JPH07222833A - Goal keeper robot device - Google Patents

Abstract

PURPOSE:To provide a goal keeper robot device with which a game such as a penalty kick game or a training for a penalty kick can be performed by actually kicking a soccer ball or the like. CONSTITUTION:This goal keeper robot device comprises a soccer goal having actual dimensions, a robot 8 having a shape of a goal keeper which is movably arranged in the goal and having an actual size, laterally moving means 5 for moving the robot 8 left and right, vertically moving means 6 for moving the robot 8 up and down, and inclining means 7 for inclining the robot 8 at a predetermined angle. Further, the laterally moving means 5, the vertically moving means 5 and the inclining means 7 are operated by a predetermined method. Thereby it is possible to move the robot 8 so as to allow the robot to move like the motion of a goal keeper.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a goalkeeper robot apparatus, and more particularly, it allows a robot to perform a movement substantially similar to that of a soccer goalkeeper and can be used for games such as penalty kick battle and practice of penalty kick. The present invention relates to a goalkeeper robot device.

[0002]

2. Description of the Related Art Conventionally, when practicing a soccer penalty kick, a keeper is actually placed at the soccer goal. Therefore, when practicing a penalty kick alone, there was no choice but to kick the ball to a soccer goal without a goalkeeper.

In addition, as a game of the penalty kick, there are a tabletop game with a doll played on a table, a video game, and the like. However, there was no device for actually playing a soccer ball or the like against a full-scale soccer goal to play a game such as a penalty kick battle.

[0004]

Conventionally, as described above, when practicing a soccer penalty kick, it is necessary to actually arrange a real goalkeeper and practice alone. I couldn't practice according to my needs. Moreover, it is necessary to practice outdoors, and it has been desired to develop a device that can easily practice a penalty kick indoors.

Further, when actually playing a game such as a penalty kick battle by kicking a soccer ball or the like, it is necessary to alternate between the person who kicks the ball and the goalkeeper and the goalkeeper, which increases physical strength and skill. When playing a game with a different person, the game was not established.
For example, when an adult and a child, or a male and a female perform a penalty kick battle or the like, the game is lacking in fun, and thus it is not possible to enjoy a tense victory or defeat such as a penalty kick battle.

[0006] Therefore, an object of the present invention is to provide a goalkeeper robot apparatus capable of actually playing a soccer ball or the like and playing a game such as a penalty kick battle without arranging a real goalkeeper. Another object of the present invention is to provide a goalkeeper robot apparatus that allows players with different skills to actually play a soccer ball or the like and enjoy a game such as a penalty kick battle. Furthermore, it is an object to provide a goalkeeper robot apparatus that can practice a game such as a penalty kick battle and practice a penalty kick by actually kicking a soccer ball or the like even by one person.

[0007]

According to a first aspect of the present invention, there is provided a goal keeper robot apparatus comprising a soccer goal of a substantially life size and a goal keeper of a substantially life size movably disposed on the soccer goal. Robot, left and right moving means for moving the robot left and right, up and down moving means for moving the robot up and down, tilting means for tilting the robot at a predetermined angle, the left and right moving means, and up and down moving And a first actuation means for actuating the tilting means and the tilting means by remote control.

According to a second aspect of the invention, there is provided a goal keeper robot apparatus, wherein a soccer goal of a substantially life size, a robot having a shape of a goal keeper movably disposed on the soccer goal, and the robot are provided. Left and right moving means for moving the robot in the left and right direction, up and down moving means for moving the robot in the up and down direction, tilting means for tilting the robot at a predetermined angle, left and right moving direction, up and down moving direction and tilt angle of the robot. And a second actuating means for actuating the left and right moving means, the up and down moving means, and the tilting means in response to a penalty kick.

According to a third aspect of the present invention, there is provided a goalkeeper robot apparatus, wherein a soccer goal having a substantially life size, a robot in the shape of a substantially life-sized goalkeeper movably disposed on the soccer goal, and the robot. Left and right moving means for moving the robot in the left and right direction, up and down moving means for moving the robot in the up and down direction, tilting means for tilting the robot at a predetermined angle, and left and right moving directions and up and down movements of the robot stored in advance. According to the direction and the inclination angle, the left and right moving means, the up and down moving means, and the third operating means for operating the tilting means are provided according to the penalty kick.

