EP3095666A1 - Device for uncoupling an elongated screw coupling - Google Patents

Device for uncoupling an elongated screw coupling Download PDF

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Publication number
EP3095666A1
EP3095666A1 EP16166741.5A EP16166741A EP3095666A1 EP 3095666 A1 EP3095666 A1 EP 3095666A1 EP 16166741 A EP16166741 A EP 16166741A EP 3095666 A1 EP3095666 A1 EP 3095666A1
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EP
European Patent Office
Prior art keywords
end effector
screw coupling
axis
rotation
coupling
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Granted
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EP16166741.5A
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German (de)
French (fr)
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EP3095666B1 (en
Inventor
Patrick Harrer
Mathias Hattinger
Martin Pachler
Christoph Zellner
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Fh Oo Forschungs & Entwicklungs GmbH
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Fh Oo Forschungs & Entwicklungs GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61G—COUPLINGS; DRAUGHT AND BUFFING APPLIANCES
    • B61G1/00—Couplings comprising interengaging parts of different shape or form and having links, bars, pins, shackles, or hooks as coupling means
    • B61G1/22—Couplings comprising interengaging parts of different shape or form and having links, bars, pins, shackles, or hooks as coupling means having screws incorporated in the links for lengthening or shortening the couplings
    • B61G1/24—Operating devices therefor

