DE102022114879A1 - Device for controlling an actuator unit and system with the device, the actuator unit and a pantograph - Google Patents

Abstract

The present invention relates to a device for controlling an actuator unit that can be controlled with a fluid. The device comprises a first control valve and a second control valve arranged in series with the first control valve. The first control valve and the second control valve each have a fluid inlet and a fluid outlet. Furthermore, the device has a third control valve and a fourth control valve arranged parallel to the third control valve. Both the third control valve and the fourth control valve have a fluid inlet and a fluid outlet. The third control valve and the fourth control valve are in fluid communication with the fluid outlet of the second control valve and the controllable actuator via the fluid inlet. In addition, a fluid source is provided which is fluidly connected to the fluid inlet of the first control valve. The device also comprises a first sensor unit, which is fluidly connected to the fluid inlet of the third and fourth control valves and is intended to detect operating parameters of the device. The device additionally comprises at least one computing unit which is intended to receive the recorded operating parameters and/or to provide control signals for activating the control valves in order to activate an actuator unit with fluid.

Description

The present invention relates to a device for controlling an actuator unit that can be controlled with a fluid, and to a system for moving a pantograph.

To control various actuators and in particular actuators which move pantographs from a retracted position to an extended position for current collection and back, fluids are provided via devices with specially connected valves. Pantographs establish electrical contact between an overhead line and a locomotive by using the scissors tensioned by a spring to press the bracket against the overhead line with a defined force. These pantograph control devices, for example with 5/2-way valves, are known and represent a reliable control of the actuators in the pneumatic sector. The pneumatic control can also be designed redundantly, which means that in the event of a fault, for example mechanical wear, incorrect electrical contact and/or or leaks in the pneumatic system, a safe condition of the pantograph can be achieved. Systems for electro-pneumatically pre-controlled quick ventilation are also known. These are intended as pneumatic systems that cause the pantograph to be quickly separated from the live lines in a dangerous situation and/or in the event of malfunctions.

From a functional point of view, it is very important that there is always defined contact between the bracket and the overhead line, otherwise arcs can occur that could damage the vehicle. This permanent “pressure” of the bracket on the overhead line is implemented by the pantograph control devices. If there are any malfunctions/errors, it is necessary to be able to disconnect the connection immediately. The known devices have the disadvantage that there is pneumatic redundancy in order to be able to retract the pantograph, but the control of the valves is carried out in a simple manner and the operating parameters of the device are not monitored in a redundant manner. This means that the necessary control of the valves and thus also the pantograph cannot be guaranteed for every situation in the event of an error/malfunction. The control of the pantograph and the safe separation from the overhead line in every operating situation represents a high safety requirement, which is necessary to fulfill operational safety.

There is therefore a need for a device that meets every safety requirement for the operation of the pantograph and thus ensures control of the actuator in every situation. The present invention is therefore based on the object of at least partially overcoming the disadvantages known in the prior art with regard to safety requirements.

The object is achieved by the features of patent claim 1, in particular by a device for controlling an actuator unit that can be controlled with a fluid, as well as by the accompanying accompanying patent claims, in particular by a system for moving a pantograph.

According to a first aspect, the present invention relates to a device for controlling an actuator unit that can be controlled with a fluid. The device comprises a first control valve and a second control valve arranged in series with the first control valve. The first control valve and the second control valve each have a fluid inlet and a fluid outlet. Furthermore, the device has a third control valve and a fourth control valve arranged parallel to the third control valve. Both the third control valve and the fourth control valve have a fluid inlet and a fluid outlet. The third control valve and the fourth control valve are in fluid communication with the fluid outlet of the second control valve and the controllable actuator via the fluid inlet. In addition, a fluid source is provided which is fluidly connected to the fluid inlet of the first control valve. The device also comprises a first sensor unit, which is fluidly connected to the fluid inlet of the third and fourth control valves and is intended to detect operating parameters of the device. The device additionally comprises at least one computing unit which is intended to receive the recorded operating parameters and/or to provide control signals for activating the control valves in order to activate an actuator unit with fluid.

