pneumatic components & systems team 1640 clem mckown – mentor november 2008
TRANSCRIPT
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Pneumatic Components & Systems
Team 1640Clem McKown – mentor
November 2008
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Topics
What are pneumatics? What are pneumatics good for? How pneumatics work The pneumatic system Variations on the theme
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What are pneumatics Mechanisms which
use air pressure to apply mechanical force and displacement (work)
The pneumatic devices we use are basically binary actuators – either retracted or extended
RetractedCylinder
ExtendedCylinder
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What are pneumatics good for?
Mechanisms requiring (2) discrete states Gear shifters Gripper articulation Lifters Brakes
…and a significant force or displacement
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Strengths
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Strengths Simple
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Strengths Simple Easy to control
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Strengths Simple Easy to control Can apply a lot of force from a small,
light package
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Strengths Simple Easy to control Can apply a lot of force from a small,
light package Force is limited by air pressure and
cylinder diameter
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Strengths Simple Easy to control Can apply a lot of force from a small,
light package Force is limited by air pressure and
cylinder diameter No adverse consequence if cylinder is
stopped (no stalled motors) or reversed – compressed air is a spring
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Drawbacks
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Drawbacks
A significant weight “investment” (~10 lbm) in a pneumatic system is needed for the first pneumatic device
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Drawbacks
A significant weight “investment” (~10 lbm) in a pneumatic system is needed for the first pneumatic device
Cylinders can be subject to damage
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Drawbacks
A significant weight “investment” (~10 lbm) in a pneumatic system is needed for the first pneumatic device
Cylinders can be subject to damage
Repair impossible
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Drawbacks
A significant weight “investment” (~10 lbm) in a pneumatic system is needed for the first pneumatic device
Cylinders can be subject to damage Repair impossible Not well suited for non-binary
actuation
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In Industry Pneumatic actuators are extensively
used by the Chemical Process Industry due to their intrinsic safety and their ability to fail safe (w/ spring return)
2-positionpneumatic
actuatordriving a
4-wayball valve
pneumaticallydriven flowcontrol valves(butterfly type)
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How it works
Piston
Cylinder
Seals
⅛” NPTF Air Port (Extension)
⅛” NPTF Air Port (Retraction)
Rod
Force = Area (in2) x Pressure (lbf/in2)Extension Area = Cylinder CS AreaSubtract Rod CS Area for Retraction
Typically,pressureis appliedto one portwhile theother isvented toatmosphere- so P isregulatedgauge pressure (60 psi max)
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More works We may specify
Cylinder Diameter – sets Force @ a pressure Stroke Length Mounting Options Rod Material Rod Extensions Spring Return ….
Stroke
Length
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Cylinder Specs (Bimba DXP/DX/DP)
Air Pressure (gauge): 60 lbf/in2
Length (in)Nominal Cyl ID Rod OD Extend Retract Extend Retract Base per inch Base
3/4" 0.750 0.250 0.44 0.39 27 24 0.21 0.03 3.757/8" 0.875 0.250 0.60 0.55 36 33 0.32 0.03 3.56
1-1/16" 1.063 0.313 0.89 0.81 53 49 0.33 0.05 3.841-1/4" 1.250 0.438 1.23 1.08 74 65 0.71 0.08 4.721-1/2" 1.500 0.438 1.77 1.62 106 97 0.73 0.08 4.381-3/4" 1.750 0.500 2.41 2.21 144 133 1.64 0.11 5.75
2" 2.000 0.500 3.14 2.95 188 177 1.62 0.15 5.622-1/2" 2.500 0.500 4.91 4.71 295 283 2.27 0.17 5.62
3" 3.000 0.625 7.07 6.76 424 406 3.87 0.26 6.50
Dimension (in) Area (in2) Force (lbf) Mass (lbm)
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The pneumatic system I(the investment)
Motor
Compressor
Pressure
Switch
PressureSafetyValveH
igh
-Pre
ssu
reA
ir S
tora
ge
Hig
h-P
ress
ure
Air
Sto
rage
Pressure
Gauge
Pressure
Gauge
PressureVentValve
Pressure
Regulator
Hig
h P
ress
ure
Low
Pre
ssure
Users
Controller Spike
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The pneumatic system II(the solenoid valve)
Air Supply(Pressure)
Vent B
Vent A
Port A
Port B
Supply/Vent Side
Output Side
A B
V P V
State AA B
V P V
State B
All ports⅛” NPTF
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The pneumatic system III(device control)
SpikeController
AirPressure
A restrictor valve in Vent Bslows extension speedwithout affecting retractionspeed
¼” flexible tubing
State A – Extends rodState B – Retracts rod
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The pneumatic system III(device control)
SpikeController
AirPressure
A restrictor valve in Vent Bslows extension speedwithout affecting retractionspeed
¼” flexible tubing
State A – Extends rodState B – Retracts rod
If you are using pairs ofcylinders which are activatedtogether, they can be drivenby common solenoids
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Plumbing – Tubing Fittings
Tee - SMC KQT07-00
Male Elbow - SMC KQL07-34SMale Connector - SMC KQH07-34S
Restrictor Elbow - SMC NAS2201F-N01-07S
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Something outside the box
In 2006Team 386 created high
vacuumwith cylinders
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Team 386 (2006) a better vacuum
Team 386 used suction to lift ringers,but was underwhelmed by the vacuumdeveloped by venturi
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Team 386 (2006) a better vacuum
Retracting the smaller cylinder
Team 386 used suction to lift ringers,but was underwhelmed by the vacuumdeveloped by venturi
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Team 386 (2006) a better vacuum
Retracting the smaller cylinder
Generates a highvacuum on the larger cylinder
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Team 386 (2006) a better vacuum
Retracting the smaller cylinder
Generates a highvacuum on the larger cylinder
Separate cylinder sets were used foreach suction cup, providing redundancy
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Team 386 (2006) a better vacuum
Extending the smaller cylinder
Breaks the vacuum
Separate cylinder sets were used foreach suction cup, providing redundancy
Extending the small cylinders releasedthe vacuum and dropped the ringer