Definitions

  • the invention relates to a device for decoupling a long screw coupling between railway vehicles, comprising means for moving this device in a direction of movement between and along railroad tracks of a railway track, with a manipulator having a lifting device and an end effector hinged to the lifting device about a rotation axis. which is height adjustable via the lifting device between a rest position and a relation to the rest position higher working position for uncoupling the extended screw coupling.
  • the invention has therefore based on an initially described device, the task to improve their reliability and yet structurally simple to uncouple long screw couplings.
  • the invention achieves this object by virtue of the fact that the end effector articulated on the lifting device about an axis of rotation running transversely to the direction of movement forms an overlay for this long screw connection which can be tilted about this axis of rotation.
  • the end effector articulated on the lifting device about an axis of rotation running transversely to the direction of movement forms a support for the long screw connection which can be tilted about this axis of rotation
  • a structurally simple and reliable device for uncoupling a screw coupling between railway vehicles can be created.
  • the support namely the movement of the screw coupling, in particular an inclined position of the arranged around the coupling pivot coupling thread, reliably follow. It is possible that the support is always aligned parallel to the axis of the coupling thread and thus ensures independent of the course of the long screw connection for a safe uncoupling.
  • a particularly reliable and structurally simple device can thus be created.
  • a long screw connection is understood to mean a screw coupling between two railway vehicles, which was screwed on in such a way before uncoupling, so that uncoupling without further screwing on of the screw coupling is possible.
  • the device can compensate for possible inclinations of the screw coupling in a particularly flexible manner and enable reliable uncoupling.
  • a particularly reliable device can be created when the axis of rotation is aligned centrally with respect to the end effector.
  • the axis of rotation is therefore arranged both in the direction of movement and transversely to the direction of movement centrally to the end effector, whereby the end effector is held unloaded in a horizontal rest position and no deflection in the vertical direction - ie no tilting - learns.
  • the reliability of the device can be further improved if the lifting device has a vertical lifting axis along which the end effector is height adjustable.
  • a vertical stroke for uncoupling the screw coupling can be generated - without lateral displacement of the end effector relative to the screw coupling.
  • the lifting device has at least two stroke limbs adjoining one another in the direction of movement, between which the end effector can be adjusted in height as a function of the spread angle of the two stroke limbs, a structurally simple device can be created.
  • the lifting limbs are guided individually on the device for moving the device, in order to enable a powerful lifting of the end effector in the event of a counter-collision movement of the lifting limbs.
  • the end effector is plate-shaped at least in sections, then a plane parallel to the course of the coupling thread of the screw coupling can be used Edition are created, which allows an increased contact surface of the coupling thread of the screw coupling. In this way, in particular unwanted tilting can be avoided, whereby the device can be operated reliably.
  • the end effector has a web and in each case at least one limb protruding at an obtuse angle from the web, a support for the yoke and / or the lug of the screw coupling, which in each case overlap with the coupling thread, can be provided in addition to an increased bearing surface for the coupling thread of the screw coupling a joint are created.
  • Tab and / or bracket can be performed during the stroke for disengaging the screw on the legs in a fixed predetermined angle to the coupling thread. A particularly advantageous for decoupling movement of the bracket is reached.
  • a device with a particularly compact ausgestaltetem end effector can be created when the end effector has a recess for receiving the coupling pivot of the screw coupling.
  • a vertically suspended due to gravity coupling pivot can thus protrude through the end effector, with a flat contact of the coupling thread can be ensured at the end effector.
  • a particularly effective power transmission from the end effector to the screw coupling is thus achievable.
  • the recess extends along the end effector, insertion of the coupling stem into the recess of the end effector during the decoupling of the screw coupling can be made more reliable. An unwanted sitting on of the coupling swivel on the end effector and thus tilting the same can be steadily avoided.
  • the device can also follow variable clutch thread lengths. A more reliable device can be created in this way.
  • a support for the tab and the bracket of the screw coupling can be created despite recess for the coupling thread, if at least one end face of the end effector two spaced apart legs are provided to form the recess between them.
  • a stable stroke of the screw coupling is achievable in this way - whereby a more reliable device can be created.
  • the length of the lifting legs can be chosen such that the leverage is maximum during uncoupling of the screw coupling. This can be achieved in particular by the length of the Hubschenkel corresponds approximately to the final height of the vertically deflected when uncoupling screw coupling.
  • a particularly compact device can be provided if the device with the end effector in the rest position is designed to extend outside the light space of a railway vehicle.
  • the device may be designed such that it is completely provided within a railroad track and does not extend in its rest position in the clearance of the running on the track railway vehicles.
  • the device can be mounted in a simple manner subsequently without special structural measures on the track in this, resulting in advantageous mounting conditions.
  • the device has a controller and sensors connected to the controller for determining the position of the screw coupling, the device can automatically detect the position of the screw coupling between two railway vehicles and uncouple them. Due to the control and the associated sensors, it is therefore possible, the device exactly centered under the Position the screw coupling to ensure a reproducible and error-free stroke of the end effector.
  • the sensors provided in the device for determining the position of the screw coupling are suitable both between moving rail vehicles and between stationary rail vehicles.
  • sensors have a TOF camera and / or a light section detector, a particularly stable and reliable control for detecting the position of the screw coupling can be created.
  • the device according to the invention may be particularly distinguished when it is arranged on a railway track, with a linear guide provided between the railroad rails and with a device displaceably mounted on the linear guide.
  • a device 1 for uncoupling a long screw coupling 2 between railway vehicles 3 is shown (see also Fig. 2 ).
  • the device 1 has a device 4 for moving it, the direction of movement 13 extending between and along the railroad tracks 5 of a railway track 6. It can be seen further that the device is arranged on the sleepers 7 in the exemplary embodiment.
  • the device 1 has a manipulator 8 with a lifting device 9 and with an end-effector 11 articulated on the lifting device 9 about a rotation axis 10.
  • the end effector 11 can thereby via the lifting device 9 from a rest position (in Fig. 3 recognizable) into a working position (in Fig. 2 recognizable) raised - and lowered again - so is adjustable in height.
  • the end effector 11 is in contact with the extended screw coupling 2 in order to decouple it.
  • the end effector which is articulated about an axis of rotation 10 extending transversely to the direction of movement 13, forms a support 12 which can be tilted about this axis of rotation 10.
  • the screw coupling 2 can advantageously rest on the end effector 11 for uncoupling - on the support 12 for the long screw connection 2.
  • the end effector 11 is also freely rotatable about the axis of rotation 10, whereby this can adapt flexibly to the position of the screw coupling 2 to ensure a uniform contact with the support 12 - or to allow a safe lifting of the screw 2.
  • the course of the rotation axis 10 is parallel to the plane of the railroad tracks 5 and transverse to the direction of movement 13 of the device 1.
  • the end effector 11 by means of its lifting device 9 along a vertical lifting axis 14 can be adjusted in height.
  • the height adjustment is achieved via in the direction of movement 13 adjoining Hubschenkel 15, each including a spread angle 16.
  • the end effector 11 can be raised or lowered.
  • the axis of rotation 10 of the end effector 11 is arranged at the pivot point of the Hubschenkel 15.
  • the individual lifting legs 15 can be moved independently of one another on the moving device 4 by means of drive devices 17 not shown in detail, and in this way produce both a resulting overall movement of the device 1 and a convergence or disengagement of the lifting legs 15.
  • Fig. 4 shows a detail of the Fig. 1 It can be seen that the end effector 11 has a plate-shaped web 18 in the region of the support 12. The front side each include two legs 19 at an obtuse angle.
  • the plate-shaped web 18, which forms the support 12, also has a recess 20 which extends along the end effector 11 and forms a receptacle for the coupling pivot 21 of the screw coupling 2.
  • Fig. 2 can be seen how the screw coupling 2 rests on the end effector 11 and the coupling pivot 21 protrudes through the recess 20 in the web 18.
  • Fig. 4 is further shown that the two legs 19 are provided on each side of the web 18 spaced from each other to provide at the front and rear ends of the end effector 11 recesses 22 for the coupling thread 23 of the screw coupling 2.
  • the projecting at an obtuse angle from the web 18 legs 19 in turn form bearing surfaces for the bracket 24 and the tab 25 of the screw coupling 2 from.
  • a lifting of the end effector 11 thus leads to a rotation of the screw coupling 2 to the tow hook 27.
  • the rotatably mounted end effector 11, however, can follow any inclination of the screw coupling 2 - the pads formed by the legs 19 allow a targeted guiding of the bracket 24 in order to be able to unmount them stably from the towing hook 26 and to decouple the screw coupling.
  • Fig. 3 the device 1 is shown in the fully retracted state.
  • the device 1 is designed in such a way that it does not extend into the light space 28 of the railway vehicle 3, in particular with its end effector 11. It can therefore be moved freely under the railway vehicles 3 between the railroad tracks 5.
  • An extremely compact device 1 can be created, which is also providable without any special construction effort on a track 6.
  • the device also has sensors 29 which are connected to a controller 30 and designed to determine the position of the screw coupling 2.
  • the sensors 29 can have both a TOF camera 31 and a light section detector 32.
  • the controller 30 controls the device 1 in such a way that, based on the measured values recorded by the sensors 29, the end effector 11 can be positioned exactly centered below the screw coupling 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Es wird eine Vorrichtung zum Entkuppeln einer langgemachten Schraubenkupplung (2) zwischen Eisenbahnfahrzeugen (3) gezeigt, mit einer Einrichtung (4) zum Bewegen dieser Vorrichtung (1) in einer Bewegungsrichtung (13) zwischen und entlang von Eisenbahnschienen (5) eines Bahngleises (6), mit einem Manipulator (8), der eine Hubeinrichtung (9) und einen an der Hubeinrichtung (9) um eine Drehachse (10) angelenkten Endeffektor (11) aufweist, der über die Hubeinrichtung (9) zwischen einer Ruhelage und einer gegenüber der Ruhelage höherliegenden Arbeitslage zum Entkuppeln der langgemachten Schraubenkupplung (2) höhenverstellbar ist. Um diese besonders einfach, aber dennoch sicher in der Bedienung zu gestalten, wird vorgeschlagen, dass der, an der Hubeinrichtung (9) um eine quer zu der Bewegungsrichtung (13) verlaufende Drehachse (10) angelenkte Endeffektor (11) eine um diese Drehachse (10) kippbare Auflage (12) für die langgemachte Schraubenkupplung (2) ausbildet.A device for uncoupling a long screw coupling (2) between railway vehicles (3) is shown, with a device (4) for moving this device (1) in a direction of movement (13) between and along railroad tracks (5) of a railway track (6 ), comprising a manipulator (8), which has a lifting device (9) and an end effector (11) articulated on the lifting device (9) about an axis of rotation (10), which via the lifting device (9) between a rest position and one opposite to the Rest position higher working position for uncoupling the long screw connection (2) is height adjustable. To make this particularly simple, but nevertheless safe to operate, it is proposed that the end effector (11) hinged to the lifting device (9) about a rotational axis (10) running transversely to the direction of movement (13) extends around this axis of rotation (FIG. 10) tiltable support (12) for the long screw coupling (2) is formed.

Description

Die Erfindung betrifft eine Vorrichtung zum Entkuppeln einer langgemachten Schraubenkupplung zwischen Eisenbahnfahrzeugen, mit einer Einrichtung zum Bewegen dieser Vorrichtung in einer Bewegungsrichtung zwischen und entlang von Eisenbahnschienen eines Bahngleises, mit einem Manipulator, der eine Hubeinrichtung und einen an der Hubeinrichtung um eine Drehachse angelenkten Endeffektor aufweist, der über die Hubeinrichtung zwischen einer Ruhelage und einer gegenüber der Ruhelage höherliegenden Arbeitslage zum Entkuppeln der langgemachten Schraubenkupplung höhenverstellbar ist.The invention relates to a device for decoupling a long screw coupling between railway vehicles, comprising means for moving this device in a direction of movement between and along railroad tracks of a railway track, with a manipulator having a lifting device and an end effector hinged to the lifting device about a rotation axis. which is height adjustable via the lifting device between a rest position and a relation to the rest position higher working position for uncoupling the extended screw coupling.

