EP3402709A1 - Véhicule de maintenance et procédé - Google Patents

Véhicule de maintenance et procédé

Info

Publication number
EP3402709A1
EP3402709A1 EP16809287.2A EP16809287A EP3402709A1 EP 3402709 A1 EP3402709 A1 EP 3402709A1 EP 16809287 A EP16809287 A EP 16809287A EP 3402709 A1 EP3402709 A1 EP 3402709A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
track
industrial robot
work
working space
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP16809287.2A
Other languages
German (de)
English (en)
Other versions
EP3402709B1 (fr
Inventor
Gregor Schmid
Christoph MÜHLBACHER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robel Bahnbaumaschinen GmbH
Original Assignee
Robel Bahnbaumaschinen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robel Bahnbaumaschinen GmbH filed Critical Robel Bahnbaumaschinen GmbH
Priority to PL16809287T priority Critical patent/PL3402709T3/pl
Publication of EP3402709A1 publication Critical patent/EP3402709A1/fr
Application granted granted Critical
Publication of EP3402709B1 publication Critical patent/EP3402709B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
    • E01B29/16—Transporting, laying, removing, or replacing rails; Moving rails placed on sleepers in the track
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B31/00—Working rails, sleepers, baseplates, or the like, in or on the line; Machines, tools, or auxiliary devices specially designed therefor
    • E01B31/02—Working rail or other metal track components on the spot

Definitions

  • the invention relates to a maintenance vehicle and a method for
  • DE 20 2004 013 732 U1 discloses a maintenance vehicle with a working space open towards the track.
  • the upper end region of the working space which is in the vertical direction, is formed by an upwardly cranked vehicle frame, so that workers can work unhindered on the track between two side walls in a secured area.
  • an articulated boom is mounted in the region of a bridge-shaped body, with the aid of which a tool arranged on it can be positioned in a terrain section located next to the track.
  • the object of the present invention is now to provide a
  • FIG. 1 shows a simplified side view of a maintenance vehicle
  • FIG. 2 shows an enlarged cross section through the maintenance vehicle forming a working space.
  • a maintenance vehicle 1 shown in FIG. 1 has a vehicle frame 3 supported on rail chassis 2 at the end and a driver's cab 4. With the aid of a travel drive 5, the vehicle 1 can be moved in a vehicle longitudinal direction 6 on a track 7.
  • the vehicle frame 3 is designed to be bent upwards between the two rail carriages 2, whereby a working space 9 which is open in the direction of the track 7 and otherwise closed for safety reasons is enclosed between two side walls 8 (see FIG. This is accessible from a crew cab 10, so that for workers employed in the working space 9, a stay in a danger area outside the maintenance vehicle 1 is not required.
  • two vehicle side walls 11 which extend in a direction normal to the vehicle longitudinal direction 6 are provided with side walls 8 that can be distanced from one another by a drive 12.
  • a drive 12 In the example shown - to create an enlarged working space 9 - only the left side wall 8 is displaced in the vehicle transverse direction 11, so that a left rail 13 of the track 7 can be processed unhindered.
  • the opposite right side wall 8 can be moved relative to the vehicle frame 3 in the vehicle transverse direction 11 for a further enlargement of the working space 9.
  • an at least three moving axes 14, media couplings 15 for a power supply and a tool coupling 16 for selective connection to a track machining tool 17 are industrial robots 18 arranged on the vehicle 1. This is displaceably mounted by a drive 19 on a running in the vehicle longitudinal direction 6, fixed to the vehicle frame 3 robot guide 20.
  • a control device 26 assigned to the industrial robot 18 is, in addition to the robot control, configured for storing parameters that are captured by the sensor system 25 and that characterize the quality of work of the track components 23 processed by the robot 18.
  • the industrial robot 18 is designed for automatic coupling with the track machining tool 17 mounted on a tool rest 27 within the working space 9 and its automatic power supply through the media couplings 15 and for a subsequent work insert which automatically runs in a selectable program mode. If necessary, the tax authorities Direction 26 and a combined use of the industrial robot 18 with a movable on the vehicle frame 3 in the vehicle longitudinal direction 6 spring balancer 28 (see Fig. 1), in particular for installation and removal of the rails 13, automatically controlled. This facilitates handling of heavy rail sections by the industrial robot 18.
  • the vehicle 1 For performing maintenance work, the vehicle 1 is stopped on a track section to be processed and created by displacement of the two side walls 8 of the required for the unimpeded processing of the track components 23 working space 9.
  • the appropriate track machining tool 17 selected from a group of in the working space 9 on the tool tray 27 tools and both mechanically and with respect to a complete power supply to the industrial robot automatically 18 hitched.
  • the track component 23 to be processed by the track processing tool 17 is then scanned without contact by means of the sensor system 25 arranged on the industrial robot 18, in order to obtain a suitable reference base for an exact work result for the subsequent automatic working operation.
  • this scan could also be performed by the industrial robot 18 immediately prior to coupling with the track machining tool 17.
  • contactless scanning of the track component 23, preferably a rail 13 to be abraded can also take place during use of the work by the sensors 25 in order to compare the measurement data thus obtained with a desired state stored in the control device 26. If the labor input, such as rail grinding, is composed of several work passes, they are automatically repeated until the sensor system 25 detects that the desired state has been reached.
  • the program flow for the industrial robot 18 is changed automatically to achieve an optimal work result. Due to the mobility along the robot guide 20 of the industrial robot 18 is optionally used freely in the entire working space 9.
  • the rail head is measured via the sensor system 25 and a coupled rail drill is precisely moved by the industrial robot 18 into the correct position.
  • After drilling can be carried out by means of the sensor 25 a final quality inspection and, if necessary, a documentation of the work result by storing the data in conjunction with a local assignment to the track 7.
  • This workflow is of course also possible for other maintenance work, such as threshold drilling, rail cutting, shearing a Sch spawulstes, track clogging, etc.
  • An impact wrench can be used to loosen the screw.
  • Screw heads found and solved. If necessary, the loosened screws can be picked up and removed with, for example, a magnetic gripper attached to the industrial robot 18. New screws can be quickly placed and tightened.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

