the lower rim of the RC bottom, while the intake wheels pull the RC in. This creates a torque for the RC to rotate up. Look at ~63 sec of the game clock. The low push arm that comes out is not colored.

Wow so much attention to detail every part of the stacking process is automated down to the second.... That is such a small detail but is super effective

[118418]

Originally Posted by 118418

For the RC flip, it looks like they have a low arm (2"-4" high from the ground) that comes out and pushes on (or holds) the lower rim of the RC bottom, while the intake wheels pull the RC in. This creates a torque for the RC to rotate up. Look at ~63 sec of the game clock. The low push arm that comes out is not colored.

Here is a picture of the push/hold arm, posted in the GTRC thread by EddtG or #1285. You can see it clearly here.

https://www.facebook.com/FIRSTRoboti...type=3&theater

[Zentx]

Here is a closer look at 1114 from the side, including AUTONOMOUS !

https://www.youtube.com/watch?v=r7-NigYFrWo