Aus dem Stand der Technik ( DE 33 44 979 A1 , DE 38 19 388 A1 ) sind Vorrichtungen zum Entkuppeln von Schraubenkupplungen zwischen Eisenbahnfahrzeugen bekannt, die sowohl über eine Einrichtung zum Bewegen zwischen den Eisenbahnschienen eines Bahngleises als auch über einen Manipulator zum Entkuppeln der Schraubenkupplung verfügen. Zu diesem Entkuppeln ist dem Manipulator ein Endeffektor zugeordnet, der an einer als Roboterarm ausgeführten Hubeinrichtung drehbar gelagert ist. Mit Hilfe des Scherenhubtischs kann der Endeffektor von einer Ruhelage in eine gegenüber der Ruhelage höherliegenden Arbeitslage verlagert werden - wobei in letzterer Lage der Endeffektor die langgemachte Schraubenkupplung anhebt und entkuppelt. Nachteilig ist solch eine Vorrichtung jedoch vergleichsweise komplex aufgebaut und bedarf einer exakten Sensorik/Steuerung, um bei unterschiedlichen Positionen und Lagen der Schraubenkupplung gegenüber der Vorrichtung ein standfestes Entkuppeln sicherstellen zu können.From the prior art ( DE 33 44 979 A1 . DE 38 19 388 A1 ) devices for uncoupling screw couplings between railway vehicles are known, which have both a device for moving between the railroad tracks of a railway track as well as a manipulator for uncoupling the screw coupling. For this decoupling the manipulator is associated with an end effector, which is rotatably mounted on a lifting device designed as a robot arm. With the help of the scissor lift table, the end effector can be moved from a rest position to a working position higher in relation to the rest position - in the latter position the end effector raises and decouples the elongated screw coupling. However, a disadvantage of such a device is that it has a comparatively complex design and requires exact sensor technology / control in order to be able to ensure stable decoupling at different positions and positions of the screw coupling relative to the device.

Die Erfindung hat sich daher ausgehend von einer eingangs geschilderten Vorrichtung die Aufgabe gestellt, diese in Ihrer Zuverlässigkeit zu verbessern und dennoch konstruktiv einfach auszuführen, um langgemachte Schraubenkupplungen zu entkuppeln.The invention has therefore based on an initially described device, the task to improve their reliability and yet structurally simple to uncouple long screw couplings.

Die Erfindung löst die gestellte Aufgabe dadurch, dass der, an der Hubeinrichtung um eine quer zu der Bewegungsrichtung verlaufende Drehachse angelenkte Endeffektor eine um diese Drehachse kippbare Auflage für die langgemachte Schraubenkupplung ausbildet.The invention achieves this object by virtue of the fact that the end effector articulated on the lifting device about an axis of rotation running transversely to the direction of movement forms an overlay for this long screw connection which can be tilted about this axis of rotation.

Bildet der, an der Hubeinrichtung um eine quer zu der Bewegungsrichtung verlaufende Drehachse angelenkte Endeffektor eine um diese Drehachse kippbare Auflage für die langgemachte Schraubenkupplung aus, so kann eine konstruktiv einfache und zuverlässige Vorrichtung zum Entkuppeln einer Schraubenkupplung zwischen Eisenbahnfahrzeugen geschaffen werden. Durch eine derartige, quer zur Bewegungsrichtung angeordnete Drehachse des Endeffektors kann die Auflage nämlich der Bewegung der Schraubenkupplung, insbesondere einer Schrägstellung der um den Kupplungsschwengel angeordneten Kupplungsgewinde, zuverlässig folgen. Dabei ist es möglich, dass die Auflage stets parallel zur Achse der Kupplungsgewinde ausgerichtet bleibt und so auch unabhängig vom Verlauf der langgemachten Schraubenkupplung für ein sicheres Entkuppeln sorgt. Eine besonders zuverlässige und konstruktiv einfache Vorrichtung kann damit geschaffen werden.If the end effector articulated on the lifting device about an axis of rotation running transversely to the direction of movement forms a support for the long screw connection which can be tilted about this axis of rotation, a structurally simple and reliable device for uncoupling a screw coupling between railway vehicles can be created. By such, arranged transversely to the direction of rotation axis of the end effector, the support namely the movement of the screw coupling, in particular an inclined position of the arranged around the coupling pivot coupling thread, reliably follow. It is possible that the support is always aligned parallel to the axis of the coupling thread and thus ensures independent of the course of the long screw connection for a safe uncoupling. A particularly reliable and structurally simple device can thus be created.

Im Allgemeinen wird festgehalten, dass unter einer langgemachten Schraubenkupplung eine Schraubenkupplung zwischen zwei Eisenbahnfahrzeugen verstanden wird, die vor dem Entkuppeln derart aufgeschraubt wurde, sodass ein Entkuppeln ohne weiteres Aufschrauben der Schraubenkupplung möglich ist.In general, it is stated that a long screw connection is understood to mean a screw coupling between two railway vehicles, which was screwed on in such a way before uncoupling, so that uncoupling without further screwing on of the screw coupling is possible.

Ist die Auflage um die Drehachse frei kippbar, so kann die Vorrichtung auf besonders flexible Weise mögliche Schrägstellungen der Schraubenkupplung ausgleichen und ein sicheres Entkuppeln ermöglichen.If the support can be tilted freely about the axis of rotation, the device can compensate for possible inclinations of the screw coupling in a particularly flexible manner and enable reliable uncoupling.

Eine besonders zuverlässige Vorrichtung kann geschaffen werden, wenn die Drehachse gegenüber dem Endeffektor mittig verlaufend ausgerichtet ist. Auf diese Weise ist die Drehachse also sowohl in Bewegungsrichtung als auch quer zur Bewegungsrichtung zentral zum Endeffektor angeordnet, wodurch der Endeffektor unbelastet in einer horizontalen Ruhelage gehalten wird und keine Auslenkung in vertikaler Richtung - also keine Kippung - erfährt.A particularly reliable device can be created when the axis of rotation is aligned centrally with respect to the end effector. In this way, the axis of rotation is therefore arranged both in the direction of movement and transversely to the direction of movement centrally to the end effector, whereby the end effector is held unloaded in a horizontal rest position and no deflection in the vertical direction - ie no tilting - learns.