La présente invention concerne un véhicule de maintenance (1) présentant des parois latérales (8) espacées entre elles dans la direction transversale (11) du véhicule, disposées sur un châssis de véhicule (3), pour former un espace de travail (9) délimité par lesdites parois, pour des travailleurs qui se trouvent sur un rail (7). Pour permettre l'usinage d'une section de rail qui se trouve dans l'espace de travail (9), un robot industriel (18) présentant au moins trois axes de mouvement (14), des couplages de moyens (15) pour assurer une alimentation en énergie et un couplage d'outils (16) pour assurer la liaison sélective avec un outil d'usinage de rail (17), est disposé sur le véhicule (1).
EP16809287.2A 2016-01-14 2016-12-06 Véhicule de maintenance et procédé Active EP3402709B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL16809287T PL3402709T3 (pl) 2016-01-14 2016-12-06 Pojazd konserwacyjny oraz sposób

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016000408.8A DE102016000408A1 (de) 2016-01-14 2016-01-14 Instandhaltungsfahrzeug und Verfahren.
PCT/EP2016/002048 WO2017121441A1 (fr) 2016-01-14 2016-12-06 Véhicule de maintenance et procédé

Publications (2)

Publication Number Publication Date
EP3402709A1 true EP3402709A1 (fr) 2018-11-21
EP3402709B1 EP3402709B1 (fr) 2020-01-29

Family

ID=57539200

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16809287.2A Active EP3402709B1 (fr) 2016-01-14 2016-12-06 Véhicule de maintenance et procédé

Country Status (12)

Country Link
US (1) US10940874B2 (fr)
EP (1) EP3402709B1 (fr)
JP (1) JP6910360B2 (fr)
CN (2) CN108463388B (fr)
AU (1) AU2016385836B2 (fr)
DE (1) DE102016000408A1 (fr)
DK (1) DK3402709T3 (fr)
ES (1) ES2779779T3 (fr)
HU (1) HUE049164T2 (fr)
PL (1) PL3402709T3 (fr)
PT (1) PT3402709T (fr)
WO (1) WO2017121441A1 (fr)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019205764A1 (de) 2019-04-23 2020-10-29 Robel Bahnbaumaschinen Gmbh Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten
DE202019102984U1 (de) * 2019-05-27 2020-08-28 Robel Bahnbaumaschinen Gmbh Trennschleifmaschine zum Durchtrennen einer Schiene eines Gleises
ES2729815B2 (es) * 2019-07-02 2020-05-13 Univ Valencia Politecnica Instalacion para vias ferreas con placas prefabricadas y procedimiento automatizado de montaje de la misma
DE102019212186A1 (de) * 2019-08-14 2021-02-18 Robel Bahnbaumaschinen Gmbh Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten
DE102020201689A1 (de) 2020-02-11 2021-08-12 Robel Bahnbaumaschinen Gmbh Bearbeitungsanlage und Verfahren zum Durchführen von Gleisarbeiten
DE102020207437A1 (de) 2020-06-16 2021-12-16 Robel Bahnbaumaschinen Gmbh Vorrichtung zur Gleisbearbeitung
DE102021202939A1 (de) 2021-03-25 2022-09-29 Robel Bahnbaumaschinen Gmbh Verfahren und Vorrichtung zum Durchführen von Gleisarbeiten
AT17744U1 (de) * 2021-08-24 2023-01-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Arbeitsfahrzeug zur Durchführung von Arbeitseinsätzen auf einem Gleis

