FRC(FIRST Robotics Competition) Pneumatics Manual 气动说明

注意：这个版本还未能翻译完全且并未排版定稿，仅供参考

水平有限疏漏之处还请批评指正——山东省北镇中学FRC团队
资料来源 FRC官方说明

目录

气动的优势………………………………………………………………………………………4
气动元件…………………………………………………………………………………………4
气动控制模块……………………………………………………………………………………5
压缩机……………………………………………………………………………………………7
压力释放阀………………………………………………………………………………………8
压力开关…………………………………………………………………………………………9
空气罐……………………………………………………………………………………………10
监管机构…………………………………………………………………………………………11
电动阀门…………………………………………………………………………………………12
仪表……………………………………………………………………………………………….13
帕克配件…………………………………………………………………………………………13
油管……………………………………………………………………………………………..14
定制的北大国际mba气缸…………………………………………………………………15
气动设置…………………………………………………………………………………………16
压缩机和安全阀……………………………………………………………………………….16
压力开关、压力表和旋塞阀………………………………………………………………..17
监管机构和计…………………………………………………………………………………..18
驱动………………………………………………………………………………………………..20
电动阀…………………………………………………………………………………………….20
空气罐…………………………………………………………………………………………….21
管道………………………………………………………………………………………………..22
布线………………………………………………………………………………………………..24
设置………………………………………………………………………………………………..24
标准的安全阀…………………………………………………………………………………. 24
资源………………………………………………………………………………………………..25
油缸长度例子…………………………………………………………………………………. 25
附录A ……………………………………………………………………………………………28
机上设置………………………………………………………………………………….示例28
董事会设置……………………………………………………………………………….例子29
附录B …………………………………………………………………………………………….30
附录C …………………………………………………………………………………………….33

Pneumatic Advantages
气动的优势
Fluid power technology encompasses both hydraulics and pneumatics. Hydraulic applications use pressurized fluids, mostly oil, while pneumatic applications use pressurized gases, mostly air. Mobile construction equipment uses a hydraulic pump mounted on the engine. The outlet of the pump is plumbed to a set of valves. Each valve is then plumbed to a cylinder. This allows you to distribute power from the engine all around the equipment. The same is true for an FRC robot. Once you install the compressor operating one valve and cylinder combination, you’ve done most of the work. To add an additional valve and cylinder combination, you just tee into the pressure line, add in the additional circuit, and update your code.
包括气动和液压流体动力技术。液压应用程序使用加压液体,主要是石油,而气动应用程序使用加压气体,主要是空气。移动建筑设备使用液压泵的安装在引擎。泵的出口跌至一组阀门。每个阀然后跌入一个圆柱体。这允许您分配电力引擎周围的设备。这同样适用于一个FRC机器人。一旦你安装压缩机操作一个阀和气缸组合,你所做的大部分工作。添加一个额外的阀和气缸组合,你只是三通压力线,再加上额外的电路,并更新你的代码。

Weight - Compare the weight of several valves and cylinders to that of the motors, gears, belts, and chains used on some lift mechanisms and you will find the weight comparable, if not much lighter.
重量——比较举升机构的几个阀门的重量和气缸的一些马达齿轮,皮带,和链条，你会发现，如果不是要轻得多的话，那也是差不多重。

Simple to Design - Using pneumatics is much easier than building a motor; gear, chain and sprocket lift mechanism. Once you have reviewed the layout in Appendix A, you will find it very easy to build a circuit.
简单设计,使用气动要比构建一个马达容易得多;齿轮、链条和链轮举升机构。一旦你有了在附录A中的布局,你会发现它很容易建立一个电路。

Adjustable Force - To adjust the force of the cylinder, all you have to do is adjust the regulator in front of it. The force is equal to the area of the cylinder piston times the pressure. Remember that the valves need a minimum of 15 – 30 psi to work properly.
可调节的力量——调整气缸的力量,你要做的仅仅就是调整在它前面的监管机构。这个力等于气缸活塞的面积乘以压力。记住阀门需要至少15 - 30 psi才能正常工作。