Verläuft die Drehachse oberhalb des Schwerpunkts des Endeffektors, kann sichergestellt werden, dass der Endeffektor im unbelasteten Zustand stets in einer geraden, zu den Eisenbahnschienen parallelen Lage ruht. Eine ungewünschte Rotation des Endeffektors kann so standfest vermieden werden - ebenso kann eine Rückstellung des Endeffektors in seine Ausgangsposition nach dem Entkuppeln der Schraubenkupplung gewährleistet werden. Eine besonders zuverlässige und in ihrer Bedienung einfache Vorrichtung kann damit geschaffen werden.Runs the axis of rotation above the center of gravity of the end effector, it can be ensured that the end effector in the unloaded state always rests in a straight, parallel to the railroad tracks position. An unwanted rotation of the end effector can be steadily avoided - as well as a provision of the end effector can be ensured in its initial position after disengaging the screw coupling. A particularly reliable and easy to operate device can thus be created.

Die Zuverlässigkeit der Vorrichtung kann weiter verbessert werden, wenn die Hubeinrichtung eine senkrecht verlaufende Hubachse aufweist, entlang welcher der Endeffektor höhenverstellbar ist. So kann ein senkrechter Hub zum Entkuppeln der Schraubenkupplung erzeugt werden - und zwar ohne laterale Verschiebung des Endeffektors gegenüber der Schraubenkupplung.The reliability of the device can be further improved if the lifting device has a vertical lifting axis along which the end effector is height adjustable. Thus, a vertical stroke for uncoupling the screw coupling can be generated - without lateral displacement of the end effector relative to the screw coupling.

Weist die Hubeinrichtung mindestens zwei in Bewegungsrichtung aneinander anschließende Hubschenkel auf, zwischen welchen der Endeffektor in Abhängigkeit des Spreizwinkels der beiden Hubschenkeln zueinander höhenverstellbar ist, so kann eine konstruktiv einfache Vorrichtung geschaffen werden. Als besonders vorteilhaft kann sich hierbei herausstellen, wenn die Hubschenkel einzeln auf der Einrichtung zur Bewegung der Vorrichtung geführt sind, um bei einer Gegeneinanderbewegung der Hubschenkel ein kraftvolles Heben des Endeffektors zu ermöglichen.If the lifting device has at least two stroke limbs adjoining one another in the direction of movement, between which the end effector can be adjusted in height as a function of the spread angle of the two stroke limbs, a structurally simple device can be created. In this case, it may turn out to be particularly advantageous if the lifting limbs are guided individually on the device for moving the device, in order to enable a powerful lifting of the end effector in the event of a counter-collision movement of the lifting limbs.

Ist der Endeffektor zumindest abschnittsweise plattenförmig ausgebildet, so kann eine ebene, zum Verlauf der Kupplungsgewinde der Schraubenkupplung parallele Auflage geschaffen werden, welche eine erhöhte Auflagefläche der Kupplungsgewinde der Schraubenkupplung ermöglicht. Auf diese Weise kann insbesondere ein unerwünschtes Verkanten vermieden werden, wodurch die Vorrichtung zuverlässiger betrieben werden kann.If the end effector is plate-shaped at least in sections, then a plane parallel to the course of the coupling thread of the screw coupling can be used Edition are created, which allows an increased contact surface of the coupling thread of the screw coupling. In this way, in particular unwanted tilting can be avoided, whereby the device can be operated reliably.

Weist der Endeffektor einen Steg und jeweils mindestens einen dem Steg stirnseitig unter einem stumpfen Winkel abstehenden Schenkel auf, kann neben einer erhöhten Auflagefläche für die Kupplungsgewinde der Schraubenkupplung auch eine Auflage für den Bügel und/oder die Lasche der Schraubenkupplung, welche mit dem Kupplungsgewinde jeweils über ein Gelenk verbunden sind, geschaffen werden. Lasche und/oder Bügel können dabei während des Hubs zum Entkuppeln der Schraubenkupplung an den Schenkeln in einem fix vorgegebenen Winkel zum Kupplungsgewinde geführt werden. Eine zum Entkuppeln besonders vorteilhafte Bewegung des Bügels ist derart erreichbar.If the end effector has a web and in each case at least one limb protruding at an obtuse angle from the web, a support for the yoke and / or the lug of the screw coupling, which in each case overlap with the coupling thread, can be provided in addition to an increased bearing surface for the coupling thread of the screw coupling a joint are created. Tab and / or bracket can be performed during the stroke for disengaging the screw on the legs in a fixed predetermined angle to the coupling thread. A particularly advantageous for decoupling movement of the bracket is reached.

Eine Vorrichtung mit besonders kompakt ausgestaltetem Endeffektor kann geschaffen werden, wenn der Endeffektor eine Ausnehmung zur Aufnahme des Kupplungsschwengels der Schraubenkupplung aufweist. Ein aufgrund der Schwerkraft senkrecht nach unten hängender Kupplungsschwengel kann somit durch den Endeffektor durchragen, wobei ein flächiges Aufliegen der Kupplungsgewinde am Endeffektor gewährleistet werden kann. Eine besonders effektive Kraftübertragung vom Endeffektor auf die Schraubenkupplung ist somit erreichbar. Verläuft die Ausnehmung zudem längs des Endeffektors, so kann das Einführen des Kupplungsschwengels in die Ausnehmung des Endeffektors während des Hubs zum Entkuppeln der Schraubenkupplung zuverlässiger gestaltet werden. Ein ungewünschtes Aufsitzen des Kupplungsschwengels am Endeffektor und damit ein Verkanten desselben können so standfest vermieden werden.A device with a particularly compact ausgestaltetem end effector can be created when the end effector has a recess for receiving the coupling pivot of the screw coupling. A vertically suspended due to gravity coupling pivot can thus protrude through the end effector, with a flat contact of the coupling thread can be ensured at the end effector. A particularly effective power transmission from the end effector to the screw coupling is thus achievable. Moreover, if the recess extends along the end effector, insertion of the coupling stem into the recess of the end effector during the decoupling of the screw coupling can be made more reliable. An unwanted sitting on of the coupling swivel on the end effector and thus tilting the same can be steadily avoided.

Weist der Endeffektor an seiner vorderen und/oder hinteren Stirnseite eine Ausnehmung für das Kupplungsgewinde der Schraubenkupplung auf, so kann die Vorrichtung auch veränderlichen Kupplungsgewindelängen folgen. Eine zuverlässigere Vorrichtung kann derart geschaffen werden.If the end effector has a recess for the coupling thread of the screw coupling on its front and / or rear end face, the device can also follow variable clutch thread lengths. A more reliable device can be created in this way.

