Coupling method and system for connecting lines between tractor and saddle trailer

Abstract

The invention relates to a coupling method for connecting flexible lines between a towing vehicle and a saddle trailer, in which the lines are connected directly after a coupling process between a saddle plate on the towing vehicle and a kingpin on the saddle trailer, on which a holding device is arranged that can be pivoted about the kingpin, the invention relates to a holding device for a motor vehicle, comprising a saddle-trailer-side plug-in unit, on which a motor vehicle-side plug-in unit is arranged, which can be coupled to the saddle-trailer-side plug-in unit and which can be transferred from the motor vehicle to the saddle trailer in a force-actuated manner, after the coupling process, the motor vehicle-side plug-in unit is inserted into the saddle-trailer-side plug-in unit, and after the coupling process, the motor vehicle-side plug-in unit is inserted into the saddle-trailer-side plug-in unit. Only the flexible conduit is directed from the delivered tractor-side plug-in unit to the tractor. The invention is characterized in that the delivered tractor-side plug-in unit is coupled from the saddle trailer to the saddle trailer-side plug-in unit in a force-actuated manner. The invention further relates to a coupling system for the coupling method.

Description

Technical Field

[0001] This invention relates to a coupling method for connecting a flexible pipeline between a tractor and a saddle trailer. In this coupling method, the pipeline is directly connected after a coupling process between the saddle plate of the tractor and the kingpin on the saddle trailer. The saddle trailer is provided with a retaining device pivotable about the kingpin, the retaining device having a saddle trailer-side insertion unit. A tractor-side insertion unit is provided on the saddle plate, the tractor-side insertion unit being coupled to the saddle trailer-side insertion unit and forcefully delivered from the tractor to the saddle trailer. After the coupling process, only the flexible pipeline is guided from the delivered tractor-side insertion unit to the tractor. Furthermore, the present invention relates to a coupling system for connecting a tractor unit to a saddle trailer that can be coupled by means of a saddle coupling structure. In this coupling system, a saddle plate of the saddle coupling structure is provided on the tractor unit, and a kingpin is provided under the saddle trailer. A retaining device pivotable about the kingpin is provided, the retaining device having a saddle trailer-side insertion unit. A tractor unit-side insertion unit is provided on the saddle plate and can be coupled to the saddle trailer-side insertion unit. A drive device for the insertion unit is provided, by means of which coupling is performed. After the mechanical coupling process of the kingpin in the saddle plate, a guide mechanism is formed between the saddle plate and the pivotable retaining device of the saddle trailer. The tractor unit-side insertion unit is movably disposed along the guide mechanism by means of a first drive mechanism for delivery to the retaining device, at which time the tractor unit-side insertion unit is loosely guided in the guide mechanism.

[0002] The concepts “above,” “below,” “vertical,” and “horizontal” used below all refer to the direction of gravity during the conventional use of the coupling system. Furthermore, unless explicitly defined otherwise, the concepts “axial,” “radial,” and “tangential” refer to the axis of rotation of the kingpin. Additionally, the concept “piping” refers to electrical supply and / or data piping, pneumatic and / or hydraulic piping, which are necessary or desirable for the supply, control, and / or monitoring of the functions and status between the tractor and the saddle trailer. The concept “coupling” refers to the mechanical connection of a conventional saddle coupling structure, i.e., the anchoring of the kingpin of the saddle trailer in the tractor's saddle plate. The concept “coupling” refers to the connection of piping between the tractor and the saddle trailer via a specially designed plug-in connection. The phrase “force-operated from the tractor” indicates that force operation is performed by a drive mechanism, such as an actuator or pneumatic cylinder, fixed to the saddle trailer. The “guide mechanism” constructed between the saddle plate and the pivotable retaining device forms a series of interconnected or associated components that enable the delivery of the tractor-side plug-in unit from the saddle plate to the retaining device (and its return upon decoupling). Background Technology

[0003] In a traditional saddle-coupled configuration, the tractor unit is driven onto the saddle trailer, mechanically coupled, and then the driver connects pneumatic and electrical connecting lines between the cab and the saddle trailer. These lines are loosely and flexibly positioned in the gap, allowing for flexible pneumatic and electrical connections between the tractor unit and the saddle trailer without any other mechanical forces acting on the plug-in connection. Furthermore, the plug-in connection offers relatively good protection against environmental influences, particularly against dirt kicked up from the road. However, this differs in an automated coupling system, which must ensure supplementary electrical and / or pneumatic connections under the saddle trailer within the area of ​​the saddle-coupled configuration.

