EP3584366B1 - Chariot de mesure mobile sur rail - Google Patents

Chariot de mesure mobile sur rail Download PDF

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Publication number
EP3584366B1
EP3584366B1 EP19181315.3A EP19181315A EP3584366B1 EP 3584366 B1 EP3584366 B1 EP 3584366B1 EP 19181315 A EP19181315 A EP 19181315A EP 3584366 B1 EP3584366 B1 EP 3584366B1
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EP
European Patent Office
Prior art keywords
measuring carriage
track
measuring
axis
allocated
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
EP19181315.3A
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German (de)
English (en)
Other versions
EP3584366A1 (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
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HP3 Real GmbH
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Filing date
Publication date
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Publication of EP3584366A1 publication Critical patent/EP3584366A1/fr
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Publication of EP3584366B1 publication Critical patent/EP3584366B1/fr
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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 that can be driven on rails for measuring track geometry, with a measuring carriage frame arranged on a chassis, to which an inertial navigation unit is assigned and which can be adjusted in relation to a console that can be fastened to the machine frame of a superstructure machine, with actuators causing lifting and pressing movements, with two wheels are assigned to the chassis on each side of the measuring carriage and the measuring carriage frame has five degrees of freedom, namely a rotation around the vertical axis of the measuring carriage frame, a rotation around the longitudinal axis of the measuring carriage frame, a rotation around the transverse axis of the measuring carriage frame, a linear movement along the z-axis and one Linear movement of the measuring carriage frame along the y-axis, in particular with respect to the chassis.
  • Such a track-driven measuring car for measuring track geometry is from AT 519 003 A4 known.
  • a track maintenance machine such as a tamping machine restores the track geometry that has been degraded by the stress on the trains.
  • the track is lifted into the desired position and straightened using electro-hydraulically controlled lifting and straightening devices.
  • the lateral position of the track (direction) is corrected by lateral displacement of the reference rail of the track with the help of hydraulic cylinders.
  • the rail on the outside of the curve is used as the reference rail for the direction.
  • the rail on the inside of the curve is used as the reference rail for the longitudinal height.
  • the rail on the outside of the curve is corrected in terms of height using the target superelevation in relation to the rail on the inside of the curve.
  • INS inertial navigation systems
  • IMU inertial measurement 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 ("strapdown").
  • State of the art are also so-called "North"-based INS systems (navigation systems) that provide absolute angular deviations of the roll, yaw and pitch angles in relation to a north-oriented system.
  • the x unit vector points to the north, the z unit vector in the direction of gravity and the y unit vector is then aligned in such a way that an orthonormal system is formed.
  • the absolute angular deviations represent a unit vector that shows the spatial position of the measuring carriage 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 by stiff spring elements. Since the bogie moves back and forth 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 gauge gauge. The suspension of the measuring frame and the dynamic vibrations that occur while driving, the indirect, erroneous determination of the lateral position of the measuring frame via track gauges to the track and the inaccuracies in the height as a result of the wheel profile lead to considerable inaccuracies in the measurement.
  • a further disadvantage of this design is that the measuring frame is forcibly twisted and therefore only an average running longitudinal height of the track can be measured. What is interesting, however, is the course of the longitudinal heights of both rails. A mathematical uncertainty (corresponds to twice the standard deviation) of ⁇ 1mm is required for the determination of track geometry 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 high-precision angle encoders and sensors integrated in cylinders (hydraulic or pneumatic) for position measurement.
  • the ratio of the transverse force Y, which presses the wheel against the rail, to the vertical load Q (formed from the weight force and the force component of the cylinder working at an angle) must be less than or equal to 1.2, so that the wheel flange cannot climb up and the wheel cannot derail 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 wheel and rail.
  • the criterion ensures that the measuring carriage can be safely pressed over the rail.
  • the invention is therefore based on the object of creating a measuring carriage that can be attached to a superstructure machine, 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 directional profile of the reference rail (rail on the outside of the curve) and the superelevation as precisely as possible .
  • the invention also has the task of ensuring that the fulfillment of both the derailment criterion and the compression criterion can be ensured.
