POSITION PNEUMOHYDRAULIC DRIVE Russian patent published in 1996 - IPC

FIELD: industrial robots, machines and manipulators. SUBSTANCE: position pneumohydraulic drive has pneumatic drive cylinder and hydraulic drive cylinder kinematically linked in series; arranged in these cylinders are pistons with rods forming drive and braking chambers depending on positioning mode; two pneumatic chambers are connected with source of working medium and two hydraulic chambers filled with magnetorheological fluid are interconnected by means of adjustable throttle in the form of throttling passages embraced by two electromagnetic coils mounted in series one of which is connected to DC source by means of control unit and other is connected to AC source also with the aid of control unit; drive is also provided with output rod motion feedback sensor also connected with control unit. Each above-mentioned cylinder is pneumohydraulic. Adjustable throttle and hydraulic drive cylinder are built in piston and rod of pneumatic drive cylinder whose hydraulic braking chamber is connected with drive chamber of hydraulic drive cylinder by means of above-mentioned adjustable throttle; braking chamber of hydraulic drive cylinder is pneumatic. EFFECT: enhanced reliability. 1 dwg