Heisenborg 1 features a pivoting ramp and a kicking mechanism. The ramp pivots to the front, allowing the arms to grab the ball. The ramp then returns to its upright position with the arms holding the ball in place. When ready to shoot, the kicker pulls back, is pressurized, the arms are opened, and then the ratchet is released allowing the kicker to hit the ball at full force. The entire ramp and kicking mechanisms are powered by pneumatics.
Using a modified kit bot, Heisenborg 1 has a 6 wheel tank drive with 4 CIMs.
For championships, we replaced the arms with reinforced alternatives with wheels on the ends to help pick up the ball. This also helped us gain more assists as well.
Heisenborg 1 was able to achieve a one ball autonomous 100% of the time with no hot goal detection.
South FL Rank: 26
Archimedes Rank: 42
Drive Team: Alex Elder, Jake Schlinkmann, Zachary Weingarten, Bryan Weissman
Awards: Rookie All Star Award
Aerial Assist is played by two competing Alliances of three Robots each on a flat 25’ x 54’ foot field, straddled by lighting truss suspended just over five feet above the floor. The objective is to score as many balls in goals as possible during a 2 minute and 30 second match. The more Alliances score their ball in their goals, and the more they work together to do it, the more points their alliance receives.
South Florida Regional
Ratchet and Pawl
The ratchet and pawl is used to hold the kicker in position as well as release it to kick the ball into the goal. When disabled, the pawl engages and locks the ratchet into place to keep the arm from swinging out of robot perimeter. During teleoperated mode, we are also able to engage the pawl anytime necessary to keep the arm from swinging freely. After pressurizing the kicker cylinder, the pawl locks into place with the kicker back. After this, the next stage reverses the direction of the kicker air cylinder putting an insane amount of pressure on our kicker mechanism as well as the pawl. When it is time to fire, the pawl releases from the ratchet, allowing the force from the air cylinder as well as gravity pull the kicker down and into the ball, propelling it up and into the goal.
The kicker mechanism took many revisions to ensure it was strong enough to withstand the amount of force needed. After two versions created with aluminum, we realized no matter what we did, aluminum will not work in the space necessary. Our working version was machined out of tool steel which is extremely rigid. The purpose of the kicker mechanism is to attach the air cylinder, the driving force for the kicker, to the bar the kicker is secured to.
Arms and Ramp
The ramp is used for shooting and picking up. When shooting, the ramp ensures the ball gets just enough uplift and travels in the correct direction. When picking up the arms work in conjunction with the ramp. The ramp acts similar to a bulldozer by flipping down and the arms grip the ball ensuring the ball cannot move. Then the ramp will flip back up to align it for shooting. After the South Florida Regional we decided to add wheels to the tops of the arms and make sure they were stronger to avoid bends. The wheels assisted when chasing a ball, it was able to just suck in and easily get a hold it.