The inventors had the idea of using a controllable device with appropriate control valves to control an actuator that meets the necessary safety requirements. In particular, the inventive interconnection of the control valves and the control via the computing unit ensure safe venting of the actuator in the event of a fault, so that the pantograph can be retracted and separated from the overhead line.

The idea according to the invention can advantageously ensure that the control valves are correctly addressed and the actuator is activated even in the event of an error/malfunction to ensure that the pantograph is separated from the overhead line.

According to one embodiment, the device comprises a drain unit. A discharge unit can be provided in the device in order to release fluid, in particular compressed air, to the environment outside the device. The drain unit can be designed as an opening to the surroundings of the device. Advantageously, the discharge unit can be designed as a silencer, preferably as a pneumatic silencer, or can be mounted on the discharge unit. The noise transmitted by the air flow can be reduced via the silencer, or the noise is reduced when the compressed air is released from the device. It is envisaged that the device is in fluid communication with the fluid outlet of the third and fourth control valves and is intended to discharge fluid from the device.

According to a further embodiment, the device comprises at least one further drain unit. The further drain unit can be designed as an opening to the surroundings of the device. Furthermore, it can be provided that the discharge unit is designed as a further silencer or the silencer can be mounted on the discharge unit. Fluid can be discharged from the device in a redundant manner via the further drain unit or the at least one further silencer.

According to a further embodiment, the control valves are designed as 2-way valves with a mechanical reset. The control valve can be put into a specific switching state via the mechanical reset. For example, the switching valve is returned to the idle state. When the control valves are acted upon by a control signal, preferably a positive control signal, the control valves are switched in their switching position, for example switched to conduct fluid. If the control signal is lost, the control valves are switched to their original switching position by the mechanical reset. The mechanical return can be designed as a mechanical spring.

According to a further embodiment, the first and second control valves are switched to the blocking position in the idle state. Advantageously, loading of the device or activation of the actuator with fluid is prevented when the control valves are not actuated or activated. In this regard, the actuator is moved to a predetermined position, preferably not exposed to fluid.

According to a further embodiment, the third and fourth control valves are switched to the open position in the idle state. Advantageously, when the control valves are not actuated or not activated, the control valves are switched in such a way that the fluid in the device or from the actuator is drained away via the third and fourth control valves. For example, the fluid can be discharged to the environment through the third and fourth control valves via the drain unit with or without a silencer.

According to a further embodiment, the device comprises a further sensor unit. The sensor unit is intended to record the operating parameters of the device in a redundant manner. Advantageously, the further sensor unit compensates for a failure of the first sensor unit and/or the provision of faulty operating parameters by the first sensor unit. In the event of a fault in the first sensor unit, the computing unit can therefore access the operating parameters provided by the further sensor unit and further use of the device can be ensured.

In a further embodiment, the first exhaust unit and the second exhaust unit or the silencers provided are connected in parallel to one another. This can ensure that fluid can continue to be drained from the device in the event of damage and/or malfunction. Furthermore, the parallel connection allows increased amounts of fluid to be removed in the same amount of time.

In a further embodiment, the first and/or the second sensor unit are designed as a pressure sensor. The pressure sensor can be used to detect the fluid pressure within the device and/or the actuator. In particular, pressure fluctuations within the device and/or the actuator can be detected. This can be used to activate the control valves in order to compensate for the pressure fluctuations and/or compensating movements of the actuator unit. The pressure sensors are installed on the pressure lines in the device and are exposed to the pressure of the fluid, preferably a pneumatic pressure.

In a further embodiment, the device further comprises a further computing unit. The computing unit and the further computing unit are designed in a redundant manner to receive operating parameters and provide control signals. Advantageously, the further computing unit is designed in a similar manner to the first computing unit and can take over its functionalities in the event of a failure. Thus can Further operation of the device can be guaranteed in the event of an error in the first computing unit. Furthermore, the movement of the device and the actuator into a safe and hazard-free position can be ensured via redundancy in the event of a fault in the first computing unit. In particular, it can be provided that the computing unit receives the operating parameters from a sensor unit and provides control signals for the first and third control valves and the further computing unit receives operating parameters from the further sensor unit and provides control signals for the second and fourth control valves. This means that the actuator can be vented in the event of a fault, including failure or malfunction of one of the two computing units.

