CN106907451A - A kind of Soccer robot goalkeeper's expansion bracket based on fixed pulley cable structure - Google Patents

Abstract

The invention discloses a soccer robot goalkeeper telescopic frame based on a fixed pulley cable structure. The telescopic frame includes a left side beam, a right side beam, a side beam, a top beam, a connecting rod, a lever beam and a fixed pulley assembly; The beam is fixedly connected to the top of the right beam, and the left beam is movably connected to the side beam through multiple connecting rods to form a parallelogram structure. The middle part of the left beam is movably connected to the side beam through a lever beam, and the end of the lever beam beyond the left beam is connected. The fixed pulley assembly has the same connection relationship between the right beam and the left beam, and the lever beam rotates downward around the hinge point under the drive of the fixed pulley assembly, thereby driving the side beam to approach or move away from the left beam and the right beam. The present invention relies on the original system and the expansion principle of the telescopic frame relies on the most basic mechanical model, without complicated mechanical structure, so the structure is simple, easy to assemble and disassemble before and after the competition, and after some parts are damaged, the replacement is convenient, suitable for large-scale competitions quickly , Stable features.

Description

A football robot goalkeeper telescopic frame based on fixed pulley and cable structure

technical field

The invention relates to a telescopic frame, in particular to a soccer robot goalkeeper telescopic frame based on a fixed pulley cable structure.

Background technique

The RoboCup soccer robot medium-sized group is an extremely comprehensive competition, which is equivalent to the status of the World Cup in the football world. The ultimate goal of the competition is to defeat the human football team by 2050. Its annual holding is undoubtedly a great feast for the robotics industry. It is a systematic and comprehensive scientific and technological innovation competition. It has made a contribution that cannot be ignored to promote the development of artificial intelligence and the progress of robot automation.

In order to promote the sustainable development of football robots, the organizing committee will formulate some new rules every year according to the competition situation of the year, so that each participating team will develop towards the realization of artificial intelligence. The final rules will gradually be close to the current human football game rules. Among them, one of the most basic requirements for robot players in competitions is their size requirements.

According to the "2012 China Robot Competition and RoboCup China Open Medium Group Rules" Rule 4.2 Basic equipment: the size of each robot team member must meet the following constraints:

1. The projection of the shape of each robot on the floor must meet the following dimensions: minimum 30cm×30cm, maximum 52cm×52cm, and each robot must have its own configuration and execution device.

2. The size of the robots on the field (excluding the goalkeeper) shall not exceed 52cm×52cm at any time.

3. When a ball hits the goal, the goalkeeper can expand its size in a short time (no more than 1 second), and the expanded range must not exceed the projected size of 60cm×60cm or the height limit of 90cm. The goalkeeper must judge this situation for himself, but the goalkeeper can only expand its size again after it has fully returned to normal size and held the size limit for 4 seconds. Additionally, expanding the size only briefly in one direction (left, right, or up) is allowed.

4. The height of the robot must be between 40cm and 80cm (except for the goalkeeper, who must not be 90cm when expanding the size)

In a game, whether the goalkeeper is in good condition or not can often determine the final result of the game. In order to further improve the goalkeeper's ability to block the ball, on the premise of improving the goalkeeper's reaction speed to the ball and strengthening its reaction mechanism, we also find a breakthrough point from its defensive area, that is, the size of its robot.

According to the rules, we can find that when the opponent player shoots, the goalkeeper's defensive area and the size of the defensive frame are allowed to expand temporarily. When the ball strikes, the quick response of the goalkeeper frame and the rapid expansion of its size when the football strikes prevent the ball from entering the goal. This is the working method of the patent.

Since the ball flies too fast when the robot shoots and often has a high altitude, forming a parabola, it has become a difficult technical problem to capture it at close range, judge its landing point and respond quickly. In the prior art, a fixed motor is used to generate rotational displacement, and a crank-slider mechanism is used to enlarge the size of the goalkeeper frame, but the control system and the power system are additionally configured separately.

