Importance

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Abstract

A fluid power apparatus particularly useful for an industrial robot which includes a pair of expansible chamber devices each having a pair of control chambers in fluid communication with each other to intensify the working fluid output pressure and a working chamber that expands to receive a charge of working fluid and contracts to expel working fluid therefrom. A working fluid circuit includes a first line connected with one of the working chambers and a second line connected with the other of the working chambers. A fluid actuator is connected with the circuit and has a moveable element that moves in response to flow of working fluid in the circuit to the actuator. The apparatus has a static condition in which the one working chamber is contracted with the moveable element of the actuator stationary in a first position. A control mechanism is operable in response to a demand to change the position of the moveable element from the first position to a second position to sequentially alternately contract and expand the working chambers, respectively, to cause flow of working fluid to the actuator and move the element to the second position and thereafter restore the static condition.

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First Claim