Durable - All of us have problems burning up motors from time to time. You can stall an air cylinder against a load indefinitely and turn off the compressor. The materials provided are industrial grade products.
耐用——我们所有人有问题燃烧汽车的时候。你可以拖延一个气缸负载无限期和关闭压缩机。提供的材料是工业等级的产品。

Strong - Teams have the option of using a small 0.75” bore cylinder at 20psi, a medium cylinder at 1.5”, or a large 2” cylinder. By varying the pressure to the cylinders, you can produce a force from 9 pounds up to 180 pounds, depending on your needs.
强劲——团队可以选择使用一个 small 0.75” 的介质圆柱孔圆筒在20 psi,1.5”,或一个大2缸。通过改变气缸的压力,可以产生一个力从9磅到180磅,这取决于您的需要。

Custom Cylinders and a Rotary Actuator - You can order the cylinder you need for the job, listed in Appendix C.
定制气缸和扶轮致动器——你可以定制工作所需的气缸,这部分在附录C中收录。

Last Minute Additions - At the last minute, you can add a cylinder and valve very quickly.
最后一条——你可以非常快的添加一个气缸或者阀。

Pneumatic Components
气动元件
Below are the components needed to set up an FRC pneumatics system.
以下是需要建立一个FRC气动系统的组件。

Pneumatics Control Module
气动控制模块

Cross the Road Electronics’ Pneumatics Control Module (PCM) is in each Kickoff Kit. The PCM is used to control the compressor, solenoids, and pressure switch. The pressure switch should be wired into the 2 Weidmuller ports labeled “PRESSURE SW”, while the compressor’s red and black wires should go directly into the red and black “COMPRESSOR OUT” Weidmuller connectors.
通路电子气动控制模块(PCM)在每一个Kickoff Kit中。PCM是用来控制压缩机,螺线管,压力开关。压力开关应连接到2魏德米勒 标记为“PRESSURE SW”的端口,而压缩机的红色和黑色电线应该直接插入红色和黑色“COMPRESSOR OUT”魏德米勒连接器。

The PCM can control 8 single solenoid valves or 4 double solenoid valves. It also supports both 12 and 24 volt solenoids however, only one voltage may be used at a time. This 12 or 24 volt selection is done by relocating the jumper in the “VSOL” slot. The solenoids provide in the Rookie Kit and via FIRST Choice is 24 volt so make sure the jumper is in the correct location before turning on. Finally the PCM receives power from the PDP via the 2 “Vin” connectors and signal from the 4 “CAN” connectors. The PCM will handle turning the compressor on and off based on the state of the pressure switch and the Enable state of the robot. If any Solenoid Valve object is opened (LabVIEW) or constructed (C++/Java) in your code, the PCM compressor control will be automatically enabled.
PCM可以控制8单电磁阀或4双电磁阀。它还支持12和24V螺线管然而,只有一个可以使用电压。这12或24V的选择是通过迁移的跳投“VSOL”槽。新秀的螺线管提供装备和通过第一选择是24V所以确保跳投打开之前是在正确的位置。最后从PDP通过PCM接收功率2“CAN”的连接器和信号4”CAN“连接器。PCM将处理打开和关闭压缩机根据压力开关的状态,使机器人的状态。如果任何电磁阀打开对象(虚拟仪器)或构造(c++ / Java)在你的代码中,PCM压缩机控制将自动启用。
Compressor
压缩机

Compressors are in each rookie team’s Kickoff Kit and available through FIRST Choice for 2015. The compressor is a Viair 090C Air Compressor. It will put out approximately 120psi before the relief valve opens. Because the compressor can produce a significant amount of vibration, we recommend that you use vibration isolation mounts that come preinstalled on the compressor. In order for these to isolate the vibration, they need to be mounted to a stiff piece of material, such as a 1/4” aluminum plate. The compressor can also get very hot and should not be in direct contact with anything else. The compressor should be wired directly to the “COMPRESSOR OUT” Weidmuller connectors on the pneumatic control module (PCM). Do not reverse the compressor!
压缩机是在每个起始团队2015年通过的开始装备的第一物品。压缩机是一种Viair 090 c空气压缩机。它将打开安全阀之前大约120 psi。因为压缩机可以产生大量的振动,我们建议您使用隔振支架预装到压缩机。为了让这些隔离振动,他们需要安装一块硬的材料,如铝板1/4”。还有,压缩机会很热,不应直接接触。压缩机应直接连接到“COMPRESSOR OUT”魏德米勒连接器上的气动控制模块(PCM)。不要改变压缩机!
The compressor can be mounted on or off-board the robot. Please read Game Manual Section 4 – The Robot for all of the rules associated with this.
压缩机可以安装在机器人的板上或板外。请阅读《游戏手册部分4 -机器人》来获得与此相关的所有规则。
Pressure Relief Valve
压力释放阀

