EP4165248A1 - Vorrichtung zur gleisbearbeitung - Google Patents
Vorrichtung zur gleisbearbeitungInfo
- Publication number
- EP4165248A1 EP4165248A1 EP21732269.2A EP21732269A EP4165248A1 EP 4165248 A1 EP4165248 A1 EP 4165248A1 EP 21732269 A EP21732269 A EP 21732269A EP 4165248 A1 EP4165248 A1 EP 4165248A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- processing
- vibration
- unit
- track
- fastening
- 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.)
- Pending
Links
Classifications
-
- 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
- E01B29/00—Laying, rebuilding, or taking-up tracks; Tools or machines therefor
- E01B29/24—Fixing or removing detachable fastening means or accessories thereof; Pre-assembling track components by detachable fastening means
- E01B29/28—Fixing or removing detachable fastening means or accessories thereof; Pre-assembling track components by detachable fastening means the fastening means being of screw-and-nut type; Apparatus therefor, adapted to additionally drilling holes
Definitions
- the invention relates to a device for track processing.
- the invention also relates to a method for operating a device for track processing.
- the invention also relates to a tamping unit for machining the track bed.
- a tamping unit for tamping under sleepers of a track is known from WO 2017/097 390 A1.
- the tamping unit comprises tamping tines which are each connected to a tamping lever and are mounted on a tool carrier such that they can be pivoted about a pivot axis.
- An angle sensor for detecting the pivot angle with respect to the tool carrier is assigned to each stuffing lever. This can improve the use and service life of the tamping unit.
- DE 1 904 121 A discloses a device with screwing tools for tightening and loosening screw connections.
- the respective screwing tool with the screw connection In order to bring the respective screwing tool with the screw connection robust against positional tolerances into engagement, it is elastically mounted on a housing via springs with réelle certain rigidity.
- the screwing tools are thus mounted to be movable relative to the housing and relative to one another.
- this additional degree of freedom complicates the positioning of the screwing tools, especially when vibrations caused by motors or actuators excite the elastically mounted screwing tools to oscillate.
- Another disadvantage is that the tightening torques and the tightening precision that can be achieved on the screw connections are reduced due to the elastic mounting of the screwing tools.
- the invention is based on the object of creating a simple, robust and flexibly usable device for track bed processing.
- the device has at least one vibration decoupler with adjustable pitch ability and / or adjustable damping, which acts between the at least one processing device and the fastening device, the at least one processing device can on the one hand be precisely guided and positioned.
- the at least one processing device and the fastening device can be decoupled to a desired extent.
- the decoupling of a movement of the fastening device from a movement of the at least one processing device and / or a movement of the at least one processing device from a movement of the fastening device can be set by means of the at least one vibration decoupler.
- the transmission of vibration movements from the at least one processing device to the fastening device can be reduced as a result.
- the device can thus be used flexibly and is robust.
- the device is used in particular for partially automated and / or fully automated track processing.
- the device is designed in particular as a track processing machine that can be moved on rails.
- the at least one vibration decoupler is preferably between a first coupling state in which the vibration decoupler has a first rigidity and / or a first damping, and a second coupling state in which the vibration decoupler has a different, in particular lower, second rigidity and compared to the first coupling state / or has a second damping that is different from the first damping, in particular lower, can be set.
- the at least one vibration decoupler can be set to the first coupling state with the higher rigidity.
- the positioning of the at least one processing device via the fastening device can thus take place particularly precisely and reliably.
- the at least one vibration decoupler can be set to the second coupling state with the lower rigidity.
- Movements occurring during track processing, in particular oscillation and / or vibration movements, of the at least one processing device can be decoupled from the movement of the fastening device to a desired or large extent in the second coupling state.
- the stresses acting on the fastening device are thus reduced. Due to the reduced stresses, the device is particularly robust and economical to operate.
- the ability to adjust the at least one vibration decoupler with regard to its rigidity and / or damping is understood to mean that a change in corresponding properties, in particular reversibly, can be brought about by changing at least one manipulated variable.
- the integrity of the at least one vibration decoupler is preferably completely retained.
- the vibration decoupler can be adjusted without having to remove one of its components and / or replace it with another component, in particular a component with a different stiffness and / or damping.
- the at least one vibration decoupler can preferably be switched between different stiffnesses and / or damping values, in particular switchable without tools.
- the vibration decoupler can be designed so that the stiffness and / or the damping can be changed at least once within one, in particular each, track processing cycle, in particular at least including the positioning of the at least one processing device and the track processing. This advantageously means that the rigidity and / or the damping of the at least one vibration decoupler can be adjusted in time between the positioning of the at least one processing device on the track and the track processing.
- the at least one vibration decoupler can preferably be adjusted by remote control with regard to its rigidity and / or damping.
- the vibration decoupler can have an interface, in particular a connection, for a signal connection.
- the interface and / or the signal connection are preferably designed to conduct fluidic and / or mechanical and / or electrical signals.
- the rigidity and / or the damping can be set automatically. This allows the vibration decoupler to be operated particularly efficiently and economically.
- the at least one vibration decoupler is designed to allow a relative movement between the at least one processing device and the fastening device in the vertical direction and / or in at least one horizontal direction, in particular in each horizontal direction, and / or along a feed direction, in particular a penetration direction or an engagement direction, the at least one machining device direction and / or in at least one direction, in particular in all directions, perpendicular to to enable the feed direction.
- the at least one vibration decoupler can be designed to permit rotational movements about the vertical direction and / or about the feed direction and / or about at least one direction perpendicular to the vertical direction and / or to the feed direction of the at least one processing device relative to the fastening device. What is advantageously achieved in this way is that a transmission of vibrations between the processing device and the fastening device is particularly comprehensively reduced.
- the vibration decoupler can have one or more decoupling elements which are adjustable with regard to their rigidity or damping, in particular reversibly changeable with regard to these properties.
- the at least one vibration decoupler can be set between different stiffness values and / or damping values that differ by at least 20%, in particular at least 50%, in particular at least 100%, and / or at most 500%. This enables a particularly high level of machining flexibility to be achieved.
- the at least one processing device is preferably designed so that the setting of the rigidity and / or the damping, in particular the adjustment between different rigidity and / or damping values, within a period of a maximum of 10 s, in particular a maximum of 5 s, in particular a maximum of 2 s, in particular a maximum of 1 s, and / or at least 0.1 s can take place.
- the track can therefore be worked on in a particularly time-efficient manner.
- the at least partial movement decoupling is understood in particular to mean that the decoupling takes place at least partially along individual degrees of freedom of movement and / or along these degrees of freedom of movement.
- the decoupling can take place with regard to at least one linear degree of freedom and / or one rotational degree of freedom.
- the at least one processing device is preferably mounted such that it can be displaced and / or pivoted relative to the fastening device.
- the at least one vibration decoupler can have at least one linear bearing and / or a swivel joint, in particular a universal joint. point.
- the at least one vibration decoupler is preferably designed in such a way that it counteracts a relative movement of the at least one processing device with respect to the fastening device.
- the at least one vibration decoupler is preferably adjustable between at least two, in particular at least three, in particular at least four, in particular at least five coupling states, each with different rigidity and / or damping.
- the at least one vibration decoupler is preferably reversibly adjustable. Even more preferably, the at least one vibration decoupler can be adjusted continuously, in particular between the first coupling state and the second coupling state.