[0004] The automatic coupling system or method described at the beginning of this document is known from EP1918179B1. It describes a carrier element pivotable about the geometric axis of a kingpin, in which a plug for transmitting pneumatic and electrical energy or signals is provided, such that a socket can be coupled radially relative to the kingpin after the mechanical coupling process of the kingpin in the saddle plate. The socket is guided on and below the saddle plate in an arrangement having two drive mechanisms for implementing horizontal and vertical movement, by which the socket is delivered from the tractor to the carrier element of the saddle trailer and inserted into the plug there. The arrangement is then returned, thereby protecting the plug connection from excessive mechanical stress.

[0005] US8505949B2 discloses an automatic pneumatic and electrical coupling system for a saddle-type coupling structure. In this system, after mechanical coupling, a separated plug unit is forcefully guided via a curved track in the tractor unit, co-centered with the kingpin in the coupled state, such that the plug unit is directly aligned with the underside of a socket fixedly fastened to the saddle trailer, and then coupled by lifting. Here, the plug unit is forcefully coupled from the tractor unit by an actuating element, which is then separated from the plug unit and retained in the tractor unit. Only a flexible conduit remains from the tractor unit to the plug unit inserted into the saddle trailer.

[0006] In both of the aforementioned systems, although good mechanical decoupling is achieved from the plug-in connection to the various movements on the saddle coupling structure between the tractor and the saddle trailer, failures occur during insertion and when the operating elements are recoupled from the plug to be removed, thus the automated coupling process cannot operate sufficiently reliably.

[0007] Furthermore, EP1444125B1 describes a plug-in coupling system for connecting conduits on a saddle-type coupling structure. This system has a carrier element pivotable about a kingpin, in which a plug (particularly for transmitting electrical energy or signals) is disposed. This plug can connect to a socket movably disposed in a so-called coupling angle within the saddle plate. Here, after the mechanical coupling process of the kingpin in the saddle plate, a drive mechanism actuates the socket and thereby inserts it into the plug.

[0008] The drawback of this system is that while it achieves an automated plug-in connection between the tractor and the coupled saddle trailer that rotates around the kingpin for piping connections, it fails to adequately decouple this connection mechanically. This means that all positional changes, vibrations, and torsion during operation are transmitted to the plug-in connection, leading to premature and rapid wear. In addition to this mechanical load, the plug-in connection is subjected to significant environmental influences, both in the unplugged and plugged-in states, causing excessive mechanical wear that quickly leads to leaks, resulting in malfunctions, short circuits, and poor contact.

[0009] Similar plug-in coupling systems are known from DE102004024333A1, EP2013040B1, DE102018117584A1, DE102018106677B3 and WO2020 / 038986A1. Summary of the Invention

[0010] Therefore, starting from EP1918179B1, the object of the present invention is to provide an automatic coupling method or system for connecting a tractor unit to a saddle trailer coupled by means of a saddle coupling structure, wherein the automatic coupling method or system avoids mechanical loads on the plug-in connection caused by movement between the tractor unit and the saddle trailer, and also ensures reliable coupling and coupling process. This object is achieved using a coupling method according to claim 1 and a coupling system according to claim 4.

[0011] The delivery of the tractor-mounted side coupling unit is connected to the saddle trailer side coupling unit by force-operated means, regardless of the corresponding coupling state, such as during lateral coupling in confined spaces (where the tractor's travel direction is at a maximum of 90° to the longitudinal direction of the saddle trailer) and / or during coupling on uneven surfaces. A reliable coupling connection is always achieved during coupling, i.e., the coupling is either engaged or about to be reliably separated before the saddle coupling structure connection becomes detached, because the insertion or removal of the coupling connection is performed by a drive unit fixed and mounted on the saddle trailer. Therefore, this movement is independent of the precise orientation of the tractor to the saddle trailer.