IMI Precision Engineering (formerly known as Norgren) has supplied the 120 PSI pressure relief valve in each rookie Kickoff Kit as well as FIRST Choice. The pressure relief valve needs to be connected to compressor via hard fittings. If a team is using an off board compressor, then 2 pressure relief valves will be necessary, one on the robot and one on the compressor. It is up to the teams to properly install the relief valve as shown in the instructions below. This is a safety measure meant to ensure proper operation of the pneumatic system.
IMI精密工程(原名气动元件)已经提供了120 PSI的卸压阀在每个菜鸟开始装备以及第一选择。压力安全阀需要通过硬连接到压缩机配件。如果一个团队使用一个板外压缩机,然后2个压力安全阀将是必要的,一个给机器人,一个给压缩机。团队要正确安装安全阀请见下面的说明。这是一个为了确保气动系统正确操作的安全措施。
Pressure Switch
压力开关

We have included a pressure switch manufactured by Nason in FIRST Choice and the rookie Kickoff Kit for 2015. This switch is normally closed. The switches will open at approximately 115 psi and will not close again until the pressure drops to approximately 95 psi. This will allow you to turn off the compressor once you are up to 115psi, saving power in the battery. It must be wired directly to the “PRESSURE SW” Weidmuller connectors. The PCM will handle turning the compressor on and off based on the state of the pressure switch and the Enable state of the robot. If any Solenoid Valve object is opened (LabVIEW) or constructed (C++/Java) in your code, the PCM compressor control will be automatically enabled.
我们有一个压力开关是Nason in FIRST Choice生产的和Kickoff Kit 2015的起始装备。这个开关是常闭的。交换机将打开约115 psi, 直到压力下降到大约95 psi才会关闭。这将允许您到了115 psi时关闭压缩机,节省电池的电力。它必须直接连接到“PRESSURE SW”魏德米勒连接器。PCM将根据压力开关的状态打开和关闭压缩机,使机器人的状态。如果任何Solenoid Valve项目是打开的(LabVIEW)或在你的代码中构造(c++ / Java),PCM压缩机控制将自动启用。
Air Tank
空气罐

A plastic air tank is available in FIRST Choice and the rookie Kickoff Kit from Clippard Instruments. The tank is designed to withstand up to 125 psi and temperatures from 35F to 100F. It should also be installed such that it is protected from impact to reduce the risk of rupturing. When securing the tank ensure that fasteners do not get over tightened or apply pressure to the tank.
一个塑料空气罐可以作为FIRST Choice和Kickoff Kit的开始装备,也是工具。这个罐子设计能抵御125 psi，35F到100 F的温度。它还应该被良好安装,使其减少断裂的风险。在保护罐子时确保紧固件不要过度收紧或给罐施加压力。
Regulators
监管机构（不会翻译）

