CN106907451A - A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure - Google Patents
A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure Download PDFInfo
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- CN106907451A CN106907451A CN201710155127.4A CN201710155127A CN106907451A CN 106907451 A CN106907451 A CN 106907451A CN 201710155127 A CN201710155127 A CN 201710155127A CN 106907451 A CN106907451 A CN 106907451A
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- China
- Prior art keywords
- side beam
- fixed pulley
- expansion bracket
- lever
- goalkeeper
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
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Abstract
The invention discloses a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, the expansion bracket includes left side beam, right side beam, side crossbeam, head piece, connecting rod, lever beam and fixed pulley assembly；Left side beam top is fixedly connected by head piece with right side beam top, left side beam passes through multiple connecting rods and is flexibly connected side crossbeam, form parallelogram sturcutre, left side beam middle part is flexibly connected by lever beam with side crossbeam, end connection fixed pulley assembly of the lever beam beyond left side beam, right side beam is consistent with left side beam annexation, and lever beam is rotated down under the drive of fixed pulley assembly around pin joint, and then drives side crossbeam close to or away from left side beam and right side beam.The present invention is by the stretching, extension principle of original system and expansion bracket by most basic mechanical model, the mechanical structure without complexity, therefore simple structure, it is easy to the assembly and disassembly before and after match, and after part damage, it is convenient to change, suitable big event fast, stably feature.
Description
Technical field
The present invention relates to a kind of expansion bracket, and in particular to a kind of Soccer robot goalkeeper based on fixed pulley cable structure
Expansion bracket.
Background technology
Medium-sized group of RoboCup Soccer robots are a comprehensive extremely strong matches, and its status is equivalent to world cup in foot
The status of ball circle, the final purpose of match is, to the year two thousand fifty, to defeat mankind football team.Its annually hold undoubtedly machine
The one big grand banquet of people, is a kind of systemic, comprehensive extremely strong scientific and technical innovation match, to promote the development of artificial intelligence, machine
The progress of device people automation, there is very important contribution.
In order to promote the sustainable development of Soccer robot, it is new that organizing committee formulates some per annual meeting according to playing conditions then
Rule so that each competition is put towards realizing that artificial intelligence direction develops, final rule will gradually with mankind's football match at this stage
Rule is close, wherein, it is the requirement of its size for one of the most basic requirement of the robot sportsman that competes.
According to《Medium-sized group of rule of 2012 Chinese robot contests and RoboCup Beijing China Opens》Regular 4.2 basic equipments：
Each robot team member's size has to comply with lower column constraint：
1. each robot profile is projected on floor and must meet following size：Minimum 30cm × 30cm, maximum 52cm ×
52cm, each robot must possess respective configuration and performs device.
2. the size at any time of robot (not including goalkeeper) on place all must not exceed 52cm × 52cm.
3. when there is ball directive goal, goalkeeper can in a short time expand its size (at most must not exceed 1 second),
The scope of expansion must not exceed the projection size of 60cm × 60cm or the height limitation of 90cm.Goalkeeper oneself must judge this
The situation of kind, but goalkeeper is only completely recovered to normally hold after size is limited 4 seconds and could expand again in its size
Its size.In addition, only allowing within a direction short time propagation size (to the left, to the right or upwards).
4. the height of robot must (except goalkeeper, goalkeeper must not when size is expanded between 40cm to 80cm
90cm)
In bout, goalkeeper's state it is whether good, tend to determine match final result.In order to further
That improves goalkeeper blocks ball ability, provide goalkeeper to ball reaction speed, strengthen its reaction mechanism on the premise of, we also
From its floor coverage, break-through point is found in its robot size.
By rule, it can be found that we are when opposing team shoots in an instant, the floor coverage and its defence frame of goalkeeper
Size is to allow of short duration expansion.When ball is to attack, the fast reaction of frame of keeping goal, and expand its chi rapidly when football is to attack
It is very little, stop skin goal in, this is the working method of the patent.
Ball flying speed is too fast and often height is very high when being shot due to robot, in a parabola, wants
It is closely captured, its drop point is judged and made a response rapidly into the technical barrier for being difficult to tackle key problems together.In the prior art
Utilize fixed motor to produce rotation displacement, frame on duty at the gate is expanded its size using slider-crank mechanism, but this control is
System, power system are independent additional configurations.
The content of the invention
In view of this, the invention provides a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure,
The control system of the expansion bracket and power system rely on original system, do not configure in addition, and the stretching, extension principle of expansion bracket is complete
By means of most basic mechanical model, without complicated mechanical structure, therefore simple structure, it is easy to the assembling before and after match to tear open
Unload, and after part damage, it is convenient to change, suitable big event fast, stably feature.