Eine Auflage für die Lasche und den Bügel der Schraubenkupplung kann trotz Ausnehmung für das Kupplungsgewinde geschaffen werden, wenn an zumindest einer Stirnseite des Endeffektors zwei voneinander beabstandete Schenkel vorgesehen sind, um zwischen diesen die Ausnehmung auszubilden. Ein standfester Hub der Schraubenkupplung ist auf diese Weise erreichbar - wodurch eine zuverlässigere Vorrichtung geschaffen werden kann.A support for the tab and the bracket of the screw coupling can be created despite recess for the coupling thread, if at least one end face of the end effector two spaced apart legs are provided to form the recess between them. A stable stroke of the screw coupling is achievable in this way - whereby a more reliable device can be created.

Im Allgemeinen wird festgehalten, dass die Länge der Hubschenkel derart gewählt werden kann, dass die Hebelwirkung während des Entkuppelns der Schraubenkupplung maximal ist. Dies kann insbesondere erreicht werden, indem die Länge der Hubschenkel in etwa der Endhöhe der beim Entkuppeln vertikal ausgelenkten Schraubenkupplung entspricht.In general, it is noted that the length of the lifting legs can be chosen such that the leverage is maximum during uncoupling of the screw coupling. This can be achieved in particular by the length of the Hubschenkel corresponds approximately to the final height of the vertically deflected when uncoupling screw coupling.

Eine besonders kompakte Vorrichtung kann geschaffen werden, wenn die Vorrichtung mit dem Endeffektor in Ruhelage sich außerhalb des Lichtraums eines Eisenbahnfahrzeugs erstreckend ausgebildet ist. Insbesondere kann die Vorrichtung dabei derart ausgestaltet sein, dass diese vollständig innerhalb eines Eisenbahngleises vorgesehen wird und sich in ihrer Ruhelage nicht in den Lichtraum der auf dem Gleis verkehrenden Eisenbahnfahrzeuge erstreckt. So kann die Vorrichtung etwa auf einfache Weise nachträglich ohne besondere bauliche Maßnahmen am Gleis in diesem montiert werden, wodurch sich vorteilhafte Montageverhältnisse ergeben.A particularly compact device can be provided if the device with the end effector in the rest position is designed to extend outside the light space of a railway vehicle. In particular, the device may be designed such that it is completely provided within a railroad track and does not extend in its rest position in the clearance of the running on the track railway vehicles. Thus, the device can be mounted in a simple manner subsequently without special structural measures on the track in this, resulting in advantageous mounting conditions.

Weist die Vorrichtung eine Steuerung und mit der Steuerung verbundene Sensoren zur Bestimmung der Position der Schraubenkupplung auf, kann die Vorrichtung automatisiert die Position der Schraubenkupplung zwischen zwei Eisenbahnfahrzeugen erkennen und diese Entkuppeln. Durch die Steuerung und die damit verbundenen Sensoren ist es demnach möglich, die Vorrichtung genau mittig unter der Schraubenkupplung zu positionieren, um einen reproduzierbaren und fehlerfreien Hub des Endeffektors zu gewährleisten.If the device has a controller and sensors connected to the controller for determining the position of the screw coupling, the device can automatically detect the position of the screw coupling between two railway vehicles and uncouple them. Due to the control and the associated sensors, it is therefore possible, the device exactly centered under the Position the screw coupling to ensure a reproducible and error-free stroke of the end effector.

Im Allgemeinen wird festgehalten, dass die in der Vorrichtung vorgesehenen Sensoren zur Positionsbestimmung der Schraubenkupplung sowohl zwischen bewegten Schienenfahrzeugen als auch zwischen ruhenden Schienenfahrzeugen geeignet sind.In general, it is noted that the sensors provided in the device for determining the position of the screw coupling are suitable both between moving rail vehicles and between stationary rail vehicles.

Weisen Sensoren dabei eine TOF-Kamera und/oder einen Lichtschnittdetektor auf, kann eine besonders standfeste und zuverlässige Regelung zur Detektion der Position der Schraubenkupplung geschaffen werden.If sensors have a TOF camera and / or a light section detector, a particularly stable and reliable control for detecting the position of the screw coupling can be created.

Die erfindungsgemäße Vorrichtung kann sich besonders auszeichnen, wenn diese an einem Bahngleis, mit einer zwischen den Eisenbahnschienen vorgesehenen Linearführung und mit einer auf der Linearführung verschiebbar gelagerten Vorrichtung angeordnet ist.The device according to the invention may be particularly distinguished when it is arranged on a railway track, with a linear guide provided between the railroad rails and with a device displaceably mounted on the linear guide.

In den Figuren ist beispielsweise der Erfindungsgegenstand anhand einer Ausführungsvariante näher dargestellt. Es zeigen

  • Fig. 1 eine axonometrische Ansicht auf die erfindungsgemäße Vorrichtung,
  • Fig. 2 eine Seitenansicht auf die Vorrichtung in ausgefahrenem Zustand mit Schraubenkupplung,
  • Fig. 3 eine Seitenansicht auf die Vorrichtung in eingefahrenem Zustand und
  • Fig. 4 einen Detailausschnitt aus der Ansicht in Fig. 1.
In the figures, for example, the subject invention is illustrated in more detail with reference to a variant embodiment. Show it
  • Fig. 1 an axonometric view of the device according to the invention,
  • Fig. 2 a side view of the device in the extended state with screw coupling,
  • Fig. 3 a side view of the device in the retracted state and
  • Fig. 4 a detail from the view in Fig. 1 ,

Nach Fig. 1 ist eine Vorrichtung 1 zum Entkuppeln einer langgemachten Schraubenkupplung 2 zwischen Eisenbahnfahrzeugen 3 gezeigt (siehe hierzu auch Fig. 2). Die Vorrichtung 1 weist eine Einrichtung 4 zu deren Bewegen auf, wobei die Bewegungsrichtung 13 zwischen und entlang der Eisenbahnschienen 5 eines Bahngleises 6 verläuft. Erkennbar ist weiter, dass die Vorrichtung im Ausführungsbeispiel auf den Schwellen 7 angeordnet ist.To Fig. 1 a device 1 for uncoupling a long screw coupling 2 between railway vehicles 3 is shown (see also Fig. 2 ). The device 1 has a device 4 for moving it, the direction of movement 13 extending between and along the railroad tracks 5 of a railway track 6. It can be seen further that the device is arranged on the sleepers 7 in the exemplary embodiment.