IMI Precision Engineering has supplied the primary pressure regulator. This is a relieving regulator. This means that it will limit the downstream system pressure and can relieve excess pressure if something in the downstream system causes the pressure to increase. This regulator has a maximum output pressure of 60 psi and must be placed before any working components. The pressure is adjustable and may be reduced for use on your robot at your discretion. On the top of the regulator, you will note that one port extends out a little bit more than the others and has an arrow on it. This arrow is to denote the outlet of the regulator. The opposite port is the inlet. A pressure gauge may be placed in either of the other ports if desired, and you will have to plug the other port with one of the enclosed hex plugs.
IMI精密工程提供了主要的压力调节器。这是一个减轻监管机构。这意味着它将限制下游系统压力和压力如果过剩可以减轻下游系统造成的压力增加。这个监管机构有最大输出压力60 psi和任何工作之前必须放置组件。压力可调,可以减少使用在你的机器人在你的自由裁量权。在监管机构的顶部,你会注意到一个端口扩展比其他人多一点,有一个箭头。这个箭头表示的出口监管机构。相反的端口是入口。的压力表可以被放置在其他港口如果需要的话,你必须把其他港口的一个封闭的十六进制插头。
Electric Valves
电动阀门

FESTO has supplied one complete double solenoid valve kit. The packaging will contain one two way valve, two electrical sub bases, two plug socket wire, and three fittings. The pictures above show what you will receive and how it should look when assembled. The pneumatic tube fittings are the “push to connect” type so all you have to do is push in the tubing and then pull back slightly to ensure a snug fit. The valve is a 24V valve, thus the jumper on the PCM must be in the 24V output position.
FESTO提供了一个完整的双头电磁阀箱。包装将包含一个双向阀、两个分电器基地、两个插座线,三个配件。上面的图片显示你会收到什么以及它应该如何组装。气压管配件是“push to connect”（聪明头）连接类型,这样你要做的就是推动管子,然后慢慢外拔,确保契合良好。阀是一个24 v阀,所以必须接在PCM在24 v输出位置。
Gauges
仪表

IMI Precision Engineering has supplied gauges for 2015. These gauges should be installed in the system to show stored and working pressure, meaning that two are usually required. The gauges read from 0-160 psi, 0-11 bar, and 0-1.1 MPa. One gauge must be installed on the regulator which will display the working pressure, which may not exceed 60 psi. The stored pressure gauge can be installed anywhere upstream of the working pressure regulator.
IMI精密工程提供了2015的仪表。这些仪表应安装在系统中为了显示存储和工作压力,这意味着通常必须准备两个表。仪表大单位量程0 - 160 psi, 小单位量程0 - 1.1 MPa。一个仪表必须安装在监管机构来显示工作压力,这个工作压力会不超过60 psi。存储压力计可以安装在任何地方上游的工作压力调节器。
Parker Fittings
帕克配件

Parker Hannifin donated the plug valve, shown in the bottom left figure above. This valve can be used to release all of the air in the system. This valve must be installed in a location that will release all system pressure when opened. The valve should be placed in an easy-to-get-to location on the robot. Parker Hannifin also donated all the other fittings in the image above as well as the other items in the Rookie Kit and FIRST Choice. Many of these components are necessary to build a legal pneumatic system and their usage will be shown in the setup instructions below. It is important to note that all male threads require Teflon tape to seal properly. To install, wrap the tape around the threads of the fitting. The best method of wrapping tape is to roll the tape in a direction to match the threads. The recommendation to leave the first two threads open is to avoid tape coming loose from the first thread that can block one of the valves.
Parker Hannifin公司捐赠（提供？）的旋塞阀,如上图左下方。这种阀门可以安在系统中用来释放所有的空气。这个阀必须安装在一个位置，当打开时将释放所有系统中的气体压力。阀门应放置在一个容易的位置的机器人。Parker Hannifin公司也 在in the Rookie Kit and FIRST Choice中提供了上图中所有其他配件。这些组件是如何用来建立一个合理的气动系统的和它们的用法将在下面说明。要注意重要的是,所有公头螺纹需要聚四氟乙烯胶带密封。安装,包装配件的磁带在线程。最好的方法包装带是卷带的方向与线程。建议离开头两个螺纹为了避免胶带从第一个螺纹上松开堵住一个阀门。

Tubing
管道

Freelin-Wade has donated the pneumatic tubing this year. The tubing has an outside diameter of 0.25” and an inside diameter of 0.160”. The tubing provided in the rookie Kickoff Kits is black while FIRST Choice has an assortment of colors. Be careful when cutting tubing as angled cuts can result in leaks.
今年Freelin-Wade捐赠（提供？）了气动管道。管子的外直径0.25”，内部直径0.160”。在rookie Kickoff Kits中提供的是黑色的而FIRST Choice提供的是各种各样颜色的。小心：当切割油管的角度过小可能导致泄漏。
Custom Bimba Cylinders
定制的Bimba气缸（单独订购的）（未校对翻译）

