WO2020032794A1

WO2020032794A1 - Moving mass at a support by reciprocating the support

Info

Publication number: WO2020032794A1
Application number: PCT/NL2019/050517
Authority: WO
Inventors: Hendrik VAN BENTUM; Jan Dirk Aart VERMEULEN
Original assignee: Internationaal Transportbedrijf H.J. Van Bentum B.V.
Priority date: 2018-08-09
Filing date: 2019-08-06
Publication date: 2020-02-13
Also published as: NL2021446B1

Abstract

The invention provides an actuator system (10) for moving a mass (1000) supported by a support (1100), wherein the mass (1000) is moved relative to the support (1100) by reciprocatingly moving the support (1100) with a force transmission element (124), the actuator system (10) comprising: an actuator device (120) and the force transmission element (124), functionally coupled to the actuator device (120), wherein the actuator device (120) is configured for reciprocatingly moving the force transmission element (124) with different maximum accelerations (a1, a2) in opposite directions (x1, x2) during a mass transport stage; and a control system (300), configured to control the actuator device (120) during the mass transport stage in dependence to a parameter proportional to a total weight of the mass (1000) supported by the support (1100) during the mass transport stage.

Description

Moving mass at a support by reciprocating the support

FIELD OF THE INVENTION

The invention relates to an actuator system for moving a mass supported by a support by reciprocatingly moving the support. The invention further relates to a transportation device for transporting a mass supported by a support. The invention further relates to a method for moving a mass by reciprocating a support supporting the mass.

BACKGROUND OF THE INVENTION

Devices for unloading bulk materials from a semi-trailer are known in the art. W02006027556 for instance, describes a vehicle or trailer for transporting a load of, for example, fluent bulk material. The vehicle or trailer comprising a chassis and a container mounted on the chassis. The container comprises a base, a plurality of load retaining walls defining a volume for receipt of said load and a discharge opening. The container is mounted to the chassis by at least one connector that permits reciprocal translational movement of the container relative to the chassis whilst mounted thereon between first and second positions so as to agitate the load and encourage it to flow out of the discharge opening.

SUMMARY OF THE INVENTION

Transportation of dry bulk products, both powdered and granular, usually takes place using silo-trailers: vehicles having a closed tank for containing the load. For unloading the load, especially in case of so-called rear dischargers, the semi-trailer is equipped with a (hydraulic) telescopic cylinder, by means of which the tank can be tipped (moved upwards at the front and tilted, whereas the rear only partially tilts) and the cargo is able to flow in the direction of the outlet opening at the rear of the tank under the influence of gravity. A flow of (compressed) air supplied to the tank is then capable of dragging the bulk goods along and transporting it / allowing it to flow out of the tank. A drawback of this type of semi-trailer, also called 'silo tipper trailer', is the increased risk of accidents during unloading because of the elevated centre of gravity and the related reduced stability during tipping. Furthermore, the tipper trailer requires a significant space to be able to elevate the trailer to unload its load. In addition, compared to tanker trucks for transporting a liquid substance (capable of flowing spontaneously to the outlet opening under the influence of gravity), silo-trailers have a much more complex and heavier configuration.

It is an object of the present invention to provide a device or system for facilitating unloading e.g. a container, or more in general for moving a mass on a support. For instance, it is also an object of the invention to provide a device or system configured for moving bulk material in a (silo)container to the (an) outlet by providing a reciprocating translational movement to the container, especially without having to lift or tip the container. The device system is, however, not restricted to a system for unloading a container or a silo container. More in general it is an aspect of the present invention to provide a device or system configured for moving a mass relative to a support supporting the mass (especially for moving the mass over the support and away from the support) by providing a reciprocating translational movement to the support, which preferably further at least partly obviates one or more drawbacks of systems known in the art. It is a further aspect to provide a transportation device for transporting a mass supported by a support, wherein the transportation device may be configured for discharging the mass from the support by reciprocatingly moving the support, which further at least partly obviates one or more of the drawbacks of prior art transportation devices. Yet, in a further aspect, the invention provides a method for moving a mass by reciprocating a support supporting the mass, which further at least partly obviates one or more drawbacks of known methods for moving a mass.

The present invention may have as object to overcome or ameliorate at least one of the disadvantages of the prior art, or to provide a useful alternative.

Hence, in a first aspect the invention provides an actuator system, especially for moving a mass supported by a support, wherein (when functionally using the actuator system) the mass is moved relative to the support by reciprocatingly moving the support, with a force transmission element (that is functionally coupled to the actuator system).

Especially, the actuator system comprises an actuator device and a force transmission element functionally coupled to the actuator device (for transmitting a force from the actuator device to the support). The actuator device is especially configured for reciprocatingly moving the force transmission element with different (element) accelerations, especially with different (element) (maximum) accelerations, in opposite (element) directions during a mass transport stage.

The actuator device may especially comprise one or more of a pneumatic and a hydraulic based device, especially wherein the maximum accelerations of the force transmission element may be based on a pressure provided to the pneumatic or hydraulic device. For instance, the actuator device may include a cylinder type of device for generating the reciprocating movement. In specific embodiments, the device comprises a hydraulic based device. A hydraulic fluid may be much less compressible than a pneumatic fluid and most energy provided to the hydraulic fluid will effectively be used for accelerating the force transmission element (instead of for a generation of heat). A hydraulic system may be controlled more directly and more efficiently than a pneumatic system.

The actuator system may in embodiments further comprise a control system, configured to control the actuator device (in a control mode) during the mass transport stage in dependence to a parameter especially proportional to a total weight of the mass (supported by the support) during the mass transport stage. The parameter may be proportional to inertia of the mass (supported by the support).

The actuator system may advantageously be applied e.g. for moving and unloading a load, freight or cargo, in and/or from a taick or from a semi-trailer. The cargo may comprise e.g. a bulk material that may be unloaded from a silo-trailer without tipping. Unloading may take place by moving the load gradually to (and successively through or over) an extreme of the support, such as an outlet of the silo or an extreme of a plateau. The system, e.g., allows unloading or discharging a bulk material from a silo-trailer at a substantially constant rate by keeping the motion of the force transmission element (rather) constant independently of the amount of bulk material that is still left in the silo-trailer.

The actuator system is especially configured for transmitting a determined force to the support, such as the silo-trailer, as a function of a total weight (or inertia) of the mass (still) supported by the support (or still present in the silo-trailer). Hence, the actuator system may be configured to adapt the force as a function of the total weight of the mass being moved. At the start of unloading, a large force may be required to move the mass over a specific distance. Yet, at the end of unloading, most of the mass is discharged and only a small force may be required to move the mass over the same distance. The actuator system is especially configured for adapting the force. By adapting the force a more lenient way of unloading is obtained, providing a high amount of energy to the support (truck, silo-trailer etc.) when it requires that high amount of energy (to move the mass) and (also) when it is able to receive/absorb the energy. Providing the same amount of energy when most of the load is discharged may damage the support or elements coupled to the support. Furthermore, by adapting the force, the system may use the energy more efficiently. The system may further be configured such that controlling the accelerations may not be complex. The maximum accelerations may e.g. easily be controlled by controlling a pressure in the actuator device. Furthermore, when applying the system for unloading a silo-trailer or any other container comprising bulk material (or any other material), the motion of the material may be a linear motion especially wherein the motion may comprise only a horizontal component and (substantially) no vertical component. The movement may especially be along a longitudinal axis of the support and/or container, especially of the silo-trailer (parallel to the ground/road where the container is unloaded). As such, a force (provided by the actuation system) acting on the bulk material may also be substantially horizontal, essentially preventing settling or clinching of the bulk material (during the mass transport stage) (clinching may negatively affect the flowability of the material). Th emotion may be configured for preventing clinching.

The actuator system (the“system”) is especially configured for moving the mass supported by a support. In operation, the actuator system may be used to move the mass relative to the support, especially by reciprocatingly moving the support. In an embodiment, the invention also provided the actuator system functionally coupled to a support for supporting a mass, wherein the force transmission element is coupled to the support. Hence, the support and the mass are not part of the actuator system.

The actuator system may (functionally) be coupled by the force transmission element to the support. As such, the actuator may be configured for reciprocatingly moving the support with different support accelerations, especially with different support maximum accelerations, in opposite support directions during the mass transport stage (especially by the force transmission element).

Herein, the term“acceleration” especially relates to a maximum value of the acceleration (or“the maximum acceleration”), especially during one reciprocating motion (or cycle) of the force transmission element or of the support.

The term“mass” may relate to any object or material having a mass or weight. The term especially relates to a solid (non-liquid) material or object and/or packed liquid material. The term may relate to a combination or plurality of solid materials and/or objects. In embodiments, the mass may comprise agricultural produce and agricultural raw materials. In further embodiments, the mass comprises boxes, crates, sacks, pallets, et cetera. In embodiments, the mass relates to a flowable mass, e.g. particulate material, such as bulk material. The term“support” may relate to any physical object that may support or carry the mass. The support may further be configured for holding the mass. The support may comprise a holder for a freight or cargo. Yet, the support may also comprise or consist of a plate or any other two-dimensional body for supporting e.g. a box or sand. The support may e.g. comprise a plate, a pallet, or a loading platform. The support may be part of a transportation device (see below). The support may e.g. comprise a loading bucket; a cargo body, a trailer body, a container, a load bin, a silo, etcetera. In specific embodiments, the support comprises a container, such as a silo container, e.g. from a silo-trailer (see further below).

Moving the support may be relative to a determined base position, or a base. The mass may be moved (when operating the system) relatively to the support by reciprocatingly moving the support, especially relative to a base. The actuator system may e.g. be configured for a functional coupling to a base for providing the reciprocatingly moving of the support relative to the base. The base may e.g. comprise a location at the earth or the ground. Hence, the movement of the support may be relative to a determined position or object. Moving of the support may be provided by a reciprocating force acting on the support, especially by an element that may provide a reciprocating motion, or a back and forth motion. The element may transmit or transfer a (reciprocating) force from the actuator device to the support. Such element may therefore be referred to as the force transmission element. The force transmission element may have any arbitrary shape or configuration. Essentially, the force transmission element may be configured for (repeatedly) transmitting a force from the actuator system to the support (and optionally vice versa). Especially, the reciprocating motion comprises a repeating or recurring motion.

