EP3402709B1 - Véhicule de maintenance et procédé - Google Patents

Véhicule de maintenance et procédé Download PDF

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Publication number
EP3402709B1
EP3402709B1 EP16809287.2A EP16809287A EP3402709B1 EP 3402709 B1 EP3402709 B1 EP 3402709B1 EP 16809287 A EP16809287 A EP 16809287A EP 3402709 B1 EP3402709 B1 EP 3402709B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
track
work
industrial robot
sensor system
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.)
Active
Application number
EP16809287.2A
Other languages
German (de)
English (en)
Other versions
EP3402709A1 (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
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Publication date
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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
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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 performing maintenance work on a section of a track according to the features stated in the preamble of claims 1 and 9, respectively.
  • the object of the present invention is to create a maintenance vehicle of the type mentioned at the beginning, with which improved track processing is possible.
  • Equipping the work area in this way enables the workforce to be relieved of all physical exertion resulting from the handling of the track processing tool.
  • the accuracy of the work result can be increased as a result of precise guidance by the robot.
  • the use of noisy and exhaust gas-generating combustion engines is also unnecessary.
  • Fig. 1 a simplified side view of a maintenance vehicle
  • Fig. 2 an enlarged cross section through the maintenance vehicle forming a work space.
  • the maintenance vehicle 1 shown has a vehicle frame 3 supported at the end on rail running gear 2 and a driving cabin 4.
  • the vehicle 1 can be moved in a vehicle longitudinal direction 6 on a track 7 with the aid of a travel drive 5.
  • the vehicle frame 3 is cranked upwards between the two rail carriages 2, as a result of which between two side walls 8 (see FIG. Fig. 2 ) a working space 9 that is open towards the track 7, but otherwise closed for safety reasons, is delimited. This can be entered from a team cabin 10, so that a stay in a danger area outside the maintenance vehicle 1 is not necessary for workers employed in the work area 9.
  • two side walls 8 which can be spaced apart from one another by a drive 12, are provided in a transverse direction 11 of the vehicle running normal to the vehicle longitudinal direction 6.
  • a left side wall 8 is displaced in the transverse direction 11 of the vehicle, so that a left rail 13 of the track 7 can be processed unhindered.
  • the opposite right side wall 8 can also be moved in the transverse direction 11 of the vehicle for a further enlargement of the working space 9 relative to the vehicle frame 3.
  • media couplings 15 for an energy supply and a tool coupling 16 for optional connection to a track machining tool 17 is arranged on the vehicle 1 by way of example. This is displaceably supported by a drive 19 on a robot guide 20 running in the vehicle longitudinal direction 6 and fastened to the vehicle frame 3.
  • the industrial robot 18 is equipped with a sensor system 25 on a coupling-side end 24 for contactless scanning of track components 23 accessible within the working space 9 and composed of the rails 13, sleepers 21 and small iron 22.
  • a control device 26 assigned to the industrial robot 18 is designed in addition to the robot control for storing parameters recorded by the sensor system 25 and characterizing the work quality of the track components 23 processed by the robot 18.
  • the industrial robot 18 is designed for an automatic coupling with the track processing tool 17 stored on a tool tray 27 within the work space 9 for selection, as well as its automatic energy supply through the media couplings 15 and for a subsequent work operation that runs automatically in a selectable program mode. If necessary, by the control device 26 also a combined work deployment of the industrial robot 18 with a spring balancer 28 which can be displaced on the vehicle frame 3 in the vehicle longitudinal direction 6 (see FIG. Fig. 1 ), in particular for automatically installing or removing the rails 13. This makes handling of heavy rail sections by the industrial robot 18 easier.
  • the vehicle 1 is stopped on a track section to be machined and the work space 9 required for unimpeded machining of the track components 23 is created by shifting the two side walls 8.
  • the suitable track processing tool 17 is selected from a group of tools upstream in the work area 9 on the tool holder 27 and automatically to the industrial robot both mechanically and with regard to a complete energy supply 18 coupled.
  • the track component 23 to be processed by the track processing tool 17 is then scanned contactlessly with the aid of the sensor 25 arranged on the industrial robot 18 in order to obtain a suitable reference basis for the subsequent automatic work assignment for an exact work result.
  • This scanning could of course also be carried out by the industrial robot 18 immediately before the coupling with the track processing tool 17.
  • contactless scanning of the track component 23, preferably a rail 13 to be ground can also be carried out by the sensor system 25 during work in order to compare the measurement data thus obtained with a desired state stored in the control device 26. If the work assignment, e.g. in the case of rail grinding, is composed of a plurality of work passes, these are repeated automatically until the sensor system 25 registers that the desired state has been reached.
  • the program sequence for the industrial robot 18 is thus automatically modified in order to achieve an optimal work result. Because it can be moved along the robot guide 20, the industrial robot 18 can optionally be used unhindered in the entire work space 9.
  • the rail head is measured via the sensor system 25 and a coupled rail drill is precisely moved into the correct position by the industrial robot 18.
  • a final quality check and, if necessary, documentation of the work result by storing the data in connection with a local assignment to track 7 can be carried out using the sensor system 25.
  • This workflow is of course also possible for other maintenance work, such as Threshold drilling, rail cutting, shearing of a welding bead, track stuffing, etc.
  • An impact wrench can be used to loosen the screws. This is mounted on the industrial robot 18 on a 6th axis of movement. The screw heads are found and loosened via the sensor system 25 designed as image recognition. 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)
  • Forklifts And Lifting Vehicles (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Claims (11)