[0012] Thus, the tractor-side connector is delivered from the tractor to the saddle trailer and coupled to it via a drive unit located there. After the coupling process between the vehicles, i.e., the tractor and the saddle trailer, only the mechanical connection of the saddle plate and kingpin and the pipeline connection via flexible tubing remain. Here, the delivered connector corresponds to a plug manually inserted into the corresponding receiving part by the truck driver, such that only the most flexible tubing is maintained between the tractor and the saddle trailer, i.e., no additional mechanical torque is transmitted to the connector.

[0013] According to the device, this coupling system is characterized by a third drive unit mounted on a pivotable retaining device. This third drive unit is connected to a groove movably mounted on the saddle-mounted trailer-side insertion unit, which is fixed to the retaining device pivotable about the kingpin. The groove forms a guide mechanism on the side of the saddle-mounted trailer, and the delivered tractor-mounted trailer-side insertion unit can be inserted into it for coupling. Here, after the two insertion units are coupled together, the connection between the first drive unit and the tractor-mounted trailer-side insertion unit is disengaged. Correspondingly, the tractor-side plug-in unit is always precisely positioned in a groove after being delivered to the saddle trailer. This groove is fixed or guided in the pivotable retaining device of the saddle trailer. The tractor-side plug-in unit can be repeatedly inserted into the saddle trailer-side plug-in unit or pulled out of the saddle trailer-side plug-in unit during decoupling, regardless of the field orientation of the tractor, through a third drive device that is also hinged in the pivotable retaining device. In other words, reliable coupling and decoupling can be achieved as a whole.

[0014] Correspondingly, in order to decouple the saddle trailer from the tractor, the plug-in units are first separated from each other, then the delivered plug-in unit is forcefully returned and the kingpin in the saddle plate is then unlocked, thereby achieving automated decoupling of the saddle trailer and the tractor equipped in this way.

[0015] By applying compressed air to the housing containing the connector unit, moisture and / or contaminants can be prevented from entering the housing. Thus, compressed air overpressure prevents contact problems and / or contamination at this sensitive location. Preferably, this is combined with covers and seals to keep air consumption low.

[0016] If a detachable claw-shaped connection (particularly configured as a claw-shaped coupling device) is provided between the first drive unit and the tractor-side plug-in unit, the delivery and mechanical decoupling of the plug-in unit can be reliably achieved by releasing (separating) the claw-shaped connection. Here, it is preferable to use the third drive unit to separate the claw-shaped connection between the first drive unit and the tractor-side plug-in unit after the delivery of this plug-in unit.

[0017] The guide mechanism on the side of the tractor is composed of a delivery slider configured to be adjustable from a rest position near the saddle plate to a coupled position extending downward from the saddle plate using a second drive device. This protects the portion of the coupling system located below the saddle plate on the tractor from mechanical damage in the retracted, protected rest position. After the mechanical coupling process of the kingpin in the saddle plate, the device can be adjusted to the coupled position extending from the saddle plate by means of the second drive device.

[0018] To prevent contamination and / or moisture damage, the connector unit is equipped with seals and / or removable covers. Furthermore, these covers and seals reduce compressed air consumption when compressed air may be applied to the housing of the connector unit.

[0019] Preferably, the drive device is a pneumatic cylinder, because on the tractor and in accordance with EP3458341B1, when mechanical coupling is performed by means of an automatic saddle coupling structure, compressed air is directly applied to the braking device using mechanical coupling, and a pneumatic cylinder is a reliable and simple drive method. Attached Figure Description

[0020] An embodiment of the present invention will now be described in detail with reference to the accompanying drawings.

[0021] In the attached image:

[0022] Figure 1 The state before coupling in the saddle-type coupling structure is shown in a perspective view from the lower oblique angle;

[0023] Figure 2 To correspond to Figure 1 The stereoscopic detail view of the selected area in the image shows the first phase of motion of the coupling system;

[0024] Figure 3 Shown in Figure 2 The second motion phase of the coupled system is shown in the figure;

[0025] Figure 4 Shown in an orthogonal bottom view Figure 3 The status shown;

[0026] Figure 5 Show along in Figure 4 The longitudinal section shown is cut along line XX.

[0027] Figure 6 The third motion phase of the coupling system is illustrated in a three-dimensional detail diagram;

[0028] Figure 7 Similar to Figure 4The section line defined in the diagram is shown in the diagram. Figure 6 The longitudinal section diagram showing the state is shown in the image.

