Description

The present invention relates to a device for controlling a fluid-operated actuator unit, as well as a system for moving a pantograph.

To control various actuators, and in particular actuators which move pantographs from a retracted position to an extended position for current collection and back again, fluids are provided through devices with specially switched valves. Pantographs establish an electrical contact between an overhead line and a locomotive by pressing the collector head against the overhead line with a defined force using spring-loaded scissors. These pantograph control devices, for example those with 5/2-way valves, are known in the art and provide reliable control of pneumatic actuators in the pneumatic sector. The pneumatic control can also be redundantly designed, ensuring that a safe state of the pantograph can be achieved in the event of faults, for example mechanical wear, electrical contact issues, or leaks in the pneumatic system. Furthermore, systems for electro-pneumatic pre-controlled rapid venting are known in the art. These are provided as pneumatic systems, which instigate a rapid separation of the pantograph from the live conductors in hazardous situations or in case of malfunctions.

From a functional perspective, it is crucial for there always to be a defined contact between the collector head and the overhead line to prevent arcing that could damage the vehicle. This continuous "pressing" of the collector head against the overhead line is achieved by the pantograph control devices. However, in the event of malfunctions or faults, it is necessary to be able to disconnect the connection immediately. The devices known in the art in this respect have the disadvantage that while there is pneumatic redundancy, in order to be able to retract the pantograph, the control of the valves is implemented in a simple manner, and there is no redundant monitoring of the device's operating parameters. As a result, the necessary control of the valves, and consequently also of the pantograph, cannot be guaranteed in every situation in case of faults or malfunctions. The control of the pantograph and the safe disconnection from the overhead line in all operating situations represent a high safety requirement which is necessary in order to ensure operational safety.

Therefore, there is a need for a device that meets all the safety requirements for pantograph operation and therefore ensures actuator control in every situation. The present invention is therefore based on the object of at least partially overcoming the disadvantages known in the prior art in relation to safety requirements.

The object is achieved by the features of Patent Claim 1, in particular by a device for controlling a fluid-operated actuator unit, as well as by the dependent claims provided herein, in particular by a system for moving a pantograph.

According to a first aspect, the present invention relates to a device for controlling a fluid-operated actuator unit. The device comprises a first control valve and a second control valve arranged in series with the first control valve. The first control valve and the second control valve each have a fluid inlet and a fluid outlet. Furthermore, the device comprises a third control valve and a fourth control valve arranged in parallel to the third control valve. Both the third control valve and the fourth control valve have a fluid inlet and a fluid outlet. The fluid inlet of the third control valve and the fluid inlet of the fourth control valve are flu id ica I ly connected to the fluid outlet of the second control valve and the controllable actuator. In addition, a fluid source is provided which is flu id ica lly connected to the fluid inlet of the first control valve. The device also comprises a first sensor unit which is flu id ica I ly connected to the fluid inlets of the third and fourth control valves, and is designed to detect operating parameters of the device. In addition, the device comprises at least one computing unit which is designed to receive the detected operating parameters and/or provide control signals to control the control valves, in order to operate an actuator unit with fluid.

The inventors had the idea of achieving control of an actuator that meets the necessary safety requirements through a controllable device with corresponding control valves. In particular, the inventive interconnection of the control valves and the control via the computing unit enables a safe venting of the actuator in case of faults, allowing the pantograph to be retracted and disconnected from the overhead line.

The inventive idea advantageously ensures that the control valves are correctly activated even in case of faults or malfunctions, guaranteeing the actuation of the actuator for separating the pantograph from the overhead line.

According to one embodiment, the device comprises a discharge unit. A discharge unit may be provided in the device to release fluid, in particular compressed air, into the environment outside the device. The discharge unit may be designed as an opening to the environment of the device. Advantageously, the discharge unit may be designed as a sound absorber, preferably as a pneumatic sound absorber, or it may be mounted on the discharge unit. The sound absorber can reduce noise transmitted by the airflow or it can reduce the noise when compressed air is released from the device. It is provided that the device is designed to be flu id ica I ly connected to the fluid outlet of the third and fourth control valves and is intended to discharge fluid from the device.