- the at least one vibration decoupler can have a coupling unit for reversibly coupling different stiffnesses, in particular several spring elements, and / or different areas of a single spring element in the force path between the fastening device and the at least one processing device.
- the at least one spring element can comprise a spiral spring and / or a leaf spring and / or an elastic body, in particular made of a soft elastic material, in particular a rubber material, in particular acrylonitrile-butadiene rubber.
- the coupling unit preferably comprises a servomotor for reversible coupling of the different stiffnesses.
- the at least one vibration decoupler can have a fluidic damping element, in particular a liquid damper and / or a gas damper and / or a throttle valve, and / or a mechanical damping element, in particular a mechanical brake, and / or an electrical damping element, in particular an eddy current brake , exhibit.
- the damping element can preferably be used repeatedly.
- the at least one vibration decoupler is preferably designed so that the stiffness and / or the damping can be adjusted by means of an electrical signal and / or a fluidic signal, in particular a fluid pressure.
- the at least one vibration decoupler can thus be set and / or switched between the individual coupling states in a particularly simple and reliable manner.
- the device preferably comprises a control unit for setting the rigidity and / or the damping of the at least one vibration decoupler, in particular for adjusting the at least one vibration decoupler between the at least two different coupling states.
- the control unit is preferably designed for the automated adjustment of the at least one vibration decoupler.
- the control unit preferably comprises an electronic control device for controlling the device.
- the at least one vibration decoupler can have a passive spring element and / or a passive damping element.
- Passive spring elements or passive damping elements are understood to mean spring elements or damping elements which are not adjustable in terms of their rigidity and / or damping.
- the passive spring element and / or passive damping element can for example be a rubber mount. Due to the at least one passive spring element and / or passive damping element, the arrangement of the at least one vibration decoupler is reliably ensured in at least one coupling state that is safe during operation, in particular also when an electrical and / or fluid power supply fails.
- the decoupling of the movement of the fastening device from movements of the at least one processing device is carried out by means of the at least one vibration decoupler in at least two, in particular at least three and / or in a maximum of four, in particular a maximum of three levels along the force path between the at least one processing device and the fastening device.
- the at least one processing device can have a processing machine and / or a processing tool.
- the processing machine comprises a machine motor or drive motor for providing the power required for track processing.
- the fastening device can be designed for permanent, permanent attachment to a support structure.
- the fastening device is preferably designed for detachable attachment to a support structure.
- the fastening device can be a quick release have coupling for reversibly releasable, in particular automatable, connection with the support structure.
- the fastening device preferably comprises a fluid coupling for reversibly detachable production of at least one fluid connection and / or a power coupling for reversibly detachable production of at least one electrical connection, in particular with the support structure.
- the fluid coupling and / or the current coupling are preferably designed to reversibly establish at least one, in particular at least two, in particular at least three, in particular at least four, and / or in particular at most four fluid connections and / or current connections. These connections are preferably designed to transmit control signals and / or power signals to the at least one vibration decoupler and / or to the at least one processing device.
- Forces in the range from 0.1 kN to 10 kN, in particular from 0.5 kN to 5 kN, are preferably transmitted via the fastening device.
- the device preferably comprises multiple processing submissions.
- the multiple processing devices can be assigned to a common vibration decoupler, multiple vibration decouplers and / or in particular a respective vibration decoupler.
- the plurality of processing devices can be assigned to a common fastening device, a plurality of fastening devices and / or a respective fastening device.
- the device preferably comprises at least two, in particular at least three, and in particular at least four processing devices and / or at most eight, in particular at most six, and in particular at most four processing devices.
- the device in particular the at least one vibration decoupler, has a housing which covers parts that are movable relative to one another, in particular between the fastening device and the at least one processing device. Damage to persons as well as damage to the mechanics by penetrating objects can thus be reliably prevented.
- a device is particularly economical to operate.
- the actuating means which is signal-connected to the at least one vibration decoupler can be directly connected to the Vibration decoupler or be arranged at a distance from this. In the case of a spaced arrangement, the setting can be carried out remotely.
- the signal connection can be designed to transmit fluidic and / or mechanical and / or electrical signals.
- the actuating means can be designed as a pressure regulating unit and / or as an automated or manually operable switching lever and / or as an electronic control unit.
- a device according to claim 3 is particularly economical to operate.
- the drive unit is preferably designed to provide the fluidic and / or mechanical energy required to adjust the rigidity and / or the damping.
- the drive unit can comprise a fluid pump, in particular a hydraulic pump and / or a pneumatic pump, and / or an electric motor, in particular a rotary motor and / or a linear motor.
- a device is robust and economical to operate.
- the chamber filled with the fluid enables the rigidity and / or the damping of the at least one vibration decoupler to be set in a particularly simple manner.
- the chamber can preferably be filled reversibly with the fluid.
- the chamber can be filled in an automated manner based on a control signal from the control unit. To adjust the rigidity and / or the damping, the pressure of the fluid in the chamber can be changed.
- the fluid can comprise a liquid, in particular water and / or oil, in particular hydraulic oil, or a gas, in particular air.
- the at least one vibration decoupler comprises at least one, in particular at least two, in particular at least three, in particular at least four, of the chambers.
- An overflow channel is preferably provided between at least two of the chambers.
- the at least one vibration decoupler is preferably designed such that a volume enclosed by the at least one chamber increases when a force is exerted on the vibration decoupler, the volume enclosed by a further chamber simultaneously decreasing when the force is exerted on the at least one vibration decoupler.
- the fluid can flow between these two chambers via the overflow channel. In this way, damping of the relative movement between the fastening device and the at least one processing device can be achieved.
- the at least one chamber can be designed as a displacement of a piston-cylinder unit and / or as a bellows and / or as an elastic bladder.
- the piston-cylinder unit is preferably designed as a two-way cylinder-piston unit.
- a device is robust and economical in operation and ensures the decoupling of the movements in a simple manner.
- the chamber wall is finally deformed in an elastic area.
- a wall thickness of the chamber wall is preferably in a range from 2 mm to 6 mm, in particular from 0.5 mm to 4 mm, in particular from 1 mm to 2 mm.
- the chamber wall is preferably designed to withstand a fluid pressure within the chamber of at least 2 bar, in particular at least 5 bar, in particular at least 10 bar, in particular at least 50 bar, in particular at least 100 bar.
- the chamber wall can be an elastic material, in particular a rubber material, and / or a fiber material, in particular carbon fibers and / or glass fibers and / or natural fibers and / or plastic fibers, in particular polyamide fibers, and / or a textile material with such fibers and / or a plastic material and / or a metallic material, in particular a special steel, in particular a spring steel.
- the chamber can be designed as a flexible rubber bellows.
- the design of the chamber with the deformable chamber wall makes it possible to act on several linear degrees of freedom and / or degrees of freedom of rotation at the same time.
- the chamber with the deformable chamber wall can be based on at least two movement components of the relative movement between the fastening device and the at least one processing device, in particular on at least two linear, perpendicular movement components and / or on at least two rotary motion components and / or act on at least one linear motion component and / or at least one rotary motion component at the same time.
- the at least one vibration decoupler comprises at least one end stop for limiting a relative movement between the fastening device and the at least one processing device. This advantageously ensures that the at least one vibration decoupler in the event of strong deflections of the Fastening device relative to the at least one processing device takes no damage. In particular, damage to the reversibly deformable chamber wall can thus be avoided.