[0029] Figure 8 The fourth motion phase of the coupling system is shown in a three-dimensional detailed view;

[0030] Figure 9 Similar to Figure 4 The section line defined in the diagram is shown in the diagram. Figure 8 The longitudinal section diagram showing the state is shown in the image.

[0031] Figure 10 The coupling system is shown in a holistic three-dimensional view, fully coupled to the driving operation. Detailed Implementation

[0032] exist Figure 1 The image shows the state of the tractor unit 100 before coupling with the saddle-type coupling structure between the tractor unit 100 and the saddle trailer 200, viewed from a lower oblique perspective. The tractor unit 100 is shown only schematically with its associated saddle plate 1. The saddle plate 1 has tilting supports 11 on both sides for tilting and holding the saddle plate 1 onto the tractor unit 100. A coupling hook 12 is provided in the center of the saddle plate 1 for receiving and surrounding the kingpin 2. The saddle plate 1 has a V-shaped entry opening 14 in the orthogonal top view, through which the kingpin 2 of the saddle trailer 200 utilizes the entry opening during reverse travel (i.e., traveling in reverse). Figure 1 The driving direction F shown is coupled by means of the coupling hook 12. The entry opening 14 is defined on both sides by the saddle plate corner 13.

[0033] The saddle trailer 200 is visible via the kingpin 2. The kingpin 2 is located on the underside of the saddle trailer 200 and is fixed via a fixing flange 21. A swivel bearing 22 is provided in the fixing flange 21, and a pivotable retaining device 23 is provided on the movable part of the swivel bearing, such that the pivotable retaining device is constructed to pivot about the axis of rotation of the kingpin 2 (shown here as the dashed line Z) within a pivot range S (preferably at least + / -90°).

[0034] In the embodiment shown here, the tractor-side portion 3 of the coupling system is located below the right-hand saddle plate corner 13 along the direction of travel F. The corresponding saddle trailer-side portion 4 of the coupling system is located on the pivotable retaining device 23 on the saddle trailer 200. To protect the sensitive components of the saddle trailer-side portion 4 of the coupling system and to reliably deflect the pivotable retaining device 23 during coupling (i.e., when the V-shaped entry opening 14 of the saddle plate 1 enters the kingpin 2 of the saddle trailer 200), a protective wall 24 is provided on the pivotable retaining device 23. The protective wall 24 reinforces the V-shaped side of the pivotable retaining device 23.

[0035] The tractor-side portion 3 of the coupling system is provided with a tractor-side insertion unit 30, to which a tractor-side flexible conduit 15 is connected. The tractor-side flexible conduit 15 extends, for example, into the vehicle compartment or engine compartment of the tractor 100. Furthermore, a first drive unit 31 (here, a first pneumatic cylinder) is provided on the tractor-side portion 3 of the coupling system. The push rod of the first drive unit is connected to the tractor-side insertion unit 30 via a claw portion 33 (in the form of a claw-shaped connection or claw-shaped coupling). Additionally, a second drive unit 32 (here, a second pneumatic cylinder) is provided. The push rod of the second drive unit is connected to a delivery slider 34, which is movably supported in a slide guide portion 35. The tractor-side insertion unit 30 is movably supported in the delivery slider 34.

[0036] In the embodiment shown here, the saddle trailer side portion 4 of the coupling system has a saddle trailer side insertion unit 40, which is fixedly mounted on a pivotable retaining device 23. A saddle trailer side pipeline 25 is connected to the saddle trailer side insertion unit, extending to the consumables, sensors, etc. of the saddle trailer 200. Furthermore, a third drive device 43 (here, a third pneumatic cylinder) is provided within the pivotable retaining device 23. The third drive device is supplied with compressed air by the saddle trailer 200. The third drive device acts on a slide 41 with its push rod, in which the insertion receiving portion 42 is movably supported at its height position by means of the slide 41.

[0037] The working principle of the coupling method or coupling system is described below with the aid of other accompanying figures.

