CN106907451B - 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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- CN106907451B CN106907451B CN201710155127.4A CN201710155127A CN106907451B CN 106907451 B CN106907451 B CN 106907451B CN 201710155127 A CN201710155127 A CN 201710155127A CN 106907451 B CN106907451 B CN 106907451B
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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
Abstract
The invention discloses a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, which 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 is flexibly connected side crossbeam by multiple connecting rods, form parallelogram sturcutre, it is flexibly connected by lever beam with side crossbeam in the middle part of left side beam, lever beam connects fixed pulley assembly beyond the end of left side beam, right side beam is consistent with left side beam connection relationship, and lever beam rotates down under the drive of fixed pulley assembly around hinge joint, and then drives side crossbeam close to or away from left side beam and right side beam.The present invention is by original system and the stretching, extension principle of expansion bracket is by most basic mechanical model, not the mechanical structure of complexity, therefore structure is simple, convenient for the assembly and disassembly of match front and back, it is easy to change and after part damage, it is suitble to big event fast, stably feature.
Description
Technical field
The present invention relates to a kind of expansion brackets, and in particular to a kind of Soccer robot goalkeeper based on fixed pulley cable structure
Expansion bracket.
Background technique
Medium-sized group of RoboCup Soccer robot is a comprehensive extremely strong match, and status is equivalent to world cup in foot
The status of ball circle, the final purpose of match are to defeat mankind football team to the year two thousand fifty.Its annually hold undoubtedly machine
The big grand banquet of the one of people is a kind of systemic, comprehensive extremely strong scientific and technical innovation match, for the development for promoting artificial intelligence, machine
The progress of device people automation, there is very important contribution.
In order to promote the sustainable development of Soccer robot, the every annual meeting of organizing committee is formulated some new according to current year playing conditions
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 one of the most basic requirement for the robot sportsman that competes is the requirement of its size.
According to " medium-sized group of rule of 2012 Chinese robot contests and RoboCup Beijing China Open " regular 4.2 basic equipments:
Each robot team member size has to comply with lower column constraint:
1. each robot shape projects on floor must meet following size: minimum 30cm × 30cm, maximum 52cm ×
52cm, each robot must possess respective configuration and executive device.
2. the size of robot (not including goalkeeper) at any time on place all must not exceed 52cm × 52cm.
3. when there is ball directive goal, goalkeeper can expand its size (at most must not exceed 1 second) in a short time,
Widened range must not exceed the projection size of 60cm × 60cm or the height limitation of 90cm.Goalkeeper oneself must judge this
Kind situation, but goalkeeper only is completely recovered to normally hold after size limits 4 seconds and could expand again in its size
Its size.In addition, only allowing propagation size in the short time in one direction (to the left, to the right or upwards).
4. the height of robot must (in addition to goalkeeper, goalkeeper must not when expanding size between 40cm to 80cm
90cm)
In bout, goalkeeper's state it is good whether, 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 under the premise of, we also
Break-through point is found from its floor coverage, i.e. 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 that permission is of short duration widened.When ball is to attack, the fast reaction for frame of keeping goal, and its ruler is expanded rapidly when football is to attack
It is very little, stop skin goal in, this is the working method of the patent.
Due to robot shooting when ball flying speed it is too fast and also often height it is very high, be in a parabola, to
Closely it is captured, its drop point is judged and has made a response rapidly into the technical problem for being difficult to tackle key problems together.In the prior art
Have and generate rotation displacement using fixed motor, so that frame on duty at the gate is expanded its size using slider-crank mechanism, but this controls system
System, electric system are individually additionally to configure.
Summary of the invention
In view of this, the present 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 electric system rely on original system, in addition do not configure, and the stretching, extension principle of expansion bracket is complete
By means of most basic mechanical model, not no complicated mechanical structure, therefore structure is simple, convenient for the group assembly and disassembly of match front and back
It unloads, and after part damage, it is easy to change, it is suitble to big event fast, stably feature.
A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, which 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 is flexibly connected side by multiple connecting rods
Crossbeam forms parallelogram sturcutre, is flexibly connected by lever beam with side crossbeam in the middle part of left side beam, lever beam exceeds left side beam
End connect fixed pulley assembly, right side beam is consistent with left side beam connection relationship, drive of the lever beam in fixed pulley assembly
Under rotated down around hinge 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, guarantees that the hawser direction of displacement of connection lever beam is downward, electromagnet is in external signal
The lower ejection suction for generating moment of control, ejection sliding block is sucked, and generates a fixed displacement to drive connection lever beam
Hawser moves downward.
Further, displacement adjustment hole is machined on the lever beam.
Further, the basic material of the expansion bracket is plank or high-voltage isulation plate.
The utility model has the advantages that
1, control system of the invention and electric system use original system, in addition do not configure, and the stretching, extension of expansion bracket
Completely by means of most basic mechanical model, unstability, fixed pulley, lever rule including parallelogram etc. do not have principle
There is complicated mechanical structure, therefore structure is simple, convenient for the assembly and disassembly of match front and back, and after part damage, more
It is convenient to change, and is suitble to big event fast, stably feature.
2, the electromagnet and ejection sliding block that the present invention uses, fully rely on the Electromagnetical ejector that conventional team member shoots on bar,
It is possible thereby to save fund and the time for developing goalkeeper again.