You will be able to order custom cylinders for your robot again this year. You have a choice of bore (diameter) sizes. You can order the stroke (length of extension) you require. This flexibility will significantly increase your ability to design pneumatics into robot. Most of the bore and stroke options are in stock and Bimba is ready to ship directly to your team. All the actuators can be ordered with a magnetic piston and two magnetically operated reed switches. These switches will “close” when the piston is underneath them. It is not recommended to try to sense a mid-stroke position with these switches. Please follow the link posted in the Virtual Kit section of the Kit of Parts website (http://www.firstinspires.org/robotics/frc/kit-of-parts) for custom order information.
你将能够定制气缸今年再次为你的机器人。你有一个选择的大小(直径)。你可以订购你需要的中风(扩展的长度)。这种灵活性将大大增加你设计气动机器人的能力。大部分的孔和中风选项是在股票和北大国际mba准备船直接向你的团队。所有执行机构可以要求与磁性活塞和两个磁簧开关操作。这些开关将“关闭”当活塞下方。不建议尝试感觉中间冲程位置与这些开关。请按照链接的虚拟装备的装备部分地区定制订单信息的网站(http://www.firstinspires.org/robotics/frc/kit-of-parts)。

安装说明

Pneumatics Setup
气动装置
For the purpose of this setup documentation, all components are mounted to a bench top board.
为了完成这个这篇文档,所有组件都安装到一个长板上。

Compressor and Relief Valve
压缩机和安全阀

Steps
步骤
1. Install Hex Nipple 1/8” (216P-2) to VIAIR Compressor (00090) output port
2. Connect Union Tee (2203P-2) to Hex Nipple 1/8” (216P-2)
3. Connect Adapter 1/4” to 1/8” F/M (229-4-2) to Union Tee (2203P-2)
4. Install Pressure Relief Valve (16-004-011) to the Adapter 1/4” to 1/8” F/M (229-4-2)
5. Connect Male Connector (W68PLP-4-2) to the final slot on the Union Tee (2203P-2)

1．安装1/8六角形管接头”(216 p 2)VIAIR压缩机(00090)输出端口
2．连接联盟三通(2203 p 2)六角乳头1/8”(216 p 2)
3．连接适配器1/4” 到 1/8” F/M (229-4-2)联合三通(2203 p 2)
4．安装安全阀(16-004-011)适配器1/4“到1/8” F/M(229-4-2)
5．连接插头(W68PLP-4-2) 活接三通(2203 p 2)
Notes:
Secure all connection points with wrenches
Use PTFE tape on all threaded connections
The final product should look like the image above
The Pressure Relief Valve needs to be calibrated

注:
确保所有连接点用扳手紧固
在所有螺纹连接处使用聚四氟乙烯胶带
最终产品应该类似于以上的图
压力安全阀需要校准
Pressure Switch, Gauge, and Plug Valve
压力开关、压力表和旋塞阀

Steps:
步骤:
1. Attach Male Connector (W68PLP-4-2) to a slot on the Union Tee (2203P-2)
1。连接插头(W68PLP-4-2)槽工会三通(2203 p 2)
2. Install Pressure Switch (SM-2B-115R/443) into the middle slot of the Union Tee (2203P-2)
2。安装压力开关(sm - 2 b - 115 r / 443)的中间槽联盟三通(2203 p 2)
3. Connect Hex Nipple 1/8” (216P-2) to remaining port on Union Tee (2203P-2)
3所示。连接十六进制乳头1/8“(216 p 2)剩下的港口联盟三通(2203 p 2)
4. Connect a different Union Tee (2203P-2) to Hex Nipple 1/8” (216P-2)
4所示。连接不同的联盟三通(2203 p 2)六角乳头1/8”(216 p 2)
5. Attach Pressure Gauge (18-013-212) to middle port of Union Tee (2203P-2)
5。附加压力计(18-013-212)中间港口联盟三通(2203 p 2)
6. Connect Hex Nipple 1/8” (216P-2) to remaining port on Union Tee (2203P-2)
6。连接十六进制乳头1/8“(216 p 2)剩下的港口联盟三通(2203 p 2)
7. Attach Micro Valve (MV709-2) to the open threads on the Hex Nipple (216P-2)
7所示。附上微阀(MV709-2)六角乳头上的开放的线程(216 p 2)
Notes:
注:
Secure all connection points with wrenches
Use PTFE tape on all threaded connections
The final product should look like the image above