- the at least one vibration decoupler can have a rigid housing which limits a pressure-related expansion of the reversibly deformable chamber wall.
- the device can be operated particularly safely.
- a device ensures easy adjustment of the movement decoupling.
- the pressure regulating unit can be a component of the at least one vibration decoupler. Alternatively, with regard to the at least one vibration decoupler, the pressure regulating unit can be arranged on the side of the fastening device.
- the Druckregu li unit is preferably in signal connection with the control unit.
- the pressure regulating unit and / or the control unit can be designed to regulate the pressure of the fluid in the chamber. As the pressure in the chamber can be regulated, the stiffness and / or the damping can be adjusted, in particular, continuously.
- the chamber is preferably designed in the manner of an adjustable gas spring and / or a pneumatic muscle.
- a device according to claim 7 can be produced particularly economically and ensures the decoupling of movements in a simple and reliable manner.
- the Drosselven valve is preferably electrically and / or fluidically adjustable, in particular using a signal from the control unit.
- the throttle valve is preferably arranged in the overflow channel between two chambers filled with the fluid. Because the throttle valve is adjustable, in particular the characteristic curve of the damping can be adjusted. Depending on the adjustable opening width of the throttle valve, a different proportion of the kinetic energy for moving the fastening device relative to the at least one processing device is converted into thermal energy and thus eliminated from the movement system.
- a device enables the rigidity and / or the damping of the at least one vibration decoupler to be set in a particularly simple and flexible manner.
- the braking unit can be actuated fluidically and / or electrically.
- the brake unit can have a fluidically and / or electrically actuatable actuator.
- the braking unit can have an electromagnet and / or a piezo element and / or a piston-cylinder unit for effecting the braking force.
- the brake unit comprises an eddy current brake. Because the braking effect of the braking unit is adjustable, the damping and / or the rigidity of the at least one vibration decoupler can be influenced.
- the braking unit is preferably in signal connection with the control unit.
- the braking effect can be set, for example, on the basis of a force signal provided on a force sensor and / or on the basis of a displacement signal provided on a displacement sensor.
- the force signal preferably correlates with a force transmitted between the fastening device and the at least one processing device.
- the displacement sensor is preferably designed to detect the variable position of the at least one processing device relative to the fastening device.
- a device enables the vibration decoupling in a simple manner. Because the machine motor is arranged in at least one processing device, a structurally complex, movement-decoupled, mechanical power transmission can be dispensed with. Furthermore, the mass of the at least one machine motor acts as an inertial mass on the part of the at least one machining device. Schwingungsbewe conditions on the at least one processing device are damped by this inertial mass and thus only partially transmitted to the at least one vibration decoupler and to the fastening device.
- the machine motor can be a fluidically or electrically driven drive motor.
- the machine motor can, for example, be a vibration drive, in particular a vibration drive of a tamping unit, or a rotary drive, in particular a screw drive, in particular an impact screw drive.
- a device is robust and economical to operate. Tamping units for track bed processing are designed to generate vibratory movements to compress the track bed.
- the stuffing unit has a vibration generator.
- the tamping unit can have at least one, in particular at least two, in particular at least three, in particular at least four, penetrators, in particular tamping picks.
- the tamping unit can have a penetration body receptacle for reversibly releasable reception of the at least one penetration body.
- the forces that arise when the Stopfein vibrates, in particular the at least one penetration body play a decisive role to the wear of the device. Because the at least one vibration decoupler is arranged between the at least one tamping unit and the fastening device, the wear of the device on the part of the fastening device can be reduced considerably. The maintenance and manufacturing costs associated with the device can be reduced.
- the at least one tamping unit is designed as a vibrating pot unit with a machine motor, a vibration generator and at least one penetration body and / or a penetration body receptacle.
- the device preferably has at least two, in particular at least three, in particular at least four, of the tamping units, in particular the vibrating pot units.
- the vibrating pot unit can, for example, comprise a drive motor and a vibration generator, which are arranged in a tamping tube.
- the tamping tube forms an indenter.
- the vibration generator can be arranged with regard to the at least one vibration decoupler on the side of the fastening device.
- the at least one processing device can thus be designed to be particularly lightweight. The mass stored on the fastening device is thus reduced.
- a device according to claim 11 is particularly robust in operation. Because the at least one processing device has the vibration generator, the vibration movements of the at least one processing device can be decoupled particularly effectively from a movement of the fastening device. In addition, the mass of the vibration generator as an inertial mass contributes to the damping of the vibration movements on the part of the at least one processing device.
- a device according to claim 12 is particularly robust and economical to operate.
- the reaction forces occurring when tightening and / or loosening screws, for example sleeper screws, contribute significantly to the wear and tear of the device.
- the at least one vibration decoupler acts between the at least one screw unit and the fastening device, the forces transmitted to the fastening device can be reduced.
- the screwing unit is preferably designed as an impact wrench and / or as a drill screw and / or as a drill.
- the at least one screwing unit comprises a torque sensor.
- the control unit is preferably designed to monitor the torque when the screw connection is tightened.
- the control unit can be designed to store and document a tightening torque of the respective screw connection together with the specific identifier of this screw connection and / or the position of the respective screw connection along the respective rails.
- a device according to claim 13 is particularly economical to operate.
- the device comprises at least two, in particular at least three, in particular at least four of the screw units. This advantageously means that several of the screw connections can be tightened and / or loosened at the same time.
- a device according to claim 14 is particularly robust and economical to operate.
- the tensioning device is preferably designed for the reversible clamping of the at least one processing device on a rail of the track.
- the clamping device can have a clamping actuator which reversibly provides a clamping force for clamping to the rail.
- the clamping device can be rigidly connected to the at least one processing device.
- the clamping device can preferably be moved relative to the at least one machining device. This advantageously means that the respective screw unit can be displaced relative to the position of the rail as a function of the position of the screw connection.
- forces that arise when tightening and / or loosening the screw connection can be transferred to the rail.
- the fastening device and / or the at least one vibration decoupler can thereby be mechanically relieved. In particular, particularly high screw torques can be exerted on the screw connections.
- a device according to claim 15 is particularly economical to operate.
- the screw elements can include nuts and / or screws and / or other screw elements required for a screw connection, such as, for example, washers and / or spring washers.
- the loading device is designed to provide the screw elements at a certain position and / or with a predetermined orientation.
- the loading device can have a vibrating conveyor and / or a vibrating table and / or a vibrating spiral conveyor and / or a blister conveyor for handling screw elements provided in blister packs.
- the loading device advantageously ensures that screw connections can be largely, in particular completely, assembled automatically.
- a device according to claim 16 is particularly economical to operate.
- the cutting tool preferably comprises a cutting tool motor for providing the power required for the cutting.
- the cutting tool can be designed as a cutoff grinder, in particular with a cutting disk, or as cutting pliers.
- the cutting tool can be rigidly connected to at least one screwing unit. Alternatively, the cutting tool can be designed to be movable relative to all of the screwing units. Because stuck screw connections can be released by means of the cutting tool, the device can be operated in an automated manner as far as possible, in particular completely.
- a device according to claim 17 is particularly economical in operation.
- the displacement device is preferably designed to move and / or pivot the at least one processing device, in particular the at least one tamping unit and / or the at least one screw unit, relative to the fastening device.