[0038] from Figure 1 The tractor 100 is now traveling in the opposite direction of travel F, causing the mechanical coupling process to begin, that is, the kingpin 2, which is fixed to the saddle trailer 200, is introduced into the V-shaped entry opening 14 until the coupling hook 12 surrounds the kingpin 2. Thus, the tractor 100 and the saddle trailer 200 are mechanically and securely coupled. If the locking of the saddle coupling structure is fed back to a control device (not shown in detail), the second drive unit 32 is operated such that the push rod of the second drive unit adjusts the delivery slider 34 from a rest position near the saddle plate 1 to a coupling position extending downwards from the saddle plate 1 via a slide guide 35 fixed below the saddle plate 1. Figure 2 Furthermore, on the saddle trailer 200, a third drive unit 43 is activated in the pivotable holding device 23, such that the third drive unit, with its lever, according to... Figure 4 In the top view, the slide 41 is moved to the left, thus causing the insertion receiving portion 42, which can move vertically within the slide 41, to descend, i.e., to move downwards protruding from the protective wall 24, as this can... Figure 3China and in Figure 5 This can be seen in the sectional view. Figure 5 It is also shown that the delivery slider 34 and the insertion receiving part 42 constitute the guide mechanism 5, that is, a series of associated components, which has a slot 51 for alignment between the tractor 100 and the saddle trailer 200.

[0039] According to Figure 3 , Figure 4 and Figure 5 In the coupled state, the tractor-side insertion unit 30 is still located in the delivery slider 34, and the corresponding protrusion 36 on the tractor-side insertion unit 30 is guided in the groove 51 of the guide mechanism 5.

[0040] Now, manipulate the first drive unit 31 (here, the first pneumatic cylinder) so that the push rod of the drive unit according to... Figures 3 to 6 The movement phase moves to the left and, by means of the claw 33, moves the tractor-side insertion unit 30 along the guide mechanism 5, i.e., the protrusion 36 in the aligned groove 51, into the insertion receiving portion 42 of the saddle trailer side portion 4 of the coupling system and thus delivers it to the saddle trailer 200. In addition to Figure 6 In addition, this is in Figure 7 China again used a similar approach Figure 4 The sectioned side view is shown.

[0041] Now, the third drive mechanism 43 in the pivoting holding device 23 is activated, causing the push rod of the third drive mechanism to extend, thereby moving the slide 41 to the right (from... Figures 6 to 8 And thus, the insertion receiving portion 42, together with the delivered tractor-side insertion unit 30 housed therein, is forcefully and maneuverably inserted upward into the saddle trailer-side insertion unit 40. During this movement of the insertion receiving portion 42 from the delivery position to the insertion position, the claw-shaped connection 33 is released, which allows... Figure 9 This can be seen in the partially sectional side view.

[0042] Then, the first drive unit 31 is retracted, thereby retracting the claw 33, and the delivery slider 34 is moved back to its higher, stationary position protected below the saddle plate 1 by means of the second drive unit 32. This allows... Figure 10 The overall view is shown in the middle.

[0043] Therefore, the final state of the coupling method is achieved immediately following the mechanical coupling. Thus, the tractor-side flexible conduit 15 is inserted into the saddle trailer-side plug-in unit 40 via the delivered tractor-side plug-in unit 30 without any other mechanical connection. This establishes an electrical (and, if necessary, pneumatic) conduit connection between the tractor 100 and the saddle trailer 200. During the operation of the saddle tractor, the possible relative movement between the saddle plate 1 and the pivotable retaining device 23, which is part of the saddle trailer 200, does not directly affect the plug-in connection between the tractor-side plug-in unit 30 and the saddle trailer-side plug-in unit 40, because only the tractor-side conduit 15 forms a flexible conduit connection between the tractor 100 and the pivotable retaining device 23. This essentially corresponds to a manually inserted conduit connection, as is common in conventional saddle tractors. Here, only guidance of the flexible conduit is needed to enable the necessary pivoting movement during operation. However, this can be achieved without problems, minimizing the force applied directly to the plug connection.

[0044] When disengaging the saddle trailer 200 from the tractor 100, the coupling method described above is performed in reverse order before mechanically releasing the kingpin 2 by opening the coupling hook 12.