确保所有连接点用扳手紧固
在所有螺纹连接处使用聚四氟乙烯胶带密封
最终产品应该类似于以上的图
Regulator and Gauge
监管机构和仪表

Steps:
步骤:
1. Install one Male Connector (W68PLP-4-2) into the outlet pressure port of the Pressure Regulator (R07-100RNEA) (designated by a larger port with an arrow pointing away from the regulator)
1。安装一个插头(W68PLP-4-2)的出口压力端口压力调节器(r07 - 100 rnea)(指定的一个更大的端口与一个箭头指向远离监管机构)
2. Install another Male Connector (W68PLP-4-2) into the inlet port of the Pressure Regulator (R07-100RNEA) (this is the opposite port from the outlet where the other male connector was just installed)
2。安装另一个插头(W68PLP-4-2)的进气口压力调节器(r07 - 100 rnea)(这是对端口从其他插头的插座安装)
3. Attach Pressure Gauge (18-013-212) to an open port on the Pressure Regulator (R07-100RNEA)
3所示。压力表(18-013-212)附加到一个开放的端口上的压力调节器(r07 - 100 rnea)
4. Plug the remaining port of the Pressure Regulator (R07-100RNEA with the plugs provided or the 1/8” Plug (218P-2) provide in the KOP
4所示。插头的剩余端口压力调节器(r07 - 100 rnea插头提供或1/8“插头(218 p 2)提供的小山
5. The regulator should be mounted using the provided bracket and nut kit
5。监管机构应安装使用提供的支架和螺母设备
Notes:
注:
Secure all connection points with wrenches
Use PTFE tape on all threaded connections
The final product should look like the third image above
The regulator needs to be adjusted for a specific pressure by rotating the knob

确保所有连接点用扳手紧固
在所有螺纹连接处使用聚四氟乙烯胶带密封
最终产品应该像以上三张图
监管机构通过旋转旋钮来调整为一个特定的压力

Actuation
驱动

Steps:
步骤:
Attach Elbow Push to Connect fittings (W369PLP-4-2) to both the inlet and outlet pressure port of the actuator
把手肘推连接配件(W369PLP-4-2)入口和出口压力致动器的端口
Notes:
注:
Secure all connection points with wrenches
Use PTFE tape on all threaded connections

确保所有连接点用扳手紧固
在所有螺纹连接处使用聚四氟乙烯胶带密封

Electrical Valve
电动阀

Steps:
步骤:
1. Screw in all three push to connect fittings into ports 1, 2 and 4 of the Solenoid Valve (566475)
1。螺钉在所有三个连接配件推入端口1、2和4的电磁阀(566475)
2. Attach both Electrical Sub Bases (566716) to the left and right side of the Solenoid Valve (566475)
2。附上两个电子基地(566716)左边和右边的电磁阀(566475)
3. Connect both wires (566654) to the Electrical Sub Bases (566716)
3所示。两线(566654)连接到电子基地(566716)
Notes:
注:
The final product should look like the bottom image above
This valve pictured above is a 24 volt solenoid, the same as the one provided in the KOP

最终产品应该类似于上图
这个阀上图是24伏螺线管,与KOP提供的是同样的。

Air Tank
空气罐

Notes:
注:
The air tank in the KOP uses two push to connect fittings to make attachment easier
NEVER use the air tank outside of operating conditions
Install the air tank on the robot such that it is shielded from impact from other robots
When fastening tank do not over tighten or cause pressure to the outside of the tank