In addition, the present system ensures that, among other things, if one of the two computing units fails or malfunctions, the actuator is not ventilated.

In a further embodiment, the computing unit and the further computing unit are designed to be redundant. In particular, one of the computing units is designed as a master unit and the further computing unit is designed as a slave unit. Here, for example, the computing unit can map the function of the further computing unit. In error-free operation, only one computing unit works. The function of the active computing unit, preferably the master unit, is evaluated and, in the event of an error, a switch switches over to the parallel function (slave unit). By interconnecting the computing units with appropriate communication and control lines, the operating parameters are received and the corresponding control parameters are provided.

In a further embodiment it is provided that the computing unit and the further computing unit are connected to at least one system sensor unit via a communication connection. The system sensor unit is intended to record operating parameters of the actuator unit and/or a pantograph and to provide them to the device, in particular to the computing unit and the further computing unit. The device or the computing units evaluate the operating parameters and corresponding control signals for the control valves are provided. By appropriately controlling the control valves, active damping of the actuator and thus the pantograph can be achieved. For this purpose, control signals are provided for at least one of the first or second control valves or for at least one of the third and fourth control valves. By specifically controlling the control valves, active damping (end position damping) of the pantograph can be implemented and the service life of the pantograph can be increased by reducing wear.

In a further embodiment, the device comprises a first switching valve and a second switching valve. The first switching valve and the second switching valve each have three switching valve connections. The first switching valve and the second switching valve are each connected in parallel to the third and fourth control valves via the first and third switching valve connections. The actuator can be vented redundantly via the first switching valve and second switching valve. A redundant quick vent can advantageously be generated through the additional switched line to the drain unit. The pressure in the device or in the actuator can therefore advantageously be reduced more quickly.

In a further embodiment, the first switching valve and the second switching valve are designed as a 3/2-way valve. A second switching valve connection is provided on the first switching valve and second switching valve in order to provide a fluid-conducting connection to the actuator. The actuator can be supplied with fluid via the second switching valve connection or the actuator is vented via this switching valve connection. According to the application of fluid to the first switching valve connection, the switching valve is switched into the switching position for ventilating or venting the actuator.

In a further embodiment, the device comprises a fifth control valve. The fifth control valve has a fluid inlet and a fluid outlet. The fluid inlet is connected in a fluid-conducting manner to the third switching valve connection and the fluid outlet is connected to the drain unit or the silencer. The fifth control valve can be designed as a pneumatically pilot-controlled valve. Quick ventilation can advantageously be achieved via the fifth control valve.

In a further embodiment, a compressed air source is provided as a fluid source. The device is designed to be used in a pneumatic system with compressed air from a compressed air source. The compressed air is provided to a pneumatic actuator via the device or the actuator is ventilated and vented via the device.

According to a further aspect, the invention relates to a system for moving a pantograph. The system includes the invention according to the invention. Furthermore, the system includes at least one actuator unit. The actuator unit is controlled via the device. In particular, the Actuator unit ventilated or vented with air via the device. The actuator unit is designed to move a pantograph.

In one embodiment of the system, the actuator unit is designed as a pneumatic actuator unit.

In a further embodiment of the system, the system comprises a system sensor unit. The system sensor unit is intended to record operating parameters of the actuator unit and/or the pantograph. The recorded operating parameters of the actuator unit and/or the pantograph can be provided to the device. Wear on the actuator unit and/or the pantograph can be determined via the operating parameters.

In a further embodiment of the system, the system sensor unit detects a force, a path, a speed and/or an angle as operating parameters of the actuator unit and/or the pantograph. The system sensor unit can be designed accordingly as a dynamometer, an odometer, speedometer or protractor and/or as a combination. Wear can be determined from the operating parameters provided.

The above configurations and further developments can be combined with one another in any way, if it makes sense. Further possible refinements, further developments and implementations of the invention also include combinations of features of the invention described previously or below with regard to the exemplary embodiments that are not explicitly mentioned. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention. In particular, features of the system claims can be implemented and/or carried out by corresponding components of the device, after which they supplement or expand their functionality. The person skilled in the art will therefore also use aspects of the device for the system.