According to another embodiment, the device comprises at least one additional discharge unit. The additional discharge unit can be designed as an opening to the environment of the device. Furthermore, it may be provided that the discharge unit is designed as another sound absorber, and the sound absorber can be mounted on the discharge unit. The additional discharge unit or the at least one additional sound absorber allows the discharge of fluid from the device in a redundant manner.

According to another embodiment, the control valves are designed as 2-way valves with a mechanical reset. The mechanical reset allows the control valve to be put into a specific switching state. For example, the switching valve is returned to its resting state. When the control valves are supplied with a control signal, preferably a positive control signal, the control valves are switched to their switching position, for example, fluidically connected. When the control signal is removed, the control valves are switched back to their original switching position by the mechanical reset. The mechanical reset can be implemented as a mechanical spring. According to another embodiment, the first and second control valves are in the blocking position in their resting state. Advantageously, when the control valves are not actuated or not activated, the actuation of the device or the actuation of the actuator with fluid is prevented. In this respect, the actuator is moved into a predetermined position, preferably not pressurized with fluid.

According to another embodiment, the third and fourth control valves are in the open position in their resting state. Advantageously, when the control valves are not actuated or not activated, they are switched in such a manner that the fluid in the device or from the actuator is discharged through the third and fourth control valves. For example, the fluid can be discharged through the third and fourth control valves via the discharge unit, with or without a sound absorber, into the environment.

According to another embodiment, the device includes an additional sensor unit. The sensor unit is intended to detect the operating parameters of the device in a redundant manner. Advantageously, in case of a failure of the first sensor unit and/or the provision of faulty operating parameters by the first sensor unit, the additional sensor unit compensates for these issues. In case of a failure of the first sensor unit, the computing unit can therefore rely on the operating parameters provided by the additional sensor unit, ensuring continued use of the device.

In another embodiment, the first discharge unit and the second discharge unit, or the sound absorbers which are provided, are connected in parallel to each other. This ensures that, in the event of damage and/or malfunction, additional fluid can be discharged from the device. Furthermore, by connecting them in parallel, a greater amount of fluid can be discharged in the same time frame.

In another embodiment, the first and/or second sensor unit is/are designed as a pressure sensor. The pressure sensor is used to detect the fluid pressure within the device and/or the actuator. In particular, it can detect pressure fluctuations within the device and/or the actuator. Based on this information, the control valves can be actuated to compensate for pressure fluctuations and/or balancing movements of the actuator unit. The pressure sensors are installed on the pressure lines within the device and are exposed to the pressure of the fluid, preferably pneumatic pressure. In another embodiment, the device further includes an additional computing unit. The computing unit and the additional computing unit are configured redundantly to receive operating parameters and provide control signals. Advantageously, the additional computing unit is designed in a similar manner to the first computing unit and can take over its functionalities in the event of a failure. This ensures continued operation of the device in the event of a failure of the first computing unit. Furthermore, the redundancy can guarantee the movement of the device and the actuator into a safe and non- hazardous position in the event of a failure of the first computing unit. In particular, it may be provided that the computing unit receives operating parameters from a sensor unit and provides control signals for the first and third control valve, while the additional computing unit receives operating parameters from the additional sensor unit and provides control signals for the second and fourth control valve. Hence, the actuator can be vented in the event of a failure, including the failure or disruption of one of the two computing units. In addition, the present system ensures that, among other things, if one of the two computing units fails or malfunctions, the actuator will not be pressurized.

In another embodiment, the computing unit and the additional computing unit are redundantly designed. In particular, one of the computing units is configured as a master unit and the additional computing unit is configured as a slave unit. For example, the computing unit can replicate the function of the additional computing unit in this case. In a fault-free operation, only one computing unit operates. The function of the active computing unit, preferably the master unit, is evaluated, and in the event of a failure, a switch is made by a changeover switch to the parallel function provided by the slave unit. By interconnecting the computing units with corresponding communication and control lines, the receiving of operating parameters and the provision of corresponding control parameters are implemented.

In another embodiment, it is provided that the computing unit and the additional computing unit are connected to at least one system sensor unit via a communication link. The system sensor unit is intended to detect operating parameters of the actuator unit and/or a pantograph and provide them to the device, in particular to the computing unit and the additional computing unit. The device or the computing units evaluate the operating parameters, and corresponding control signals for the control valves are provided. By appropriately controlling the control valves, active damping of the actuator, and therefore of the pantograph, can be achieved. For this purpose, control signals are provided for at least one of the first or second control valve, or for at least one of the third and fourth control valves. By selectively controlling the control valves, active damping (end position damping) of the pantograph can be implemented, and an increase in the service life of the pantograph can be achieved through reduced wear.