- the at least one processing device can be positioned particularly precisely on the respective processing object and / or oriented relative to this.
- two of the processing devices can be oriented and positioned with an exact fit to one another in accordance with the relative position and orientation of two objects to be processed.
- the displacement device is preferably designed to move the at least one machining device, in particular the at least one screwing unit, along the vertical direction and / or parallel to a horizontal plane.
- the displacement device can have an actuating drive, in particular in signal connection with the control unit, for effecting the displacement exhibit movement.
- the device can be automated in a particularly simple manner.
- At least one vibration decoupler is preferably arranged between the fastening device and the displacement device and / or between the displacement device and the at least one processing device.
- at least two, in particular at least three, in particular at least four and / or a maximum of eight of the vibration decouplers can be provided between the displacement device and the at least one processing device.
- These vibration decouplers are called processing decoupling units.
- At least one, in particular at least two, in particular at least three, and / or a maximum of four of the vibration decouplers is / are preferably arranged between the displacement device and the fastening device.
- This at least one vibration decoupler is referred to as a fastening decoupling unit.
- a device is particularly economical to operate. Because the at least two tamping units can be displaced relative to one another and / or pivoted relative to one another, the track bed can be compacted particularly efficiently, in particular under the sleepers.
- the displacement device is preferably designed to displace and / or pivot the penetrators that have penetrated into the track bed relative to one another.
- the displacement device can be designed to displace and / or pivot at least two of the vibrating pot units with respect to one another.
- the displacement device can be arranged with regard to the at least one vibration decoupler on the side of the at least one processing device and / or on the side of the fastening device.
- the at least two, in particular at least four, in particular at least six tamping units can always be moved and / or pivoted relative to one another in pairs by means of the displacement device, in particular in directions directed towards one another.
- the displacement device can have a linear guide and / or a linear drive for moving the at least two tamping units.
- the displacement device can have a swivel joint and a linear drive and / or a swivel drive.
- the linear drive is preferably designed as a hydraulic cylinder.
- the displacement device is designed to move and / or pivot at least two, in particular all of the tamping units independently of one another, relative to the fastening device.
- a device according to claim 19 is particularly economical to operate.
- the positioning device can have a support structure for connecting to the fastening device.
- the positioning device is preferably in signal connection with the control unit.
- the positioning device is preferably automated, for example partially automated or fully automated, controllable by means of the control unit.
- a device according to claim 20 can be used particularly flexibly and is economical to operate.
- the fastening device is preferably attached to a robot head of the multi-axis robot.
- the fastening device and / or the robot head can be designed to transmit fluidic and / or electrical signals via the connection between the robot head and the fastening device.
- the robot head is preferably designed for connection to the fastening device designed as a quick release coupling.
- the multi-axis robot is preferably designed to move the at least one processing device over a section along the rails which comprises at least three, in particular at least four, of the sleepers.
- the multi-axis robot preferably comprises at least two, in particular at least three, in particular at least four, in particular at least six, and / or a maximum of ten pivot joints or pivot axes.
- the multi-axis robot can each have an arm section between the swivel joints.
- the positioning device comprises at least two, in particular at least three, of the multi-axis robots, which can in particular be used for track machining at the same time.
- a fastening device with at least one vibration decoupler and at least one processing unit is preferably attached to each of the multi-axis robots. management device attached. The machining performance of the device can thereby be increased.
- a device according to claim 21 can be used particularly flexibly and is economical to operate.
- the trolley can be designed as a trailer without a drive motor or have a drive.
- the at least one multi-axis robot is preferably attached, in particular reversibly and detachably, to the trolley.
- the at least one multi-axis robot can be displaced relative to the carriage, in particular linearly displaceable.
- the at least one multi-axis robot is suspended from the carriage and / or attached to a wall that is inclined to the horizontal plane, in particular vertical.
- the trolley can preferably be moved on rails.
- the trolley is designed as a two-way vehicle.
- the trolley can have a rail chassis for driving on rails and / or a road chassis for driving on roads.
- a rail chassis for driving on rails
- a road chassis for driving on roads.
- at least one of the Fahrwer ke is adjustable in height. This allows the device, in particular the Fahrwa gene, to be translated between adjacent rails.
- the fixing unit can be designed to carry the at least one processing device in a form-fitting manner, in particular in the form of a support bracket and / or a support basket.
- the fixing unit is preferably designed so that the at least one processing device can be hooked into the fixing unit from above.
- the at least one processing device can be reliably held, particularly when the device is moved along the rails. This prevents the at least one processing device from getting into the track during the ferry operation, as a result of which personal injury or damage to property can be avoided.
- the at least one processing device can preferably be reversibly fastened, in particular suspended, to the fixing unit by means of the multi-axis robot.
- a device can be operated particularly safely and economically.
- the object to be processed is understood to be the object to be processed with at least one processing device.
- the object of processing is, for example, the track bed and / or a screw connection, in particular a screw head.
- the sensor device can have a camera unit, in particular a 3D camera, in particular a TOF camera, and / or an infrared camera, and / or a ground penetrating radar and / or a triangulation unit, in particular a laser triangulation unit, and / or a GPS module and / or a light barrier and / or a distance sensor, in particular an ultrasonic sensor.
- the sensor device is preferably in signal connection with the control unit.
- the control unit for controlling the device in particular the positioning device and / or the displacement device and / or the at least one processing device, is formed on the basis of a signal from the sensor device.
- the device comprises a supply unit for supplying the positioning device and / or the at least one processing device and / or the at least one vibration decoupler with electrical and / or fluid power.
- the supply unit is preferably attached to the trolley.
- Another object of the invention is to provide a method of operating a device for track processing that enables simple, precise, flexible and economical track processing.
- the at least one processing device can preferably be displaced into a reset position in which the at least one processing device is arranged at a distance from the object to be processed, and into a working position in which the at least one processing device is in engagement with the object to be processed.
- at least one tamping unit in particular the penetrator
- at least one screw unit in particular a wrench
- the second rigidity is preferably lower than the first rigidity and / or the second damping is lower than the first damping.
- the change in rigidity is preferably in the range from 1 N / cm to 1,000 N / cm, in particular from 10 N / cm to 100 N / cm, and / or in a range from 0.1 Nm / ° to 100 Nm / ° , in particular from 1 Nm / ° to 10 Nm / °.
- a movement of the at least one processing device relative to the fastening device is completely blocked and / or at least partially blocked and / or completely released and / or partially released in the second coupling state.
- the track is preferably processed in the area of a straight cut of the track and / or in the area of a switch.
- the method is carried out in a partially automated and / or fully automated manner, in particular by means of the control unit.
- the at least one processing device is moved at least partially, in particular exclusively with simultaneous monitoring of the work space by means of the sensor device, in particular by means of a camera system. If a person and / or an object penetrates the work space, the operation of the device can be interrupted. The penetration of the person and / or the object is recognized by the sensor device, preferably automatically, and provides a corresponding signal to the control unit.
- the vibratory driving of the tamping unit and / or the rotary driving of the screwing unit is preferably carried out exclusively when the vibration decoupler is set in the second coupling state.
- a method according to claim 25 ensures particularly precise track processing. Because the shifting between the reset position and the working position takes place when the vibration decoupler is set in the first, more rigid coupling state, the at least one processing device can be positioned particularly precisely on the processing object.