[0045] List of reference numerals

[0046] 100 tractor

[0047] 1 saddle plate

[0048] 11 Reversing Support

[0049] 12 coupling hooks

[0050] 13 Saddle Plate Angle

[0051] 14 Enter the opening

[0052] 15 Tractor Side Piping

[0053] 200 saddle trailer

[0054] 2 main sales

[0055] 21 Fixed Flange

[0056] 22 Rotary Bearing

[0057] 23 Pivotable holding device

[0058] 24 protective walls

[0059] 25 saddle trailer side piping

[0060] The tractor side of the 3-coupling system

[0061] 30 tractor side plug-in unit

[0062] 31 First drive unit, first pneumatic cylinder

[0063] 32 Second drive unit, second pneumatic cylinder

[0064] 33 claws, claw-shaped connection

[0065] 34 delivery sliders

[0066] 35 Slide Guide Section

[0067] 36 protrusions

[0068] 4-coupling system saddle trailer side section

[0069] 40 saddle trailer side-mounted unit

[0070] 41 Slide

[0071] 42 Plug-in Receiving Section

[0072] 43 Third drive unit, third pneumatic cylinder

[0073] 5 Guiding Organizations

[0074] 51 slots

[0075] F driving direction

[0076] S Pivot Range

[0077] Z-piston rotation axis

Claims

1. A coupling method for connecting a flexible pipeline between a tractor (100) and a saddle trailer (200), wherein the pipeline is directly connected after a coupling process between a saddle plate (1) on the tractor (100) and a kingpin (2) on the saddle trailer (200), wherein, - A retaining device (23) that can pivot about the kingpin (2) is provided on the saddle trailer, the retaining device having a saddle trailer side insertion unit (40). - A tractor-side connector (30) is provided on the saddle plate (1), which can be coupled to the saddle trailer-side connector (40), and - The tractor-side plug-in unit (30) is forcefully delivered from the tractor (100) to the saddle trailer (200), and after the coupling process, only the flexible tubing is guided from the delivered tractor-side plug-in unit (30) to the tractor (100). The feature is that the delivered tractor-side plug-in unit (30) is coupled from the saddle trailer to the saddle trailer-side plug-in unit (40) in a force-operated manner.

2. The coupling method according to claim 1, characterized in that, In order to decouple the saddle trailer (200) from the tractor (100), the plug units (30, 40) are first separated from each other, then the delivered plug units are forcefully returned and the kingpin (2) in the saddle plate (1) is then unlocked.

3. The coupling method according to any one of the preceding claims, characterized in that, Compressed air is applied to the housing containing the plug-in units (30, 40).

4. A coupling system for connecting a tractor (100) to a saddle trailer (200) coupled by means of a saddle coupling structure, wherein a saddle plate (1) of the saddle coupling structure is provided on the tractor (100), and a kingpin (2) is provided under the saddle trailer (200), wherein, - A retaining device (23) is provided that can pivot about the main pin (2), the retaining device having a saddle trailer side insertion unit (40). - A tractor-side connector (30) is provided on the saddle plate (1), and the tractor-side connector can be coupled to the saddle trailer-side connector (40). - A drive mechanism (31, 32, 43) is provided for connecting the units (30, 40), by means of which coupling can be performed. - Following the mechanical coupling process of the kingpin (2) in the saddle plate (1), a guide mechanism (5) is formed between the saddle plate (1) and the pivotable retaining device (23) of the saddle trailer (200), wherein the tractor-side insertion unit (30) is movably disposed along the guide mechanism by means of a first drive device (31) for delivery to the retaining device (23), at which time the tractor-side insertion unit (30) is guided in the guide mechanism (5). The feature is that a third drive device (43) is provided on a pivotable holding device (23), the third drive device being connected to a slide groove (41) movably provided on the saddle trailer side insertion unit (40), the saddle trailer side insertion unit being fixed in the holding device (23), the slide groove (41) forming the guide mechanism (5) on the side of the saddle trailer (200), and the delivered tractor side insertion unit (30) being configured to be inserted into the saddle trailer side insertion unit for coupling with the saddle trailer side insertion unit (40).

5. The coupling system according to claim 4, characterized in that, A detachable claw-shaped connection (33) is provided between the first drive unit (31) and the tractor-side plug-in unit (30).

6. The coupling system according to claim 4 or 5, characterized in that, The guide mechanism (5) on the side of the tractor (100) is composed of a delivery slider (34) which is configured to be adjustable by a second drive device (32) from a rest position near the saddle plate (1) to a coupled position extending downward from the saddle plate (1).

7. The coupling system according to claim 4, 5 or 6, characterized in that, The plug-in units (30, 40) are provided with seals and / or removable covers.

8. The coupling system according to any one of claims 4 to 7, characterized in that, The drive devices (31, 32, 43) are pneumatic cylinders.

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