Here, as the left and right moving means, there is one in which a servo motor drives a belt through a pulley to move a robot along guide rails which are laterally crossed above and below a soccer goal. . As the vertical moving means, there is one that drives a belt via a pulley by a servo motor to move a robot along a guide rail that is vertically extended. Also, left and right moving means,
The vertical movement means may move the robot along a guide rail or the like via a rack and pinion. Some tilting means tilts the robot in a predetermined angular direction by the rotation of a servo motor.

[0011]

According to the goalkeeper robot apparatus of the first aspect of the invention, the robot in the shape of a substantially life-sized goalkeeper movably arranged on a soccer goal of a substantially real size can be moved up and down by remote control. By moving at a predetermined inclination angle in the left-right direction, the robot acts like a goalkeeper in accordance with the penalty kick, and prevents the ball from entering the goal.

According to the goalkeeper robot apparatus of the second aspect of the present invention, the robot having the shape of a substantially life-sized goalkeeper movably arranged in a soccer goal of a substantially life size is preliminarily prepared in response to a penalty kick. By moving the reserved up and down direction and the left and right direction at a predetermined inclination angle, the robot acts like a goalkeeper in accordance with the penalty kick and prevents the ball from entering the goal.

According to the goalkeeper robot apparatus of the third aspect of the present invention, the robot in the shape of a substantially life-sized goalkeeper movably arranged on a soccer goal of a substantially real size is preliminarily responsive to a penalty kick. By moving the stored vertical and horizontal directions at a predetermined inclination angle, the robot acts like a goalkeeper in accordance with the penalty kick and prevents the ball from entering the goal.

[0014]

EXAMPLES Examples of the present invention will be described below.
FIG. 1 is a block configuration diagram showing a goalkeeper robot apparatus which is an embodiment of the present invention, FIG. 2 is a schematic configuration diagram showing an overall configuration of a goalkeeper robot apparatus which is an embodiment of the present invention, and FIG. FIG. 3 is a front view showing a goalkeeper robot apparatus which is an embodiment of the present invention.

As shown in FIGS. 1 to 3, this goalkeeper robot apparatus enables a robot 8 in the shape of an approximately life-sized goalkeeper to move to a soccer goal 9 of approximately life size like a real goalkeeper. It is arranged. The robot 8 moves left and right with respect to the soccer goal 9 by the left and right moving means 5, and moves up and down with respect to the soccer goal 9 by the up and down moving means 6. Further, the robot 8 is tilted at a predetermined angle on the surface of the soccer goal 9 by the tilting means 7. A protective net 12 is provided behind the soccer goal 9, and the protective net 12 prevents the soccer ball 10 that has left the soccer goal 9 from rolling to the rear.

The left and right moving means 5, the up and down moving means 6 and the tilting means 7 are operated by the first operating means 2, the second operating means 3 or the third operating means 4. Which of the first operating means 2, the second operating means 3 and the third operating means 4 is selected is preset by the changeover switch 1.

First, the case where the first operating means 2 is selected by the changeover switch 1 will be described. The first actuating means 2 actuates the left-right moving means 5, the up-down moving means 6, and the inclining means 7 by remote control. At the same time when the kicker 11 kicks the soccer ball 10, the operator 14 causes the operating device 1 to operate.
3 is operated to properly operate the horizontal movement means 5, the vertical movement means 6, and the tilting means 7. That is, by operating the operating device 13 and appropriately controlling the drive of the servo motor described later, the left and right moving means 5, the up and down moving means 6 and the tilting means 7 are operated, and the robot 8 is caused to perform a desired moving operation. The first actuating means 2 is selected when two persons actually kick the soccer ball 10 to play a game such as a penalty kick battle, and a kicker 11 for kicking the soccer ball 10 and an operator 14 for operating the operating device 13. Alternate to play the game.