  • the invention solves the problem in that the wheels combined into pairs of wheels on each side of the measuring carriage are arranged on a two-armed lever and the levers are mounted such that they can be pivoted about an axis of the chassis that runs through the width of the measuring carriage, that the navigation unit is firmly connected to a pair of wheels and that the axle a rotary encoder is assigned for detecting an angle of rotation between the two levers. So that the longitudinal height profile of the left and right rail can be detected simultaneously, the two wheels on each side are connected to each other via the two-armed lever and these pairs of wheels are designed to be pivotable about the axis.
  • the torsion is measured using a high-resolution rotary encoder (encoder).
  • the navigation unit is permanently connected to a pair of wheels and measures the elevation of this pair of wheels along the rail.
  • the longitudinal height profile of the other rail is determined via the torsion angle.
  • the wheels are cylindrical so that no height error can occur as a result of any wheel profile conicity.
  • the wagon freely follows the track in the vertical direction (z-axis).
  • the direction angle (yaw angle) is recorded by rotating the measuring carriage freely around the z-axis.
  • the wagon In order to record the superelevation angle (roll angle), the wagon is designed to be freely rotatable around the transverse axis of the track (x-axis).
  • the wagon In order to record the longitudinal elevation angle (pitch angle), the wagon can also rotate freely around the track transverse axis (y-axis).
  • the angles or the changes in angles 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 (rail on the outside of the curve) during travel and subjected to a vertical force in addition to its own weight.
  • the wagon can be moved freely in the transverse direction of the track.
  • the lifting and pressing movements are effected by actuators such as hydraulic, electric or air cylinders.
  • a rotary encoder (rotary encoder) is integrated into at least one of the running wheels for detecting the approach travel. So that the wheels run as slip-free as possible the running wheel surface is decoupled from the wheel flange via roller bearings. The linear movements.
  • the pressure cylinders are not articulated at an angle, but rather 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, electric 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.
  • Track measuring car 1 assume a defined position in twisted tracks and the wheels 3 on both sides can follow the respective height profile of the rail unhindered.
  • the measuring carriage frame 21 is connected to the axle 13 via two cylinders (shown as double-acting) 10, 6.
  • the measuring carriage frame 21 is also mounted on two continuous, cylindrical guides 4 over the frame width.
  • the entire measuring carriage frame 21 is moved vertically with respect to a console 14 via two cylinders 12 acting vertically.
  • the torsion of the left pair of wheels relative to the right pair of wheels, which are rigidly connected to the measuring frame, about the axis 13 is measured via a rotary encoder (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 via a sleeve sliding on the guide column 7 .
  • the entire measuring carriage 1 is connected via the console 14 to the machine frame of a track-laying machine, not shown in detail. Via the vertical cylinders 12, which are articulated to the wagon and the console 14, the wagon 1 can be lowered onto a track and lifted off the track (direction V) and, during measurement runs, pressed down against the rails of the track with a specified force Qzli, Qzre.
  • the measuring carriage frame 21 can be moved to the left or right (direction H) on the guides 4 via the double-acting pressure cylinders 6, 10 and pressed against the rail with the desired force FY. 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 NW (pitch angle) via the ball joint 11 . This results in the necessary 5 degrees of freedom of the measuring carriage.
  • the axis 13 of the carriage goes through the measuring carriage width.
  • a bearing 16 of the left-hand pair of wheels is shown in section, which can rotate relative to the right-hand pair of wheels 15 , which is firmly connected to the axis of rotation 13 .
  • the angle of rotation ROT of the two pairs of wheels can be measured relative to one another.
  • the lower part of the measuring carriage which can be moved transversely, slides on the horizontal guides 4.
  • All wheels 3 show the cut BB out Fig.1 by one of the wheels designed as distance measuring wheels. All wheels 3 are designed in two parts and each comprise a wheel part 19 and a freely rotatable wheel flange part 20. So that the wheels do not slip due to the frictional forces between wheel flange and rail, wheel flange part 20 and wheel part 19 are designed to be rotatable 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 19 are measured via a rotary encoder 18 and output in pulses.
  • the rotary encoder 8 for measuring the torsion between the wheel pairs on the left and right about the axis 13 is in this view to the right of the wheel flange part 20.
  • Z is the vertical (gravity) axis.
  • Y is the transverse axis and x points 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 around the vertical axis z is called the yaw angle GW (direction angle)
  • the rotation around the transverse axis y is the pitch angle NW (inclination angle)
  • the rotation around the longitudinal axis x is the roll angle RW (elevation angle) and is recorded by the inertial navigation system 2.
  • pressure sensors can be assigned to the cylinders 6, 10, 12, with the pressure cylinders 6, 10 and the vertical cylinders 12 preferably being controlled and regulated via proportional valves in such a way that the ratio of the transverse force Y, which presses the wheel in the y-direction against the rail , to the vertical load Q, which presses the wheel against a rail in the z-direction, is less than or equal to 1.2 and the transverse force Y is greater than the frictional force Q ⁇ .

