EP3584366A1 - Chariot de mesure mobile sur rail - Google Patents

Chariot de mesure mobile sur rail Download PDF

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Publication number
EP3584366A1
EP3584366A1 EP19181315.3A EP19181315A EP3584366A1 EP 3584366 A1 EP3584366 A1 EP 3584366A1 EP 19181315 A EP19181315 A EP 19181315A EP 3584366 A1 EP3584366 A1 EP 3584366A1
Authority
EP
European Patent Office
Prior art keywords
measuring carriage
measuring
track
axis
chassis
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
EP19181315.3A
Other languages
German (de)
English (en)
Other versions
EP3584366B1 (fr
Inventor
Bernhard Lichtberger
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.)
HP3 Real GmbH
Original Assignee
HP3 Real GmbH
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Filing date
Publication date
Application filed by HP3 Real GmbH filed Critical HP3 Real GmbH
Publication of EP3584366A1 publication Critical patent/EP3584366A1/fr
Application granted granted Critical
Publication of EP3584366B1 publication Critical patent/EP3584366B1/fr
Active legal-status Critical Current
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes
    • E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
    • 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
    • B61D15/08—Railway inspection trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes
    • E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
    • E01B35/08—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction for levelling
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes
    • E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
    • E01B35/10—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction for aligning
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
    • E01B27/13—Packing sleepers, with or without concurrent work on the track
    • E01B27/16—Sleeper-tamping machines
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
    • E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
    • E01B27/13—Packing sleepers, with or without concurrent work on the track
    • E01B27/16—Sleeper-tamping machines
    • E01B27/17—Sleeper-tamping machines combined with means for lifting, levelling or slewing the track

