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

Abstract

The invention discloses a football robot goalkeeper extensible frame based on a fixed-pulley and cable structure. The extensible frame comprises a left side beam, a right side beam, lateral cross beams, a top cross beam, connecting rods, lever beams and a fixed pulley assembly. The top end of the left side beam is fixedly connected with the top end of the right side beam through the top cross beam, the left side beam is movably connected with the lateral cross beams through the multiple connecting rods, and thus a parallelogram structure is formed. The middle of the left side beam is movably connected with the corresponding lateral cross beam through the corresponding lever beam, and the fixed pulley assembly is connected to the end, extending out of the left side beam, of the corresponding lever beam. The right side beam is consistent with the left side beam in connecting relation. The corresponding lever beam is driven by the fixed pulley assembly to rotate downwards around a hinging point, and thus the lateral cross beams are driven to get close to or get away from the left side beam and the right side beam. The football robot goalkeeper extensible frame relies on an original system, the most basic mechanical model is adopted to achieve the extending principle of the extensible frame, no complex mechanical structure is used, and thus the structure is simple, and assembling and disassembling are convenient before and after a match; and moreover, after damaged, part of components are convenient to replace, and the extensible frame has the characteristics of being suitable for a major match, rapid and firm.

Description

technical field [0001] 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 [0002] 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. [0003] 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...

AI Technical Summary

Problems solved by technology

[0005] 1. The projection of the shape of each robot on the floor must meet the following dimensions: minimum 30cm×30cm, maximum 52cm×52cm, each robot must have its own configuration and execution device

[0006] 2. The size of the robots on the field (excluding the goalkeeper) shall not exceed 52cm×52cm at any time

In addition, the size is only allowed to expand for a short time in one direction (left, right, or up)

[0008] 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 the prior art, a fixed motor has been used to generate rotational displacement, and a crank-slider mechanism has been used to enlarge the size of the goalkeeper frame, but the control system and the power system are separately and additionally configured.

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