Short description of the characters

• 1: eine schematische Darstellung einer Vorrichtung gemäß einer Ausführungsform;
• 2: eine weitere schematische Darstellung einer Vorrichtung gemäß einer Ausführungsform;
• 3: eine weitere schematische Darstellung einer Vorrichtung gemäß einer Ausführungsform; und
• 4: eine weitere schematische Darstellung eines Systems gemäß einer Ausführungsform.

In the following detailed description of the figures, non-restrictive exemplary embodiments with their features and further advantages are discussed with reference to the drawing. In this show:

• 1 : a schematic representation of a device according to an embodiment;
• 2 : a further schematic representation of a device according to an embodiment;
• 3 : a further schematic representation of a device according to an embodiment; and
• 4 : another schematic representation of a system according to an embodiment.

The accompanying drawings are intended to provide further understanding of embodiments of the invention. They illustrate embodiments and, in connection with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the advantages mentioned arise with regard to the drawings. The elements of the drawings are not necessarily shown to scale to one another.

In the figures of the drawing, identical, functionally identical and identically acting elements, features and components - unless otherwise stated - are each provided with the same reference numerals.

Detailed description of the invention

1 shows a schematic representation of a device 10 according to the invention according to a preferred embodiment of the present invention. In 1 Reference numeral 10 denotes the device. The device 10 is designed to control an actuator unit 40 that can be controlled with a fluid. Compressed air or compressed air can be used as the fluid. The compressed air was provided to the device 10 from the compressed air source 50. The device 10 has corresponding interfaces for connection to the fluid source 50, for example a compressed air source. The actuator unit 40 is designed as a pneumatic actuator unit, for example as a pneumatic cylinder. Pneumatic cylinders are robust and flexible due to the compressibility of the air, which makes them resistant to high external forces.

The device 10 includes a first control valve 11. The first control valve 11 is connected in series to a second control valve 12. The first control valve 11 and the second control valve 12 each have a fluid inlet 11_1, 12_1 and a fluid outlet 12_1, 12_2. The first control valve 11 is fluidly connected to the fluid source 50 via the fluid inlet 11_1 via a fluid line. The first fluid valve 11 is fluidly connected to the fluid inlet 12_1 of the second control valve 12 via a fluid line at the fluid outlet 11_2. The first control valve 11 and the second control valve 12 are designed as 2-way valves with a mechanical reset. Due to the mechanical reset, the first and second control valves 11, 12 are switched to the rest switching state when the control is not active. The first and second control valves 11, 12 can be controlled via a computing unit and/or corresponding switching logic with power electronics connected in between. According to one embodiment, it is provided that the first and second control valves 11, 12 are switched to the blocking position in the rest switching state and thus block a fluid flow. Redundant ventilation of an actuator unit 40 takes place via the first and second control valves 11, 12 when both control valves 11, 12 are open in the sense of a pneumatic AND connection.

The device 10 further comprises a third control valve 13 and a fourth control valve arranged parallel to the third control valve 13. The third control valve 13 and the fourth control valve 14 each have a fluid inlet 13_1, 14_1 and a fluid outlet 13_2, 14_2. The fluid inlets 13_1, 14_1 of the third and fourth control valves 13, 14 are fluidly connected to the fluid outlet 12_2 of the second control valve 12 via a fluid line. The third control valve 13 and the fourth control valve 14 are designed as 2-way valves with a mechanical reset. Due to the mechanical reset, the third and fourth control valves 13, 14 are switched to the rest switching state when the control is not active. The third and fourth control valves 13, 14 can be controlled via a computing unit and/or corresponding switching logic with power electronics connected in between. According to one embodiment, it is provided that the third and fourth control valves 13, 14 are switched to the open position in the rest switching state and thus enable fluid flow. Redundant venting of an actuator unit 40 can take place via the third and fourth control valves 13, 14

The fluid outlets 13_2, 14_2 of the third and fourth control valves are fluidly connected to a drain unit 16. The drain unit 16 can be designed as an opening of the fluid system to the surroundings of the device 10. The actuator unit 40 can be vented via the drain unit 16 and when the control valves 13, 14 are not switched. Venting includes escaping the compressed air from the actuator to the environment via the control valves 13, 14.