A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, the expansion bracket includes left side beam, the right side
Curb girder, side crossbeam, head piece, connecting rod, lever beam and fixed pulley assembly；
Left side beam top is fixedly connected by head piece with right side beam top, and left side beam passes through multiple connecting rods and is flexibly connected side
Crossbeam, forms parallelogram sturcutre, and left side beam middle part is flexibly connected by lever beam with side crossbeam, and lever beam exceeds left side beam
End connection fixed pulley assembly, right side beam is consistent with left side beam annexation, drive of the lever beam in fixed pulley assembly
Under rotated down around pin joint, and then drive side crossbeam close to or away from left side beam and right side beam.
Further, the fixed pulley assembly includes fixed pulley, hawser, electromagnet and ejection sliding block, and hawser is across two
Fixed pulley is fixedly connected with ejection sliding block, it is ensured that downwards, electromagnet is in external signal for the hawser direction of displacement of connection lever beam
The ejection suction of control lower generation moment, ejection sliding block is held, and produces a fixed displacement so as to drive connection lever beam
Hawser is moved downward.
Further, it is machined with displacement adjustment hole on the lever beam.
Further, the stock of the expansion bracket is plank or High-Voltage Insulation plate.
Beneficial effect：
1st, control system of the invention and power system uses original system, does not configure in addition, and expansion bracket stretching, extension
Completely by means of most basic mechanical model, the unstability, fixed pulley, lever rule including parallelogram etc. does not have principle
There are the mechanical structure of complexity, therefore simple structure, be easy to the assembly and disassembly before and after match, and after part damage, more
Change convenient, suitable big event fast, stably feature.
2nd, the present invention is used electromagnet and ejection sliding block, fully rely on the Electromagnetical ejector on conventional team member's shooting bar,
It is possible thereby to save the fund of exploitation goalkeeper and time again.
3rd, the present invention can adjust torque arm length size, and electromagnet fixes the displacement that ejection sliding block holds generation, works as cable
The location hole that rope system puts is different, and the arm of force is different, therefore the length that expansion bracket stretches is different.
4th, stock of the invention is plank or High-Voltage Insulation plate, can guarantee that integral-rack has certain flexibility, when
When being subjected to big mechanical shock, appropriate stress deformation can be produced but the damage of frame will not be caused.
Brief description of the drawings
Accompanying drawing is overall structure diagram of the invention.
Wherein, 1- electromagnet, 2- ejection sliding blocks, 3- hawsers, 4- fixed pulleys, 5- left side beams, 6- connecting rods, 7- sides crossbeam, 8-
Lever beam, 9- displacement adjustment holes, 10- head pieces.
Specific embodiment
Develop simultaneously embodiment below in conjunction with the accompanying drawings, and the present invention will be described in detail.
The invention provides a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, the expansion bracket bag
Include left side beam 5, right side beam, side crossbeam 7, head piece 10, connecting rod 6, lever beam 8 and fixed pulley assembly.Mainly by parallel four
The unstability and lever principle of side shape realize the horizontal stretching of expansion bracket；Displacement and active force are realized by fixed pulley assembly
Transmission and direction change；The generation of horizontal displacement is realized using electromagnet 1 and ejection sliding block 2, using the force structure of expansion bracket
Realize the fixation of whole hardware configuration.
The top of left side beam 5 is fixedly connected by head piece 10 with right side beam top, left side beam 5 and right side beam bottom and machine
People is connected, and plays a supportive role, and left side beam 5 passes through multiple connecting rods 6 and is flexibly connected side crossbeam 7, forms parallelogram sturcutre, left side
The middle part of beam 5 is flexibly connected by lever beam 8 with side crossbeam 7, and lever beam 8 connects fixed pulley assembly beyond the end of left side beam 5, right
Curb girder is consistent with the annexation of left side beam 5, and lever beam 8 is rotated down under the drive of fixed pulley assembly around pin joint, and then band
Move side crossbeam 7 close to or away from left side beam 5 and right side beam.
In the present embodiment, as shown in drawings, fixed pulley assembly includes fixed pulley 4, hawser 3, electromagnet 1 and ejection sliding block 2,
Hawser is crossed two fixed pulleys 4 and is fixedly connected with ejection sliding block 2 across 3, it is ensured that the direction of displacement of hawser 3 of connection lever beam 8 is downwards, electric
Magnet 1 produces the ejection suction of moment under the control of external signal, will ejection sliding block 2 hold, produce a fixed displacement from
And drive the hawser 3 of connection lever beam 8 to move downward.
Displacement adjustment hole 9 is machined with lever beam 8, torque arm length size can be adjusted, electromagnet 1 is inhaled sliding block 2 is launched
When the displacement that firmly produces is fixed, when hawser 3 is the different location hole put, the arm of force is different, therefore the length that expansion bracket stretches is different.