- a method according to claim 26 ensures a reduction in the loads acting on the device. Because the vibration decoupler is set to the second coupling state with the lower rigidity when the track is being processed, a stronger decoupling of the movement of the at least one processing device from the movement of the fastening device can be achieved. The wear and tear on the device is reduced and the device can be operated particularly economically.
- a method according to claim 27 enables particularly high torques to be exerted on the screw connections.
- transmission of the torques via the fastening device can be avoided. This relieves the load on the fastening device and / or the positioning device and / or the vibration decoupler.
- the bearing torques acting on the corresponding machining device when the screw connection is rotated can be transferred via the other screw connection in each case. No or at most only low torques therefore have to be transmitted via the fastening device and / or the vibration decoupler.
- the two screw connections are at least partially, in particular completely, tightened or loosened at the same time.
- the resulting maximum bearing forces therefore do not superimpose one another.
- the load on the screw connections is thus reduced.
- a method according to claim 28 is particularly economical.
- the at least one processing device is preferably locked on the track during the tightening and / or loosening of at least one screw connection.
- each of the screw units can be used flexibly for tightening and / or loosening the screw connections independently of another screw unit, the bearing torques resulting from the rotary drive of the screw unit being transferred to the rail.
- the device, in particular the fastening device and / or the vibration decoupler, and / or the screw connections are not loaded by the bearing moments.
- two of the screw connections in particular by means of two screw units, are completely tightened and / or loosened at the same time.
- a method according to claim 29 is particularly economical.
- the at least one processing device is preferably automated, in particular moved relative to the track by means of the positioning device, in particular with the multi-axis robot. Manual track processing in the complex area of the switches can be avoided due to the flexible displaceability of the at least one processing device relative to the track. The process can thus be carried out particularly economically.
- Another object of the invention is to create a tamping unit for track bed processing that is particularly economical to operate and manufacture.
- a tamping unit with the features of claim 30.
- the advantages of the tamping unit correspond to the advantages described above in connection with the device and the method.
- the at least one tamping unit or vibrating pot unit preferably comprises a machine motor or drive motor for driving the vibration generator.
- the tamping unit can have a penetration body, in particular a tamping ax, and / or a penetration body receptacle for reversibly releasable fastening of a penetration body.
- the tamping unit has a tube or a tamping pick tube as a penetrator, in which the vibration generator and / or the machine motor or drive motor are arranged.
- the vibration generator and / or the machine motor are preferably at least partially, in particular completely, overlapped by the penetration body or the tamping tube perpendicular to the vertical direction and / or to the feed direction.
- the vibration generator and / or the machine motor can be arranged completely within the penetration body or the tamping tube, in particular within a smallest convex envelope thereof.
- the tamping unit is therefore particularly compact in construction and energy-efficient in operation.
- the tamping unit can comprise at least one vibration decoupler.
- the at least one vibration decoupler is preferably arranged between the tamping unit and the displacement device and / or between the tamping unit and the fastening device and / or between the displacement device and the fastening device.
- the at least one vibration decoupler has, in particular, an adjustable rigidity and / or an adjustable damping.
- the tamping unit can be developed with the features that are ben described above in connection with the device, in particular with the tamping unit.
- Fig. 1 is a perspective view of a device for track processing with egg nem carriage for driving on rails, a multi-axis robot attached to it, a fastening device attached to the multi-axis robot and two processing devices, with several between the fastening device and the processing devices Vibration decouplers act,
- FIG. 2 shows a side view of the device in FIG. 1, the processing devices each having a tamping unit for processing the track bed, FIG.
- Fig. 3 is a side view of the multi-axis robot with the processing devices attached to it in Fig. 1,
- Fig. 4 is a front view of the fastening device, the vibration decoupler, the
- FIG. 5 shows a front view of the fastening device, the vibration decoupler and the processing devices according to FIG. 4 without the housing for arranging Illustration of a displacement device for pivoting the two processing devices to one another, which is arranged in a penetration position,
- FIG. 6 is a front view of the fastening device, the vibration decoupler and the processing devices corresponding to FIG. 5, the displacement device being arranged in a delivery position.
- FIG. 7 shows a perspective illustration of a device for track processing according to a further exemplary embodiment, the two processing devices each having a screw unit for tightening and / or loosening a screw connection,
- FIG. 8 shows a front view of the fastening device, the vibration decoupler and the two processing devices in FIG. 7 and a displacement device for moving the processing devices parallel and perpendicular to a tool engagement direction
- Fig. 9 is a perspective view of a device for track processing according to a further embodiment with a carriage, two attached multi-axis robots and each one attached to the respective multi-axis robot fastening device, on each of which two of the processing devices are arranged via an intervening vibration decoupler are.
- the device 1 comprises a positioning device 2 with a carriage 3 for driving on rails 4 and a multi-axis robot 5.
- the carriage 3 has a drive 6 for moving the carriage 3 along the rails 4.
- the multi-axis robot 5 is attached to the storage unit 9.
- the multi-axis robot 5 has six swivel joints 10 for displacing a robot head 11 relative to the bearing unit 9.
- An arm section 12 of the multi-axis robot 5 is arranged in each case between the swivel joints 10.
- the device 1 has a fastening device 13 which is attached reversibly and detachably to the positioning device 2, in particular to the robot head 11. With the fastening device 13, two processing devices 14 are connected. Vibration decouplers 15a, 15b act between the processing devices 14 and the fastening device 13. The vibration decouplers 15a, 15b are designed to decouple a movement of the fastening device 13 at least partially from a movement of the processing devices 14. The vibration decouplers 15a, 15b are adjustable in terms of their rigidity and damping behavior.
- the fastening device 13 comprises a quick-release coupling 16 for the reversible connection to the robot head 11. Furthermore, the fastening device 13 comprises a fluid coupling 17 via which fluids, in particular hydraulic oil and compressed air, can be transmitted.
- the two processing devices 14 each include a tamping unit 18 for processing the track bed, in particular for compacting the track bed 19.
- the respective tamping unit 18 has a penetration body 20 for penetrating the track bed 19 and a vibration generator 21 for generating a vibration movement on the penetration body 20.
- the penetration body 20 is designed as a tube, which is also referred to as a tamping pick tube.
- the respective vibration generator 21 is arranged in the associated penetration body 20.
- the vibration generator 21 comprises an eccentric mass, not shown, which is mounted eccentrically with respect to an axis of rotation, in order to generate the vibration movement.
- the two vibration generators 21 of the tamping units 18 can each be driven in rotation via a machine motor 22 or drive motor of the tamping units 18.
- the machine motors 22 are electrically driven. The required electrical power is provided to the fastening device 13 via a current coupling 23.
- the machine motors 22 are arranged with respect to the vibration decouplers 15a, 15b on the side of the Stopfein units 18.
- a displacement device 24 of the device 1 is designed for pivoting the respective processing device 14, in particular the respective tamping unit 18, relative to the fastening device 13.
- the respective processing device 14 is connected to the fastening device 13 via a feed joint 25 of the displacement device 24.
- a piston-cylinder unit 26 of the displacement device 24 effects the actuating force Fs required to pivot the respective processing device 14.
- the two tamping units 18 can also be pivoted relative to one another or pivoted towards one another.