The device also has a first sensor unit 15_1. The first sensor unit 15_1 is fluidly connected via a fluid line to the fluid inlet 13_1, 14_1 of the third and fourth control valves 13, 14. The first sensor unit 15_1 is intended to record operating parameters of the device 10. The sensor unit 15_1 can include a pressure sensor. The pressure sensor can determine the fluid pressure and thus the air pressure in the device and coming from the actuator unit 40 as an operating parameter of the device. The sensor unit 15_1 can provide an analog signal which is proportional to the measured pressure in the device. The analog signal can be converted into a digital signal for further evaluation/processing via electronics, for example an analog-digital converter. Sensor types known in the prior art from the group comprising absolute pressure sensors, differential pressure sensors and relative pressure sensors can be used as pressure sensors.

The device also has at least one computing unit 20. The computing unit 20 is intended to receive the operating parameters detected by the first sensor unit 15_1. For the purposes of the present invention, a computing unit is to be understood as a unit that has a CPU, memory and corresponding means for communication with other components or a user in order to receive, store and calculate a program and corresponding signals for controlling the control valves based on the program being executed. The computing unit can, for example, be provided centrally or decentrally as a computer, microcontroller, FPGA, Raspberry Pi, PLC, etc. It can be provided that the computing unit 20 is provided in the device, which results in a compact design of the device and the system according to the invention (cf. 4 ) enables.

Furthermore, the computing unit 20 is intended to provide control signals for activating the control valves 11, 12, 13, 14 in order to ventilate or vent the actuator unit 40 with compressed air. For this purpose, the computing unit has a corresponding communication interface for connecting to communication lines in order to transmit the control signals to the control valves via separate communication lines.

In one embodiment, it can be provided that the control signals provided by the computing unit 20 are provided to the control valves 11, 12, 13, 14 via power electronics (e.g. MOSFET).

By means of the in the 1 illustrated embodiment of the device 10, when used with a pantograph, active damping for the pantograph can be achieved when coupling and uncoupling. The active damping is achieved by the pressure control of the Actuator by means of the device 10 according to 1 provided control valves 11, 12 or the control valves 13, 14 implemented. For this purpose, at least one control valve of the control valves 11, 12 or at least one control valve of the control valves 13, 14 is controlled via the at least one computing unit 20. Furthermore, control via additional computing units can be provided. For this purpose, the device 10 can be equipped with additional pantograph sensor units, for example with the system sensor unit 60 (cf. 4 ) may be connected, which has an operating parameter of the actuator unit 40 and/or the pantograph 70 (cf. 4 ) is recorded, on the basis of which a control signal for controlling the control valves 11, 12, 13, 14 is provided via the at least one computing unit 20. Active damping can increase the service life of the pantograph by reducing wear.

2 shows a further schematic representation of a device according to a further embodiment. In the 2 The same components are referred to with the same reference numerals 1 designated. The device 10 according to the 2 also includes a first and second control valve 11, 12, which are connected in series with one another. Furthermore, the third and fourth control valves 13 and 14, which are connected in parallel with one another, are provided. The fluid inlets 13_1, 14_1 of the third and fourth control valves 13, 14 and the fluid outlets 11_2, 12_2 of the first and second control valves 11, 12 are fluidly connected to the first and second sensor units 15_1, 15_2 and the actuator unit 40. In a further embodiment it can be provided to connect further control valves in series with the first and second control valves 11, 12. Provision can also be made to connect further control valves in parallel to the control valves 13, 14. The ones in the 2 The embodiment shown is only intended to illustrate one possible implementation, but is not limiting to the number of switched control valves.

The device 10 according to the 2 provides another sensor unit 15_2. The further sensor unit 15_2 is intended to record operating parameters of the device 10 in a redundant manner. The further sensor unit 15_2 can also be designed as a pressure sensor like the first sensor unit 15_1. The further sensor unit 15_2 is fluidly connected to the actuator unit 40 and detects the fluid pressure, in particular the air pressure, which is provided to control the actuator unit 40, or which pressure change occurs when air is released via the third and fourth control valves 13, 14 via the drain unit 16 is discharged.