  1. Véhicule de maintenance (1), constitué d'un châssis de véhicule (3) en appui côté extrémité sur des bogies (2) et avec des parois latérales (8) disposées sur celui-ci pour créer un espace de travail (9) délimité par celles-ci pour des travailleurs se trouvant sur une voie (7), caractérisé en ce
    que, pour l'usinage d'une section de voie située à l'intérieur de l'espace de travail (9), un robot industriel (18) présentant au moins trois axes de mouvement (14), des couplages de média (15) pour une alimentation en énergie ainsi qu'un couplage d'outil (16) pour la liaison sélective avec un outil d'usinage de voie (17) est disposé sur le véhicule (1).
  2. Véhicule selon la revendication 1, caractérisé en ce
    que les parois latérales (8) peuvent être espacées les unes des autres par des entraînements (12) dans une direction transversale de véhicule (11) s'étendant perpendiculairement à une direction longitudinale de véhicule (6).
  3. Véhicule selon la revendication 1 ou 2, caractérisé en ce
    que le robot industriel (18) est monté sur un guidage de robot (20) s'étendant dans une direction longitudinale de véhicule (6) de manière à pouvoir être déplacé par un entraînement (19).
  4. Véhicule selon la revendication 3, caractérisé en ce
    que le guidage de robot (20) est disposé sur le châssis de véhicule (3) - formant une délimitation supérieure de l'espace de travail (9) par rapport à une verticale.
  5. Véhicule selon l'une quelconque des revendications 1 à 4, caractérisé en ce
    que le robot industriel (18) présente un système de détection (25), disposé en particulier sur une extrémité (24) côté accouplement, pour un balayage sans contact d'éléments de voie (23) accessibles de l'intérieur de l'espace de travail (9), composés des rails (13), traverses (21) et petit matériel de voie (22).
  6. Véhicule selon l'une quelconque des revendications 1 à 5, caractérisé en ce
    qu'un dispositif de commande (26) associé au robot industriel (18) est conçu pour mettre en mémoire des paramètres détectés par le système de détection (25), caractérisant la qualité de travail des éléments de voie (23) usinés par le robot industriel (18).
  7. Véhicule selon l'une quelconque des revendications 1 à 6, caractérisé en ce
    que le robot industriel (18) est conçu pour un couplage automatique avec l'outil d'usinage de voie (17) monté sur un porte-outil (27) à l'intérieur de l'espace de travail (9) pour la sélection ainsi que l'alimentation automatique en énergie de celui-ci par les couplages de media (15) et pour une exécution de tâches subséquente, se déroulant automatiquement dans un mode de programme.
  8. Véhicule selon la revendication 6, caractérisé en ce
    que le dispositif de commande (26) est conçu pour une exécution de tâches combinée du robot industriel (18) avec un enrouleur équilibreur (28) déplaçable sur le châssis de véhicule (3) dans la direction longitudinale de véhicule (6), en particulier pour le montage ou démontage de rails (13).
  9. Procédé d'exécution de travaux de maintenance sur une section d'une voie (7), qui est délimitée par un véhicule de maintenance (1) pour la création d'un espace de travail (9) sécurisé,
    caractérisé par les caractéristiques suivantes :
    a) un outil d'usinage de voie (17) adapté à une mise au travail planifiée est sélectionné à partir d'un groupe d'outils (17) situés en amont dans l'espace de travail (9) et couplé automatiquement à un robot industriel (18) aussi bien mécaniquement qu'en ce qui concerne une alimentation complète en énergie,
    b) à l'aide d'un système de détection (25) disposé sur le robot industriel (18), un élément de voie (23) à usiner est balayé sans contact - pour la création d'une base de référence pour une exécution de tâches automatique suivante de l'outil (17).
  10. Procédé selon la revendication 9, caractérisé en ce
    que pendant l'exécution de tâches, un balayage sans contact de l'élément de voie (23), de préférence d'un rail (13) à meuler, s'effectue à l'aide du système de détection (25), et les données de mesure obtenues sont comparées à un état théorique mis en mémoire.
  11. Procédé selon la revendication 10, caractérisé en ce
    que l'exécution de tâches est composée de plusieurs séquences de travail, qui sont répétées automatiquement jusqu'à ce qu'une atteinte de l'état théorique soit enregistrée par le système de détection (25).
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 EP3402709A1 (fr) 2018-11-21
EP3402709B1 true 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

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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
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US6787726B2 (en) * 1997-12-16 2004-09-07 Holland Lp Rail welding apparatus incorporating rail restraining device, weld containment device, and weld delivery unit
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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 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
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Also Published As

Publication number Publication date
US20190016350A1 (en) 2019-01-17
WO2017121441A1 (fr) 2017-07-20
US10940874B2 (en) 2021-03-09
AU2016385836B2 (en) 2021-07-22
HUE049164T2 (hu) 2020-09-28
CN110578275B (zh) 2022-05-13
JP6910360B2 (ja) 2021-07-28
ES2779779T3 (es) 2020-08-19
DK3402709T3 (da) 2020-04-27
AU2016385836A1 (en) 2018-07-05
JP2019503299A (ja) 2019-02-07
DE102016000408A1 (de) 2017-07-20
PL3402709T3 (pl) 2020-06-15
EP3402709A1 (fr) 2018-11-21
CN108463388A (zh) 2018-08-28
PT3402709T (pt) 2020-03-27
CN110578275A (zh) 2019-12-17
CN108463388B (zh) 2020-02-07

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