- the vibration decouplers 15a, 15b include a fastening decoupling unit 15a attached to the fastening device 13 and a machining decoupling unit 15b each attached to the two machining devices 14.
- the fastening decoupling unit 15a and the machining decoupling units 15b each comprise at least one chamber 27 that can be filled with a fluid for at least partial transmission of reaction forces FR between the fastening device 13 and the machining devices 14 via the fluid.
- the fastening decoupling unit 15a is designed to control a displacement movement of the processing device 14 relative to the fastening device 13 along a penetration direction 28 of the penetrators 20 into the track bed 19.
- the machining decoupling units 15b are designed to control the movements of the respective machining device 14 relative to the fastening device 13 along and perpendicular to the penetration direction 28.
- the pressure pi, p2, p3 of the fluid within the chambers 27 can be set.
- the fastening / decoupling unit 15a comprises a linear guide 29.
- the machining / decoupling units 15b do not have such a guide.
- the chambers 27 of both vibration decouplers 15a, 15b comprise a reversibly deformable chamber wall 30.
- the processing decoupling unit 15b does not restrict the relative movement to certain degrees of freedom of movement between the processing devices 14 and the fastening device 13.
- All of the chambers 27 of the vibration decouplers 15a, 15b are connected to the supply unit 7 via fluid connections 31, in particular via the fluid coupling 17.
- the fluid pressure pi, p2, p3 within the respective chamber 27 can be set by means of the control unit 8 connected to the supply unit 7.
- the fluid is compressed air.
- the fastening / decoupling unit 15a is designed as a piston-cylinder unit.
- the chambers 27 of the machining decoupling units 15b are designed as rubber bellows.
- the rigidity of the respective vibration decoupler 15a, 15b can be adjusted as a function of the pressure pi, p2, p3. As the pressure pi, p2, p3 increases, the respective Schwingungsent coupler 15a, 15b is more strongly biased into a rest position in which the volume V enclosed by the respective chamber 27 is at a maximum.
- the vibration decouplers 15a, 15b arranged in a deflection position bring about a restoring force that is dependent on the pressure pi, p2, p3 and moves into the rest position.
- a piston 32 of the fastening / decoupling unit 15a embodied as a piston-cylinder unit is mounted displaceably in a cylinder 33 and delimits two annular chambers 27 from one another.
- a spiral spring 33a acts between the piston 32 and the cylinder 33.
- the pressure pi, p2 in the chambers 17 can be set via a fluid line 34 which is in fluid-conducting connection with the fluid coupling 17.
- the two chambers 27 of the fastening decoupling unit 15a are connected to one another in a fluid-conducting manner via an electrically controllable throttle valve 35.
- the throttle valve 35 is in signal-transmitting connection with the control unit 8.
- the throttle valve 35 is connected to the Stromkupp treatment 23 via a power line 36.
- the device 1 further comprises a sensor device 37 for detecting the position of sleepers 38 of the track, in particular the arrangement of the processing devices 14 relative to the track bed 19.
- the sensor device 37 is also designed to monitor a work space 39, in particular to detect whether there is a Objects or people are located in the work space 39.
- the sensor device 37 comprises two cameras 40 and a ground radar 41.
- a triangulation unit 42 and a GPS module 43 are used to precisely determine the position of the device 1 along the rails 4.
- the working space 39 is delimited at the bottom by the track bed 19 and to the side , forwards and backwards through a frame bridge 39a, which connects a front part of the carriage 3 with a rear part of the carriage 3.
- the device 1 comprises a fixing unit 44.
- the fixing unit 44 is designed as a support frame in which the displacement device 24, in particular by means of the multi-axis robot 5 from can be hung on top.
- the functioning of the device 1 is as follows:
- the carriage 3 is arranged on the rails 4.
- the processing devices 14 are suspended in the fixing unit 44 via the displacement device 24.
- the displacement device 24 is in the penetration position.
- the pressure pi, p2, p3 in the chambers 27 of the vibration decouplers 15a, 15b corresponds to the ambient pressure.
- the travel drive 6 is activated and the carriage 3 is moved along the rails 4 to the Bear processing object, in particular to the track bed 19 to be compacted.
- the arrangement of the device 1 in the area of the track bed 19 to be processed is controlled by means of the control unit 8.
- the information acquired by the sensor device 37 in particular the information acquired by the triangulation unit 42 and the GPS module 43, is processed in the control unit 8.
- the precise determination of the sleeper 38 of the track to be tamped by the processing devices 14 takes place by means of the cameras 40.
- the fastening device 13 and the processing devices 14 attached to it are removed from the fixing unit 44 upwards and arranged over the section of the track bed 19 to be processed.
- the two machining devices 14 are arranged mirror-symmetrically to a vertical plane through a central longitudinal axis of the corresponding sleeper 38.
- the multi-axis robot 5 is controlled by means of the control unit 8.
- the device 1 is in the reset position.
- Compressed air is applied to the chambers 27 of the vibration decouplers 15a, 15b, in particular via the fluid lines 34, via a pressure regulating unit 45 of the control unit 8.
- the pressure pi, p2, p3 in the chambers 27 increases, the rigidity of the vibration decouplers 15a, 15b increases and the vibration decouplers 15a, 15b are net angeord in the rest position.
- the pressure pi, p2 in the chambers 27 of the fastening / decoupling unit 15a is 100 bar, for example.
- the pressure p3 in the chambers 27 of the machining decoupling unit 15b is, for example, 25 bar.
- the vibration decouplers 15a, 15b are set to the first coupling state, each with a first rigidity.
- the multi-axis robot 5 On the basis of a signal from the control unit 8, the multi-axis robot 5 lowers the machining devices 14 in the vertical direction downwards.
- the penetrators 20 of the machining devices 14 penetrate the track bed 19. Because the vibration decouplers 15a,
- the device 1 is in the penetration position or penetration position illustrated in FIG. 5.
- the pressure in the chambers 27 is reduced on the basis of a corresponding signal from the control unit 8.
- the pressure pi, p2 in the chambers 27 of the fastening decoupling unit 15a is, for example, 10 bar.
- the pressure p3 in the chambers 27 of the machining decoupling unit 15b is, for example, 5 bar.
- a respective second rigidity of the vibration decouplers 15a, 15b is reduced in the second coupling state compared to the first rigidity when penetrating into the track bed 19.
- a second damping of the fastening decoupling unit 15a in the second coupling state can be changed by means of the throttle valve 35 and can be set differently from the first damping in the first coupling state.
- the machine motors 22 of the machining devices 14 are supplied with electrical power by the control unit 8, in particular via the power coupling 23 and the power lines 36.
- the machine motors 22 drive the vibrators 21 of the machining devices 14. As a result, a vibratory movement is generated and transmitted to the penetrators 20
- the piston-cylinder units 26 of the displacement device 24 are supplied with hydraulic fluid which is provided by the supply unit 7 and via the fluid coupling 17 and the fluid lines 34 to the piston-cylinder units 26 is conducted.
- the actuating forces Fs brought about on the piston-cylinder units 26 cause the processing devices 14 to pivot about the infeed joints 25.
- the displacement device 24, in particular the processing devices 14, is in the illustrated in FIG.
- reaction forces FR act on the processing device 14.
- the reaction forces FR are via the processing decoupling unit 15b, the displacement device 24 and the fastening / decoupling unit 15a is transferred to the fastening device 13.