KOP的空气罐使用两个聪明头使连接配件附件容易
千万不要在运行环境之外使用此气罐

（翻译至此）

上安装空气罐机器人,使其免受影响于其他机器人
当紧固坦克不收紧或导致压力罐的外面
Plumbing
管道

Steps:
步骤:
1. Cut a piece of Pneumatic Tubing (1A-151-01) and connect it to the Male Fitting (W68PLP-4-2) directly off the compressor
1。切下一块气动油管(1 - 151 - 01)和直接连接到男性配件(W68PLP-4-2)压缩机
2. Connect a Push to Connect Union Tee (364PLP-4) to the other end of the Pneumatic Tubing (1A-151-01)
2。连接推动工会三通(364 plp-4)连接到另一端的气动油管(1 - 151 - 01)
3. Cut another piece of Pneumatic Tubing (1A-151-01) and connect it between the Union Tee (364PLP-4) and the Air Tank (AVT-PP-35)
3所示。削减另一块气动油管(1 - 151 - 01)和工会之间的连接三通(364 plp-4)和空气罐(AVT-PP-35)
4. Cut a piece of Pneumatic Tubing (1A-151-01) to go between the open slot on the Air Tank (AVT-PP-35) and the inlet pressure port on the Regulator (R01-100RNEA)
4所示。切下一块气动油管(1 - 151 - 01)之间的空气罐的开口槽(AVT-PP-35)和进口压力港口监管机构(r01 - 100 rnea)
5. Next cut a piece of Pneumatic Tubing (1A-151-01) to go between the outlet pressure port of the Regulator (R01-100RNEA) and the inlet pressure port (1) of the Electrical Valve
5。下,切下一块气动油管(1 - 151 - 01)去出口压力端口之间的监管机构(r01 - 100 rnea)和进口压力端口(1)电动阀
6. Cut two more pieces of Pneumatic Tubing (1A-151-01) to go from the push to connect fittings on the Electrical valve in ports 2 and 4 to the inlet and outlet ports on the actuator
6。切两块气动油管(1 - 151 - 01)从电气上的推动连接配件阀门在端口2和4的进口和出口端口执行机构
Notes
注
Tubing should be cut in a straight line and not at an angle to ensure proper connection
油管应切成一条直线,而不是在一个角度,以确保适当的连接
Wiring
布线
Notes
注
To wire the pneumatic system please refer to the “Wiring Pneumatics” document located here.
线气动系统文档请参考“连接气动”坐落在这里。
Setup
设置
Notes
注
To setup the pneumatic system please refer to the “Updating and Configuring Pneumatics Control Module and Power Distribution Panel” document located here.
设置气动系统请参考“更新和配置气动控制模块和配电面板”文档坐落在这里。
Calibration of Relief Valve
校准的安全阀