Definitions

  • the invention relates to a measuring carriage with four running wheels, two wheels on each side being connected to one another and these being rotatable relative to one another, and the measuring carriage being articulated on the frame of a track construction machine.
  • the measuring car has five degrees of freedom.
  • the measuring car carries an inertial measuring unit and is used to measure railway tracks.
  • the measuring carriage can be rotated around the vertical axis (z) (yaw angle) and moved linearly up and down and moved transversely (y) to the track, it can be rotated around the longitudinal axis (x) (roll angle) and rotated around the transverse axis (pitch angle ) executed.
  • a track construction machine such as a tamping machine restores the track geometry, which was deteriorated by the load on the trains.
  • the track is lifted and straightened into the desired position by means of electro-hydraulically controlled lifting-straightening devices.
  • the lateral position of the track (direction) is corrected by moving the reference rail of the track laterally with the aid of hydraulic cylinders.
  • the outer rail is used as a reference rail for the direction.
  • the inner rail is used as a reference rail for the longitudinal height.
  • the height of the rail on the outside of the arch is corrected via the target elevation in relation to the rail on the inside of the arch.
  • INS inertial navigation systems
  • IMU inertial measuring unit
  • INS systems work with data rates of around 100-1000 Hz and high accuracies and low drift ( ⁇ 0.01 ° to 0.05 ° / hour).
  • the main advantage of an INS is that it can be operated without a reference.
  • the acceleration can be measured by means of vehicle-mounted acceleration sensors ("strap-down").
  • the x-unit vector points north, the z-unit vector in the direction of gravity and the y-unit vector is then aligned so that an orthonormal system is formed.
  • the absolute angular deviations represent a unit vector which shows the spatial position of the measuring vehicle on which the INS system is located.
  • the inertial navigation system is built on a support frame that is attached to the axle bearings of a bogie using rigid spring elements.
  • the bogie moves kinematically on the rails as a result of the track widening, the relative position of the measuring frame on the bogie to the rails must be measured using a track gauge.
  • the suspension of the measuring frame and the dynamic vibrations occurring while driving, the indirect erroneous determination of the lateral position of the measuring frame via track gauge to the track and the inaccuracies in the altitude due to the wheel profile lead to considerable inaccuracies in the measurement.
  • Another disadvantage of this design is that the measuring frame is forcibly twisted and therefore only a medium longitudinal length of the track can be measured.
  • the length of both rails is interesting.
  • a mathematical uncertainty (corresponding to twice the standard deviation) of ⁇ 1mm is required to determine track position errors that are to be corrected by track construction machines. These accuracies are difficult to achieve with the aforementioned arrangement of the measuring frame.
  • State-of-the-art are also highly precise angle encoders and encoders integrated in cylinders (hydraulics or pneumatics) for position detection.
  • the ratio of the lateral force Y that presses the wheel against the rail to the vertical load Q (formed from the weight and the force component of the obliquely working cylinder) must be less than or equal to 1.2 so that the wheel flange climbs up and thus the wheel derailed safely is avoided.
  • the second criterion is Y ⁇ Q ⁇ ⁇
  • This criterion requires that the effective transverse force must be greater than the frictional force (coefficient of friction ⁇ ) between the wheel and the rail.
  • the criterion ensures that the measuring carriage can be safely pressed around on the rail.
  • the invention is therefore based on the object of providing a measuring carriage which can be attached to a superstructure machine and which carries an inertial navigation system which is constructed in such a way that it can measure the longitudinal height profile of both rails, the direction profile of the reference rail (outer rail) and the cant as precisely as possible ,
  • the invention also has the task of ensuring that the fulfillment of both the derailment criterion and the pressing criterion can be ensured.
  • the invention solves the problem in that a measuring car with four wheels is built which has five degrees of freedom. So that the longitudinal height profile of the left and right rails are recorded simultaneously, the two wheels on each side are connected to one another and these pairs of wheels are designed to be rotatable with respect to one another.
  • the twist is measured using a high-resolution encoder.
  • the navigation unit is firmly connected to a pair of wheels and measures the height of this pair of wheels in height along the rail. The length of the other rail is determined using the twist angle.
  • the wheels are cylindrical so that no height error can occur due to a conical wheel profile.
  • the carriage follows the track freely in the vertical direction (z-axis).
  • the direction angle (yaw angle) is recorded by the measuring carriage rotating freely around the z-axis.
  • the carriage is designed to be freely rotatable around the cross-track axis (x-axis).
  • the wagon can also freely rotate around the cross-track axis (y-axis).
  • the angles or the changes in angle are measured by the inertial navigation system and transferred to a computing unit for calculating the spatial track of the two rails.
  • the carriage itself is pressed against the reference rail (outer rail) during travel and loaded with a vertical force in addition to its own weight.
