> For the complete documentation index, see [llms.txt](https://docs.andymark.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.andymark.com/robits-build/intermediate-and-expansion-kits/conveyance.md).

# Conveyance

Conveyance is the process of moving an object from one location to another. In a small scale competitive robot, conveyance can happen in several ways. A mechanism might pull a game piece into the robot, move it upward, transfer it from one mechanism to another, or position it for scoring. Conveyance systems commonly use wheels, rollers, belts, shafts, and power transmissions.

The [Robits Intermediate Conveyance Kit](https://andymark.com/products/robits-intermediate-conveyance-kit) is designed to show how robots can collect, move, and transfer objects. The kit focuses on different styles of intake and conveyance mechanisms. It provides the parts needed to experiment with four mechanism concepts: horizontal rollers, dual vertical rollers, single conveyors, and double conveyors.

The kit can be used to learn about multiple different types of intakes and indexers, or used in tandem with the Robits ecosystem to improve on a design. 

### Horizontal Roller

<figure><img src="https://andymark.com/cdn/shop/files/am-5816_1_700x700.jpg?v=1787672069" alt="" width="375"><figcaption></figcaption></figure>

The horizontal roller is designed to bring an object that can roll into the robot's control from the ground.&#x20;

The mechanism uses shafts positioned parallel to the floor. Gears with rubber bands across the width of the intake bring a game piece into the robot. Horizontal rollers are particularly useful when a robot needs a wide intake opening. A wide roller can give the driver more room to approach a game piece without requiring extremely precise alignment.

When prototyping a horizontal roller, experiment with different roller materials, the height of the roller above the floor, and the position of the backstop. Changing the roller material changes how the mechanism interacts with the game piece. Changing the height changes the point where the roller contacts the object. Changing the backstop changes where the object ends up after entering the intake.

### Dual Vertical Rollers

<figure><img src="https://2060440806-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcQgnvayQud3Xf5sZi0wz%2Fuploads%2FUAPrEgpXqTDyTRxTIDVN%2Fimage.png?alt=media&amp;token=a149054d-f1d9-4cfc-9c4c-61f1272117f8" alt="" width="350"><figcaption></figcaption></figure>

The dual vertical roller mechanism uses two rollers rotating in opposite directions. An object enters between the two rollers and is pulled into and held by the mechanism. This design is useful for single objects that do not roll easily on their own or that have unusual shapes.

The two rollers work together to grip the object from opposite sides. This system has a smaller intake range than a horizontal roller, which may be useful in games that require high precision.&#x20;

Changing the distance between the rollers can determine how tightly the object is held. Changing the roller material can affect grip and compression. Changing the size of wheel can affect intake range.&#x20;

### Single Conveyor

<figure><img src="https://2060440806-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcQgnvayQud3Xf5sZi0wz%2Fuploads%2FeBU4q8WN9QuWXQIjy0XI%2Fimage.png?alt=media&amp;token=826c853b-319b-4371-9347-f7926c633439" alt="" width="350"><figcaption></figcaption></figure>

A single conveyor uses a series of wheels and a belt to move objects through the robot. This is useful when you want to move an object a longer distance than one single axle or wheel can reach. The conveyor can be oriented horizontally, vertically, or diagonally depending on the desired movement.

The single conveyor design can be useful for spherical game pieces, when objects can roll against a non-powered surface opposite the powered conveyor.&#x20;

### Double Conveyor

<figure><img src="https://2060440806-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcQgnvayQud3Xf5sZi0wz%2Fuploads%2FyEfRJqpLdhoyTJB9DceS%2Fimage.png?alt=media&amp;token=aed86ac0-3a0b-48f7-be0e-b8533ea93520" alt="" width="350"><figcaption></figcaption></figure>

A double conveyor uses two conveyor systems working together. The two conveyors can hold an object between them and move it through the mechanism. This provides more control over the object's orientation than a single conveyor. Double conveyors are useful when an object cannot roll as it moves through the system, or has an unusual shape.&#x20;

***

### Testing a Conveyance Mechanism

When testing a conveyance mechanism, be sure to test without load, with load, and then in motion. As a general rule of thumb, intakes should move faster than drive train speed so that scoring elements can be controlled even when moving sideways or backward.&#x20;

Watch for:

* The game piece becoming stuck
* Motors struggling to turn
* Game pieces becoming misaligned during transfer

A successful conveyance mechanism needs to balance several factors, all of which relate to each other.&#x20;

* Grip/wheel durometer is important because the roller needs enough friction to move the object.
* Speed determines how quickly the robot can collect or transfer an object.
* Torque determines whether the mechanism can continue moving when the object creates resistance.
* Compression can improve grip but can also increase the force required to move the object through the mechanism.

If a mechanism is not working correctly, change one variable at a time. This makes it easier to improve or correct an issue.&#x20;