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” connecto