To allow transmitting of the force, the actuator device may be configured for a functional coupling to the base or base position. The actuator system may (also) be positioned at the ground, wherein during the reciprocating motion of the force transmission element the position of the actuator device substantially does not change (e.g. because of the weight of the actuator device). As such, during operation, the support may (also) move relative to the ground. Hence, in embodiments, the actuator device may be arranged at a determined position, and the support may move relative to the determined position (during the reciprocating motion). During operation, the actuator system will be configured such that it essentially does not move, except e.g. vibrations, when executing the reciprocatingly moving of the force transmission element. The force transmission element may be moved with different (element) accelerations in opposite (element) directions. The different (element) accelerations and opposite (element) directions, may herein also be referred to as a first (element) acceleration in a first (element) direction and a second (element) acceleration in a second (element) direction.

When the force transmission element is functionally coupled to the support (in the mass transport stage), the different (element) accelerations may impose different respective support accelerations. Therefore, (also) the support may translationally be moved with different support accelerations in opposite support directions. The different support accelerations and opposite support directions may herein also be referred to as a first support acceleration especially in a first support direction and a second support acceleration, especially in a second support direction. With respect to the force transmission element as well as to the support, the respective first direction and the second direction are especially configured opposite to each other.

During operation (in use), the force transmission element is especially functionally coupled to the support. As such, (each of the) element accelerations may impose a respective support acceleration. The coupling may comprise a direct coupling but may also comprise a coupling e.g. via a transmission, e.g. comprising a transmission ratio. Hence, the respective element acceleration and the support acceleration and/or the respective directions do not necessarily have the same value and/or are not necessarily arranged parallel to each other. However, because of the functional coupling, these respective accelerations and directions may be correlated to each other. Hence, the support accelerations may be proportional to the element accelerations and the support directions may directly be derived from the element directions. A value of the support accelerations may in embodiments e.g. be a fraction, or a multitude of the element accelerations, such as half, a quarter, a third or one-and-a-half, double, or any arbitrary fraction or multitude. The respective directions of the support may (also) be opposite to the directions of the force transmission element. Yet, the directions are not necessarily configured parallel to each other. Especially, the support direction movement and the element direction movement are equal in value, and especially the support directions and the element directions are the same or switched around (i.e. the same or opposite direction). Hence, the first element direction may be opposite to the first support direction and the second element direction may be opposite to the second support direction. Herein the terms '‘acceleration” and“direction”, such as in the phrases“different (maximum) accelerations” and“opposite directions” may relate to the acceleration of the force transmission element and the direction of the force transmission element. The terms may also relate to the acceleration of the support and the direction of the support. Based on the context this will be understood by the skilled person. Furthermore, because of the correlations between the respective accelerations and directions of the element and the support, it may be obvious (from the context) to which element the terms relate. Herein, also the terms may be preceded by either“element” or“support”, to relate the terms to the force transmission element and the support respectively, if it will not be clear from the context to which element the term relates. Furthermore, the term“imposed” acceleration(s) may be used for referring to the support acceleration(s). Yet in other phrases, especially describing the actuator system in operation (coupled to the support), the terms acceleration and direction as well as“motion” or“movement” may relate to both the force transmission element as well as to the support (because in such embodiment, the motion of the force transmission element is transferred to the support), see also below.

Moving the mass by the reciprocating motion may be the result of the first support acceleration and/or the second support acceleration, especially of a (magnitude of the) difference between the first and the second support accelerations. Due to the functional coupling of the force transmission element to the actuator device, a first element acceleration may impose the first support acceleration in the first support direction and a second element acceleration (in the opposite direction with respect to the first direction) may impose a second support acceleration in the second support direction. If the motion in the first direction of the support is provided with a lower/smaller acceleration than the reciprocating motion in the second direction, the mass at the support may be translated (overall) in the first direction, especially because of the inertia of the mass. Likewise, if (the value or maximum of) the acceleration in the first direction is higher than the one in the second direction, the mass at the support may be translated in the second direction.

During translation, at least part of the mass may be shifted in the direction of an extreme/end of the support and may be translated from the support. The actuator system of the invention is therefore configured to be able to account for a change of the total weight of the mass supported by the support. Especially, an acceleration difference, especially a difference between the first maximum support acceleration and the second maximum support acceleration may determine a distance over which the mass is shifted during one (or more) reciprocating movements of the support (by the force transmission element). Hence, the actuator system may be configured to minimize a variation in acceleration difference during the mass transport stage. Herein, the translation is especially provided during the mass transport stage.

Hence, in embodiments, the actuator system, especially the control system, is configured to control the actuator device, wherein a difference between the maximum (element (and/or support)) accelerations in at least one of the opposite (element (and/or support)) directions and a mean value of the respective maximum (element (and/or support)) acceleration during the mass transport stage is controlled. The control system is - in embodiments - especially configured to maintain at least one of the maximum (element and/or support) accelerations during the mass transport stage within 50-150%, such as 75- 125%, especially 85-115%, even more especially 90-110%, of a predetermined value of the at least one of the maximum (element and/or support ) accelerations. Hence, a mean value of the respective (imposed) maximum acceleration may be controlled within the range of the mean value (of the respective (imposed) maximum acceleration) ±50%, such as ±25%, especially ±15%, even more especially ±10%.

In further embodiments, the control system may (be configured to) maintain at least one of the maximum (support) accelerations during the mass transport stage within a predetermined range of 50-150%, such as 75-125%, especially 90-110% of an average of the at least one of the maximum (support) accelerations during the mass transport stage.

As indicated above, the actuator system is configured to reciprocatingly move the support. Hence, a plurality of back-and-forth movements is applied, which may be indicated as a plurality of cycles. During each cycle, the force transmission element reaches a first maximum acceleration and a second maximum acceleration, respectively. These maxima differ, as the mass should be transported. Hence, the first maximum acceleration may be higher than the second maximum acceleration (or the second maximum acceleration may be higher than the first maximum acceleration). The control system may be configured to keep the respective maximum accelerations essentially constant. It appears that when the respective forces are kept constant, the system may not work. However, when the accelerations are essentially kept constant, then the system may smoothly unload the support. Hence, the first maximum accelerations reached in essentially each cycle will be within about ±50%, such as within about ±25% from an average of all first maximum accelerations from essentially all cycles. This may be controlled by the control system. Likewise, the second maximum accelerations reached in essentially each cycle will be within about ±50%, such as within about ±25% from an average of all second maximum accelerations from essentially all cycles. Alternatively or additionally, this may (also) be controlled by the control system. Hence, especially in each cycle essentially the same first maximum accelerations are achieved and/or in each cycle essentially the same second maximum accelerations are achieved. Especially in each cycle the difference between the first maximum acceleration and second maximum acceleration is essentially the same.

Hence, in embodiments the control system may be configured to maintain at least one of the maximum accelerations during the mass transport stage within 50-150% of a predetermined value of the at least one of the maximum accelerations. Alternatively or additionally, the control system may be configured to maintain in each cycle during the mass transport stage at least one of the maximum accelerations within 50-150% of a predetermined value of the at least one of the maximum accelerations.

However, in specific embodiments, the control system may be configured to maintain a cap maximum acceleration, e.g. to prevent too large forces. For instance, the first acceleration may be set at 10 m/s² on which some variation during the cycles may be possible. However, the control system may be configured to prevent any acceleration of exceeding a predetermined cap value of e.g. 20 m/s².

Especially, however, the variation on the maximum accelerations during the cycles (except e.g. a few cycles at the beginning and at the end of the unloading) may be small, such as within about ±25%, even more especially within about ±10% from an average of the respective maximum acceleration (over the cycles), and/or within about ±25%, even more especially within about ±10% from a respective predetermined maximum acceleration.

The actuator system is essentially configured for providing a (primary) movement to the force transmission element and especially transmitting the movement to the support.

The respective maximum accelerations and/or the respective (maximum) cycle swings (in opposite directions) may be preset and may be defined by the specific actuator system. Alternatively, one or more of such parameters may be controllable. Hence, in a further aspect the actuator system may comprise or may be functionally coupled to a user input device or user interface. The user interface may be comprised by the control system or may be functionally coupled thereto.

Examples of user interface devices include a manually actuated button, a display, a touch screen, a keypad, a voice activated input device, an audio output, an indicator (e.g., lights), a switch, a knob, a modem, and a networking card, among others. Especially, the user interface device may be configured to allow a user to instruct the device or apparatus or system, with which the user interface is functionally coupled or by with the user interface is functionally comprised. The user interface may especially include a manually actuated button, a touch screen, a keypad, a voice activated input device, a switch, a knob, etc., and/or optionally a modem, and a networking card, etc.. The user interface may comprise a graphical user interface. The term“user interface” may also refer to a remote user interface, such as a remote control. A remote control may be a separate dedicated device. However, a remote control may also be a device with an App configured to (at least) control the system or device or apparatus. A user interface is especially functionally coupled to a control system or may be comprised by a control system.

In yet a further aspect, the invention also provides the actuator device per se.

To provide the (primary) movement, the actuator device may comprise in embodiments a fluid chamber closed by a (translationally) movable piston. As a result of a motion of the piston, a volume of the fluid chamber may change. Moreover, as a result of a pressure in the fluid chamber, the piston may move. In embodiments, the force transmission element is (functionally) coupled to the piston and especially as such, the force transmission element may move as a result of the pressure (provided) in the fluid chamber. Furthermore, it has been found that the movement may be provided in a non complex way by controlling a pressure force acting on the piston, especially by providing a pressure in the fluid chamber.