According to the embodiment of 2 It is provided to connect a first silencer 16_1 and a second silencer 16_2, connected in parallel, to the fluid outlets 13_2, 14_2 of the third and fourth control valves 13, 14 in a fluid-conducting manner. Via the first and second silencers 16_1, 16_2, fluid can be discharged from the actuator unit 40 via the third and fourth control valves 13, 14 to the surroundings of the device 10 in a noise-reducing manner. In particular, when the actuator 40 is vented, the air under high pressure is discharged to the environment via the silencers 16_1, 16_2. The redundant design of the silencers can minimize the likelihood of a failure during ventilation.

Furthermore, it is provided in the embodiment of the device 10 according to 2 , to provide another computing unit 30. The further computing unit 30 can also be understood as a unit that has a CPU, memory and corresponding means for communicating with other components or a user in order to receive, store and calculate a program and corresponding signals for controlling the valves based on to the running program. The computing unit can, for example, be provided centrally or decentrally as a computer, microcontroller, FPGA, Raspberry Pi, PLC, etc. By means of the further computing unit 30 as a redundant control unit, the safety-critical functions for controlling the control valves 11, 12, 13, 14 of the device 10 can be guaranteed. In particular, the electronic assemblies and controls are designed redundantly, which does not lead to complete failure in the event of a malfunction and/or failure. Furthermore, reliability is increased, which leads to improved reliability or a reduction in the probability of failure of the control of the actuator unit 40 and thus of the pantograph. Furthermore, the redundant design leads to an increase in operational reliability by ensuring uninterrupted operation.

In one embodiment it is provided that the operating parameters are received and evaluated by the sensor unit 15_1 by the at least one computing unit 20. Furthermore, the control signals for activating the second control valve 12 and the third control valve 13 are provided by the computing unit 20 based on the recorded operating parameters of the first sensor unit 15_1.

It is also provided that the further computing unit 30 receives the operating parameters from the second sensor unit 15_2 and, on the basis of these, control signals for controlling the first th control valve 11 and the fourth control valve 14 provides. Advantageously, both the detection of the operating parameters and the control of a ventilation valve (control valve 11, 12) and a ventilation valve (control valve 13, 14) are designed redundantly and the failure of one of the components does not lead to a complete malfunction. The safety requirements for a pantograph control are therefore met.

Using the previously described embodiment, pressure control can be implemented by one of the computing units 20, 30 via the pulsing of the control valves. The remaining computing unit of the two computing units 20, 30 takes over the control for safely switching the actuator unit 40 on and off.

In an alternative embodiment it is provided that the system consists of two functionally identical computing units 20, 30 and one of the two computing units 20, 30 is designated as a master unit and the further computing unit is designed as a slave unit. The master unit takes over the main control. Alternately, only one computing unit 20, 30 is active at a time. It can be provided that the computing unit 20 acts and works as a master. The computing unit 30 as a slave is in a “ready” mode and waits for a corresponding signal. The master gives the signal to the slave. The slave starts working. While the slave is working, the master is in “ready” mode. The change between master and slave can be done based on an evaluation of the control signals provided. If there are deviations between the control signals provided by the computing units 20, 30, a switchover can take place. In this embodiment it is provided that both computing units 20, 30 communicate with each other and receive all operating parameters for evaluation.

In an alternative embodiment, redundancy can be provided so that each of the computing units 20, 30 receives and evaluates the operating parameters provided by the sensor units 15_1, 15_2 and provides control signals for each control valve 11, 12, 13, 14. In this regard, the control signals are combined via a logic circuit (AND gate).