In another embodiment, the device comprises a first switching valve and a second switching valve. The first switching valve and the second switching valve each have three switching valve ports. The first switching valve and the second switching valve are each connected in parallel to the third and fourth control valves via the first and third valve ports, respectively. The first and second switching valves allow for redundant venting of the actuator. Advantageously, redundant rapid venting can be produced by the additional connected line to the discharge unit. This advantageously allows for faster pressure reduction in the device or in the actuator.

In another embodiment, the first switching valve and the second switching valve are designed as 3/2-way valves. A second valve port is provided on each of the first and second switching valves, in order to establish a fluid connection to the actuator. The actuator can be pressurized by the second switching valve port or it can be vented by this switching valve port. A switching of the switching valve into the switching position for pressurizing or venting the actuator takes place depending on the application of fluid to the first valve port.

In another embodiment, the device comprises a fifth control valve. The fifth control valve has a fluid inlet and a fluid outlet. The fluid inlet is fluidically connected to the third switching valve port and the fluid outlet is fluidically connected to the discharge unit or the sound absorber. The fifth control valve may be designed as a pneumatically piloted valve. Advantageously, the fifth control valve allows for rapid venting.

In another embodiment, a compressed air source is provided as a fluid source. The device is designed to be used in a pneumatic system exposed to compressed air from a compressed air source. The device delivers the compressed air to a pneumatic actuator or ventilates and vents the actuator. According to another aspect, the invention relates to a system for moving a pantograph. The system comprises the invention according to the invention. Furthermore, the system comprises at least one actuator unit. The actuator unit is controlled by the device. In particular, the actuator unit is pressurized or vented with air through the device. The actuator unit is intended for moving a pantograph.

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

In another embodiment of the system, the system comprises a system sensor unit. The system sensor unit is intended to detect operating parameters of the actuator unit and/or of the pantograph. The detected operating parameters of the actuator unit and/or of the pantograph can be supplied to the device. Wear to the actuator unit and/or the pantograph can be determined based on the operating parameters.

In another embodiment of the system, the system sensor unit detects force, displacement, velocity, and/or angle as operating parameters of the actuator unit and/or of the pantograph. The system sensor unit may be designed as a force sensor, displacement sensor, velocity sensor, angle sensor, and/or as a combination thereof. Wear can be determined based on the operating parameters provided.

The above embodiments and developments can be combined with one other in any manner, as appropriate. Further possible embodiments, developments, and implementations of the invention also include combinations not explicitly mentioned of features of the invention described previously or subsequently with respect to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention in each case. In particular, features of the system claims can be implemented and/or executed by corresponding components of the device, thereby complementing or extending their functionality. Hence, the person skilled in the art will also consider aspects of the device for the system. Brief description of the figures

In the following detailed description of the figures, exemplary embodiments with their features and further advantages, which should not be understood in a limiting sense, will be discussed based on the drawings. In these drawings:

Fig. 1 : shows a schematic representation of a device according to one embodiment;

Fig. 2: shows another schematic representation of a device according to one embodiment;

Fig. 3: shows another schematic representation of a device according to one embodiment; and

Fig. 4: shows another schematic representation of a system according to one embodiment.

The accompanying drawings are intended to provide further understanding of the embodiments of the invention. They illustrate embodiments and, in conjunction with the description, serve to explain principles and concepts of the invention. Other embodiments and many of the aforementioned advantages will become apparent with reference to the drawings. The elements of the drawings are not necessarily shown to scale with one other.

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

Detailed description of the invention

Fig. 1 shows a schematic representation of a device 10 according to a preferred embodiment of the present invention. In Fig. 1, reference sign 10 denotes the device. The device 10 is designed for controlling a fluid-controlled actuator unit 40. Compressed air can be used as the fluid. The compressed air is supplied from the compressed air source 50 to the device 10. The device 10 has corresponding interfaces for connection to the fluid source 50, for example a compressed air source. The actuator unit 40 is designed as a pneumatic actuator unit, for example as a pneumatic cylinder. Pneumatic cylinders are robust and resilient due to the compressibility of air, which makes then resistant to the impact of high external forces.