  • the carriage can be moved freely in the cross-track direction.
  • the lifting and pressing movements are effected by actuators such as hydraulic, electric or air cylinders.
  • a rotary encoder is integrated in at least one of the wheels to record the approach path.
  • the impeller surface is decoupled from the flange via roller bearings.
  • the linear movements. (Strokes of the actuators) of the measuring carriage are recorded via displacement sensors. This results in the possibility of determining the widening of the track during pressing.
  • the pressure cylinders are not articulated at an angle, but the Y and Q forces are carried out and controlled separately. As a result, the derailment criterion and the pressing criterion can always be reliably met.
  • the cylinders are designed as hydraulic, electrical or pneumatic cylinders.
  • the pressures in the cylinders are measured by pressure sensors and controlled and regulated via control valves (proportional or servo valves) in such a way that the optimal forces Y, Q result.
  • Fig. 1 shows a track measuring carriage 1 according to the invention with an inertial navigation system 2 which is arranged on a measuring carriage frame 21.
  • the measuring carriage 1 runs on four wheels 3 on the rails.
  • the wheels 3 of a track measuring car side are each rigidly connected to one another and are mounted on two-armed levers 5, 9 for this purpose.
  • the two-armed levers 5, 9 of the two opposite wheel sides are connected to one another via an axis 13 and are pivotably mounted about the axis 13 relative to one another.
  • the track measuring car 1 can assume a defined position in track twists and the wheels 3 on both sides can freely follow the respective height profile of the rail.
  • the measuring carriage frame 21 is connected to the axle 13 via two cylinders (drawn double-acting) 10, 6.
  • the measuring carriage frame 21 is also mounted on two cylindrical guides 4 which are continuous over the frame width.
  • the entire measuring carriage frame 21 is moved vertically relative to a console 14 via two vertically acting cylinders 12.
  • the rotation of the left wheel pair relative to the right wheel pair rigidly connected to the measuring frame about the axis 13 is measured via an angle encoder 8.
  • the measuring frame is guided vertically by a vertical guide 7.
  • the carriage 1 can be rotated about the axes x, y, z, in particular with respect to the console 14, via a ball joint bearing 11.
  • the ball joint bearing 11 is moved up and down by means of a bush sliding on the guide column 7.
  • Fig. 2 shows a section through the measuring carriage 1.
  • the entire measuring carriage 1 is connected to the machine frame of a track construction machine, not shown, via the console 14.
  • the carriage 1 Via the vertical cylinders 12, which are articulated to the carriage and the bracket 14, the carriage 1 can be lowered onto a track and raised from the track (direction V) and pressed downward against rails of the track during measurement runs with a predetermined force Qzli Qzre.
  • the measuring carriage frame 21 can be shifted to the left or right on the guides 4 (direction H) and pressed onto the rail with the desired force FY.
  • the carriage In the ball joint 11, the carriage can be rotated about the vertical axis z by the angle GW (yaw angle).
  • the ball joint bearing 11 also allows rotations RW (roll angle) around the longitudinal axis x of the track.
  • the carriage can also be rotated about the transverse axis y via the ball joint 11 NW (pitch angle). This results in the necessary 5 degrees of freedom of the measuring carriage.
  • NW pitch angle
  • a bearing 16 of the left wheel pair is shown in section, which can rotate relative to the right wheel pair 15, which is firmly connected to the axis of rotation 13.
  • the angle of rotation ROT of the two wheel pairs can be measured relative to one another.
  • the lower, transversely displaceable part of the measuring carriage slides on the horizontal guides 4.
  • Fig. 3 shows the section BB Fig.1 by one of the wheels designed as distance measuring wheels. All wheels 3 are designed in two parts and each comprise an impeller part 19 and a wheel flange part 20 which is freely rotatable relative to one another so that the wheels do not slip due to the frictional forces between wheel flange and rail, wheel flange part 20 and wheel wheel part 19 are designed so that they can be rotated separately from one another. In the transition to the wheel tread, the wheel flange has a smaller diameter than the wheel tread so that no mechanical coupling between the two independently rotatable parts can occur via a rail. The wheel movements are via a rotary encoder 18 19 measured and output in pulses. In this view, the rotary encoder 8 for measuring the rotation between the wheel pairs left and right about the axis 13 is to the right of the wheel flange part 20.
  • Fig. 4 gives an overview of the coordinates and the degrees of freedom used for the test vehicle.
  • Z is the vertical axis (major axis).
  • Y is the transverse axis and x shows in the longitudinal direction of the track.
  • the measuring carriage can be moved vertically V along the z-axis and horizontally H along the y-axis.
  • the rotation about the vertical axis z is called the yaw angle GW (directional angle)
  • the rotation about the transverse axis y is called the pitch angle NW (angle of inclination)
  • the rotation about the longitudinal axis x is called the roll angle RW (elevation angle) and recorded by the inertial navigation system 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
EP19181315.3A 2018-06-20 2019-06-19 Chariot de mesure mobile sur rail Active EP3584366B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ATA50496/2018A AT521424B1 (de) 2018-06-20 2018-06-20 Gleisfahrbarer Messwagen