Next, the case where the changeover switch 1 selects the second actuating means 3 will be described. The second actuating means 3 reserves the left-right moving direction, the up-down moving direction, and the tilt angle of the robot 8 in advance, and actuates the left-right moving means 5, the up-down moving means 6, and the tilting means 7 according to a penalty kick. . This second actuating means 3 is selected when actually enjoying a game such as a penalty kick battle by kicking the soccer ball 10 with a person whose physical strength or skill is greatly different, and the second operating means 3 is operated by the operating device 13 to move the robot 8 in the left-right direction, the vertical direction, or the vertical direction. The movement direction and the inclination angle are reserved in advance, and the sensor 15 detects that the kicker 11 kicks the soccer ball 10, so that the left and right moving means 5, the up and down moving means 6, and the tilting means 7 operate as reserved. Then, the robot 8 performs a desired moving operation. The operating device 13 has a built-in microcomputer, and a reservation can be made by storing a horizontal movement direction, a vertical movement direction, and an inclination angle in a memory of the microcomputer. This reservation is kicker 11
A person different from can operate as the operator 14.
For example, when an adult and a child play a game such as a penalty kick battle, even if the kicker 11 is an adult, the child merely reserves the left and right moving directions, the vertical moving direction, and the inclination angle of the robot 8 as the operator 14 in advance. Robot 8
Makes a desired moving action, so that an adult and a child can play a game such as a penalty kick battle evenly.

Further, the changeover switch 1 is provided with the third operating means 4
The case of selecting will be described. This third operating means 4
Is for operating the left and right moving means 5, the up and down moving means 6 and the tilting means 7 in accordance with a penalty kick in accordance with a lateral movement direction, a vertical movement direction and a tilt angle of the robot 8 stored in advance. The third actuating means 4 is selected when one person actually kicks the soccer ball 10 to practice a game such as a penalty kick battle or practice a penalty kick, and the sensor 15 detects that the kicker 11 has kicked the soccer ball 10. By doing so, the left and right moving means 5, the up and down moving means 6 and the tilting means 7 operate in accordance with the left and right moving directions, the up and down moving directions, and the tilt angles of the robot 8, which are stored in advance as the robot 8 is stored. Moves. In the memory of the microcomputer built in the operating device 13, the horizontal movement direction, the vertical movement direction, and the inclination angle of the robot 8 are randomly stored in advance, and the movement of the robot 8 cannot be predicted by the kicker 11. One person can practice games such as penalty kick battle and practice penalty kicks.

Here, the left and right moving means 5 and the up and down moving means 6
The detailed configuration of the tilting means 7 will be described. FIG. 4 is an enlarged sectional view of an essential part showing the upper and lower guide rail portions in the arrow AA of the goalkeeper robot apparatus of FIG.
5 is an arrow AA of the goalkeeper robot apparatus of FIG.
FIG. 3 is an enlarged view of a main part showing a robot part in FIG.

As shown in FIGS. 3 to 5, a guide rail 20 is provided along the upper member of the soccer goal 9, and a guide rail 30 is provided at the lower end of the soccer goal 9 in parallel with the guide rail 20. Are provided in a buried state, and servo motors 21 and 31 are provided at one ends of the guide rails 20 and 30, respectively.
Belts 24 and 34 are annularly formed between the pulleys 22 and 32 driven by the rotation shafts of the servomotors 21 and 31 and the pulleys 23 and 33 arranged at the other ends of the guide rails 20 and 30, respectively. The belts 24 and 34 are wound around each other, and the belts 24 and 34 are moved annularly by the driving of the servomotors 21 and 31, respectively. Both of the belts 24 and 34 are configured to move in synchronization with each other. A guide rail 40 is vertically extended vertically between the upper and lower guide rails 20 and 30, and the robot 8 is attached to the guide rail 40 via an attachment member 50. The upper portion of the guide rail 40 is fixed to the belt 24, and the lower portion of the guide rail 40 is fixed to the belt 34. Therefore, the servo motors 21 and 31 are driven to drive the upper and lower belts 24 and 3 respectively.
4 move in synchronization with each other so that the guide rail 4
0 moves left and right while maintaining the vertical state.

The vertically arranged guide rails 40 are the guide rails 20 and 30 located above and below the soccer goal 9.
Each of them is connected to a guide rail 20 or 30 via a guide roller so as to smoothly move along. In other words, the upper part of the guide rail 40 has guide rollers 45a, 4
5b, 46a, 46b are connected to the guide rail 20, and the lower part of the guide rail 40 is the guide roller 4
It is connected to the guide rail 30 by 7a, 47b, 48a, 48b and 49. Upper guide roller 45
a, 45b, 46a, 46b roll along the guide rail 20 above the soccer goal 9, and the lower guide rollers 47a, 47b, 48a, 48b, 49 roll along the guide rail 30 below the soccer goal 9. To do.