The device 10 comprises a first control valve 11. The first control valve 11 is connected in series to a second control valve 12. The first control valve 11 and the second control valve 12 each have a fluid inlet 11_1, 12_1 and a fluid outlet 12_1, 12_2. The first control valve 11 is fluidically connected via the fluid inlet 11_1 via a fluid conduit to the fluid source 50. The first fluid valve 11 is fluidically connected via a fluid conduit at the fluid outlet 11_2 to the fluid inlet 12_1 of the second control valve 12. The first control valve 11 and the second control valve 12 are designed as 2-way valves with a mechanical reset. The mechanical reset causes the first and second control valves 11, 12 to switch to the rest state when not actively controlled. The first and second control valves 11, 12 can be controlled by a computing unit and/or corresponding switching logic with interposed power electronics. According to one embodiment it is provided that the first and second control valves 11, 12 are switched to the closed position in the rest state, thereby blocking fluid flow. The first and second control valves 11, 12 provide redundant pressurization of an actuator unit 40 when both control valves 11, 12 are in the open state, in the sense of a pneumatic AND logic.

The device 10 further comprises a third control valve 13 and a fourth control valve arranged parallel to the third control valve 13. The third control valve 13 and the fourth control valve 14 each have a fluid inlet 13_1, 14_1 and a fluid outlet 13_2, 14_2. The fluid inlets 13_1, 14_1 of the third and fourth control valves 13, 14 are fluidically connected to the fluid outlet 12_2 of the second control valve 12 via a fluid conduit.

The third control valve 13 and the fourth control valve 14 are designed as 2-way valves with a mechanical reset. The mechanical reset causes the third and fourth control valves 13, 14 to switch to the rest state when not actively controlled. The third and fourth control valves 13, 14 can be controlled by a computing unit and/or corresponding switching logic with interposed power electronics. According to one embodiment, the third and fourth control valves 13, 14 are switched to the open position in the rest state, thereby allowing fluid flow. The third and fourth control valves 13, 14 enable redundant venting of an actuator unit 40 to take place.

The fluid outlets 13_2, 14_2 of the third and fourth control valves are fluidically connected to a venting unit 16. The discharge unit 16 may be formed as an opening of the fluid system to the surroundings of the device 10. The actuator unit 40 can be vented via the discharge unit 16 when the control valves 13, 14 are not switched. Venting involves a release of compressed air from the actuator to the surroundings through the control valves 13, 14.

The device also includes a first sensor unit 15_1. The first sensor unit 15_1 is fluidically connected to the fluid inlet 13_1, 14_1 of the third and fourth control valves 13, 14 via a fluid conduit. The first sensor unit 15_1 is intended to detect operating parameters of the device 10. The sensor unit 15_1 may comprise a pressure sensor. The pressure sensor can determine the fluid pressure, and therefore the air pressure in the device and coming from the actuator unit 40, as an operating parameter of the device. The sensor unit 15_1 can provide an analog signal that is proportional to the measured pressure in the device. The analog signal can be converted into a digital signal for further evaluation/processing using electronics, such as an analog-to-digital converter. Types of sensors known in the prior art from the group comprising absolute pressure sensors, differential pressure sensors, and relative pressure sensors, can be used as pressure sensors.

The device further comprises at least one computing unit 20. The computing unit 20 is intended to receive the operating parameters detected by the first sensor unit 15_1. In the context of the present invention, a computing unit refers to a unit that includes a CPU, memory, and corresponding means of communication with other components or a user, in order to receive, store, and calculate a program, and provide corresponding signals for controlling the control valves based on the executed program. The computing unit can be provided centrally or decentrally, for example, as a computer, microcontroller, FPGA, Raspberry Pi, PLC, etc. It may be provided that the computing unit 20 is provided in the device, which allows for a compact design of the device and the inventive system (cf. Fig. 4).

Furthermore, the computing unit 20 is intended to provide control signals for controlling the control valves 11, 12, 13, 14, thereby supplying the actuator unit 40 with compressed air or venting it. For this purpose, the computing unit has a corresponding communication interface for connecting to communication lines, in order to transmit the control signals to the control valves via separate communication lines. In one embodiment, it may be provided that the control signals provided by the computing unit 20 are supplied to the control valves 11, 12, 13, 14 through power electronics (e.g. MOSFET).

