first fare 2013 pneumatics 2013
TRANSCRIPT
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PNEUMATICS FOR BEGINNERS
Dale Yocum, Head Mentor, Team 1540The Flaming Chickens
Based on presentation fromTim Bennington-Davis, Team 1425
Error Code Zero
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Why Use Pneumatics ?
Powerful, reliable, durable Applying constant force Linear motion
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Typical Applications
Grabbers and Arms
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Typical Applications
Appendages and brakes
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Typical Applications
Shifting
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What will it cost you?
Weight Battery power Space on the robot Logistics to get the right parts
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Pneumatic SystemCompressor Air Tanks
Pressure Gauge, pressure switch, release valve
Regulators and gauges
Regulator
Solenoid
Actuators
Solenoid valves
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Compressor New model in 2011 – lighter, less air
Earlier model also legal (probably) Mount with rubber mounts to solid
surface Power with Spike (replace fuse with 20A
circuit breaker)
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Safety Relief Valve Releases at 125 psi – prevents over-
pressure condition. Adjust it! Must be placed on high-pressure side
(prior to regulator) Must mount on compressor
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Air Tanks Reservoir for pressurized air May use more than one Typically used on high-pressure side
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Gauges and Regulators Norgren regulator mandatory, regulates
high pressure side down to 60 psi Must have gauge on high pressure side,
and on low-pressure side Look for the arrow on regulator!
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Pressure switch Switch opens around 115 psi, closes at
95 in theory. You can’t adjust it. Must be connected to digital input on
digital sidecar – NOT in series with power
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Release Valve
Releases air from the system Must be in an obvious place
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Solenoid Valves Driven by pneumatic bumper on cRIO Available in single- and double-action Use 12v Valves
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Tubing Must have clear pressure marking Typically 0.25” OD Always cut with tubing cutter, square end Freelin-Wade.com
Polyurethane
Polyethylene Coiled
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Actuators Typical device is a linear ram Available in many sizes
Length (throw)Diameter (bore)Mounting configurations
3 cylinders are available at no cost but you must order them
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Flow control Flow control valves
Mount at air inlet on actuators or in-lineControl speed of action, not force
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Fittings
www.automationdirect.com
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Helpful Hints
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Tradeoffs Big cylinders use more air (stroke and bore) Big cylinders are slower. Don’t power them in both directions if you
don’t need to. Frequent use of air during match can outrun
your compressor If your air use is limited, you can
consider charging tanks in the pit, and not mounting compressorSave weight, cost and battery power
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Pneumatics CommandmentsThou shalt… Not tolerate air leaks. Not cut pneumatic tubing with anything other than
a pneumatics tubing cutter. Not use a actuator bigger than you need. Tape metal fittings up to but not including the last
thread. Optimize air storage capacity.
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Summary Well-suited for:
Fast movementTwo-position mechanismsCreating substantial forceSustained Holding
Not so good forPrecision position controlSustained movement
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Great resources
FIRST websiteFIRST Pneumatics ManualRules from 2013
http://team358.org/files/pneumatic/ http://www.pneumaticsonline.com/
Calc2.asp