Publications (2)

Publication Number Publication Date
EP3584366A1 true EP3584366A1 (fr) 2019-12-25
EP3584366B1 EP3584366B1 (fr) 2022-05-25

Family

ID=66999635

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19181315.3A Active EP3584366B1 (fr) 2018-06-20 2019-06-19 Chariot de mesure mobile sur rail

Country Status (3)

Country Link
EP (1) EP3584366B1 (fr)
AT (1) AT521424B1 (fr)
PL (1) PL3584366T3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113484044A (zh) * 2021-07-07 2021-10-08 中车唐山机车车辆有限公司 一种横向测力系统及测力轮对标定试验台
CN113484043A (zh) * 2021-07-07 2021-10-08 中车唐山机车车辆有限公司 一种垂向测力系统及测力轮对标定试验台
EP4230463A1 (fr) 2022-02-18 2023-08-23 HP3 Real GmbH Machine autonome d'alimentation en énergie, déplaçable sur rails
CN116639154A (zh) * 2023-05-12 2023-08-25 济南市勘察测绘研究院 一种轨道交通轨地绝缘测绘小车

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105316986A (zh) * 2014-06-03 2016-02-10 北京星网宇达科技股份有限公司 一种基于惯性传感器与导航卫星组合的轨道参数动态检测小车
US20170080960A1 (en) * 2015-09-18 2017-03-23 Tech Services Group, LLC Rail Track Geometry Measurement
WO2018010827A1 (fr) * 2016-07-11 2018-01-18 Plasser & Theurer Export Von Bahnbaumaschinen Gesellschaft M.B.H. Système et procédé de mesure d'une voie
AT519003A4 (de) * 2016-12-19 2018-03-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Messvorrichtung und Verfahren zum Erfassen einer Gleisgeometrie
EP3358079A1 (fr) * 2017-02-06 2018-08-08 HP3 Real GmbH Procédé et dispositif d'optimisation d'une voie

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105316986A (zh) * 2014-06-03 2016-02-10 北京星网宇达科技股份有限公司 一种基于惯性传感器与导航卫星组合的轨道参数动态检测小车
US20170080960A1 (en) * 2015-09-18 2017-03-23 Tech Services Group, LLC Rail Track Geometry Measurement
WO2018010827A1 (fr) * 2016-07-11 2018-01-18 Plasser & Theurer Export Von Bahnbaumaschinen Gesellschaft M.B.H. Système et procédé de mesure d'une voie
AT519003A4 (de) * 2016-12-19 2018-03-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Messvorrichtung und Verfahren zum Erfassen einer Gleisgeometrie
EP3358079A1 (fr) * 2017-02-06 2018-08-08 HP3 Real GmbH Procédé et dispositif d'optimisation d'une voie

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113484044A (zh) * 2021-07-07 2021-10-08 中车唐山机车车辆有限公司 一种横向测力系统及测力轮对标定试验台
CN113484043A (zh) * 2021-07-07 2021-10-08 中车唐山机车车辆有限公司 一种垂向测力系统及测力轮对标定试验台
EP4230463A1 (fr) 2022-02-18 2023-08-23 HP3 Real GmbH Machine autonome d'alimentation en énergie, déplaçable sur rails
DE202023002693U1 (de) 2022-02-18 2024-02-01 Hp3 Real Gmbh Gleisfahrbare, selbstfahrende Energieversorgungsmaschine
CN116639154A (zh) * 2023-05-12 2023-08-25 济南市勘察测绘研究院 一种轨道交通轨地绝缘测绘小车
CN116639154B (zh) * 2023-05-12 2024-01-26 济南市勘察测绘研究院 一种轨道交通轨地绝缘测绘小车

Also Published As

Publication number Publication date
AT521424B1 (de) 2024-03-15
PL3584366T3 (pl) 2022-08-22
EP3584366B1 (fr) 2022-05-25
AT521424A1 (de) 2020-01-15

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