Therefore, the robot 8 mounted on the guide rail 40 via the mounting member 50 also moves in the left-right direction while the guide rail 40 moves in the left-right direction while maintaining the vertical state. With such a configuration, the left and right moving unit 5 that moves the robot 8 in the left and right direction is configured.

A mounting member 50 is arranged on the guide rail 40 in the vertical state so as to be vertically movable along the guide rail 40. A servo motor 41 is arranged at the upper end of the guide rail 40, and between the pulley 42 driven by the rotating shaft of the servo motor 41 and the pulley 43 arranged near the lower end of the guide rail 40. A belt 44 is looped around the belt, and this belt 4
4 is fixed to the mounting member 50. Therefore, when the servo motor 41 is driven and the belt 44 moves, the mounting member 50 moves in the vertical direction along the guide rail 40.

The mounting member 50 is connected to the guide rail 40 via guide rollers so as to move smoothly along the guide rail 40. That is, the mounting member 50 is formed by the guide rollers 52a, 52b, 53a, 53.
It is connected to the guide rail 40 by b, 54a, 54b, 55a, 55b. Each of these guide rollers 5
2a, 52b, 53a, 53b, 54a, 54b, 55
a and 55b roll along the guide rail 40.

Therefore, the robot 8 mounted on the mounting member 50 also moves vertically as a result of the mounting member 50 moving vertically. With such a configuration, the vertical moving means 6 for moving the robot 8 in the vertical direction is configured.

Further, the mounting member 50 has a servo motor 5
1 is provided, and the tilting means 7 is configured so that the robot 8 tilts at a predetermined angle by the rotation of the servo motor 51. Therefore, this inclination means 7
Thereby, the robot 8 tilts at a predetermined angle on the surface of the soccer goal 9.

By operating the above-mentioned left and right moving means 5, up and down moving means 6 and tilting means 7 simultaneously at the same time, the robot 8 moves right and left and up and down at a predetermined tilt angle, so that it is like a real goalkeeper. Behaves like
The moving range of the robot 8 is limited to a predetermined range of the soccer goal 9, and there is a so-called dead zone where the soccer ball 10 cannot be stopped. However, since this can occur even in the case of an actual penalty kick, it does not cause any problem, and rather the robot 8 moves in a more realistic state.

The left and right moving means 5, the up and down moving means 6 and the inclining means 7 are not necessarily limited to the above-mentioned configurations, and configurations other than the above may be adopted.
The left and right moving means 5, the up and down moving means 6 and the tilting means 7 described above.
Then, the belts 24, 34, 44 were driven through the pulleys 22, 23, 32, 33, 42, 43 to move the robot 8, but even if this belt type is a flat belt,
The belt may be used, or the chain may be driven via a sprocket instead of the pulley and the belt. It is also possible to use a rack and pinion to move the robot 8 along a guide rail or the like. In short, the left and right moving means 5 is the robot 8
Is a mechanism that can move the horizontal direction,
Is a mechanism for moving the robot 8 in the vertical direction, and the tilting means 7 may be a mechanism for tilting the robot 8 at a predetermined angle. Also, not necessarily a real soccer ball 1
It is not necessary to use 0, and it is also possible to substitute a similar item of the soccer ball 10 or the like.

As described above, the goalkeeper robot apparatus according to the present embodiment has a substantially real-sized soccer goal 9 and a robot 8 in the shape of a substantially life-sized goalkeeper movably disposed on the soccer goal 9. And this robot 8
Drive the servomotors 21 and 31 to drive pulleys 22 and 3
2 and the guide rails 20 and 3 via the belts 24 and 34
The left and right moving means 5 for moving in the left and right direction along 0, and the robot 8 is driven by the servo motor 41 to drive the pulley 4
2, the guide rail 4 via the pulley 43 and the belt 44
0 up and down moving means 6 for moving in the up and down direction, tilting means 7 for tilting the robot 8 at a predetermined angle by the rotation of the servo motor 51, the left and right moving means 5, the up and down moving means 6 and the tilting means 7. And a first actuating means 2 for actuating by a remote operation by the operating device 13.

Therefore, the soccer goal 9 of a substantially life size
The robot 8 in the shape of a goal-keeper, which is substantially life-size and is movably disposed on the robot, is moved by a predetermined tilt angle in the vertical direction and the horizontal direction by remote control, and the goal is given to the robot 8 in accordance with the penalty kick. Since it can be moved like a keeper and the soccer ball 10 can be prevented from entering the goal, a game such as a penalty kick battle can be played by actually kicking the soccer ball 10 without providing a real goalkeeper.