3 shows a further schematic representation of a device according to a further embodiment. In 3 Reference number 10 denotes the device according to the invention. The device 10 comprises a first and a second control valve 11, 12, which are connected in series with one another. The first control valve 11 is fluidly connected to a fluid source 50 at a fluid inlet 11_1. The fluid outlet 12_2 of the second control valve 12 is fluidly connected to the fluid inlet 13_1, 14_1 of the third and fourth control valves 13, 14. The third and fourth control valves 13, 14 are connected in parallel with each other. Furthermore, first and second switching valves 17, 18 connected in parallel with the third and fourth control valves 13, 14 are provided. The first and second switching valves 17, 18 each have three switching valve connections 17_1, 17_2, 17_3, 18_1, 18_2, 18_3. The first and second switching valves 17, 18 are connected in parallel to the third control valve 13 and fourth control valve 14 via a first and a third switching valve connection 17_1, 17_3, 18_1, 18_3. The second switching valve connection 17_2, 18_2 of the first and second switching valves 17, 18 is fluidly connected to the redundantly designed sensor units 15_1, 15_2 and the actuator unit 40. A redundant quick venting of the actuator unit 40 can be implemented via the switching valves 17, 18. This quick venting can ensure that the pressure in the actuator unit 40 and the device 10 can be reduced quickly. This means that in the event of a fault, the pantograph is quickly disconnected from the overhead line.

Furthermore, in the embodiment 3 a fifth control valve 19 is provided. The fifth control valve 19 is designed as a 2-way valve and has a valve inlet 19_1 and a valve outlet 19_2. The valve inlet 19_1 is fluidly connected to the sensor units 15_1, 15_2 and the actuator unit 40. Fine ventilation can be generated via the fifth control valve 19, which causes active damping of the pantograph when coupling and uncoupling. This damping is generated by active pressure control. For this purpose, additional system sensor units 60 (cf. 4 ) an operating parameter of the actuator unit is recorded, on the basis of which a control signal for activating the fifth control valve 19 is provided via one of the computing units 20, 30. Active damping can increase the service life of the pantograph by reducing wear.

Furthermore, in the embodiment 3 the redundant design of the sensor units 15_1, 15_2 for determining the operating parameters of the device 10 is provided. In addition, the silencers 16_1, 16_2 are connected in parallel to one another and are connected to the fluid outlets 13_2, 14_2 of the third and fourth control valves 13, 14. The compressed air emitted by the actuator unit 40 is discharged to the surroundings of the device 10 via the silencers 16_1, 16_2.

The advantageous embodiment of the 3 increases operational reliability through the redundant Design of the electronic components and at the same time increases the quick ventilation, which enables the pantograph to be quickly decoupled from the overhead line.

4 shows a schematic representation of a system according to an embodiment. The system 100 includes the device 10 according to the invention. The device 10 has a communication connection to a system sensor unit 60. The system 100 also has an actuator unit 40. The actuator unit 40 can be designed as a pneumatic actuator unit. The device 10 is intended to control the actuator unit 40 with a fluid, preferably compressed air.

The system sensor unit 60 is intended to record operating parameters of the actuator unit 40 and/or the pantograph 70 and to provide them to the device 10. The device 10 or the computing units 20, 30 evaluate the operating parameters and corresponding control signals for the control valves, in particular the control valve 19, are provided. Fine ventilation can be provided via the control valve 19 in order to realize active damping of the actuator 40. Thus, the service life of the pantograph 70 can be achieved by reducing wear. The system sensor unit 60 can detect a force, a path, a speed and/or an angle as operating parameters of the actuator unit 40 and/or the pantograph 70. The system sensor unit 60 may include sensors known in the art.

Reference symbols

10

contraption

11

first control valve

12

second control valve

13

third control valve

14

fourth control valve

15_1

first sensor unit

15_2

second sensor unit

16

Drain unit

16_1

first silencer

16_2

second silencer

17

first switching valve

18

second switching valve

19

fifth control valve

20

Computing unit

30

second computing unit

40

Actuator unit

50

Fluid source

60

System sensor unit

70

pantograph

Claims (19)