Expansion bracket is to realize the part that Soccer robot goalkeeper can freely stretch, using the unstable original of parallelogram
Reason realizes the expansion of expansion bracket, and when connecting rod 6 rotates a certain angle, the connecting rod on top keeps unifying angular turn therewith, then
Side crossbeam 7 is driven to eject, the area for realizing the right and left expands.Meanwhile, using multiple connecting rods 6, strengthen the power of side crossbeam 7
Performance is learned, intensity is greatly improved.
Electromagnet 1 and ejection sliding block 2 are configured to electromagnetic launch mechanism, when control board gives storing up electricity electric capacity one signal
When, electromagnet 1 will produce the ejection suction of moment, will ejection sliding block 2 toward drop-down, therefore produce one vertically downward
Displacement.By hawser 3 and the fixed pulley being fixed in robot 4, the fixed displacement that electromagnetic launch mechanism produces is passed to
Lever beam 8, makes lever beam 8 be rotated down around pin joint, by means of lever principle and the unstability of parallelogram, and then band
Dynamic side crossbeam 7 realizes the stretching, extension of expansion bracket close to or away from left side beam 5 and right side beam.
In sum, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
All any modification, equivalent substitution and improvements within the spirit and principles in the present invention, made etc., should be included in of the invention
Within protection domain.
Claims (4)
1. a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, it is characterised in that the expansion bracket includes
Left side beam, right side beam, side crossbeam, head piece, connecting rod, lever beam and fixed pulley assembly；
Left side beam top is fixedly connected by head piece with right side beam top, and left side beam passes through multiple connecting rods and is flexibly connected side horizontal stroke
Beam, forms parallelogram sturcutre, and left side beam middle part is flexibly connected by lever beam with side crossbeam, and lever beam is beyond left side beam
End connects fixed pulley assembly, and right side beam is consistent with left side beam annexation, and the lever beam is under the drive of fixed pulley assembly
Rotated down around pin joint, and then drive side crossbeam close to or away from left side beam and right side beam.
2. Soccer robot goalkeeper's expansion bracket of fixed pulley cable structure is based on as claimed in claim 1, it is characterised in that
The fixed pulley assembly includes fixed pulley, hawser, electromagnet and ejection sliding block, and hawser is consolidated across two fixed pulleys with ejection sliding block
Fixed connection, it is ensured that downwards, electromagnet produces the bullet of moment to the hawser direction of displacement of connection lever beam under the control of external signal
Suction is penetrated, ejection sliding block is held, produce a fixed displacement so as to the hawser for driving connection lever beam is moved downward.
3. Soccer robot goalkeeper's expansion bracket of fixed pulley cable structure is based on as claimed in claim 1, it is characterised in that
Displacement adjustment hole is machined with the lever beam.
4. Soccer robot goalkeeper's expansion bracket of fixed pulley cable structure is based on as claimed in claim 1, it is characterised in that
The stock of the expansion bracket is plank or High-Voltage Insulation plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155127.4A CN106907451B (en) | 2017-03-15 | 2017-03-15 | A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155127.4A CN106907451B (en) | 2017-03-15 | 2017-03-15 | A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106907451A true CN106907451A (en) | 2017-06-30 |
| CN106907451B CN106907451B (en) | 2019-01-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710155127.4A Active CN106907451B (en) | 2017-03-15 | 2017-03-15 | A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106907451B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2294405A (en) * | 1994-10-26 | 1996-05-01 | Gareth Davies | Sports or athletics frame |
| US20100184537A1 (en) * | 2009-01-16 | 2010-07-22 | Roman Kendyl A | Lightweight portable goal post |
| CN103505882A (en) * | 2013-07-12 | 2014-01-15 | 北京理工大学 | Automatic telescopic frame of soccer robot goalkeeper |
| CN204815586U (en) * | 2015-08-10 | 2015-12-02 | 宿州学院 | Folding telescopic football door |
| CN105920847A (en) * | 2016-06-16 | 2016-09-07 | 北京信息科技大学 | Robocup middle-size soccer robot goalkeeping device |
-
2017
- 2017-03-15 CN CN201710155127.4A patent/CN106907451B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2294405A (en) * | 1994-10-26 | 1996-05-01 | Gareth Davies | Sports or athletics frame |
| US20100184537A1 (en) * | 2009-01-16 | 2010-07-22 | Roman Kendyl A | Lightweight portable goal post |
| CN103505882A (en) * | 2013-07-12 | 2014-01-15 | 北京理工大学 | Automatic telescopic frame of soccer robot goalkeeper |
| CN204815586U (en) * | 2015-08-10 | 2015-12-02 | 宿州学院 | Folding telescopic football door |
| CN105920847A (en) * | 2016-06-16 | 2016-09-07 | 北京信息科技大学 | Robocup middle-size soccer robot goalkeeping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106907451B (en) | 2019-01-11 |
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