Hence, in an embodiment, the actuator device comprises a fluid chamber delimited by a movable piston, wherein the force transmission element is connected to the piston, wherein the actuator system is configured for moving the force transmission element in a first period of time with a first (element) acceleration (of the different (element) acceleration) in a first (element) direction (of the opposite (element) directions) by providing a fluid comprising a fluid pressure in the fluid chamber. In a further embodiment, the actuator system is (further) configured for allowing a further force acting on the piston in a direction towards the fluid chamber to provide the moving of the force transmission element in a second period of time with a second (element) acceleration (of the different (element) accelerations) in a second (element) direction (of the opposite (element) directions). The first maximum acceleration (provided by the fluid pressure) may especially be higher than the second maximum acceleration.

In specific embodiments, the actuator system is configured for moving the support in the first period of time with a first support acceleration of the different support accelerations in a first support direction of the opposite support directions by providing the fluid comprising the fluid pressure in the fluid chamber. Furthermore, in a further embodiment, the actuator system is further especially configured for allowing the further force acting on the piston in the direction towards the fluid chamber to provide the moving of the support in the second period of time with a second support acceleration of the different support accelerations in a second support direction of the opposite support directions.

Herein the terms“first acceleration” and“second acceleration” especially refer to respectively a first one of the different accelerations and another one of the different accelerations. Likewise, the term“first direction” and“second direction” especially relate to a first one of the opposite directions and the other one of the opposite directions (opposite to the first direction). Furthermore, the terms“first” and“second” are merely used for distinguishing between the (different) accelerations and the (opposite) directions. It is to be understood that the terms so used are interchangeable and may be referred to interchangeably in different embodiments described and/or or illustrated herein.

In embodiments, the actuator device comprises a cylinder barrel, especially having a closed cylinder base, and the piston arranged, especially sealingly and slidably arranged, in the cylinder barrel. As such, the cylinder barrel and piston define the fluid chamber. The pressure force may be controlled by providing a fluid into the fluid chamber providing the pressure into the fluid chamber and inducing the pressure force at the piston. Because of the pressure force, the piston may slide in the cylinder barrel in the first direction (or second direction) (especially away from the cylinder base). Hence, the fluid chamber may comprise a flexible fluid chamber volume, especially a fluid chamber volume that may change during the mass transport stage.

The movement of the piston relative to the cylinder may comprise (i.e. especially the piston in relation to the cylinder may comprise, especially have) an acceleration that is a function of the pressure in the chamber, and especially also of (a magnitude of) a reaction force (or further force) that may act on the piston (at a side external from the fluid chamber) in the second direction (respectively first direction). When releasing the fluid from the fluid chamber again, the pressure force may reduce again, and the piston may move (back) as a function of the reaction or further force acting on the piston (in a direction towards the fluid chamber). Hence, a reverse motion of the piston in the second direction may be provided, especially (also) providing a reciprocal motion of the support during operation. Hence, in an embodiment, the actuator device comprises a cylinder barrel and a piston slidably (and sealingly) arranged in the cylinder barrel and functionally coupled to the force transmission element, wherein the actuator system is configured for alternately during the mass transport stage (i) forcing the piston with a first force at a first side of the piston to move relatively to the cylinder barrel in the first (element) direction, especially thereby providing the moving of the support in a first one of the opposite support directions and (ii) allowing a further force acting on a second side of the piston to induce a reverse motion of the piston relative to the cylinder barrel in the second (element) direction, especially thereby providing the moving of the support in the other one of the opposite support directions (by the force transmission element).

In a specific embodiment, the actuator device comprises a cylinder barrel having a closed cylinder base, wherein the fluid chamber is defined by the cylinder barrel, and the piston sealingly and slidably arranged in the cylinder barrel, wherein the actuator system is configured for periodically during the mass transport stage (i) in the first period of time, to provide the fluid in the fluid chamber, wherein the fluid pressure forces the piston with a first force to move relatively to the cylinder barrel, especially in a direction away from the cylinder base, especially wherein the first force is transmitted to the force transmission element, and especially thereby providing the moving of the force transmission element in the first (element) direction, and especially thereby providing the moving of the support in the first support direction. In a further embodiment, the actuator system is configured for periodically during the mass transport stage (ii) in the second period of time, to allow at least part of the fluid to exit the fluid chamber (again), wherein the further force induces a reverse motion of the piston relative to the cylinder barrel, especially in the direction of the cylinder base, especially thereby providing the moving of the force transmission element in the second (element) direction, especially thereby providing the moving of the support in the second support direction, especially by the force transmission element. The first period of time and the second period of time are especially configured to alternate (one after the other), especially repeatedly. As such the reciprocating motion or cycle may be repeated. It is noted that in embodiments the further force may (initially) be provided to the support, thereby providing the moving of the support in the second support direction, and thereby especially providing the moving of the force transmission element in the second element direction (see also below). Hence, the force transmission element may (also) transmit a force from the support to the accelerating system. The phrase“in a direction away from the cylinder base” and similar phrases indicate an expansion of the volume of the fluid chamber, i.e. the piston moves in such a way that the volume defined by the piston and the (remainder of the) chamber increases. The phrase“in a direction towards the fluid chamber” or“in a direction towards the cylinder base” indicate a contraction of the volume of the fluid chamber, i.e. the piston moves in such a way that the volume defined by the piston and the (remainder of the) chamber decreases.

When applying the applicator device, the force transmission element may be functionally coupled to the support and especially the cylinder barrel may be functionally coupled to the base. Therefore, the cylinder barrel may be configured for a functional coupling to the base.

Hence, in embodiments the actuator device is a cylinder based device. The actuator device may also be indicated as reciprocating engine, of which the cylinder may be an element. The cylinder especially is a hydraulic cylinder, especially wherein the fluid is a hydraulic fluid.

The pressure force may determine one of the different accelerations, especially the (element) acceleration in the first period, see also above. Hence, in embodiments, the control system is configured for controlling the fluid pressure in the fluid chamber, especially during the first period of time, especially thereby controlling one of the different maximum accelerations, especially the first maximum acceleration. The control system may further be configured for controlling the pressure in the fluid chamber during the second period of time, especially thereby controlling the other one of the different maximum accelerations (the second maximum acceleration). The control system may further be configured for controlling the actuator system for allowing fluid to flow from the fluid chamber during the second period of time, e.g. by controlling a valve in a fluid outlet or any other fluid connection. Moreover, the control system may be configured for moving the force transmission element, especially with one of the accelerations in the respective direction, by controlling a pressure of a pressure fluid of the actuator device comprising a hydraulic based device, wherein the force transmission element is moved based on a pressure in the hydraulic device.

In a further embodiment, the actuator system (further) comprises a fluid displacement device functionally coupled to the fluid chamber. The fluid displacement device may be configured for providing the fluid to the fluid chamber, e.g. from a fluid supply. Providing the fluid to the fluid chamber may comprise directly providing the fluid and/or indirectly providing the fluid, e.g. by providing the fluid to a container functionally coupled to the fluid chamber (see below). The fluid displacement device may especially be configured for providing the fluid pressure to the fluid chamber. In further embodiments, the control system is configured for controlling the fluid displacement device.

Additionally or alternatively, the actuator system may further comprise a fluid storage container wherein a fluid connection between the fluid storage container and the fluid chamber may be configured for opening and closing. In operation, the fluid connection may be opened during the first period of time for providing the fluid in the fluid chamber. The fluid connection may be closed during the second period of time especially allowing fluid to flow from the fluid chamber via e.g. a fluid outlet or any other fluid connection, especially wherein no (extra) fluid is provided form the fluid storage container.

Hence, in a further embodiment, the actuator system further comprises a fluid storage container comprising the fluid, wherein the actuator system is configured for providing an open fluid connection between the fluid storage container and the fluid chamber in the first period of time, and for providing a closed fluid connection between the fluid storage container and the fluid chamber in the second period of time.

In further embodiments, the actuator system (further) comprises an element configured for receiving fluid from the fluid chamber, especially in the second period of time. Hence, the actuator may comprise a further container, or a fluid return container. A total volume of the fluid return container is especially equal to or larger than a maximum volume of the fluid chamber. The actuator system may be configured for providing in the first period of time a closed fluid connection between the fluid chamber and the fluid return container and in the second period of time an open fluid connection between the fluid chamber and the fluid return container.

In embodiments, the actuator system comprises the fluid displacement device, especially configured for providing the fluid in the fluid chamber in the first period of time. The fluid displacement device may be configured for providing a significant flow of fluid in the first period, for providing the fluid pressure in the fluid chamber. In further advantageous embodiments, the fluid storage container may be configured between the fluid displacement device and the fluid chamber. In such embodiments, the fluid displacement device may be configured for continuously providing a storage container pressure to the storage container (by providing (extra) fluid in the fluid storage container). The system may be configured for (only) providing an open fluid connection between the storage container and the fluid chamber in the first period of time (and a closed fluid connection in the second period of time). This way the fluid displacement device may be configured smaller and less complex, less heavy and less expensive compared to embodiments comprising only the fluid displacement device (without the storage container). In the latter embodiments, the fluid displacement device is especially configured for providing an amount of fluid in (a short period) in the first period of time, whereas when using the fluid storage container, the fluid displacement device may be configured for supplying the same amount of fluid over a longer period, and optionally over the total of the first period and the second period.

Hence, in further embodiments the actuator system comprises a fluid displacement device, wherein the fluid displacement device is configured for providing fluid in the fluid storage container, thereby providing a (determined) storage fluid pressure to the fluid in the storage container. Especially, the control system is configured for controlling the fluid displacement device, especially in a control mode. In specific embodiments, the fluid displacement device is configured for transporting fluid from the fluid return container to the fluid storage container. As such, the fluid device may (also) be configured for indirectly providing the fluid to the fluid chamber. The fluid displacement device is especially configured between the fluid return container and the fluid storage container.

Hence, in further embodiments, the actuator system further comprises a fluid return container, wherein the actuator system is configured for providing in the first period of time a closed fluid connection between the fluid chamber and the fluid return container and in the second period of time an open fluid connection between the fluid chamber and the fluid return container, wherein the fluid displacement device is configured for transporting fluid from the fluid return container to the fluid storage container.