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

Fig. 2 shows another schematic representation of a device according to another embodiment. In Fig. 2, the same components are denoted by the same reference signs as in Fig. 1. The device 10 according to Fig. 2 also comprises a first and second control valve 11, 12, which are connected in series to each other. Furthermore, the parallel- connected third and fourth control valves 13 and 14 are provided. The fluid inlets 13_1, 14_1 of the third and fourth control valves 13, 14, and the fluid outlets 11_2, 12_2 of the first and second control valves 11, 12 are fluidically connected to the first and second sensor units 15_1, 15_2, and the actuator unit 40. In another embodiment it may be provided that additional control valves are connected in series to the first and second control valves 11, 12. It may also be provided that additional control valves are connected in parallel to the control valves 13, 14. The embodiment shown in Fig. 2 is intended to illustrate only one possible implementation but is not limiting on the number of switched control valves.

The device 10 according to Fig. 2 provides for an additional sensor unit 15_2. The additional sensor unit 15_2 is intended to redundantly detect operating parameters of the device 10. The additional sensor unit 15_2 can also be designed as a pressure sensor, similar to the first sensor unit 15_1. The additional sensor unit 15_2 is fluidically connected to the actuator unit 40 and detects the fluid pressure, in particular the air pressure, provided for actuating the actuator unit 40, or the pressure changes that occur when air is vented through the third and fourth control valves 13, 14 via the discharge unit 16.

According to the embodiment in Fig. 2 it is provided that a first sound absorber 16_1 and a second sound absorber 16_2 are fluidically connected in parallel to the fluid outlets 13_2, 14_2 of the third and fourth control valves 13, 14. Fluid from the actuator unit 40 can be discharged to the surroundings of the device 10 in a noise-reducing manner via the first and second sound absorbers 16_1, 16_2 when using the third and fourth control valves 13, 14. In particular, the high-pressure air is discharged into the surroundings through the sound absorbers 16_1, 16_2 when venting the actuator 40. The redundant design of the sound absorbers helps minimize the probability of disruption during venting.

Furthermore, it is provided in the embodiment of the device 10 according to Fig. 2, that an additional computing unit 30 should be provided. The additional computing unit 30 can also be understood as a unit that includes a CPU, memory, and corresponding means for communication with other components or a user, in order to receive, store, and calculate a program, and provide corresponding signals for controlling the valves based on the executed program. The computing unit can be provided centrally or decentrally as a computer, microcontroller, FPGA, Raspberry Pi, PLC, etc. By means of the additional computing unit 30 as a redundant control unit, the safety-critical functions for controlling the control valves 11, 12, 13, 14 of the device 10 can be guaranteed. In particular, the electronic assemblies and controls are redundantly designed, which prevents complete failure in the event of a malfunction and/or fault. Furthermore, the fault tolerance is increased, leading to improved reliability and reduced probability of failure in controlling the actuator unit 40 and therefore the pantograph. In addition, the redundant design leads to an increase in operational reliability by guaranteeing uninterrupted operation.

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

Moreover, it is provided that the additional computing unit 30 receives the operating parameters from the second sensor unit 15_2 and provides control signals for controlling the first control valve 11 and the fourth control valve 14 based on them. Advantageously, both the detection of operating parameters and the control of a venting valve (control valve 11, 12) and a discharge valve (control valve 13, 14) are redundantly designed, and the failure of one of the components does not lead to complete operational disruption. The safety requirements for a pantograph control system are therefore met.

By means of the embodiment described above, pressure regulation can be achieved by pulsing the control valves using one of the computing units 20, 30. The remaining computing unit of the two computing units 20, 30 takes over the control for the safe activation and deactivation of the actuator unit 40.

In an alternative embodiment, the system consists of two functionally identical computing units 20, 30, and one of the two computing units 20, 30 in each case is designated as a master unit, while the additional computing unit is designed as a slave unit. The master unit assumes the main control in this case. Only one computing unit 20, 30 is active at a time in an alternating manner. It may be provided that the computing unit 20 is active and works as the master. The computing unit 30 as the slave is in a "standby" mode and awaits a corresponding signal. The master unit sends the signal to the slave, and the slave starts to work. While the slave is working, the master unit is in "standby" mode. The switch between the master and slave can be based on an evaluation of the control signals provided. If there are deviations between the control signals provided by the computing units 20, 30, a switch can be made. In this embodiment, it is provided that both computing units 20, 30 communicate with one other and receive all operating parameters for evaluation.