Device (10) for controlling an actuator unit (40) that can be controlled with a fluid, comprising: a first control valve (11) and a second control valve (12) arranged in series with the first control valve (11), each having a fluid inlet (11_1, 12_1) and a fluid outlet (11_2, 12_2); a third control valve (13) and a fourth control valve (14) arranged parallel to the third control valve (13), each having a fluid inlet (13_1, 14_1) and a fluid outlet (13_2, 14_2), wherein the third control valve (13) and the fourth control valve (14) are fluidly connected via the fluid inlet (13_1, 14_1) to the fluid outlet (12_2) of the second control valve (12) and the controllable actuator (40); a fluid source (50) which is in fluid communication with the fluid inlet (11_1) of the first control valve (11); a first sensor unit (15_1), which is fluidly connected to the fluid inlet (13_1, 14_1) of the third and fourth control valves (13, 14) and is intended to detect operating parameters of the device (10); and at least one computing unit (20) which is intended to receive the recorded operating parameters and/or to provide control signals for activating the control valves (11, 12, 13, 14) in order to activate an actuator unit (40) with fluid. Device according to Claim 1 , wherein the device (10) further comprises a drain unit (16), in particular a silencer (16_1), which is fluidly connected to the fluid outlet (13_2, 14_2) of the third and fourth control valves (13, 14) and is intended to To remove fluid from the device (10). Device (10) according to the immediately preceding claim, wherein the device (10) comprises at least one further drain unit (16), in particular a further silencer (16_1), which is intended to discharge fluid from the device (10) in a redundant manner. Device (10) according to one of the previous ones Claims 1 until 3 , whereby the control valves (11, 12, 13, 14) are designed as 2-way valves with a mechanical return to the idle state. Device (10) according to one of the previous ones Claims 1 until 4 , wherein the first and second control valves (11, 12) are switched to the blocking position in the idle state. Device (10) according to one of the previous ones Claims 1 until 5 , wherein the third and fourth control valves (13, 14) are switched to the open position in the idle state. Device (10) according to one of the previous ones Claims 1 until 6 , wherein the device (10) comprises at least one further sensor unit (15_2) which is intended to record operating parameters of the device (10) in a redundant manner. Device (10) according to one of the previous ones Claims 3 until 7 , wherein the first drain unit (16_1) and the second drain unit (16_2) are connected in parallel to each other. Device (10) according to one of the previous ones Claims 1 until 8th , wherein the first and / or the second sensor unit (16_1, 16_2) are designed as a pressure sensor. Device (10) according to one of the previous ones Claims 1 until 9 , wherein the device (10) further comprises a further computing unit (30) and the computing units (20, 30) are designed in a redundant manner to receive operating parameters and provide control signals. Device (10) after Claim 10 , wherein the at least one computing unit (20) and the second computing unit (30) are designed redundantly and one computing unit is designed as a master unit and the other computing unit is designed as a slave unit. Device (10) according to one of the previous ones Claims 2 until 11 , wherein the device (10) further comprises a first switching valve (17) and a second switching valve (18), each having three switching valve connections (17_1, 17_2, 17_3, 18_1, 18_2, 18_3), wherein the first switching valve (17) and the second switching valve (18) are connected in parallel to the third control valve (13) and fourth control valve (14) via a first and a third switching valve connection (17_1, 17_3, 18_1, 18_3). Device (10) according to the immediately preceding claim, wherein the first switching valve (17) and the second switching valve (18) are designed as a 3/2-way valve and a second switching valve connection (17_2, 18_2) is provided and determined, a to provide a fluid-conducting connection with an actuator (40). Device (10) according to the immediately preceding claim, wherein the device (10) further comprises a fifth control valve (19), each having a fluid inlet (19_1) and a fluid outlet (19_2), the fluid inlet (19_1) being connected to the third switching valve connection ( 17_3, 18_3) and the fluid outlet (19_2) are connected to the drain unit (16) in a fluid-conducting manner. Device (10) according to one of the previous ones Claims 1 until 14 , where the fluid source is a compressed air source. System (100) for moving a pantograph (70) comprising: a device (10) according to one of the preceding device claims; at least one actuator unit (40) which is intended for moving the pantograph (70), the actuator unit (40) being controlled with a fluid by means of the device (10). System (100) according to the immediately preceding system claim, wherein the actuator unit (40) is designed as a pneumatic actuator unit. System (100) according to one of the preceding system claims, wherein the system (100) comprises at least one system sensor unit (60) which is intended to detect operating parameters of the actuator unit (40) and/or the pantograph (70) and the device ( 10) to provide. System (100) according to the immediately preceding system claim, wherein the system sensor unit (60) detects a force, a path, a speed and/or an angle as operating parameters of the actuator unit (40) and/or the pantograph (70).

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