3, the adjustable torque arm length size of the present invention, electromagnet fix the displacement that generation is sucked in ejection sliding block, work as cable
The location hole that rope system puts is different, and the arm of force is different, therefore the length of expansion bracket stretching, extension is different.
4, basic material of the invention is plank or high-voltage isulation plate, can guarantee that whole frame has certain flexibility, when
When by big mechanics impact, stress deformation appropriate can be generated but the damage of rack will not be caused.
Detailed description of the invention
Attached drawing is overall structure diagram of the invention.
Wherein, 1- electromagnet, 2- launch sliding block, 3- hawser, 4- fixed pulley, 5- left side beam, 6- connecting rod, the side 7- crossbeam, 8-
Lever beam, 9- are displaced adjustment hole, 10- head piece.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, the expansion bracket packet
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
Transmitting and direction change；The generation that horizontal displacement is realized using electromagnet 1 and ejection sliding block 2, utilizes the force structure of expansion bracket
Realize the fixation of entire hardware configuration.
5 top of left side beam is fixedly connected by head piece 10 with right side beam top, left side beam 5 and right side beam bottom end and machine
People is connected, and plays a supportive role, and left side beam 5 is flexibly connected side crossbeam 7 by multiple connecting rods 6, forms parallelogram sturcutre, left side
It is flexibly connected by lever beam 8 with side crossbeam 7 in the middle part of beam 5, lever beam 8 connects fixed pulley assembly beyond the end of left side beam 5, right
Curb girder is consistent with 5 connection relationship of left side beam, and lever beam 8 rotates down under the drive of fixed pulley assembly around hinge joint, and then band
Side crossbeam 7 is moved close to or away from left side beam 5 and right side beam.
In the present embodiment, as shown in the picture, fixed pulley assembly includes fixed pulley 4, hawser 3, electromagnet 1 and launches sliding block 2,
Hawser is crossed two fixed pulleys 4 across 3 and is fixedly connected with ejection sliding block 2, guarantees that 3 direction of displacement of hawser of connection lever beam 8 is downward, electricity
Magnet 1 generates the ejection suction of moment under the control of external signal, will ejection sliding block 2 be sucked, generate a fixed displacement from
And the hawser 3 of connection lever beam 8 is driven to move downward.
Displacement adjustment hole 9, adjustable torque arm length size are machined on lever beam 8, electromagnet 1 is inhaled sliding block 2 is launched
When the displacement firmly generated is fixed, when the location hole that 3 system of hawser puts is different, the arm of force is different, therefore the length of expansion bracket stretching, extension is different.
Expansion bracket is the component for realizing Soccer robot goalkeeper energy free extension, utilizes 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 unified angular turn therewith, then
Side crossbeam 7 is driven to pop up, the area for realizing the right and left expands.Meanwhile using multiple connecting rods 6, the power of side crossbeam 7 is strengthened
Performance is learned, intensity is greatly improved.
Electromagnet 1 and ejection sliding block 2 are configured to electromagnetic launch mechanism, when control circuit board gives storage capacitor one signal
When, electromagnet 1 will generate the ejection suction of a moment, will ejection sliding block 2 toward drop-down, therefore generate one vertically downward
Displacement.By hawser 3 and the fixed pulley being fixed in robot 4, the fixed displacement that electromagnetic launch mechanism generates is passed to
Lever beam 8 rotates down lever beam 8 around hinge joint, by means of lever principle and the unstability of parallelogram, and then band
Side crossbeam 7 is moved close to or away from left side beam 5 and right side beam, realizes the stretching, extension of expansion bracket.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure, expansion bracket include left side beam, right side beam,
Side crossbeam, head piece, connecting rod, which is characterized in that further include 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 is flexibly connected side cross by multiple connecting rods
Beam forms parallelogram sturcutre, is flexibly connected by lever beam with side crossbeam in the middle part of left side beam, lever beam is beyond left side beam
End connects fixed pulley assembly, and right side beam is consistent with left side beam connection relationship, and the lever beam is under the drive of fixed pulley assembly
It is rotated down around hinge joint, and then drives side crossbeam close to or away from left side beam and right side beam.
2. Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure as described in claim 1, which is characterized in that
The fixed pulley assembly includes fixed pulley, hawser, electromagnet and ejection sliding block, and hawser is solid across two fixed pulleys and ejection sliding block
Fixed connection guarantees that the hawser direction of displacement of connection lever beam is downward, and electromagnet generates the bullet of moment under the control of external signal
Suction is penetrated, ejection sliding block is sucked, generates a fixed displacement to drive the hawser of connection lever beam to move downward.
3. Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure as described in claim 1, which is characterized in that
Displacement adjustment hole is machined on the lever beam.
4. Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure as described in claim 1, which is characterized in that
The basic material of the expansion bracket is plank or high-voltage isulation 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 CN106907451A (en) | 2017-06-30 |
| CN106907451B true CN106907451B (en) | 2019-01-11 |
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ID=59187695
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 |
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| CN (1) | CN106907451B (en) |
Family Cites Families (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 |
| CN103505882B (en) * | 2013-07-12 | 2016-03-02 | 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 |
| CN105920847B (en) * | 2016-06-16 | 2018-07-13 | 北京信息科技大学 | Medium-sized group of Soccer robot gatekeeper of Robocup |
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2017
- 2017-03-15 CN CN201710155127.4A patent/CN106907451B/en active Active
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| Publication number | Publication date |
|---|---|
| CN106907451A (en) | 2017-06-30 |
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