Steps
步骤
1. Loosen the locknut on the relief valve
1。放松安全阀上的防松螺母
2. Jumper the bypass of the Pressure Switch so that the compressor runs continuously
2。跳投的旁路压力开关,压缩机连续运行
3. When pressure gets to 125psi remove the jumper
3所示。当压力到达125 psi删除跳投
4. Rotate cap until air escapes and the pressure remains in the 120-125psi range
4所示。旋转帽直到空气逃脱和压力仍在120 - 125 psi
5. Finger tighten the locknut
5。手指拧紧防松螺母
6. Dump air from system then refill with the jumper on the compressor
6。把空气从系统然后用压缩机上的跳投加药
7. If the system stabilizes somewhere between 120-125psi range further tighten down the locknut, if it does not adjust the cap again and repeat the process
7所示。如果系统稳定介于120 - 125 psi范围进一步收紧防松螺母,如果不调整帽又重复这个过程
Resources
资源
WPI has saved presentations given on many topics by FRC mentors at The FIRST Championship Forums in the past. Presentations geared towards pneumatics can be found here:
WPI挽救了演讲在很多话题的FRC导师在第一个冠军论坛在过去。报告针对气动可以在这里找到:
http://first.wpi.edu/FRC/frc-mechanical.html
Appendix C describes the cylinders available to FRC teams as part of the Bimba donation. These items can be requested online. Please go to www.bimba.com and click on the FIRST link and follow the instructions. Quantities of no charge custom cylinders will be limited to 2 per team.
附录C描述可用气缸FRC团队作为北大国际mba捐赠的一部分。这些项目可以在线请求。请到www.bimba.com并单击第一个链接,按提示操作。大量的免费定制气缸将限于2每个团队。
Cylinder Length Example
油缸长度的例子
Look at the drawing of the 1-1/2” bore cylinder in Appendix B. You will notice that the cylinder pivots about a pivot pin located in the rear of the cylinder. There is a dimension on the drawing from that pin to the back of the thread on the rod end. That dimension is “4.38 + Stroke”. We will use this later.
看看图1 - 1/2“附录b .你会发现孔圆柱圆柱体轴心大约一个枢轴销位于汽缸的后方。图上有一个维度,从销杆上的线程的结束。维度是“4.38 +中风”。稍后我们将使用这个。
Look at the drawing of the rod clevis. There is a locking nut shown on the drawing. If you look, there is a dimension of the width that is 0.25”. The locking nut threads on the rod first and is used to keep the clevis in place. Lastly, look at the dimension 1.31” on the rod clevis. Therefore, if you thread the locking nut on the rod thread all the way to the bottom of the thread and then tighten the clevis against it, you can calculate the distance from the rear pin to the clevis pin. This is called the pin to pin distance. Assume you want to move something 8 inches. You will need to order an 8” stroke cylinder.
看杆栓的画。有一个锁紧螺帽图上所示。如果你看,有一个尺寸的宽度是0.25”。杆上的锁紧螺母线程,是用来防止u形夹到位。最后,看看尺寸1.31”杆栓。因此,如果螺纹杆的锁紧螺母螺纹到线程,然后收紧脚架的底部,你可以计算的距离后销栓钉。这叫做销销的距离。假设您想移动8英寸。您将需要一个8“中风的汽缸。
To find the retracting pin-to-pin dimension, add the following lengths:
找到收回这个维度,添加以下长度:
Base dimension = 4.38”
基础尺寸= 4.38”
Stroke = 8.00”
中风= 8.00”
Locking nut width = 0.25”
锁紧螺帽宽度= 0.25 ”
Clevis dimension = 1.31”
脚架尺寸= 1.31 ”
Pin-to-Pin Retraction = 13.94”
这个收缩= 13.94 ”
To find the extended pin-to-pin dimension, just add the stroke:
找到扩展这个维度,增加中风:
Pin-to-Pin retracted = 13.94”
这个收回= 13.94 ”
Stroke = 8.00”
中风= 8.00”
Pin-to-Pin Extended = 21.94”
这个长= 21.94”
Note: The retracted length may be somewhat longer by not tightening the clevis all the way to the end of the thread.
注意:收回长度可能有点长不收紧栓到线程的结束。
Many thanks to the following FRC Suppliers who provided pneumatic components for the 2015 Kit of Parts:
感谢以下FRC供应商提供气动元件2015装备的部分:
Bimba Manufacturing (http://www.bimba.com)
北大国际mba制造业(http://www.bimba.com)
Clippard Instrument Laboratory, Inc. (http://www.clippard.com)
他还是仪器实验室、公司(http://www.clippard.com Inc .)
Festo Corporation (http://www.festo.com)
费斯托公司(http://www.festo.com)
Freelin-Wade (http://www.freelin-wade.com)
Freelin-Wade(http://www.freelin-wade.com)
HPE Automation (http://www.hpeco.com)
HPE自动化(http://www.hpeco.com)
IMI Precision Engineering (formerly Norgren (http://www.norgren.com)
IMI精密工程(原气动元件(http://www.norgren.com)
Nason Corporation (http://www.nasonptc.com)
内森公司(http://www.nasonptc.com)
Parker Hannifin, Inc. (http://www.parker.com)
派克汉尼汾公司,公司(http://www.parker.com Inc .)

Appendix A
附录A
Example On Board Setups
例子上设置

Example Off Board Setups
例子从板设置

Appendix B
附录B

Appendix C
附录C