Opening and closing of the fluid connection between the fluid chamber and the fluid storage container on the one hand and of the fluid connection between the fluid chamber and the fluid return container on the other hand may be provided by different valves. Yet in embodiments, the opening and closing of the two different fluid connections may advantageously be combined by a three-way valve. Hence, in specific embodiments, the actuator system further comprises a three way valve, wherein the three- way valve is arranged between the fluid chamber, the fluid return container and the fluid storage container, wherein the three-way valve is configured for providing in the first period an open fluid connection between the fluid chamber and the fluid storage container (and a closed fluid connection between the fluid chamber and the fluid return container), and in the second period an open fluid connection between the fluid chamber and the fluid return container (and a closed fluid connection between the fluid chamber and the fluid storage container). The control system may further be configured for controlling the three- way valve.

The fluid especially comprises a hydraulic fluid. Hydraulic fluids are known in the art and comprise e.g. fluids or liquids based on mineral oil or water. Hence, the term “hydraulic fluid” especially relates to a hydraulic liquid. Yet, in specific embodiments, the fluid comprises a pneumatic fluid, especially an inert gas or air. The fluid displacement device may especially comprise a hydraulic fluid transfer device or a pneumatic fluid transfer device. In embodiments, the fluid displacement device comprises a fluid transfer pump, especially an electrically powered (or electric) fluid transfer pump. In further embodiments the, fluid transfer pump is driven by a hydraulic system of a transportation device. Hence, the fluid displacement device may comprise an electrically power fluid transfer pump.

The motion of the support in one of the opposite directions is especially provided by the first force (the pressure force) acting on the force transmission element, especially on the piston in the first period of time. The motion of the support in the opposite direction (of the one of the opposite directions) may be provided by the further force acting on the piston in the direction towards the fluid chamber (especially in a direction opposite to the one of the first force). The further force may be an essentially constant force acting on the force transmission element and being transmitted to the actuator device, especially to the piston. The force may e.g. act on the support and be transferred to the actuator device.

Hence, the support may be configured for providing the further force. The force may also be provided by an element of the actuator system. Hence, the actuator system may be configured for providing (at least part of) the further force. The further force is especially higher than the pressure force in the second period of time and lower than the pressure force in the first period of time. The further force may also be a dynamic further force and may e.g. be provided by a resilient element functionally coupled to the force transmission element. The further force may increase in the first period of time. The resilient element especially comprises an element that may absorb energy provided in the first period of time and return (at least part of) the energy absorbed as a reaction force in the second period of time. The resilient element may be coupled to the support. As such, the resilient force may be generated at the support. The support may be configured for providing the further force. In further embodiments, the actuator system comprises the resilient element, especially configured for providing the further force.

In further embodiments, the cylinder barrel may be configured as a closed cylinder barrel, especially comprising an end cap or closure at both extremes of the cylinder barrel. The cylinder barrel may e.g. comprise a cylinder head (at a first end of the cylinder barrel) and the closed cylinder base (at the other end of the cylinder barrel). This way, the piston may define (next to the fluid chamber) a second chamber. The second chamber may thus (like the fluid chamber) comprise a flexible second chamber volume, especially wherein the second chamber volume may (also) change during the mass transport stage. In such embodiment, a total of the fluid chamber volume and the second chamber volume is constant (during the mass transport stage). The resilient element may be configured in the second chamber, especially for providing the motion of the piston in the direction towards the fluid chamber in the second period of time. Herein the term in a “direction of the fluid chamber” may especially relate to the second element direction. The “direction away from the cylinder base” especially relates to the first element direction.

Hence, in a further embodiment, the cylinder barrel may comprise a cylinder head, wherein the cylinder head and the piston define a second chamber. Especially the second chamber comprises a resilient element, wherein the resilient element is configured for providing the further force (in the second element direction) acting on the piston in the second period of time.

The resilient element may e.g. comprise a spring, especially arranged in the second chamber. Additionally or alternatively, the resilient element may comprise a further fluid. The further fluid may e.g. be hermetically enclosed in the second chamber. Yet, at least part of the further fluid may be arranged in a fluid accumulator configured in fluid connection with the second chamber. Hence, in embodiments, the actuator system further comprises a fluid accumulator arranged in open fluid connection with the second chamber, especially wherein the further fluid is hermetically enclosed in the second chamber in combination with the accumulator. In such embodiment advantageously a maximum value of the further force may be related to a maximum value of the pressure force, and especially the first maximum acceleration and the second maximum acceleration may be substantially constant (during unloading).

Herein the term“motion” and“movement” may be used interchangeably.

As described above, the control system may be configured for controlling the actuator device during the mass transport stage. Controlling is especially based on a parameter proportional to the total weight of the mass supported by the support at a determined moment in time. As such, the action of the actuator device may be adapted during the mass transport stage, e.g. because at least part of the mass is not supported by the support anymore. The parameter proportional to the total weight of the mass (supported by the support) may comprise the total weight of the mass or a volume of the mass supported by the support. Yet, if the total weight of the mass changes, the acceleration of the support may increase if the action of the actuator device is not changed. Also, the acceleration of the force transmission element may change when the total weight of the mass changes. Likewise, an acceleration of the piston may change and the acceleration of the mass itself may change. Furthermore, an energy consumption of the actuator device may change when the total weight of the supported mass changes. Hence, these factors may all be proportional to the total weight of the mass. Therefore, in embodiments, the actuator system may further comprise one or more sensors configured to sense one or more of these parameters listed above.

Furthermore, for providing the different accelerations, it may be advantageous to sense a weight of the support. Sensing the energy consumption of the actuator device may further facilitate controlling the actuator system. Furthermore, for controlling a maximum motion of the support (relative to a base position) and/or the force transmission element (relative to the actuator device) and/or the piston (relative to the cylinder) and/or the cylinder (relative to the piston), in embodiments a sensor may be used for sensing a displacement of one or more of these elements. By sensing a displacement of any of these elements, e.g. the reciprocating moving of the support may be controlled, especially a length of a stroke of the piston may be sensed. Based on the sensed displacement a duration of the first period and/or a duration of the second period of time may be controlled this way. For instance, the control system may close the fluid connection between the fluid storage container (and open the connection to the fluid return container) at a (pre)determined displacement (stroke) of the support or and/or the force transmission element. The actuator system may thus comprise one or more sensors for sensing the listed parameters. The one or more sensors are especially functionally coupled to the control system.

Hence, in a further embodiment, the actuator system further comprises one or more sensors, functionally coupled to the control system. Alternatively or additionally, the actuator system may be functionally coupled to one or more sensors. In embodiments, the one or more sensors are configured to sense one or more of (i) an acceleration of the mass, (ii) an acceleration of the support, (iii) an acceleration of the force transmission element, (iv) an acceleration of the piston, (v) the total weight of the mass supported by the support, ( vi) a weight of the support, (vii) a volume of the mass supported by the support, and (viii) an energy consumption of the actuator device. In further embodiments, the one or more sensors are configured to sense a displacement of one or more of the support, the force transmission element, the piston, the mass (supported by the support), and the cylinder.

The control system is especially configured for controlling the actuator device based on a signal of at least one of the one or more sensors.

Herein, the system, or apparatus, or device may execute an action in a“mode” or “operation mode” or“mode of operation”. Likewise, in a method an action or stage, or step may be executed in a“mode” or“operation mode” or“mode of operation”. The term “mode” may also be indicated as“controlling mode”. This does not exclude that the system, or apparatus, or device may also be adapted for providing another controlling mode, or a plurality of other controlling modes. Likewise, this may not exclude that before executing the mode and/or after executing the mode one or more other modes may be executed.

However, in embodiments a control system may be available, that is adapted to provide at least the controlling mode. Would other modes be available, the choice of such modes may especially be executed via a user interface, though other options, like executing a mode in dependence of a sensor signal or a (time) scheme, may also be possible. The operation mode may in embodiments also refer to a system, or apparatus, or device, that can only operate in a single operation mode (i.e.“on”, without further tunability).

The actuator system may be applied for moving any arbitrarily mass on a support. The support may e.g. be a support such as a pallet arranged in a rack or a rack cabinet. Essentially, the support may be arranged translationally movable at a support base. Furthermore, the actuator system may be configured for functionally coupling to the support and functionally coupling to the support base, especially by different parts of the actuator system that may move reciprocally with respect to each other. As such, a reciprocal movement of the force transmission element (relative to another part of the actuator system) may be transferred to the support (relative to the support base). The support base may be arranged in or be comprised by a transportation device. The actuator system may especially be applied for moving a mass on a support in a transportation device. As such, the actuator may be applied for unloading or loading the support, especially the transportation device (configured for transporting the mass). Hence, in a further aspect, the invention provides a transportation device comprising the actuator system and/or configured for functionally coupling to the actuator system described herein.

Herein the term“transportation device” relates to a motorized transportation device and/or an unmotorized transportation device. The term especially relates to a transportation (or transport) vehicle, especially a motorized transportation (transport) vehicle and/or an unmotorized transportation (transport) vehicle.

In embodiments, the transportation device may comprise a vehicle used in agriculture, for instance a tipper (a trailer comprising an open container) or an open or closed trailer (an open or closed holder for the agricultural material comprising a trailer), for transporting. In further embodiments, the transportation device comprises a trailer, semi-trailer, or lorry/truck combination for transporting packed goods and/or flowable material. Examples of this type of transportation devices may, among others, include trucks comprising a cargo space, and trailers or semi-trailers of trucks, for instance for transporting (pallets with) boxes, as used in supplying shops and other businesses. In yet a further embodiment, the transportation device comprises a moving van (comprising a cargo space) in particular for transporting boxes. Especially, the transportation device comprises a semi-trailer. The term“semi-trailer” may also be referred to by the term“trailer”. Examples of semi-trailers are for instance a coil semi-trailer, a covered semi-trailer, a flatbed semi-trailer, a tipper trailer, a refrigerated semi-trailer, a mega semi-trailer, a plywood semi-trailer, a flatbed semi-trailer, a taut liner, a silo container semi-trailer, a rear discharger. The invention enables emptying or unloading such semi-trailers without tipping (at least part of the semi-trailer).