In an alternative embodiment, redundancy can be provided, such that each of the computing units 20, 30 receives and evaluates the operating parameters supplied by the sensor units 15_1, 15_2, and provides control signals for each control valve 11, 12, 13, 14. The control signals are merged in this respect using a logical circuit (AND gate). Fig. 3 shows another schematic representation of a device according to another embodiment. In Fig. 3, reference sign 10 denotes the device according to the invention. The device 10 comprises a first and a second control valve 11, 12, which are connected in series to one other. The fluid input 11_1 of the first control valve 11 is fluidically connected to a fluid source 50. The fluid output 12_2 of the second control valve 12 is fluidically connected to the fluid inputs 13_1, 14_1 of the third and fourth control valves 13, 14. The third and fourth control valves 13, 14 are connected in parallel to one another. Furthermore, first and second switching valves 17, 18, which are connected in parallel to the third and fourth control valves 13, 14, are provided. The first and second switching valves 17, 18 each have three switching valve ports 17_1, 17_2, 17_3, 18_1, 18_2, 18_3. The first and the second switching valve 17, 18 are switched via a first and a third switching valve port 17_1, 17_3, 18_1, 18_3 parallel to the third control valve 13 and the fourth control valve 14. The second switching valve port 17_2, 18_2 of the first and second switching valves 17, 18 is fluidically connected to the redundantly designed sensor units 15_1, 15_2 and the actuator unit 40. The switching valves 17, 18 enable redundant rapid venting of the actuator unit 40. This rapid venting ensures that the pressure in the actuator unit 40 and the device 10 can be quickly released. Hence, in case of a fault, the pantograph is quickly uncoupled from the overhead line.

Furthermore, in the embodiment in Fig. 3, a fifth control valve 19 is provided. The fifth control valve 19 is designed as a 2-way valve and has an input port 19_1 and an output port 19_2. The input port 19_1 is fluidically connected to the sensor units 15_1, 15_2, and the actuator unit 40. The fifth control valve 19 allows for fine venting, which brings about active damping of the pantograph during coupling and decoupling. This damping is produced through active pressure regulation. For this purpose, an operating parameter of the actuator unit can be detected by additional system sensor units 60 (see Fig. 4), based on which one of the computing units 20, 30 provides a control signal for actuating the fifth control valve 19. Active damping can increase the service life of the pantograph by reducing wear.

Furthermore, in the embodiment in Fig. 3, redundant design of the sensor units 15_1, 15_2 is provided to determine the operating parameters of the device 10. Additionally, the sound absorbers 16_1, 16_2 are connected in parallel to each other and fluidically connected to the fluid outputs 13_2, 14_2 of the third and fourth control valves 13, 14. The sound absorbers 16_1, 16_2 dissipate the compressed air released by the actuator unit 40 to the surroundings of the device 10.

The advantageous embodiment in Fig. 3 increases operational safety through redundant design of the electronic components and simultaneously improves rapid venting, enabling the pantograph to be quickly uncoupled from the overhead line.

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

The system sensor unit 60 is intended to detect operating parameters of the actuator unit 40 and/or of the pantograph 70 and supply them to the device 10. The device 10 or the computing units 20, 30 evaluate the operating parameters and provide corresponding control signals for the control valves, in particular the control valve 19. The control valve 19 can provide fine venting to achieve active damping of the actuator 40. The service life of the pantograph 70 can therefore be increased by reducing wear. The system sensor unit 60 can detect force, displacement, velocity, and/or angle as operating parameters of the actuator unit 40 and/or of the pantograph 70. The system sensor unit 60 may comprise sensors known in the prior art.

List of reference signs

10 device

11 first control valve

12 second control valve

13 third control valve

14 fourth control valve

15_1 first sensor unit

15_2 second sensor unit

16 discharge unit

16_1 first sound absorber

16_2 second sound absorber

17 first switching valve

18 second switching valve

19 fifth control valve

20 computing unit

30 second computing unit

40 actuator unit

50 fluid source

60 system sensor unit

70 pantograph