Die Vorrichtung 1 weist einen Manipulator 8 mit einer Hubeinrichtung 9 und mit einem um eine Drehachse 10 an der Hubeinrichtung 9 angelenkten Endeffektor 11 auf. Der Endeffektor 11 kann dabei über die Hubeinrichtung 9 von einer Ruhelage (in Fig. 3 erkennbar) in eine Arbeitslage (in Fig. 2 erkennbar) angehoben - und wieder gesenkt - werden, ist also höhenverstellbar. In der Arbeitslage ist der Endeffektor 11 in Kontakt mit der langgemachten Schraubenkupplung 2, um diese zu entkuppeln. Erfindungsgemäß bildet hierzu der Endeffektor, welcher um eine quer zu der Bewegungsrichtung 13 verlaufende Drehachse 10 angelenkt ist, eine um diese Drehachse 10 kippbare Auflage 12 aus. Die Schraubenkupplung 2 kann dabei zum Entkuppeln vorteilhaft auf dem Endeffektor 11 aufliegen - und zwar auf der Auflage 12 für die langgemachte Schraubenkupplung 2.The device 1 has a manipulator 8 with a lifting device 9 and with an end-effector 11 articulated on the lifting device 9 about a rotation axis 10. The end effector 11 can thereby via the lifting device 9 from a rest position (in Fig. 3 recognizable) into a working position (in Fig. 2 recognizable) raised - and lowered again - so is adjustable in height. In the working position, the end effector 11 is in contact with the extended screw coupling 2 in order to decouple it. According to the invention, the end effector, which is articulated about an axis of rotation 10 extending transversely to the direction of movement 13, forms a support 12 which can be tilted about this axis of rotation 10. The screw coupling 2 can advantageously rest on the end effector 11 for uncoupling - on the support 12 for the long screw connection 2.

Der Endeffektor 11 ist zudem frei um die Drehachse 10 drehbar, wodurch sich dieser flexibel an die Lage der Schraubenkupplung 2 angleichen kann, um ein gleichmäßiges Aufliegen an der Auflage 12 sicherzustellen - bzw. in weiterer Folge auch ein sicheres Heben der Schraubenkupplung 2 zu ermöglichen. Der Verlauf der Drehachse 10 ist parallel zur Ebene der Eisenbahnschienen 5 und quer zur Bewegungsrichtung 13 der Vorrichtung 1.The end effector 11 is also freely rotatable about the axis of rotation 10, whereby this can adapt flexibly to the position of the screw coupling 2 to ensure a uniform contact with the support 12 - or to allow a safe lifting of the screw 2. The course of the rotation axis 10 is parallel to the plane of the railroad tracks 5 and transverse to the direction of movement 13 of the device 1.

In Fig. 2 und Fig. 3 ist zudem erkennbar, dass die Drehachse 10 in Bewegungsrichtung 13 mittig zum Endeffektor 11 und in vertikaler Richtung oberhalb des Schwerpunkts des Endeffektors 11 verläuft. Dadurch kann erreicht werden, dass der frei drehbare Endeffektor 11 im unbelasteten Zustand selbstständig eine horizontale Lage einnimmt - jedoch bei Kontakt mit der Schraubenkupplung 2 einen beliebigen Kippwinkel annehmen kann.In Fig. 2 and Fig. 3 It can also be seen that the axis of rotation 10 in the direction of movement 13 extends centrally to the end effector 11 and in the vertical direction above the center of gravity of the end effector 11. As a result, it can be achieved that the freely rotatable end effector 11 automatically assumes a horizontal position in the unloaded state - however, it can assume an arbitrary tilt angle when in contact with the screw coupling 2.

Wie in Fig. 2 gezeigt, kann der Endeffektor 11 mithilfe seiner Hubeinrichtung 9 entlang einer senkrechten Hubachse 14 höhenverstellt werden. Die Höhenverstellung wird dabei über in Bewegungsrichtung 13 aneinander anschließende Hubschenkel 15 erreicht, die jeweils einen Spreizwinkel 16 einschließen. Durch Änderung des Spreizwinkels 16 kann der Endeffektor 11 gehoben bzw. gesenkt werden. Die Drehachse 10 des Endeffektors 11 ist dabei im Drehpunkt der Hubschenkel 15 angeordnet. Die einzelnen Hubschenkel 15 können über nicht näher dargestellte Antriebsvorrichtungen 17 unabhängig voneinander auf der Bewegungseinrichtung 4 bewegt werden und auf diese Weise sowohl eine resultierende Gesamtbewegung der Vorrichtung 1 erzeugen, als auch eine Zusammen- bzw. Auseinanderbewegung der Hubschenkel 15 erreichen.As in Fig. 2 shown, the end effector 11 by means of its lifting device 9 along a vertical lifting axis 14 can be adjusted in height. The height adjustment is achieved via in the direction of movement 13 adjoining Hubschenkel 15, each including a spread angle 16. By changing the Spreizwinkels 16, the end effector 11 can be raised or lowered. The axis of rotation 10 of the end effector 11 is arranged at the pivot point of the Hubschenkel 15. The individual lifting legs 15 can be moved independently of one another on the moving device 4 by means of drive devices 17 not shown in detail, and in this way produce both a resulting overall movement of the device 1 and a convergence or disengagement of the lifting legs 15.

Fig. 4 zeigt einen Detailausschnitt der Fig. 1 auf den erfindungsgemäßen Endeffektor 11. Dabei kann erkannt werden, dass der Endeffektor 11 im Bereich der Auflage 12 einen plattenförmige Steg 18 aufweist. Stirnseitig schließen jeweils unter einem stumpfen Winkel zwei Schenkel 19 an. Der plattenförmige Steg 18, welcher die Auflage 12 ausbildet, weist zudem eine Ausnehmung 20 auf, welche längs des Endeffektors 11 verläuft und eine Aufnahme für den Kupplungsschwengel 21 der Schraubenkupplung 2 ausbildet. In Fig. 2 ist erkennbar, wie die Schraubenkupplung 2 am Endeffektor 11 aufliegt und der Kupplungsschwengel 21 dabei durch die Ausnehmung 20 im Steg 18 ragt. Fig. 4 shows a detail of the Fig. 1 It can be seen that the end effector 11 has a plate-shaped web 18 in the region of the support 12. The front side each include two legs 19 at an obtuse angle. The plate-shaped web 18, which forms the support 12, also has a recess 20 which extends along the end effector 11 and forms a receptacle for the coupling pivot 21 of the screw coupling 2. In Fig. 2 can be seen how the screw coupling 2 rests on the end effector 11 and the coupling pivot 21 protrudes through the recess 20 in the web 18.