Hence, the transportation device may comprise a motorized vehicle that especially comprises a space for holding freight, such as the mass, like a truck or a pickup. The transportation device may also comprise an unmotorized vehicle, such as a trailer, that may need a motorized vehicle to move the transportation device. Furthermore, the transportation device may comprise a combination of a motorized vehicle and an unmotorized vehicle. The transportation device may e.g. comprise a tractor-trailer combination, especially a combination of the semi-trailer and a tractor unit.

The transportation device especially comprises a support for supporting the mass. Moreover, the transportation device is especially configured for moving the mass supported by the support by reciprocatingly moving the support especially with the force transmission element of the actuator system. Hence, the actuator system is especially functionally coupled to the support. A part of the actuator system, especially the part that may move relatively to the force transmission device during the mass transmission stage, may further be functionally coupled to an element of the transportation device, to which the support may move relatively during the mass transport stage. The support may e.g. be arranged at a floor of a cargo space of the transportation device. The support may be arranged at a chassis of the transportation device. The support may in embodiments be part of the transportation device. Yet in alternative embodiments, the support may be arranged in/at the transportation device, and also may be removed from the transportation device.

The transportation device may be arranged and maintained at a location during the mass transport stage. For that, the transportation device may especially be functionally coupled to the ground, for preventing a translational movement with respect to the ground. By securing the transportation device to the ground, the transportation device may not be able to translate. Securing the transportation device may e.g. comprise rigidly connecting the transportation device to the ground. Additionally or alternatively, securing to the ground may comprise blocking wheels or other elements allowing the transportation device (normally) to translate, e.g. by a brake (of the transportation device). Hence, especially during the mass transport stage, the transportation device may be secured and maintained at one location. Especially the wheels of the transportation device are blocked during the mass transport stage, preventing a translational movement of the transportation device.

The support is especially arranged at a chassis of the transportation device. The term“chassis” will be understood by the skilled person. The term relates to a part of the transportation device defining the internal framework of the transportation device, which supports the device in its constaiction and use. The chassis may e.g. be functionally coupled to axles or other devices that may connect any wheels or rolling elements to the transportation device, especially such that the rolling elements and the chassis may substantially not move relative to each other (in the direction that the transportation device normally moves when transporting the goods). The support may move relative to the chassis.

Hence, in embodiments the transportation device may especially comprise the support. The force transmission element may be functionally coupled to the support. In further embodiments, the transportation device comprises a chassis and the actuator device is functionally coupled to the chassis. Especially in such embodiments, a (maximum) acceleration of the force transmission element (relative to the actuator device) may impose a respective (maximum) acceleration onto the support (relative to the chassis). To minimize friction between the chassis and the support, a sliding system may be arranged between the chassis and the support, especially allowing the translational movement of the support (relative to the chassis). The sliding system may comprise a linear guiding system. Linear guiding systems are known and may be configured in many different ways. Linear guiding systems may e.g. comprise a linear-motion bearing and/or a linear slide. Linear guiding systems especially comprise (at least) two corresponding elements that may slide with respect to each other (and that may form the linear guiding system). The corresponding parts may be arranged for allowing a (translational) movement relative to each other. Yet, in embodiments, the corresponding parts may also be locked to each other, especially not allowing (blocking) a sliding motion (anymore). The corresponding parts may e.g. be locked by pins connecting the parts and securing the parts relative to each other (from moving relative to each other). The corresponding parts may further be configured only allowing a translational motion. Especially, the corresponding parts may be configured to prevent a motion relative to each other in a direction perpendicular or transverse to the sliding (or translational) motion. The corresponding parts may herein especially be referred to as (corresponding) “sliding parts” or “sliding elements”. Parts of a combination of two matching parts (elements) may further be referred to as a first sliding part (first sliding element) and a second sliding part (or second sliding element). Especially, the sliding parts together may form a linear guiding system.

Hence, in a further embodiment, the chassis and the support are (functionally) coupled to each other by a linear guiding system, wherein the linear guiding system is configured to block a translational motion in a first configuration and especially wherein in the second configuration the support can move relative to the chassis. The guiding system thus is especially configured to allow a translational motion in a second configuration. This way, the linear guiding system may be configured in the second configuration during the mass transport stage. When the actuator system is not operated, such as during moving of the transportation device, the linear guiding system may be configured in the first configuration.

The linear guiding system is especially configured to allow a translational motion of the two sliding parts relative to each other. One of the sliding parts may especially be (functionally) connected to the support, wherein the other sliding part may be (functionally) coupled to another element (like the chassis), especially for allowing the translational motion of the support relative to the other element (especially in the second configuration). Hence, in a specific embodiment, the transportation device comprises the chassis, wherein the support is arranged translationally movable at the chassis. Especially, the transportation device is configured for discharging the mass from the support by reciprocatingly moving the support relative to the chassis. The transportation device may further comprise the actuator system, wherein the force transmission element is functionally coupled to the support and wherein the actuator device is functionally coupled to the chassis.

In embodiments, the transportation device comprises a semi-trailer. The semi trailer may comprise a container. The container may be arranged at the support. Alternatively, the container comprises the support. The container may further comprise a container outlet, especially configured for discharging the mass.

For all such mass (herein also referred to as 'cargo' or 'freight'), in particular all (unpacked) non-liquid cargo as well as all packed (liquid and non-liquid) cargo, it may be advantageous to unload the cargo from the container (containing the cargo during transport, and irrespective of the configuration of the container) by translating the container back and forth as described herein, wherein the cargo moves in the direction of the container outlet. It will therefore be clear that the invention as described herein can directly be used for unloading an ((unpacked) non-liquid or a packed) cargo from a cargo space comprised by a trailer, a semi-trailer, or for instance a truck.

In embodiments, the container comprises a silo container, especially configured for containing dry bulk materials.

'Bulk material' may also referred to by the term 'bulk goods', 'bulk cargo', and 'bulk product(s)', and especially comprises (dry) powdered or granular material (i.e. (unpacked) non-liquid cargo). Bulk material in particular comprises solid material, which in terms of flow properties seems to behave like a liquid. Under the influence of an imposed force, bulk material may flow (freely) to a higher or lesser degree. In that case, bulk material will generally be exposed to more friction with material (mutually among the bulk material and the bulk material with 'external' materials) which it contacts than a liquid will. In particular, bulk material requires the supply of more energy than a liquid in order to let it flow.

In specific embodiments, the transportation device comprises a second linear guiding system functionally coupled to the support. The second linear guiding system may be configured for (functionally) coupling to an external element, especially for allowing the support to be arranged translationally movable at the external element. The second linear guiding system may e.g. comprise a coupling element that may provide a functional coupling, especially a rigid coupling, with a complementary coupling element of the external element. The second linear guiding system may (also) comprise (at least) two corresponding elements that may slide with respect to each other (and that may form the second linear guiding system). In embodiments, one of the sliding elements comprises the coupling element that may be coupled to the complementary coupling element of the external element for providing the functional coupling. The support may further also be arranged translationally movable to the chassis (by the (first) linear guiding system).

In embodiments, the second linear guiding system is configured to block a translational motion of the support relative to the external element in a blocked configuration. The second linear guiding system is especially configured such that the support is arranged translationally movable at the external element in an unblocked configuration, especially thereby allowing a translational motion of the support relative to the external element.

The external element may comprise a static element, fixedly arranged at a specific location. The external element may e.g. be located at a parking location or unloading location for unloading trucks and trailers, such as at a distribution center. The external element is especially configured for coupling to the second guiding system, especially such that one of the (sliding) parts of the second guiding system may unmovably be connected to the external element.

In alternative embodiments, the external element comprises the second guiding system, and especially the second guiding system is configured for (functionally) connecting to the support of the transportation device. The second guiding system may in embodiments (therefore) comprise a coupling element for connecting to a king pin of a semi-trailer. The coupling element especially being fixedly connected to one of the sliding parts of the second guiding system. As such the transportation device may comprise the first guiding system and the external element comprises the second guiding system (when the external element and the transportation device are coupled). The external element may also comprise a motorized external element, such as a tractor unit.

In specific embodiments, the actuator system, especially the actuator device, is functionally coupled to the external element, especially comprising the second guiding system. The external element may comprise the actuator system, wherein the actuator device is connected to the external element. In such embodiments, the force transmission element may be (functionally) connected to a support, e.g. arranged at a (semi-)trailer, especially wherein the support is coupled to the chassis (of the (semi) trailer) by the linear guiding system.

In specific embodiments, the external element comprises a tractor unit. For that, a (sliding part of) the second linear guiding system may be configured for coupling to a fifth wheel of the tractor unit. Hence, the tractor unit may comprise the actuator system. Especially, the transportation device (further) comprises the tractor unit, wherein the second linear guiding system is coupled to the fifth wheel of the tractor unit.

Alternatively, the transportation device may be configured for connecting to the external element, wherein the external element comprises the second linear guiding system, and wherein the transportation device is configured for functionally coupling the support to the second linear guiding system. One of the sliding parts may e.g. comprise a coupling element that may be rigidly coupled to a matching coupling element connected to (and/or comprised by) the support. In embodiments, the sliding part may e.g. comprise a connection element configured for receiving a king pin of a semi-trailer.

In other embodiments, the transportation device comprises a first (sliding) part of a second linear guiding system connected to the support and the external element comprises the complementary sliding part of the second guiding system. Especially, the transportation device comprises a first part of a second linear guiding system connected to the support, and especially the first part of the second linear guiding system is configured to be functionally coupled to a complementary part of a second linear guiding system connected to the external element. The first part of the second linear guiding system and the complementary part of the second linear guiding system may (thus) form the second linear guiding system.

Especially, the second linear guiding system is configured for allowing a translational movement of the support relative to the external element.

In further embodiments, the external element comprises a tractor unit. In specific embodiments, the transportation device further comprises a tractor unit, wherein the support is coupled to the tractor unit, especially by the second guiding system.

In further embodiments the tractor unit may be configured for coupling to a semi trailer comprising the chassis and the support. The tractor unit may e.g. comprise the second linear guiding system, and the semi-trailer may be configured for coupling the support to the second linear guiding system, such as via the king pin (see above). Alternatively, the semi-trailer comprises a first (sliding) part of the second linear guiding system connected to the support and the tractor unit comprises a complementary (sliding) part of the second guiding system. Especially the first (sliding) part of the second guiding system is configured for functionally coupling to the complementary (sliding) part of the second guiding system thereby forming the second linear guiding system.