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1166876A (en) 1966-12-09 1969-10-15 Toyo Rayon Co Ltd Reinforced Rubber Structure and method of producing the same
AT402519B (de) 1990-02-06 1997-06-25 Plasser Bahnbaumasch Franz Kontinuierlich verfahrbare gleisbaumaschine zum verdichten der schotterbettung eines gleises
DE9206335U1 (de) 1992-05-12 1992-07-23 Hermann Wiebe Grundstücks- und Maschinenanlagen KG, 2800 Bremen Schienengebundenes Trägerfahrzeug
ATA47295A (de) 1995-03-16 1996-07-15 Plasser Bahnbaumasch Franz Gleisbaufahrzeug
US6787726B2 (en) * 1997-12-16 2004-09-07 Holland Lp Rail welding apparatus incorporating rail restraining device, weld containment device, and weld delivery unit
US6655296B2 (en) 2001-04-11 2003-12-02 Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H. Method of renewing damaged ties of a track
DE10201095C1 (de) * 2002-01-09 2003-12-18 Siemens Ag Vorrichtung zur automatischen Verlegung von Balisen im Gleisbett
DE20208835U1 (de) 2002-06-07 2002-10-10 ROBEL Bahnbaumaschinen GmbH, 83395 Freilassing Instandhaltungsfahrzeug
AT6158U3 (de) 2003-01-29 2004-03-25 Plasser Bahnbaumasch Franz Maschine zur behandlung eines gleises
DE202004013732U1 (de) 2004-09-03 2004-12-16 Robel Bahnbaumaschinen Gmbh Instandhaltungsfahrzeug
JP5332042B2 (ja) * 2009-10-20 2013-11-06 株式会社安川電機 線路保守装置及び線路保守システム
DE102009051583A1 (de) 2009-10-21 2011-04-28 IPR-Intelligente Peripherien für Roboter GmbH Robotersystem und Verfahren zum Verlegen eines Schienenstrangs
DE202009014493U1 (de) 2009-10-27 2010-02-04 Robel Bahnbaumaschinen Gmbh Fahrzeug zur Instandhaltung eines Gleises
DE102010022679A1 (de) * 2010-06-04 2011-12-08 Robel Bahnbaumaschinen Gmbh Fahrzeugkombination zum Transport von Schienen
US20120192756A1 (en) * 2011-01-31 2012-08-02 Harsco Corporation Rail vision system
CN202318314U (zh) 2011-12-15 2012-07-11 哈尔滨岛田大鹏工业有限公司 机器人自动更换夹具机构
DE202012002222U1 (de) 2012-03-02 2012-04-17 Db Bahnbaugruppe Gmbh Fahrzeug zur Durchführung von Baumaßnahmen im Gleisbereich des Eisenbahnverkehrs
DE202016000509U1 (de) * 2016-01-27 2016-03-02 Robel Bahnbaumaschinen Gmbh Instandhaltungsfahrzeug

Also Published As

Publication number Publication date
JP6910360B2 (ja) 2021-07-28
PT3402709T (pt) 2020-03-27
AU2016385836A1 (en) 2018-07-05
DK3402709T3 (da) 2020-04-27
CN110578275B (zh) 2022-05-13
EP3402709B1 (fr) 2020-01-29
AU2016385836B2 (en) 2021-07-22
DE102016000408A1 (de) 2017-07-20
US10940874B2 (en) 2021-03-09
US20190016350A1 (en) 2019-01-17
HUE049164T2 (hu) 2020-09-28
CN108463388A (zh) 2018-08-28
CN108463388B (zh) 2020-02-07
ES2779779T3 (es) 2020-08-19
CN110578275A (zh) 2019-12-17
WO2017121441A1 (fr) 2017-07-20
JP2019503299A (ja) 2019-02-07
PL3402709T3 (pl) 2020-06-15

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