In Fig. 4 ist weiter gezeigt, dass die beiden Schenkel 19 zu jeder Seite des Stegs 18 voneinander beabstandet vorgesehen sind, um am vorderen und hinteren Stirnende des Endeffektors 11 Ausnehmungen 22 für die Kupplungsgewinde 23 der Schraubenkupplung 2 zu schaffen. Die im stumpfen Winkel vom Steg 18 abstehenden Schenkel 19 wiederum bilden Auflageflächen für den Bügel 24 und die Lasche 25 der Schraubenkupplung 2 aus. Beim Anheben des Endeffektors 11 entlang der Hubachse 14 wird dabei die an der Auflage 12 des Endeffektors 11 aufliegende Schraubenkupplung 2 mit diesem besonders sicher nach oben geführt um den Bügel 24 aus dem Zughaken 26 herauszuführen. Die Schraubenkupplung 2 ist dabei über die Lasche 25 an einem Zughaken 27 eines zweiten Eisenbahnfahrzeugs 3 drehbar angelenkt. Ein Anheben des Endeffektors 11 führt demnach zu einer Drehung der Schraubenkupplung 2 um den Zughaken 27. Der drehbar gelagerte Endeffektor 11 kann dabei jedoch jeder Schrägstellung der Schraubenkupplung 2 folgen - die durch die Schenkel 19 ausgebildeten Auflagen ermöglichen ein gezieltes Führen des Bügels 24, um diesen standfest aus dem Zughaken 26 aushängen zu können und die Schraubenkupplung zu entkuppeln.In Fig. 4 is further shown that the two legs 19 are provided on each side of the web 18 spaced from each other to provide at the front and rear ends of the end effector 11 recesses 22 for the coupling thread 23 of the screw coupling 2. The projecting at an obtuse angle from the web 18 legs 19 in turn form bearing surfaces for the bracket 24 and the tab 25 of the screw coupling 2 from. When lifting the end effector 11 along the lifting axis 14 while resting on the support 12 of the end effector 11 screw 2 is guided with this particularly safe upwards to bring out the bracket 24 from the tow hook 26. The screw coupling 2 is articulated via the tab 25 on a draw hook 27 of a second railway vehicle 3 rotatably. A lifting of the end effector 11 thus leads to a rotation of the screw coupling 2 to the tow hook 27. The rotatably mounted end effector 11, however, can follow any inclination of the screw coupling 2 - the pads formed by the legs 19 allow a targeted guiding of the bracket 24 in order to be able to unmount them stably from the towing hook 26 and to decouple the screw coupling.

In Fig. 3 ist die Vorrichtung 1 im vollständig eingefahrenen Zustand gezeigt. Es kann dabei jedoch erkannt werden, dass die Vorrichtung 1 derart ausgestaltet ist, dass sich diese, insbesondere mit deren Endeffektor 11, nicht in den Lichtraum 28 des Eisenbahnfahrzeugs 3 erstreckt. Sie kann demnach unter den Eisenbahnfahrzeugen 3 zwischen den Eisenbahnschienen 5 ungehindert bewegt werden. Eine äußerst kompakte Vorrichtung 1 kann dabei geschaffen werden, die zudem ohne besonderen baulichen Aufwand nachträglich an einem Gleis 6 vorsehbar ist.In Fig. 3 the device 1 is shown in the fully retracted state. However, it can be recognized that the device 1 is designed in such a way that it does not extend into the light space 28 of the railway vehicle 3, in particular with its end effector 11. It can therefore be moved freely under the railway vehicles 3 between the railroad tracks 5. An extremely compact device 1 can be created, which is also providable without any special construction effort on a track 6.

Wie in Fig. 1 angedeutet, weist die Vorrichtung zudem Sensoren 29 auf, welche mit einer Steuerung 30 verbunden und zur Bestimmung der Position der Schraubenkupplung 2 ausgebildet sind. Die Sensoren 29 können dabei sowohl eine TOF-Kamera 31, als auch einen Lichtschnittdetektor 32 aufweisen. Die Steuerung 30 steuert dabei die Vorrichtung 1 derart, dass auf Basis der von den Sensoren 29 aufgezeichneten Messwerte, der Endeffektor 11 exakt zentriert unterhalb der Schraubenkupplung 2 positioniert werden kann.As in Fig. 1 indicated, the device also has sensors 29 which are connected to a controller 30 and designed to determine the position of the screw coupling 2. The sensors 29 can have both a TOF camera 31 and a light section detector 32. The controller 30 controls the device 1 in such a way that, based on the measured values recorded by the sensors 29, the end effector 11 can be positioned exactly centered below the screw coupling 2.

Claims (15)