Further, the goalkeeper robot apparatus of this embodiment comprises a soccer goal 9 of a substantially real size, and a robot 8 in the shape of a substantially life-sized goalkeeper movably arranged on the soccer goal 9. The robot 8 is driven by the servomotors 21 and 31 to move the robot 8 in the left-right direction along the guide rails 20 and 30 via the pulleys 22 and 32 and the belts 24 and 34, and the robot 8 and the servomotor 41. Driven by the pulley 42, the pulley 43, and the belt 44 to vertically move along the guide rail 40, and the tilting means 7 for tilting the robot 8 at a predetermined angle by the rotation of the servomotor 51. Then, the lateral movement direction, the vertical movement direction, and the inclination angle of the robot 8 are reserved in advance by the operating device 13, and the penalty check is performed. It said vertical moving means 5 by a signal from a sensor 15 which operates in response to the click, in which a second actuating means 3 for actuating the left and right moving means 6 and the tilting means 7.

Therefore, the soccer goal 9 of a substantially life size
A substantially life-sized goalkeeper-shaped robot 8 that is movably arranged at a predetermined tilt angle in the up and down direction and the left and right direction that are reserved in advance in accordance with the penalty kick, thereby adjusting to the penalty kick. Since the robot 8 moves like a goalkeeper and the soccer ball 10 can be prevented from entering the goal, the soccer ball 1 is actually different from a person having a great difference in physical strength and skill.
You can kick 0 and enjoy games such as penalty kick battles. For this reason, even when an adult and a child or a male and a female perform a penalty kick battle, the game is interesting and the player can enjoy a tense victory or defeat such as a penalty kick battle.

Further, the goal keeper robot apparatus of this embodiment comprises a soccer goal 9 of a substantially real size, and a robot 8 in the shape of a goal keeper movably arranged on the soccer goal 9. The robot 8 is driven by the servomotors 21 and 31 to move the robot 8 in the left-right direction along the guide rails 20 and 30 via the pulleys 22 and 32 and the belts 24 and 34, and the robot 8 and the servomotor 41. Drive the pulley 42,
Up and down moving means 6 for vertically moving along the guide rail 40 via the pulley 43 and the belt 44, an inclining means 7 for inclining the robot 8 at a predetermined angle by the rotation of the servo motor 51, and an operating device 13 are provided. The left and right moving means 5, the up and down moving means 6, and the tilting means 7 are operated by a signal from a sensor 15 which operates in response to a penalty kick according to the left and right moving direction, the up and down moving direction and the tilt angle of the robot 8 stored in advance. The third actuating means 4 is provided.

Therefore, the soccer goal 9 of a substantially life size
A substantially life-sized goalkeeper-shaped robot 8 movably arranged in the vertical movement moves in a predetermined inclination angle in the up-down direction and the left-right direction stored in advance in accordance with the penalty kick, thereby causing a penalty kick. In addition, the robot 8 moves like a goalkeeper and the soccer ball 10 can be prevented from entering the goal, so even one person can actually kick the soccer ball 10 and practice games such as penalty kick battle and penalty kick practice. it can. Therefore, it is possible to practice soccer penalty kicks in a form that matches the actual battle without actually arranging a real goalkeeper. Moreover, if this device is installed indoors or the like, it is possible to practice the penalty kick easily even indoors.

By the way, in the above description, the first operating means 2, the second operating means 3 and the third operating means 4 are all provided, and the changeover switch 1 allows the first operating means 2 and the second operating means 3 to operate.
Alternatively, the device for selecting any one of the third operating means 4 has been described, but as a dedicated device having only one of the first operating means 2, the second operating means 3 or the third operating means 4, Alternatively, the device may have an appropriate combination of these.

Further, in the above description, the case where the robot 8 is moved in the left and right direction by the servo motors 21 and 31 which are respectively attached to the upper and lower sides of the soccer goal 9 as the left and right moving means 5, has been described. The moving means 5 may be configured. Further, a servo motor may be incorporated in the robot 8, the mounting member 50 or the guide rail 40 so as to move in the left-right direction. If such a configuration is adopted, only one servo motor is required.