Contents of the invention

In view of this, the present invention provides a football robot goalkeeper telescopic frame based on the fixed pulley cable structure. The basic mechanical model has no complicated mechanical structure, so the structure is simple, easy to assemble and disassemble before and after the game, and after some parts are damaged, it is easy to replace, which is suitable for fast and stable large-scale competitions.

A football robot goalkeeper telescopic frame based on a fixed pulley cable structure, the telescopic frame includes a left side beam, a right side beam, a side beam, a top beam, a connecting rod, a lever beam and a fixed pulley assembly;

The top of the left beam is fixedly connected to the top of the right beam through the top beam, and the left beam is flexibly connected to the side beam through multiple connecting rods to form a parallelogram structure. The middle part of the left beam is flexibly connected to the side beam through a lever beam, and the lever beam exceeds the left The end of the side beam is connected to the fixed pulley assembly, and the connection relationship between the right beam and the left beam is consistent. The lever beam is driven by the fixed pulley assembly to rotate downward around the hinge point, and then drives the side beam to approach or move away from the left beam and the right side. beam.

Further, the fixed pulley assembly includes a fixed pulley, a cable, an electromagnet and an ejection slider, and the cable is fixedly connected to the ejection slider across two fixed pulleys to ensure that the displacement direction of the cable connecting the lever beam is downward, and the electromagnet is outside Under the control of the signal, an instantaneous ejection suction force is generated, which absorbs the ejection slider, and generates a fixed displacement to drive the cable connected to the lever beam to move downward.

Further, displacement adjustment holes are processed on the lever beam.

Further, the basic material of the telescopic frame is wood board or high voltage insulation board.

Beneficial effect:

1. The control system and power system of the present invention adopt the original system without additional configuration, and the extension principle of the telescopic frame is completely based on the most basic mechanical model, including the instability of parallelogram, fixed pulley, lever theorem, etc., without Complex mechanical structure, so the structure is simple, easy to assemble and disassemble before and after the competition, and after some parts are damaged, it is easy to replace, suitable for fast and stable characteristics of large-scale competitions.

2, the electromagnet and the ejection slide block that the present invention adopts fully rely on the electromagnetic ejector on the conventional player's shooting bar, thus can save the fund and the time of redeveloping the goalkeeper.

3. The present invention can adjust the length of the force arm, and the electromagnet will fix the displacement generated by the ejection slider. When the cable is placed in a different position hole, the force arm is different, so the stretching length of the telescopic frame is different.

4. The basic material of the present invention is wood board or high-voltage insulation board, which can ensure that the overall frame has certain flexibility, and when subjected to a large mechanical impact, it can produce appropriate stress deformation without causing damage to the frame.

Description of drawings

Accompanying drawing is the overall structure schematic diagram of the present invention.

Wherein, 1-electromagnet, 2-ejection slider, 3-cable, 4-fixed pulley, 5-left beam, 6-connecting rod, 7-side beam, 8-lever beam, 9-displacement adjustment hole, 10 - Top beam.

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The present invention provides a football robot goalkeeper telescopic frame based on a fixed pulley cable structure, the telescopic frame includes a left side beam 5, a right side beam, a side beam 7, a top beam 10, a connecting rod 6, a lever beam 8 and a fixed pulley assembly . The horizontal extension of the telescopic frame is mainly realized by means of the instability of the parallelogram and the principle of leverage; the displacement and force transmission and direction change are realized by means of the fixed pulley assembly; the generation of horizontal displacement is realized by using the electromagnet 1 and the ejection slider 2, and the The force-bearing structure of the telescopic frame realizes the fixation of the entire hardware structure.