Vorrichtung zum Entkuppeln einer langgemachten Schraubenkupplung (2) zwischen Eisenbahnfahrzeugen (3), mit einer Einrichtung (4) zum Bewegen dieser Vorrichtung (1) in einer Bewegungsrichtung (13) zwischen und entlang von Eisenbahnschienen (5) eines Bahngleises (6), mit einem Manipulator (8), der eine Hubeinrichtung (9) und einen an der Hubeinrichtung (9) um eine Drehachse (10) angelenkten Endeffektor (11) aufweist, der über die Hubeinrichtung (9) zwischen einer Ruhelage und einer gegenüber der Ruhelage höherliegenden Arbeitslage zum Entkuppeln der langgemachten Schraubenkupplung (2) höhenverstellbar ist, dadurch gekennzeichnet, dass der, an der Hubeinrichtung (9) um eine quer zu der Bewegungsrichtung (13) verlaufende Drehachse (10) angelenkte Endeffektor (11) eine um diese Drehachse (10) kippbare Auflage (12) für die langgemachte Schraubenkupplung (2) ausbildet.Apparatus for uncoupling a long screw coupling (2) between railway vehicles (3), comprising means (4) for moving said apparatus (1) in a direction of movement (13) between and along railroad tracks (5) of a railway track (6), having one Manipulator (8) having a lifting device (9) and an on the lifting device (9) about an axis of rotation (10) hinged end effector (11) via the lifting device (9) between a rest position and a relation to the rest position higher working position Decoupling of the elongated screw coupling (2) is height-adjustable, characterized in that , on the lifting device (9) about a transverse to the direction of movement (13) extending axis of rotation (10) hinged end effector (11) about this axis of rotation (10) tiltable support (12) for the long screw coupling (2) is formed. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Auflage (12) um die Drehachse (10) frei kippbar ist.Apparatus according to claim 1, characterized in that the support (12) about the axis of rotation (10) is tilted freely. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Drehachse (10) gegenüber den Endeffektor (11) mittig verlaufend ausgerichtet ist.Apparatus according to claim 1 or 2, characterized in that the axis of rotation (10) relative to the end effector (11) is aligned centrally. Vorrichtung nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, dass die Drehachse (10) oberhalb des Schwerpunkts des Endeffektors (11) verläuft.Device according to claim 1, 2 or 3, characterized in that the axis of rotation (10) extends above the center of gravity of the end effector (11). Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Hubeinrichtung (9) eine senkrecht verlaufende Hubachse (14) aufweist, entlang welcher der Endeffektor (11) höhenverstellbar ist.Device according to one of claims 1 to 4, characterized in that the lifting device (9) has a vertically extending lifting axis (14), along which the end effector (11) is height adjustable. Vorrichtung nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Hubeinrichtung (9) mindestens zwei in Bewegungsrichtung (13) aneinander anschließende Hubschenkel (15) aufweist, zwischen welchen der Endeffektor (11) in Abhängigkeit des Spreizwinkels (16) der beiden Hubschenkeln (15) zueinander höhenverstellbar ist.Device according to one of claims 1 to 5, characterized in that the lifting device (9) at least two in the direction of movement (13) to each other subsequent Hubschenkel (15), between which the end effector (11) in dependence of the spread angle (16) of the two Hubschenkeln (15) is mutually height adjustable. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass der Endeffektor (11) zumindest abschnittsweise plattenförmig ausgebildet ist.Device according to one of claims 1 to 6, characterized in that the end effector (11) is at least partially formed plate-shaped. Vorrichtung nach Anspruch 1 bis 7, dadurch gekennzeichnet, dass der Endeffektor (11) einen Steg (18) und mindestens einen dem Steg (18) stirnseitig unter einem stumpfen Winkel abstehenden Schenkel (19) aufweist.Apparatus according to claim 1 to 7, characterized in that the end effector (11) has a web (18) and at least one of the web (18) frontally protruding at an obtuse angle leg (19). Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass der Endeffektor (11) eine, insbesondere längs des Endeffektors (11) verlaufende, Ausnehmung (20) zur Aufnahme des Kupplungsschwengels (21) der Schraubenkupplung (2) aufweist.Device according to one of claims 1 to 8, characterized in that the end effector (11) has a, in particular along the end effector (11) extending recess (20) for receiving the coupling pivot (21) of the screw coupling (2). Vorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass der Endeffektor (11) an seiner vorderen und/oder hinteren Stirnseite eine Ausnehmung (22) für das Kupplungsgewinde (23) der Schraubenkupplung (2) aufweist.Device according to one of claims 1 to 9, characterized in that the end effector (11) has at its front and / or rear end side a recess (22) for the coupling thread (23) of the screw coupling (2). Vorrichtung nach Anspruch 10, dadurch gekennzeichnet, dass an zumindest einer Stirnseite des Endeffektors (11) zwei voneinander beabstandete Schenkel (19) vorgesehen sind, um zwischen diesen die Ausnehmung (22) auszubilden.Apparatus according to claim 10, characterized in that at least one end face of the end effector (11) has two spaced apart legs (19) are provided to form between these the recess (22). Vorrichtung nach einem der Ansprüche 1 bis 11, dadurch gekennzeichnet, dass die Vorrichtung (1) mit dem Endeffektor (11) in der Ruhelage sich außerhalb des Lichtraums (28) eines Eisenbahnfahrzeugs (3) erstreckend ausgebildet ist.Device according to one of claims 1 to 11, characterized in that the device (1) with the end effector (11) in the rest position is formed outside of the light space (28) of a railway vehicle (3) extending. Vorrichtung nach einem der Ansprüche 1 bis 12, dadurch gekennzeichnet, dass die Vorrichtung (1) eine Steuerung (30) und mit der Steuerung (30) verbundene Sensoren (29) zur Bestimmung der Position der Schraubenkupplung (2) aufweist.Device according to one of claims 1 to 12, characterized in that the device (1) has a controller (30) and connected to the controller (30) sensors (29) for determining the position of the screw coupling (2). Vorrichtung nach Anspruch 13, dadurch gekennzeichnet, dass Sensoren (29) eine TOF-Kamera (31) und/oder einen Lichtschnittdetektor (32) aufweisen.Apparatus according to claim 13, characterized in that sensors (29) have a TOF camera (31) and / or a light section detector (32). Anordnung an einem Bahngleis (6), mit einer auf den Schwellen (7) des Bahngleises (6) zwischen den Eisenbahnschienen (5) vorgesehenen Linearführung (33) und mit einer auf der Linearführung (33) verschiebbar gelagerten Vorrichtung (1) nach einem der Ansprüche 1 bis 14.Arrangement on a railroad track (6), with a linear guide (33) provided on the sleepers (7) of the railway track (6) between the railroad rails (5) and with a device (1) displaceably mounted on the linear guide (33) according to one of the Claims 1 to 14.
EP16166741.5A 2015-05-13 2016-04-22 Device for uncoupling an elongated screw coupling Not-in-force EP3095666B1 (en)

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DE102022125105A1 (en) 2022-09-29 2024-04-04 Technische Universität Dresden, Körperschaft des öffentlichen Rechts Device for coupling and/or uncoupling rail vehicles with screw coupling system and track translation device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7205144A (en) * 1971-11-08 1973-05-10
EP0144619A2 (en) * 1983-12-13 1985-06-19 Messerschmitt-Bölkow-Blohm Gesellschaft mit beschränkter Haftung Marshalling plant for railway vehicles
DE3819388A1 (en) 1988-06-07 1989-12-14 Aachener Forsch Regelungstech Device and method for the automatic separation of goods wagons with screw couplings
DE4015878A1 (en) * 1990-05-17 1991-11-21 Aachener Forsch Regelungstech Fully-automatic uncoupling arrangement for freight train marshalling - includes mobile robot for manipulation of actuators which release buck-eye type couplings between cuts of wagons
DE102008034018B3 (en) * 2008-07-16 2009-07-30 Siemens Aktiengesellschaft Method for detection of coupling condition of railway connector, involves detecting measuring value by tilt sensor provided at coupling elements of railway connector

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL7205144A (en) * 1971-11-08 1973-05-10
EP0144619A2 (en) * 1983-12-13 1985-06-19 Messerschmitt-Bölkow-Blohm Gesellschaft mit beschränkter Haftung Marshalling plant for railway vehicles
DE3344979A1 (en) 1983-12-13 1985-06-20 Messerschmitt-Bölkow-Blohm GmbH, 8012 Ottobrunn MANEUVERING SYSTEM FOR RAIL VEHICLES
DE3819388A1 (en) 1988-06-07 1989-12-14 Aachener Forsch Regelungstech Device and method for the automatic separation of goods wagons with screw couplings
DE4015878A1 (en) * 1990-05-17 1991-11-21 Aachener Forsch Regelungstech Fully-automatic uncoupling arrangement for freight train marshalling - includes mobile robot for manipulation of actuators which release buck-eye type couplings between cuts of wagons
DE102008034018B3 (en) * 2008-07-16 2009-07-30 Siemens Aktiengesellschaft Method for detection of coupling condition of railway connector, involves detecting measuring value by tilt sensor provided at coupling elements of railway connector

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