- the reaction forces FR are transmitted at least partially via the compressed air introduced into the chambers 27. Because the pressure pi, p2, p3 when pivoting the processing devices 14 about the infeed joints 25 is lower than the pressure pi, p2, p3 when penetrating the track bed 19, the forces transmitted to the fastening device 13 can be reduced.
- the reaction forces FR resulting from the vibration movement of the penetrators 20 are largely eliminated by the vibration decouplers 15a, 15b.
- the peak values of the vertical reaction forces FR Z when penetrating the track bed 19 are reduced by the vibration decouplers 15a, 15b.
- the adjustable throttle valve 35 enables adjustable damping of the vertical relative movement of the processing devices 14 compared to the fastening device 13.
- the control unit 8 provides a signal for displacing the machining devices 14 by means of the piston-cylinder unit 26 into the penetration position.
- the processing devices 14 pivot back about the infeed joints 25 into the penetration position.
- the processing devices 14 are moved back into the reset position on the basis of a signal from the control unit 8.
- the vibration decouplers 15a, 15b are switched back to the first coupling state.
- the sensor device 37 provides a signal to the control unit 8 that correlates with the position of the adjacent threshold 38.
- the multi-axis robot 5 moves the processing devices 14 into the next reset position above the next section to be processed of the track bed 19. The further processing of the track bed 19 takes place in accordance with the description above.
- the working space 39 is monitored by the sensor device 37 over the entire duration of the track cultivation. If a person or an object intrudes into the work space 39, this is detected by the sensor device 37 and a corresponding signal is provided at the control unit 8. The control unit 8 then interrupts the operation of the device 1. In particular, the movements of the multi-axis robot 5, the displacement device 24 and the vibration generator 21 are interrupted. As a result, the device 1 can be operated in a particularly safe manner.
- the trolley 3 is designed as a multi-way vehicle.
- the trolley 3 comprises, in addition to a rail trolley 46 for traveling on the rails 4, an auxiliary trolley 47.
- the auxiliary trolley 47 can be displaced in the vertical direction, in particular between a position above the rail trolley 46 and a position below the rail trolley 46.
- the additional chassis 47 is designed for driving on uneven surfaces and roads.
- the additional chassis 47 is designed to move the device 1 between two neighboring tracks, in particular perpendicular to the longitudinal extension of the rails 4. The flexibility of use of the device 1 is increased considerably as a result.
- the positioning device 2 in particular the trolley 3 with the multi-axis robot 5, is mechanically significantly less stressed and its wear is reduced.
- the positioning device 2 can thus be designed to be particularly economical in terms of material and lightweight, and it can also be manufactured and operated particularly economically.
- the device 1 has two processing devices 14, each with a screw unit 48 for tightening and loosening a screw connection 49.
- Each of the screwing units 48 comprises a machine motor 22 for rotationally driving a screwing tool 50 of the screwing unit 48.
- a socket wrench 51 for rotating the screw connection 49 is attached to the respective screwing tool 50 in a reversible and detachable manner.
- a displacement device 24, shown only schematically, is designed to move the two machining devices 14 independently of one another along an engagement direction 52 of the screwing tool 50.
- the displacement device 24 is also designed to move the processing devices 14 perpendicular to the handle direction 52 relative to one another.
- the displacement device 24 is designed to displace the respective machining device 14 together with the associated machining decoupling unit 15b.
- the machining decoupling units 15b have an elastically deformable chamber wall 30 in the form of a rubber bellows.
- the structure of these machining decoupling units 15b essentially corresponds to the machining decoupling units 15b according to the exemplary embodiment described above.
- the fastening decoupling unit 15a comprises a brake unit 53 for the adjustable braking of a movement of the processing devices 14 relative to the fastening device 13.
- the brake unit 53 comprises brake linings 54 which can be reversibly pressed against a brake body 56 by means of a brake actuator 55 .
- the damping of a movement transmitted via the fastening / decoupling unit 15a can be set on the basis of the contact pressure FA generated by the brake actuator 55.
- the decoupling of the movement of the fastening device 13 from the movement of the processing devices 14 is carried out by the fastening decoupling unit 15a exclusively along the direction of engagement 52.
- the device 1 comprises a clamping device 57, shown only schematically, for reversibly fastening the processing devices 14 to the rails 4.
- the clamping device 57 is attached to the displacement device 24.
- the clamping device 57 has a not shown set up adjusting element for reversible clamping on the rail 4.
- the actuating element can be actuated on the basis of a signal from the control unit 8.
- the device 1 further comprises a cutting tool 58, shown only schematically in FIG. 8, for cutting off a screw bolt 59 of a no longer detachable, tight screw connection 49.
- the device 1 has a loading device 62 for providing screw elements, in particular screws and / or nuts.
- the loading device 62 is designed for handling blisters.
- the screw elements can thus be provided in a definable position and location and can thus be fed to the processing devices 14 in an automated manner, in particular by means of the multi-axis robot 4.
- the device 1 is moved to the object to be processed, in particular to the screw connections 49 to be loosened.
- the device 1 is in the reset position.
- the vibration decouplers 15a, 15b are set to the first coupling state with the greater rigidity compared to the second coupling state.
- the position of the rail 4 and the screw connections 49 is detected by means of the sensor device 37.
- the tensioning device 57 rigidly attached to the displacement device 24 engages around the rail 4.
- An actuator of the tensioning device 57 is activated by means of the control unit 8.
- the rail 4 is clamped between the clamping jaws of the clamping device 57.
- the processing devices 14 are supported on the rail 4 via the displacement device 24 and the clamping device 57.
- the processing devices 14 are positioned relative to one another and perpendicular to the engagement direction 52 by means of the displacement device 24, in accordance with the relative position of the screw connections 49 to one another.
- the processing devices 14 are lowered by means of the multi-axis robot 5 in the direction of engagement 52.
- the socket wrench 51 who brought into engagement with the screw heads of the screw bolts 59.
- the vibration decouplers 15a, 15b are set to the second coupling state with the lower rigidity compared to the first coupling state.
- the machine motors 22 are activated and the socket wrenches 51 are driven in rotation by means of the screwing tools 50.
- the screwing tools 50 are designed as impact wrenches. Stuck screw connections 49 can thus be released particularly reliably.
- the vibration decouplers 15a, 15b decouple a movement of the fastening device 13 from the movements of the two processing devices 14. Force peaks of vertical reaction forces FR Z are eliminated by the fastening decoupling unit 15a.
- the vertically resilient mounting due to the linear guide 29 and the spring element 33a prevents the transfer of shock loads to the fastening device 13 when the screw connections 49 come into contact with the lowering of the processing tools 14. in particular the processing devices 14 and the displacement device 24 counteract.
- the braking unit 53 dampens the vertical movement of the machining devices 14 relative to the fastening device 13, whereby the forces acting on the fastening device 13 are further reduced.
- the screw units 48 By designing the screw units 48 as impact screw units, tight screw connections 49 can be released particularly reliably.
- the vibrations generated by the impact screw lead in particular to reaction forces FR x , FR V in the horizontal plane. Force peaks of these reaction forces FR x , FR V are eliminated in the processing decoupling devices 15b.
- the movement of the processing devices 14 is controlled by the movement
- the movement of the displacement device 24 is at least partially decoupled by the processing decoupling device 15b.