The top of the left side beam 5 is fixedly connected to the top of the right side beam through the top beam 10, the left side beam 5 and the bottom of the right side beam are connected to the robot to play a supporting role, and the left side beam 5 is flexibly connected to the side beam 7 through a plurality of connecting rods 6 , forming a parallelogram structure, the middle part of the left beam 5 is flexibly connected with the side beam 7 through the lever beam 8, the end of the lever beam 8 beyond the left beam 5 is connected to the fixed pulley assembly, and the connection relationship between the right beam and the left beam 5 is consistent, The lever beam 8 rotates downward around the hinge point under the drive of the fixed pulley assembly, and then drives the side beam 7 to approach or move away from the left side beam 5 and the right side beam.

In this embodiment, as shown in the drawings, the fixed pulley assembly includes a fixed pulley 4, a cable 3, an electromagnet 1 and an ejection slider 2, and the cable spans 3 across two fixed pulleys 4 and is fixedly connected to the ejection slider 2 to ensure the connection The displacement direction of the cable 3 of the lever beam 8 is downward, and the electromagnet 1 generates an instantaneous ejection suction force under the control of an external signal, attracts the ejection slider 2, and generates a fixed displacement to drive the cable 3 connected to the lever beam 8 to move downward. .

Displacement adjustment holes 9 are processed on the lever beam 8, which can adjust the length of the force arm. When the electromagnet 1 absorbs the ejection slider 2 to fix the displacement, when the cable 3 is placed in a different hole, the force arm is different, so the telescopic The lengths to which the racks extend vary.

The telescopic frame is a component that realizes the free expansion and contraction of the goalkeeper of the soccer robot. The expansion of the telescopic frame is realized by using the unstable principle of the parallelogram. Crossbeam 7 ejects, has realized the area enlargement of left and right sides. Simultaneously, a plurality of connecting rods 6 are adopted to strengthen the mechanical performance of the side beam 7, and the strength is greatly improved.

The electromagnet 1 and the ejection slider 2 form an electromagnetic ejection mechanism. When the control circuit board sends a signal to the storage capacitor, the electromagnet 1 will generate a momentary ejection suction, and the ejection slider 2 will be pulled down, thus generating a vertical force. downward displacement. Through the cable 3 and the fixed pulley 4 fixed on the robot, the fixed displacement generated by the electromagnetic ejection mechanism is transmitted to the lever beam 8, so that the lever beam 8 rotates downward around the hinge point, with the help of the principle of leverage and the instability of the parallelogram, Then drive the side crossbeam 7 to approach or move away from the left side beam 5 and the right side beam, so as to realize the stretching of the telescopic frame.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (4)

1. a football robot goalkeeper telescopic frame based on fixed pulley cable structure, it is characterized in that, this telescopic frame comprises left side beam, right side beam, side beam, top beam, connecting rod, lever beam and fixed pulley assembly; The top of the left beam is fixedly connected to the top of the right beam through the top beam, and the left beam is flexibly connected to the side beam through multiple connecting rods to form a parallelogram structure. The middle part of the left beam is flexibly connected to the side beam through a lever beam, and the lever beam exceeds the left The end of the side beam is connected to the fixed pulley assembly, and the connection relationship between the right beam and the left beam is consistent. The lever beam is driven by the fixed pulley assembly to rotate downward around the hinge point, and then drives the side beam to approach or move away from the left beam and the right side. beam. 2. the soccer robot goalkeeper telescopic frame based on fixed pulley cable structure as claimed in claim 1, is characterized in that, described fixed pulley assembly comprises fixed pulley, cable, electromagnet and ejection slide block, and cable spans two fixed pulleys It is fixedly connected with the ejection slider to ensure that the displacement direction of the cable connected to the lever beam is downward. Under the control of an external signal, the electromagnet generates an instant ejection suction, attracts the ejection slider, and generates a fixed displacement to drive the cable connected to the lever beam. Downward movement. 3. The football robot goalkeeper telescopic frame based on the fixed pulley cable structure as claimed in claim 1, wherein said lever beam is processed with a displacement adjustment hole. 4. the football robot goalkeeper telescopic frame based on fixed pulley cable structure as claimed in claim 1, is characterized in that, the basic material of described telescopic frame is plank or high-voltage insulation board.