The robot 8 may have the shape of a goalkeeper as a whole, or the front half surface facing the kicker 11 may have the shape of a goalkeeper. Alternatively, the shape of the plate-shaped robot 8 as viewed from the front may be the shape of the goalkeeper. Furthermore, if a crank mechanism is adopted so that the hands and feet of the robot 8 extend in accordance with the movement of the robot 8, it becomes more like a real goalkeeper,
Increased presence.

Furthermore, a sensor or the like may be provided on the net of the soccer goal 9 and an acoustic device may be attached so that a call out such as "Ore, Ore" is output each time the soccer ball 10 enters. In addition, a score display device may be added to automatically display the score.

[0040]

As described above, in the goal keeper robot apparatus according to the first aspect of the present invention, the robot disposed on the soccer goal of substantially the actual size can be remotely operated at predetermined inclination angles in the vertical and horizontal directions. By moving, the robot behaves like a goalkeeper in accordance with a penalty kick, so that a game such as a penalty kick battle can be played by actually kicking a soccer ball or the like without arranging a real goalkeeper.

In the goalkeeper robot apparatus according to the second aspect of the present invention, the robot disposed at the soccer goal of a substantially real size moves at predetermined inclination angles in the up and down directions and the left and right directions that are reserved in advance in accordance with the penalty kick. By doing so, the robot moves like a goalkeeper in accordance with the penalty kick, so you can actually enjoy a game such as a penalty kick battle by kicking a soccer ball, etc., even with people with greatly different physical strengths and skills. .

In the goal keeper robot apparatus according to the third aspect of the present invention, the robot disposed at the soccer goal of a substantially full size moves at predetermined inclination angles in the vertical and horizontal directions stored in advance in accordance with the penalty kick. By doing so, the robot behaves like a goalkeeper in accordance with the penalty kick, and even one person can actually kick a soccer ball or the like to practice a game such as a penalty kick battle or practice a penalty kick.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a goalkeeper robot apparatus which is an embodiment of the present invention.

FIG. 2 is a schematic configuration diagram showing an overall configuration of a goalkeeper robot apparatus which is an embodiment of the present invention.

FIG. 3 is a front view showing a goalkeeper robot apparatus which is an embodiment of the present invention.

4 is an arrow A- of the goalkeeper robot apparatus of FIG.
FIG. 4 is an enlarged cross-sectional view of a main part showing an upper and lower guide rail portion in A.

5 is an arrow A- of the goalkeeper robot apparatus of FIG.
It is a principal part enlarged view which shows the robot part in A. FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Changeover switch 2 1st actuation means 3 2nd actuation means 4 3rd actuation means 5 Horizontal movement means 6 Vertical movement means 7 Tilt means 8 Robot 9 Soccer goal 10 Soccer ball 13 Operating device 15 Sensor 20, 30, 40 Guide rail 21 , 31, 41, 51 Servo motor 24, 34, 44 Belt 50 Mounting member

Claims (3)

[Claims] 1. A soccer goal of a substantially life size, a robot in the shape of a substantially life-sized goal keeper movably arranged on the soccer goal, and a left-right moving means for moving the robot in the left-right direction. The robot includes vertical moving means for vertically moving the robot, tilting means for tilting the robot at a predetermined angle, and first operating means for remotely operating the left and right moving means, the vertical moving means and the tilting means. A goalkeeper robot device characterized by: 2. A substantially real size soccer goal, a robot in the shape of a substantially life-sized goal keeper movably disposed on the soccer goal, and a left and right moving means for moving the robot left and right. Vertical movement means for moving the robot in the vertical direction, tilting means for tilting the robot at a predetermined angle, horizontal movement direction, vertical movement direction and tilt angle of the robot are reserved in advance, and the robot is moved in accordance with a penalty kick. Second operation of the vertical moving means, the horizontal moving means, and the tilting means
A goalkeeper robot apparatus comprising: an operating means. 3. A substantially real size soccer goal, a robot in the shape of a substantially life-sized goalkeeper movably arranged on the soccer goal, and a left-right moving means for moving the robot in the left-right direction. Vertical movement means for moving the robot in the vertical direction, inclination means for inclining the robot at a predetermined angle, and a left-right movement direction, vertical movement direction and inclination angle of the robot stored in advance according to a penalty kick. A goalkeeper robot apparatus comprising: a third operating means for operating the left and right moving means, the up and down moving means, and the tilting means.