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  • 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)

Claims (6)

  1. Voiture de mesure sur rails (1) pour mesurer des géométries de voies avec un châssis de voiture de mesure (21) disposé sur un train de roulement, auquel est associée une unité de navigation inertielle (2) et qui peut être déplacé de façon réglable par rapport à une console (14) pouvant être fixée sur un châssis de machine d'une machine de superstructure, des actionneurs exécutant des mouvements de levage et d'abaissement de la voiture de mesure (1), deux roues (3) étant associées au train de roulement de chaque côté de la voiture de mesure et le châssis de voiture de mesure présentant cinq degrés de liberté, à savoir une rotation autour de l'axe vertical (z, GW) du châssis de voiture de mesure (21), une rotation autour de l'axe longitudinal (x, RW) du châssis de voiture de mesure (21), une rotation autour de l'axe transversal (y, NW) du châssis de voiture de mesure (21), un déplacement linéaire le long de l'axe z (V) et un déplacement linéaire du châssis de voiture de mesure (21) le long de l'axe y (H), en particulier par rapport au train de roulement, caractérisée en ce que les roues (3) assemblées en paires de roues de chaque côté de la voiture de mesure sont agencées sur un levier à deux bras (5, 9) et les leviers (5, 9) sont montés de façon réglable en pivotement autour d'un axe (13) du train de roulement continu sur la largeur de la voiture de mesure, que l'unité de navigation (2) est reliée de façon fixe avec une paire de roues pour mesurer le parcours en hauteur de cette paire de roues le long des rails et qu'un capteur rotatif (8) est associé à l'axe (13) pour enregistrer un axe de rotation (ROT) entre les deux leviers (5, 9).
  2. Voiture de mesure sur rails (1) selon la revendication 1, caractérisée en ce que, pour transmettre les forces verticales (QZli, QZre) entre le train de roulement et la console (14), il est prévu un vérin (12) parallèle à l'axe vertical associé à chacun des côtés gauche et droit de la voiture de mesure et que, pour transmettre les forces horizontales parallèles à l'axe y exercées sur le train de roulement, le châssis de voiture de mesure (21) est guidé le long d'au moins un guide (4) et peut être déplacé au moyen de vérins d'abaissement (6, 10) disposés entre le train de roulement et le châssis de voiture de mesure.
  3. Voiture de mesure sur rails (1) selon la revendication 1 ou 2, caractérisée en ce qu'un capteur rotatif (18) est associé à au moins une des roues de mesure (3) pour la mesure de course.
  4. Voiture de mesure sur rails (1) selon une des revendications 1 à 3, caractérisée en ce que les roues (3) présentent chacune un élément de roue porteuse (19) et un élément de boudin (20) pivotant librement par rapport à l'élément de roue porteuse (19).
  5. Voiture de mesure sur rails (1) selon une des revendications 1 à 4, caractérisée en ce que, pour l'enregistrement de mouvements linéaires le long de la verticale (V) et de l'horizontale (H), sont prévus des capteurs de course qui sont intégrés dans les vérins (12, 6, 10) ou associés aux vérins (12, 5, 10).
  6. Voiture de mesure sur rails (1) selon une des revendications 1 à 5, caractérisée en ce qu'aux vérins (6, 10, 12) sont associés des capteurs de pression, les vérins d'abaissement (6, 10) et les vérins verticaux (12) étant commandés et régulés par le biais de vannes proportionnelles.
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 EP3584366A1 (fr) 2019-12-25
EP3584366B1 true EP3584366B1 (fr) 2022-05-25

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

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

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113484044B (zh) * 2021-07-07 2022-11-22 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
CN113484043B (zh) * 2021-07-07 2022-11-22 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
AT525925A1 (de) 2022-02-18 2023-09-15 Hp3 Real Gmbh Gleisfahrbare, selbstfahrende Energieversorgungsmaschine
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

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105316986B (zh) * 2014-06-03 2017-05-24 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
US10000223B2 (en) * 2015-09-18 2018-06-19 Tech Services Group, LLC Rail track geometry measurement
AT518839B1 (de) * 2016-07-11 2018-12-15 Plasser & Theurer Exp Von Bahnbaumaschinen G M B H System und Verfahren zum Vermessen eines Gleises
AT519003B1 (de) * 2016-12-19 2018-03-15 Plasser & Theurer Export Von Bahnbaumaschinen Gmbh Messvorrichtung und Verfahren zum Erfassen einer Gleisgeometrie
AT519218B1 (de) * 2017-02-06 2018-05-15 Hp3 Real Gmbh Verfahren zur Optimierung einer Gleislage

Also Published As

Publication number Publication date
AT521424A1 (de) 2020-01-15
PL3584366T3 (pl) 2022-08-22
AT521424B1 (de) 2024-03-15
EP3584366A1 (fr) 2019-12-25

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