In contrast to prior art containers configured for tipping, the container described herein, may especially be a self-supporting container. The container may not require a heavy supporting element that may be required to tip and/or to reinforce the container. The container may e.g. have a weight being at least 1500 kg less than the weight of a comparable prior art container (having the same (storage) volume).

It was found that unloading a support, especially a container, may advantageously be performed by using an actuator device wherein a difference between a first maximum (support) acceleration of the support in a first support direction and a second maximum (support) acceleration of the support in a second support direction during the mass transport stage is selected from the range of 0.5-30 m/s², especially from the range of 0.5- 10 m/s². The difference between these (support) accelerations may be equal to or larger than 0.5 m/s² and especially equal to or smaller than 20 m/s², such as equal to or smaller than 15 m/s². Note that when calculating the differences the sign of the acceleration is not taken into account. Hence, a first maximum (support) acceleration of 10 m/s² in a first (support) direction and a second maximum (support) acceleration of 2 m/s² in an opposite (support) direction provides a difference in the maximum (support) accelerations of 8 m/s².

In further specific embodiments, a maximum of the first maximum (support) acceleration of the support in the first support direction and the second maximum (support) acceleration of the support in the second support direction is selected from the range of 2- 20 m/s², such as 2-15 m/s², especially 5-10 m/s². The term“support acceleration” and “support direction” especially relate to acceleration of the support and direction of the support respectively.

Hence, in the method described herein especially the support accelerations may be selected from the ranges described above.

In a further aspect, the invention provides a method for moving a mass supported by a support, wherein the mass is moved relative to the support by reciprocatingly moving the support with a force transmission element functionally coupled to an actuator device of an actuator system described herein. The method especially comprises reciprocating the support with different maximum support accelerations in opposite support directions during a mass transport stage, wherein the actuator device is controlled by the control unit to provide one or more of the different support accelerations based on a sensed parameter proportional to a total weight of the mass supported by the support. Especially, the actuator device is controlled by the control unit to provide (control) of one or more of the different maximum support accelerations based on a sensed parameter proportional to a total weight of the mass supported by the support (during the mass transport stage).

The method may further comprise discharging at least part of the mass from the support during the mass transport stage.

In embodiments, at least one of the maximum support accelerations during the mass transport stage is maintained (by the control system) within 50-150%, such as 75- 125%, especially 90-110%, of a predetermined value of the at least one of the maximum support accelerations. Hence, a mean value of the respective maximum support acceleration may be maintained within the range of the mean value (of the respective maximum support acceleration) ±50%, especially ±25%, even more especially ±15%, like ±10%, such as even ±5%.

The maximum (element and/or support) accelerations may in embodiments be provided (controlled) by controlling a pressure provided to the actuator device.

In further embodiments, a difference between the first maximum (support) acceleration of the support in the first support direction and the second maximum acceleration of the support in the second support direction in the mass transport stage is selected from the range of 0.5-30 m/s², especially from the range of 0.5-10 m/s². Additionally or alternatively, a maximum of the first maximum (support) acceleration of the support in the first support direction and the second maximum (support) acceleration of the support in the second support direction is selected from the range of 2-20 m/s², such as 2-15 m/s², especially 5-10 m/s².

Especially during the mass transport stage, one or more parameters selected from the group consisting of (i) an acceleration of the mass, (ii) an acceleration of the support, (iii) an acceleration of the force transmission element, (iv) an acceleration of the piston, (v) the total weight of the mass supported by the support, (vi) a weight of the support, (vii) a volume of the mass supported by the support, and (viii) an energy consumption of the actuator device is sensed, wherein the control system provides (controls) one or more of the different support accelerations based on the sensed parameter.

In embodiments, the actuator device comprises a hydraulic based device, and the control system controls a pressure provided to the actuator device to control one or of the different support accelerations. In embodiments, the actuator system may further comprise or be functionally coupled to a sensor configured to sense horizontality, such as a level sensor. In dependence thereof the control system may control the horizontality of the support. Alternatively or additionally, the control system may only allow the actuator device function in dependence of a predetermined horizontality value. The herein described method is especially executed when the support is essentially horizontal, such as < 5°, like < 2° deviation from horizontal.

The phrase“functionally coupled” may e.g. dependent upon the context refer to physical (such as mechanically) coupled, or electrically conductively coupled, or coupled via communication (ether, Wi-Fi, Li-Fi Bluetooth, optical cables), etc.. In the context of the actuator device, it may especially refer to physically, such as mechanically, coupled. In the context of sensors and control system, it may refer to coupling which allows transmission of signals, such as electrically conductively coupled or coupled via communication, such as Wi-Fi, Li-Fi, optical cables, etc..

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention will now be described, by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:

Fig. 1 schematically depicts aspects of the actuator system of the invention;

Fig. 2 schematically depicts some further aspects of the invention;

Fig. 3 schematically depicts an embodiment of a transport device of the invention; and

Fig. 4 schematically depicts some further aspects of the invention.

The schematic drawings are not necessarily to scale.

DETAILED DESCRIPTION OF THE EMBODIMENTS

Fig. 1 schematically depicts details of the actuator system 10 of the invention. The actuator system 10 may be used for moving a mass 1000 (supported by a support 1100) relative to the support 1100 by reciprocatingly moving the support 1100 with the force transmission element 124

The actuator system 10 comprises an actuator device 120 and the force transmission element 124 functionally coupled to the actuator device 120. The force transmission element 124 is very schematically depicted and may have any arbitrary shape. Essentially, the force transmission element 124 is configured for transmitting a force from the actuator device 120 to the support 1100. Especially, for transmitting a maximal accelerations al, a2 in different opposite directions xl, x2 from the actuator device 120 to the support 1100. The actuator device 120 is configured for reciprocatingly moving the force transmission element 124 with different maximum accelerations al, a2 in the opposite directions xl, x2 during a mass transport stage. The actuator system 10 further comprises a control system 300, configured to control the actuator device 120 during the mass transport stage in dependence to a parameter proportional to the total weight of the mass 1000 (supported by the support 1100) during the mass transport stage. Because at least part of the mass 1000 may be translated from the support 1100 during the mass transport stage, the total weight of the mass may change in time.

The control system 300 may especially control the actuator device 120 such that a difference between the maximum accelerations al, a2 in at least one of the opposite directions xl, x2 and a mean value of the respective maximum acceleration al, a2 during the mass transport stage is maintained in a specific range. Especially, a deviation from the mean value during the mass transport stage is smaller than 50% or smaller than 25% (of the mean value) or even smaller. Essentially a first force may provide the first maximum acceleration al in the first direction xl of the force transmission element 124, and a further force F may force the force transmission element 124 back in the opposite direction x2 with a second maximum acceleration a2. The actuator system 10 is configured to provide the first force. The further force F though may be provided externally from the acceleration system 10.

The actuator device 120 may especially comprise a hydraulic based device, as is schematically depicted by the fluid displacement device 152 providing a pressure P which may force the force transmission element 124 to move. The actuator device 120 may e.g. comprise a fluid chamber 122 delimited by a movable piston 125 connected to the force transmission element 124, see also Fig. 2. In the depicted embodiment, the actuator system 10 is configured for moving the force transmission element 124 in a first period of time tl with the first acceleration al by providing a fluid 123 with a fluid pressure P in the fluid chamber 122. In a second period of time t2, the further force F acting on the piston 125 in the second direction x2 may provide the moving of the force transmission element 124 in the second direction x2 with the second acceleration a2.

The actuator device 120 in Fig. 2 comprises a cylinder barrel 121 with a closed cylinder base 129 such that the fluid chamber 122 is defined by the cylinder barrel 121 and the piston 125. In the first period of time tl, the fluid 123 may be provided in the fluid chamber 122, wherein the fluid pressure P forces the piston 125 away from the cylinder base 129, providing the moving of force transmission element 124 in the first direction xl. In the second period of time t2, at least part of the fluid 123 may exit the fluid chamber 122 again, such that the further force F induces a reverse motion of the piston 125 in the direction of the cylinder base 129, thereby providing the moving of the force transmission element 124 in the second direction x2. Especially the further force is smaller than the first force provided by the fluid pressure.

By controlling the fluid pressure P in the fluid chamber 122 in the first period of time tl, the first maximum acceleration may be controlled by the control system 300. This may e.g. be controlled by the fluid displacement device 152. In the embodiment of Fig. 2, the fluid displacement device 152 is arranged to provide a storage pressure in the fluid storage container 151. The actuator system 10 may provide an open fluid connection between the fluid storage container 151 and the fluid chamber 122 in the first period of time tl. As such, the pressure P in the fluid chamber 122 is a function of the storage pressure in the storage container 151 and the pressure P may be controlled by controlling the fluid displacement device 152.

The storage pressure may substantially instantaneously provide the pressure P in the chamber 122 when opening the fluid connection between the storage container 151 and the chamber 122. Especially a storage volume of the fluid storage container is larger than a ( maximum) chamber volume of the fluid chamber 122. The storage volume may e.g. be at least 2 times, such as at least 4 times, such as at least 6 times, especially at least 10 times as large at the (maximum) chamber volume. In the second period of time t2, the fluid connection between the fluid storage container 151 and the fluid chamber 122 is closed again. To allow at least part of the fluid 123 to leave the fluid chamber 122 in the second period of time, the depicted embodiment comprises a three-way valve 153, providing either an open connection between the fluid chamber 122 and the storage container 151 or between the fluid chamber 122 and a fluid return container 154. Furthermore, the fluid displacement device 152 is configured for transporting fluid 123 from the fluid return container 154 to the fluid storage container 151. The fluid 123 is especially a hydraulic fluid.

