This would make a good entry into your engineering notebook:
- You have alredy identified the problem, being that the intake cannot score the ring/dorb onto the stake.
- Now you have to brainstorm solutions! Part of brainstorming also involves research - chances are, out of the thousands of robotics teams out there, someone has found a solution and published it.
But going off of your images, if that is how your stake is clamped, it needs to be angled inward to the robot more (problem subsection A). You can accomplish this by pushing the lower bar the goal sits on outwards, and make the clamp clamp down lower.
Then, there are two solutions people have found from there:
- Hooks (nice tutorial by 9motorgang)
- Hoods (skip to 3:00 , by FUN RoN & 229v)