- the tensioning device 57 is loosened from the rail 4.
- the vibration decouplers 15a, 15b are set to the first coupling state with the greater rigidity compared to the second coupling state.
- the processing devices 14 are lifted via the fastening device 13.
- the sensor device 37 checks whether the screw connections 49 were loosened. If at least one of the screw connections 49 is so tight that it could not be loosened by means of the screwing tool 50, the corresponding screw bolt 59 is cut off. For this purpose, the cutting tool 58 is moved to the corresponding screw connection 49 by means of the multi-axis robot 5.
- the vibration decouplers 15a, 15b are set to the first coupling state.
- the cutting tool motor 61 is activated and the cutting wheel 60 is advanced in the direction of the screw bolt 59. The screw bolt 59 is severed. The separation process is complete and the device 1 is moved back into the reset position.
- the device 1 can also be used for producing, in particular for assembling and tightening screw connections 49.
- the screwing units 48 are moved to the loading device 62 by means of the multi-axis robot 5.
- the Schwingungsent couplers 15a, 15b are set to the first coupling state.
- the socket wrenches 51 are inserted into the blister filled with screws.
- the screws are held, for example, by means of a clamp connection, in particular by means of a pressure piece, and / or by means of a magnet, in particular an electromagnet.
- the processing devices 14 are moved in the direction of the screw connection 49 to be produced, the screws are removed from the blister.
- the screws are inserted into the predetermined screw hole on the basis of a signal from the control unit 8, in particular based on the measured values provided by the sensor device 37.
- the processing devices 14 are fastened to the rail 4 be.
- the vibration decouplers 15a, 15b are here set to the second coupling state.
- the machine motors 22 are activated.
- the screw connections 49 are tightened, in particular at the same time.
- the device 1 unlike the last described embodiment, does not have a tensioning device 57.
- the two screw units 48 of the machining devices 14 are supported against one another when the screw connections 49 are tightened and / or loosened.
- the torques transmitted to the respective screw connection 49 are removed by corresponding reaction forces F R , which act on the respective other screw connection 49.
- both machining devices 14 are not activated at the same time during the initial loosening and / or during the subsequent tightening, but the screwing units 48 are operated alternately. In contrast, when the screw connections 49 are initially tightened and / or when the screw connections 49 are finally loosened, both screw units 48 are operated simultaneously.
- the screw units 48 preferably have a force sensor, in particular a torque sensor. Switching between the simultaneous operation and the alternating operation of the screwing units 48 is preferably carried out on the basis of a signal from the respective force sensor, in particular by the control unit 8.
- the device 1 has two of the multi-axis robots 5, to each of which two of the processing devices 14 are attached via a fastening device 13.
- the processing devices 14 are designed as screw units 48.
- the processing devices 14 can be designed as stuffing units 18.
- the control unit 8 and the supply unit 7 are designed to operate the two multi-axis robots 5 and the processing device 14.
- the frame bridge 39a is replaced by a central frame support 39b, which runs in particular centrally between the rails 4.
- the loading device 62 is arranged on the frame support 39b. The loading device 62 can thus be reached with all processing devices 14.
- the cameras 40 of the sensor device 37 are arranged in a side area of the carriage 3.
- the two working spaces 39 are monitored by the sensor device 37 in accordance with the embodiments described above.
- the functioning of the device 1 corresponds to the functioning of the devices 1 according to the embodiments described above.
- the device 1 has the vibration decouplers 15a, 15b, a movement of the fastening device 13 is at least partially decoupled from a movement of the at least one processing device 14 be reduced.
- the device 1 is particularly robust and reliable in operation and can be manufactured and operated particularly economically.
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Abstract
Description
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DE102020207437.2A DE102020207437A1 (de) | 2020-06-16 | 2020-06-16 | Vorrichtung zur Gleisbearbeitung |
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AT227750B (de) * | 1961-06-21 | 1963-06-10 | Josef Dipl Ing Dr Te Dultinger | Gleisstopfmaschine |
FR1356641A (fr) | 1962-05-10 | 1964-03-27 | Du Pont | Perfectionnements aux fils synthétiques formés de filaments trilobés |
DE2059644C3 (de) * | 1970-12-04 | 1974-12-05 | Georg Robel & Co, 8000 Muenchen | Vibrationswerkzeug für eine Maschine zum Verdichten des Schotterbettes eines Gleises |
GB1270306A (en) * | 1968-06-24 | 1972-04-12 | Georg Robel And Company | Ballast-tamping machine |
DE2112533C3 (de) * | 1970-03-20 | 1978-06-22 | Scheuchzer, Andre | Vorrichtung zum Schleifen von Eisenbahnschienen |
SE443738B (sv) | 1982-09-30 | 1986-03-10 | Atlas Copco Ab | Hydraulisk slaganordning som drives med vetskepelare |
IT1221161B (it) | 1984-02-24 | 1990-06-21 | Danieli Off Mecc | Gruppo di lavoro perfezionato per imbullonatrice ed imbullonatrice adottante tale gruppo di lavoro |
DE4322255C2 (de) | 1993-07-05 | 1996-02-01 | Festo Kg | Dämpfungsvorrichtung |
DE19718678A1 (de) | 1997-05-02 | 1998-11-05 | Bayerische Motoren Werke Ag | Hydraulisch dämpfendes Aggregatlager |
AUPR371501A0 (en) | 2001-03-14 | 2001-04-12 | Wright, Stewart James | Dampening apparatus |
DE10347365A1 (de) | 2003-10-11 | 2005-05-25 | Wilhelm Karmann Gmbh | Kraftfahrzeug |
CN204401378U (zh) | 2014-12-21 | 2015-06-17 | 苏州路云机电设备有限公司 | 一种行走稳定的液压双头螺栓扳手 |
AT518025A1 (de) | 2015-12-10 | 2017-06-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Stopfaggregat und Verfahren zum Unterstopfen eines Gleises |
US20170165823A1 (en) | 2015-12-15 | 2017-06-15 | Caterpillar Inc. | Damping system for a hydraulic hammer |
DE102016000408A1 (de) | 2016-01-14 | 2017-07-20 | Robel Bahnbaumaschinen Gmbh | Instandhaltungsfahrzeug und Verfahren. |
DE202017102428U1 (de) | 2017-04-25 | 2018-07-26 | Kuka Systems Gmbh | Umsetzeinrichtung |
JP7130207B2 (ja) * | 2018-11-19 | 2022-09-05 | 株式会社交通建設 | 軌道整備装置及び軌道整備方法 |
-
2020
- 2020-06-16 DE DE102020207437.2A patent/DE102020207437A1/de active Pending
-
2021
- 2021-06-10 JP JP2022577301A patent/JP2023529983A/ja active Pending
- 2021-06-10 CN CN202180043513.9A patent/CN115698428A/zh active Pending
- 2021-06-10 WO PCT/EP2021/065598 patent/WO2021254862A1/de unknown
- 2021-06-10 EP EP21732269.2A patent/EP4165248A1/de active Pending
-
2022
- 2022-12-12 US US18/079,480 patent/US20230113067A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2021254862A1 (de) | 2021-12-23 |
DE102020207437A1 (de) | 2021-12-16 |
CN115698428A (zh) | 2023-02-03 |
US20230113067A1 (en) | 2023-04-13 |
JP2023529983A (ja) | 2023-07-12 |
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