The embodiment further depicts a cylinder head 128 at the opposite side of the cylinder barrel 121 defining a second chamber 127 together with the piston 125. The second chamber 127 comprises a resilient element 140 configured for providing the further force F acting on the piston 125 in the second period of time. The resilient element may e.g. comprise a spring 144 arranged in the second chamber 127. In further embodiments, the resilient element 140 may be based on a further fluid 149 present in the hermetically closed second chamber 127. The further fluid 149 may be compressed when the volume of the second chamber 127 is reduced and as such may provide the movement of the piston via the further force F when the pressure in the fluid chamber 122 is reduced again. To expand the volume of the second chamber 127, the actuator system 10 may further comprise a fluid accumulator 142 arranged in open fluid connection with the second chamber 127 as is also depicted in Fig 2. Because now the further fluid 149 is hermetically enclosed in the second chamber 122 in combination with the accumulator 142 it will also function as a resilient element 140.

To control at least one of the maximum accelerations al, a2, the actuator system further comprises one or more sensors 350 functionally coupled to the control system 300. The sensor 350 is very schematically depicted and may especially be selected to sense one or more of an acceleration of the mass 1000, an acceleration of the support 1100, an acceleration of the force transmission element 124, an acceleration of the piston 125, the total weight of the mass 1000 supported by the support 1100, a weight of the support 1100, a volume of the mass 1000 supported by the support 1100, and/or an energy consumption of the actuator device 120. Based on a sensor signal the control system 300 may control the actuator device 120.

Fig. 3 schematically depicts an embodiment of the transportation device 200 according to the invention, comprising the actuator system 10. The depicted embodiment comprises a semi-trailer 50 comprising a container 60 comprising a container outlet 61. The container 60 comprises the support 1100. The container 60 comprises a silo container 62 containing dry bulk materials 65. The actuator system 10 is functionally coupled to the container 60 and to the chassis 210. Especially, the force transmission element 124 is functionally coupled to the support 1100 and the actuator device 120 is functionally coupled to the chassis 210.

For allowing the translational movement of the support 1100, the support may in embodiments be slidingly arranged at the chassis 210. In the given embodiment, a linear guiding system 240 is arranged for facilitating the translational movement. The chassis 210 and the support 1100 are functionally coupled to each other by the linear guiding system 240. The linear guiding system 240 may be formed by a first sliding part and a second sliding part that may translate relative to each other (the parts are not shown). As such the sliding parts may be unmovably connected when the transportation device 200 is used e.g. for moving the load or mass 1000 to a different location, for example the sliding parts may be unmovably connected when the transportation device 200 is being driven to a different location. The sliding parts may be relative to each other translationally movable coupled during the mass transport stage to allow the reciprocating movement of the support 1100 (the container 60) relatively to the chassis 210. Therefore, the linear guiding system 240 may block a translational motion of the support 1100 relative to the chassis 210 in a first configuration and allow the translational motion in a second configuration.

In the mass transport stage, the force transmission element 124 will move with different accelerations al, a2 in the opposite directions xl, x2 (see Fig. 1). Because of the functional coupling between the force transmission element 124 and the support 1100, the translational movement of the force transmission element 124 induces the translational movement of the support 1100 relative to the chassis 210 with respective support accelerations al' and a2' in the support directions xl' and x2', see Fig. 2 and Fig 3. In embodiments, the first maximal acceleration al, the second maximal acceleration a2 and the respective induced first and second maximal support acceleration al' and a2' may have the same value, i.e., al=al' and a2=a2'. Also, the first direction xl and the second direction x2 and the respective first and second support direction xl' and x2' may substantially be the same, i.e., xl=xl' and x2=x2'. However, this may be affected by any force transmission element 124 functionally arranged between the actuator device 10 and the support 240. For the sake of clarity, the respective maximum accelerations al,a2 and al', a2' in the figures are depicted with the same values (schematically by the size of the respective arrow), and the respective directions xl,x2, and xl',x2' are depicted in the same directions. Hence, (repeatedly) reciprocatingly moving the force transmission element 124 with the different maximum (element) accelerations al, a2 in the opposite (element) directions may induce reciprocatingly moving of the support 1100 with different maximum support accelerations al', a2' in opposite support directions xl', x2' during the mass transport stage. When the first maximum (element) acceleration al is set higher than the second maximum (element) acceleration a2, the induced maximum support acceleration al' may also be higher than the induced second maximum support acceleration a2' and the mass 1000, especially the bulk material 62 will move in the second support direction x2' and may (eventually) be discharged (unloaded) from the container 60 via the container outlet 61.

Therefore, during the mass transport stage, the total weight of the mass in the container 60 (i.e. supported by the support 1100) may change. Because of the changing weight of the mass 1000, the first force acting on the force transmission element (in the first direction xl) and especially provided by the pressure P, such as in the fluid chamber 122, may be reduced for keeping the first acceleration al (and the induced first support acceleration al') more or less constant. Therefore, during the mass transport stage, the actuator device 120 is controlled by the control unit 300 to provide especially the maximum support acceleration al' in the first support direction xT, especially based on the parameter sensed by the sensor(s) 350.

The maximum support acceleration al', a2' may especially be provided such that a difference between the first maximum support acceleration al' and the second maximum support acceleration a2' in the mass transport stage is selected from the range of 0.5-10 m/s². Especially, a maximum of the first maximum support acceleration al' and the second maximum support acceleration a2' is selected from the range of 5-10 m/s². Hence, especially (a duration of) the first period of time tl and (a duration of) the second period of time t2 are not the same. For the depicted embodiments especially the first maximum support acceleration al' is 5-10 m/s² and the second maximum support acceleration a2' is lower (and the first period of time tl is shorter than the second period of time t2), so the bulk material 62 will move towards the container outlet 61.

It is noted that especially the chassis 210 may be blocked for translating together with the support 1100 during the mass transport stage. For that, the wheels of the semi trailer 50 may be blocked; and the brake may be used.

The semi-trailer of Fig. 3 further comprises the second linear guiding system 241 functionally coupled to the support 1100. The second linear guiding system 241 is further functionally coupled to a tractor unit 75, being an example of an external element 175. The second linear guiding system 241 may block the translational motion of the support 1100 relative to the external element 175 in a blocked configuration and may allow a translational movement of the support 1100 relative to the external element 175 in an unblocked configuration. The second linear guiding system may be configured comparable to the (first) linear guiding system 240. The second linear guiding system 241 is especially configured for allowing a translational movement of the support 1100 relative to the external element 175. For that the second linear guiding system 241 (like the (first) linear guiding system 240) may be formed from a first sliding part 245 and a second or complementary sliding part 246, wherein both parts 245, 246 are especially configured to allow a translational movement relative to each other (when forming the second linear guiding system 241. As such, the first sliding part 245 and the second sliding part 246 may both (forming the second linear guiding system 241) be connected to the external element 175, or to the support 1100. Alternatively, one of the sliding parts 245, 246 may be connected to the external element 175 and the other of the sliding parts 246, 245 may be connected to the support 1100 (and only form the second linear gliding system 241 when the support 1100 and the external element 175 are functionally coupled).

In Fig. 3, the second linear guiding system 241 is connected to the support 1100 and arranged at the tractor unit 75 by coupling the second linear guiding system 241 to the fifth wheel 40 of the tractor unit 75. For that, a king pin may have been configured at the second linear guiding system 241.

The external element 175 may also be fixated in the ground as depicted in Fig. 4. In specific embodiment, the external element 175 may comprise the actuator system 120 as is schematically depicted in Fig. 4. In such embodiments, the transport device 200 may also have an actuator system 120 but is not required to have one. The transport device 200 may be configured for functionally coupling the actuator device 120 (of the external element 175). In such embodiment, the transport device 200 may preferably comprise the (first) linear guiding system 240. In the embodiment, the external element 175 may comprise the second linear guiding system 241, configured for allowing the movement of the support 1100 relative to the external element 175. The first sliding part 245 may e.g. be (unmovably) coupled to the external element 175 and the support 1100 may be functionally coupled to the second sliding part 246, e.g. by means of the king pin. In Fig. 4, the actuator device 120 is functionally arranged between the external element 175 and the support 1100, wherein the force transmission element 124 is functionally coupled to the support 1100 via the king pin. Hence, the king pin may translate with respect to the first sliding part 245. Yet also other configurations are envisaged to impose the motion of the force transmission element 124 onto the support 1100.

The terms“substantially” and“essentially” herein, such as in“substantially all light” or in“substantially consists”, will be understood by the person skilled in the art. The terms“substantially” and“essentially may also include embodiments with“entirely”, “completely”,“all”, etc. Hence, in embodiments the adjectives substantially and essentially may also be removed. Where applicable, the terms“substantially” and“essentially” may also relate to 90% or higher, such as 95% or higher, especially 99% or higher, even more especially 99.5% or higher, including 100%. The term “comprise” includes also embodiments wherein the term“comprises” means“consists of’. The term“and/or” especially relates to one or more of the items mentioned before and after“and/or”. For instance, a phrase '‘item 1 and/or item 2” and similar phrases may relate to one or more of item 1 and item 2. The term "comprising" may in an embodiment refer to "consisting of but may in another embodiment also refer to "containing at least the defined species and optionally one or more other species".

Furthermore, the terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances and that the embodiments of the invention described herein are capable of operation in other sequences than described or illustrated herein.

The devices herein are amongst others described during operation. As will be clear to the person skilled in the art, the invention is not limited to methods of operation or devices in operation.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. Use of the verb "to comprise" and its conjugations does not exclude the presence of elements or steps other than those stated in a claim. The article "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the device claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

The invention further applies to a device comprising one or more of the characterizing features described in the description and/or shown in the attached drawings. The invention further pertains to a method or process comprising one or more of the characterizing features described in the description and/or shown in the attached drawings.

The various aspects discussed in this patent can be combined in order to provide additional advantages. Further, the person skilled in the art will understand that embodiments can be combined, and that also more than two embodiments can be combined. Furthermore, some of the features can form the basis for one or more divisional applications.

