Pneumatic Components & Systems

Team 1640 Clem McKown mentor November 2008

Topics

What are pneumatics? What are pneumatics good for? How pneumatics work The pneumatic system Variations on the theme

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

Retracted Cylinder

Extended Cylinder

What are pneumatics good for?

Mechanisms requiring (2) discrete states

Gear shifters Gripper articulation Lifters Brakes

and a significant force or displacement

Strengths

Strengths

Simple

Strengths

Simple Easy to control

Strengths

Simple Easy to control Can apply a lot of force from a small, light package

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

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

Drawbacks

Drawbacks

A significant weight investment (~10 lbm) in a pneumatic system is needed for the first pneumatic device

Drawbacks

A significant weight investment (~10 lbm) in a pneumatic system is needed for the first pneumatic device Cylinders can be subject to damage

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

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

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)
pneumatically driven flow control valves (butterfly type)

2-position pneumatic actuator driving a 4-way ball valve

How it works
NPTF Air Port (Retraction) Typically, pressure is applied to one port while the other is vented to atmosphere - so DP is regulated gauge pressure (60 psi max)

Seals Piston Rod Cylinder

Force = Area (in2) x D Pressure (lbf/in2) Extension Area = Cylinder CS Area Subtract Rod CS Area for Retraction

NPTF Air Port (Extension)

More works

We may specify

Cylinder Diameter sets Force @ a pressure Stroke Length Mounting Options Rod Material Rod Extensions Spring Return .

Stroke Length

Cylinder Specs
Air Pressure (gauge): Dimension (in) Nominal 3/4" 7/8" 1-1/16" 1-1/4" 1-1/2" 1-3/4" 2" 2-1/2" 3" Cyl ID 0.750 0.875 1.063 1.250 1.500 1.750 2.000 2.500 3.000 Rod OD 0.250 0.250 0.313 0.438 0.438 0.500 0.500 0.500 0.625 Area (in2) Extend Retract 0.44 0.39 0.60 0.55 0.89 0.81 1.23 1.08 1.77 1.62 2.41 2.21 3.14 2.95 4.91 4.71 7.07 6.76

(Bimba DXP/DX/DP)

60 lbf/in Force (lbf) Extend 27 36 53 74 106 144 188 295 424

Mass (lbm) Base 0.21 0.32 0.33 0.71 0.73 1.64 1.62 2.27 3.87 per inch 0.03 0.03 0.05 0.08 0.08 0.11 0.15 0.17 0.26

Retract 24 33 49 65 97 133 177 283 406

Length (in) Base 3.75 3.56 3.84 4.72 4.38 5.75 5.62 5.62 6.50

The pneumatic system I

(the investment)
Pressure

Pressure Regulator Pressure Gauge

Users

High Pressure

Low Pressure

Gauge

High-Pressure Air Storage

High-Pressure Air Storage

Pressure Vent Valve

Pressure Safety Valve

Pressure
Switch

Motor Controller Spike Compressor

The pneumatic system II

(the solenoid valve)

All ports NPTF Port B State A A B Vent B V P V Vent A Air Supply (Pressure) Port A V P V State B A B

The pneumatic system III

(device control)

State A Extends rod State B Retracts rod

flexible tubing

Air Pressure

Controller

Spike

A restrictor valve in Vent B slows extension speed without affecting retraction speed

The pneumatic system III

(device control)
If you are using pairs of cylinders which are activated together, they can be driven by common solenoids

State A Extends rod State B Retracts rod

flexible tubing

Air Pressure

Controller

Spike

A restrictor valve in Vent B slows extension speed without affecting retraction speed

Plumbing Tubing Fittings

Male Elbow - SMC KQL07-34S Male Connector - SMC KQH07-34S

Tee - SMC KQT07-00

Restrictor Elbow - SMC NAS2201F-N01-07S

Something outside the box

In 2006 Team 386 created high vacuum with cylinders

Team 386 (2006) a better vacuum

Team 386 used suction to lift ringers, but was underwhelmed by the vacuum developed by venturi

Team 386 (2006) a better vacuum

Team 386 used suction to lift ringers, but was underwhelmed by the vacuum developed by venturi

Retracting the smaller cylinder

Team 386 (2006) a better vacuum

Generates a high vacuum on the larger cylinder

Retracting the smaller cylinder

Team 386 (2006) a better vacuum

Separate cylinder sets were used for each suction cup, providing redundancy

Generates a high vacuum on the larger cylinder

Retracting the smaller cylinder

Team 386 (2006) a better vacuum

Separate cylinder sets were used for each suction cup, providing redundancy Extending the small cylinders released the vacuum and dropped the ringer

Breaks the vacuum

Extending the smaller cylinder