Claims

CLAIMS:

1. An actuator system (10) for moving a mass (1000) supported by a support (1100), wherein the mass (1000) is moved relative to the support (1100) by reciprocatingly moving the support (1100) with a force transmission element (124), the actuator system (10) comprising:

an actuator device (120) and the force transmission element (124), functionally coupled to the actuator device (120), wherein the actuator device (120) is configured for reciprocatingly moving the force transmission element (124) with different maximum accelerations (al, a2) in opposite directions (xl, x2) during a mass transport stage; and a control system (300), configured to control the actuator device (120) during the mass transport stage in dependence to a parameter proportional to a total weight of the mass (1000) supported by the support (1100) during the mass transport stage.

2. The actuator system (10) according to claim 1, wherein the actuator device (120) comprises a fluid chamber (122) delimited by a movable piston (125), wherein the force transmission element (124) is connected to the piston (125), wherein the actuator system (10) is configured for moving the force transmission element (124) in a first period of time (tl) with a first maximum acceleration (al) of the different maximum accelerations (al,a2) in a first direction (xl) of the opposite directions (xl, x2) by providing a fluid (123) comprising a fluid pressure (P) in the fluid chamber (122).

3. The actuator system (10) according to claim 2, wherein the actuator system (10) is further configured for allowing a further force (F) acting on the piston (125) in a direction towards the fluid chamber (122) to provide the moving of the force transmission element (124) in a second period of time (t2) with a second maximum acceleration (a2) of the different maximum accelerations (al,a2) in a second direction (x2) of the opposite directions (xl, x2).

4. The actuator system (10) according to any one of claims 2 and 3, wherein the actuator device (120) comprises a cylinder barrel (121) having a closed cylinder base (129), wherein the fluid chamber (122) is defined by the cylinder barrel (121), and the piston (125) sealingly and slidably arranged in the cylinder barrel (121), wherein the actuator system (10) is configured for alternately during the mass transport stage:

(i) in the first period of time (tl), to provide the fluid (123) in the fluid chamber (122), wherein the fluid pressure (P) forces the piston (125) with a first force to move relatively to the cylinder barrel (121) in a direction away from the cylinder base (129), thereby providing the moving of force transmission element (124) in the first direction (xl), and

(ii) in the second period of time (t2), to allow at least part of the fluid (123) to exit the fluid chamber (122) again, wherein the further force (F) induces a reverse motion of the piston (125) relative to the cylinder barrel (121) in the direction of the cylinder base (129), thereby providing the moving of the force transmission element (124) in the second direction (x2).

5. The actuator system (10) according to any one of claims 2-4, wherein the control system (300) is configured for controlling the fluid pressure (P) in the fluid chamber (122) in the first period of time (tl).

6. The actuator system according to any one of claims 2-5, further comprising a fluid displacement device (152) functionally coupled to the fluid chamber (122), wherein the fluid displacement device (152) is configured for providing the fluid (123) to the fluid chamber (122), wherein the control system (300) is configured for controlling the fluid displacement device (152).

7. The actuator system (10) according to any one of claims 2-6, wherein the actuator system (10) further comprises a fluid storage container (151) comprising the fluid (123), wherein the actuator system (10) is configured for providing an open fluid connection between the fluid storage container (151) and the fluid chamber (122) in the first period of time (tl), and for providing a closed fluid connection between the fluid storage container (151) and the fluid chamber (122) in the second period of time (t2).

8. The actuator system (TO) according to claim 7, wherein the actuator system (10) comprises the fluid displacement device (152), wherein the fluid displacement device (152) is configured for providing fluid (123) in the fluid storage container (151), thereby providing a storage fluid pressure to the fluid (123) in the storage container (151), wherein the control system (300) is configured for controlling the fluid displacement device (152).

9. The actuator system (10) according to claim 8, wherein the actuator system (10) further comprises a fluid return container (154), wherein the actuator system (10) is configured for providing in the first period of time (tl) a closed fluid connection between the fluid chamber (122) and the fluid return container (154) and in the second period of time an open fluid connection between the fluid chamber (122) and the fluid return container (154), wherein the fluid displacement device (152) is configured for transporting fluid (123) from the fluid return container (154) to the fluid storage container (151).

10. The actuator system according to any one of claims 6-9, wherein the fluid displacement device (152) comprises an electric fluid transfer pump.

11. The actuator system (10) according to any one of claims 2-10, wherein the fluid (123) comprises a hydraulic fluid.

12. The actuator system (10) according to any one of claims 4-11, wherein the cylinder barrel (121) comprises a cylinder head (128), wherein the cylinder head (128) and the piston (125) define a second chamber (127), wherein the second chamber (127) comprises a resilient element (140), wherein the resilient element (140) is configured for providing the further force (F) acting on the piston (125) in the second period of time.

13. The actuator system (10), according to claim 12, wherein the resilient element (140) comprises a spring (144) arranged in the second chamber (127).

14. The actuator system (10) according to any one of claims 12-13, wherein the resilient element (140) comprises a further fluid (149), wherein (i) the further fluid (149) is hermetically enclosed in the second chamber (127), or wherein (ii) the actuator system (10) further comprises a fluid accumulator (142) arranged in open fluid connection with the second chamber (127), wherein the further fluid (149) is hermetically enclosed in the second chamber (122) in combination with the accumulator (142).

15. The actuator system (10) according to any one of the preceding claims, wherein the control system (300) is configured to maintain at least one of the maximum accelerations (al, a2) during the mass transport stage within 50-150% of a predetermined value of the at least one of the maximum accelerations (al, a2).

16. The actuator system (10) according to claim 15, wherein the control system (300) is configured to maintain the at least one of the maximum accelerations (al, a2) during the mass transport stage within 75-125% of the predetermined value of the at least one of the maximum accelerations (al, a2).

17. The actuator system (10) according to any one of the preceding claims, further comprising one or more sensors (350), functionally coupled to the control system (300), configured to sense one or more of (i) an acceleration of the mass (1000), (ii) an acceleration of the support (1100), (iii) an acceleration of the force transmission element (124), (iv) an acceleration of the piston (125), (v) the total weight of the mass (1000) supported by the support (1100), (vi) a weight of the support (1 100), (vii) a volume of the mass (1000) supported by the support (1100), and (viii) an energy consumption of the actuator device (120), and wherein the control system (300) is configured for controlling the actuator device (120) based on a signal of at least one of the one or more sensors (350).

18. A transportation device (200) comprising the actuator system (10) according to any of the preceding claims, wherein the actuator device (120) comprises the fluid chamber defined in claim 2.

19. The transportation device (200) according to claim 18, wherein the transportation device (200) comprises a chassis (210), wherein the transportation device (200) further comprises the support (1100), wherein the force transmission element (124) is functionally coupled to the support (1100) and wherein the actuator device (120) is functionally coupled to the chassis (210).

20. The transportation device (200) according claim 19, wherein the chassis (210) and the support (1100) are functionally coupled to each other by a linear guiding system (240), wherein the linear guiding system (240) is configured to block a translational motion of the support relative to the chassis (210) in a first configuration and to allow the translational motion in a second configuration.

21. The transportation device (200) according to any one of claim 18-20, wherein the transportation device (200) comprises a semi-trailer (50).

22. The transportation device (200) according to claim 21, wherein the semi-trailer (50) comprises a container (60), wherein the container (60) comprises the support (1100), wherein the container (60) further comprises a container outlet (61).

23. The transportation device (200) according to claim 22, wherein the container (60) comprises a silo container (62), configured for containing dry bulk materials (65).

24. The transportation device (200) according to claims 21-23, comprising a second linear guiding system (241) functionally coupled to the support (1100), wherein the second linear guiding system (241) is configured for coupling to an external element (175), wherein the second linear guiding system (241) is configured to block a translational motion of the support (1100) relative to the external element (175) in a blocked configuration and wherein the support (1100) is arranged translationally movable at the external element (175) in an unblocked configuration.

25. The transportation device according to claim 24, further comprising a tractor unit (75), wherein the tractor unit comprises the external element (175), wherein the second linear guiding system (241) is coupled to a fifth wheel (40) of the tractor unit (75).

26. The transportation device (200) according to any one of claims 21-23, wherein the transportation device (20) is configured for connecting to an external element (175), wherein the external element (175) comprises a second linear guiding system (241), and wherein the transportation device (200) is configured for functionally coupling the support (1100) to the second linear guiding system (241), wherein the second linear guiding system (241) is configured for allowing a translational movement of the support (1100) relative to the external element (175).

27. The transportation device (200) according to any one of claims 18-26, wherein a difference between a first maximum acceleration (aT) of the support (1100) in a first support direction (cG) and a second maximum acceleration (a2') of the support (1100) in a second support direction (x2') in the mass transport stage is selected from the range of 0.5- 10 m/s² and/or wherein a maximum of the first maximum acceleration (aT) of the support (1100) in the first support direction (xT) and the second maximum acceleration (a2') of the support (1100) in the second support direction (x2') is selected from the range of 5-10 m/s²

28. A method for moving a mass (1000) supported by a support (1100), wherein the mass (1000) is moved relative to the support (1100) by reciprocatingly moving the support (1100) with a force transmission element (124) functionally coupled to an actuator device (120) of an actuator system (10) according to any of the claims 1- 17, the method comprising:

reciprocatingly moving the support (1100) with different maximum support accelerations (aT, a2') in opposite support directions (xT, x2') during a mass transport stage, wherein the actuator device (120) is controlled by the control unit (300) to provide one or more of the different maximum support accelerations (aT, a2') based on the parameter proportional to a total weight of the mass (1000) supported by the support (1100) during the mass transport stage.

29. The method according claim 28, wherein at least one of the maximum support accelerations (aT, a2') during the mass transport stage is maintained within 75-125% of a predetermined value of the at least one of the maximum support accelerations (aT, a2'), by controlling a pressure provided to the actuator device (120).

30. The method according to any one of the preceding claims 28-29, wherein a difference between a first maximum acceleration (aT) of the support (1100) in a first support direction (xT) and a second maximum acceleration (a2') of the support (1100) in a second support direction (x2') in the mass transport stage is selected from the range of 0.5- 10 m/s² and/or wherein a maximum of the first maximum acceleration (aT) of the support (1100) in the first support direction (xT) and the second maximum acceleration (a2') of the support (1100) in the second support direction (x2') is selected from the range of 5-10 m/s².